A transport control system, method, and apparatus for a nuclear reactor detector assembly

Abstract

The application relates to a transfer control system, method and device of a nuclear reactor detector assembly. The system comprises a shielding body for isolating the nuclear reactor detector assembly from the external environment; a transfer mechanism for transporting the shielding body from an initial position to a target position; a control mechanism for determining a transfer state of the nuclear reactor detector assembly based on a motion state of the nuclear reactor detector assembly in the shielding body during the process that the transfer mechanism transports the shielding body based on a target transfer strategy; and if the transfer state is a safe state, continuing to control the transfer mechanism to transfer the shielding body based on the target transfer strategy. The transfer control system of the nuclear reactor detector assembly provided by the application can realize safe transfer of the detector assembly, the shielding body can effectively shield radiation, and the operator and the surrounding environment are protected.

Description

Technical Field

[0001] This application relates to the field of nuclear power technology, and in particular to a transfer control system, method and apparatus for a nuclear reactor detector assembly. Background Technology

[0002] The reactor core measurement system includes core temperature measurement, core neutron injection rate measurement, and pressure vessel water level measurement, directly providing information on the coolant outlet temperature of the reactor fuel assemblies, the core neutron injection rate distribution, and the pressure vessel water level. Currently, reactor core measurement systems in related technologies adopt an integrated component form, integrating the detector assembly into one unit. That is, the detector assembly is inserted from above the reactor pressure vessel top cover and sent into the fuel assembly to realize the measurement function.

[0003] During reactor operation, the integrated core measurement system (IPS) assembly remains within the pressure vessel, with its bottom constantly exposed to the fuel assemblies, resulting in prolonged and significant exposure to radiation. Due to the short design life of the IPS, it cannot be guaranteed to remain in place throughout the entire lifecycle of the nuclear power plant. Therefore, during refueling, it is necessary to remove and replace IPS assemblies nearing the end of their service life.

[0004] Based on the design of the guide tube for the core measurement system in the upper reactor internals and the depth limitations of the component pool, the integrated detector assembly will inevitably be exposed above the water surface during the complete removal process. The used integrated detector assembly is a highly radioactive object, with uneven distribution of radioactive dose at different locations; the dose within the fuel assembly during operation is extremely high, and radiation protection must be carefully considered for this part during dismantling.

[0005] In related technologies, there is a lack of research on dedicated equipment for the water transport of high-level radioactive detectors. Therefore, there is an urgent need to design a transport device to realize operations such as pulling out and safely transporting high-level radioactive detectors. Summary of the Invention

[0006] Based on this, it is necessary to provide a transfer control system, method and apparatus for nuclear reactor detector components to address the above-mentioned technical problems, which realizes the safe transfer of detector components and the shielding body can effectively shield radiation, protecting operators and the surrounding environment.

[0007] In a first aspect, this application provides a transfer control system for a nuclear reactor detector assembly, the system comprising:

[0008] A shielding enclosure is used to isolate nuclear reactor detector components from the external environment.

[0009] A transfer mechanism for transporting the shield from its initial position to its target position;

[0010] A control mechanism is configured to determine the transfer status of the nuclear reactor detector assembly based on the movement status of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy; if the transfer status is a safe status, then the control mechanism continues to transfer the shielding body based on the target transfer strategy.

[0011] In one embodiment, the position between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position.

[0012] The control mechanism is also used for:

[0013] Determine a first transit strategy that matches the initial location and the transit location, and a second transit strategy that matches the transit location and the target location;

[0014] The first transfer strategy and the second transfer strategy are determined as the target transfer strategy.

[0015] In one embodiment, the control mechanism is further configured to:

[0016] Divide the path between the initial position and the transit position to obtain multiple path intervals;

[0017] For each of the aforementioned path intervals, the speed control strategy that matches the path interval is determined as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategy corresponding to each of the aforementioned path intervals.

[0018] For each of the path intervals, when the current position of the shield is at the start of the path interval, the transfer mechanism is controlled to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

[0019] In one embodiment, the system further includes;

[0020] Image acquisition equipment is used to acquire environmental images of the environment in which the transfer location and the target location are located;

[0021] The control mechanism is further configured to determine, based on the environmental image, the spatial position of the shield in the environment and the position of obstacles in the environment; and based on the spatial position and the position of obstacles, determine a second transfer strategy that matches the transfer position and the target position.

[0022] In one embodiment, the control mechanism is further configured to:

[0023] If the distance between the spatial location and the obstacle location is within a preset distance range, the target transfer path is determined based on the spatial location between the transfer location and the target location.

[0024] The target transfer path is determined as a second transfer strategy that matches the transit location and the target location.

[0025] In one embodiment, the shielding body includes a mechanical shaft, and a force sensor and a motor encoder disposed on the mechanical shaft, the mechanical shaft being connected to the nuclear reactor detector assembly;

[0026] The motor encoder is used to detect the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period;

[0027] The force sensor is used to detect the tensile force exerted by the nuclear reactor detector assembly on the mechanical axis within a preset time period.

[0028] The control mechanism is further configured to determine the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset duration; and to determine the transfer state of the nuclear reactor detector assembly based on the comparison between the movement speed and the preset speed, and the comparison between the movement tension and the preset tension.

[0029] In one embodiment, the control mechanism is further configured to:

[0030] If the speed difference between the movement speed and the preset speed is less than or equal to a first threshold, and the tension difference between the movement force and the preset tension is less than or equal to a second threshold, the transfer state of the nuclear reactor detector assembly is determined to be a safe state.

[0031] In one embodiment, the system further includes an alarm mechanism, the alarm mechanism being used for:

[0032] If the control mechanism determines that the transfer status of the nuclear reactor detector assembly is unsafe, it outputs a maintenance prompt signal to remind maintenance personnel to conduct a safety inspection of the shielding.

[0033] In a second aspect, this application provides a method for controlling the transfer of a nuclear reactor detector assembly, applied to the control mechanism described in the first aspect or any one of the first aspects, the method comprising:

[0034] Determine the target transfer strategy of the transfer mechanism for the shield;

[0035] During the process of the transfer mechanism transporting the shielding body based on the target transfer strategy, the transfer status of the nuclear reactor detector assembly is determined based on the movement status of the nuclear reactor detector assembly within the shielding body.

[0036] If the transfer status is a safe status, then based on the target transfer strategy, the transfer mechanism continues to transfer the shield.

[0037] Thirdly, this application provides a transfer control device for a nuclear reactor detector assembly, applied to the control mechanism described in the first aspect or any one of the first aspects, the device comprising:

[0038] The determining module is used to determine the target transfer strategy of the transfer mechanism for the shield;

[0039] The processing module is used to determine the transfer status of the nuclear reactor detector assembly based on the movement status of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy.

[0040] The control module is used to continue controlling the transfer mechanism to transfer the shielding body based on the target transfer strategy if the transfer status is a safe status.

[0041] The aforementioned transfer control system, method, and apparatus for nuclear reactor detector components, based on a transfer mechanism, improves the transfer efficiency of the nuclear reactor detector components. The shielding effectively shields radiation, protecting operators and the surrounding environment. Furthermore, during the transfer of the shielding based on a target transfer strategy, the transfer status of the nuclear reactor detector components is determined by their movement within the shielding. If the transfer status is determined to be safe, the transfer mechanism continues to transfer the shielding based on the target transfer strategy. This reduces the risk of radioactive material leakage during the transfer process and improves the safety of the nuclear reactor detector components during transfer. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1This is a structural block diagram of the transfer control system for a nuclear reactor detector assembly in one embodiment;

[0044] Figure 2 This is a structural block diagram of the transfer control system for the nuclear reactor detector assembly in another embodiment;

[0045] Figure 3 This is a structural block diagram of the transfer control system for the nuclear reactor detector assembly in another embodiment;

[0046] Figure 4 This is a flowchart illustrating the transfer control method for a nuclear reactor detector assembly in one embodiment;

[0047] Figure 5 This is a flowchart illustrating the process of determining a target transfer strategy for a shielding body by a transfer mechanism in one embodiment.

[0048] Figure 6 This is a flowchart illustrating the transfer control method for a nuclear reactor detector assembly in another embodiment;

[0049] Figure 7 This is a flowchart illustrating the process of determining a second transit strategy that matches the transit location and the target location in one embodiment.

[0050] Figure 8 This is a flowchart illustrating the process of determining the transport state of a nuclear reactor detector assembly based on its motion state within a shield, as described in one embodiment.

[0051] Figure 9 This is a flowchart illustrating the transfer control method for a nuclear reactor detector assembly in another embodiment;

[0052] Figure 10 This is a structural block diagram of the transfer control device for a nuclear reactor detector assembly in one embodiment;

[0053] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0055] With the continuous advancement of science and technology, radioisotope tracing (RIC) technology has been widely applied in scientific research, medical treatment, and industrial production. As a key component of this technology, the accuracy and safety of the RIC nuclear reactor detector assembly are crucial to the reliability of experimental results and the safety of personnel.

[0056] To ensure the effective use and safety of nuclear reactor detector assemblies during transportation, the movement status of the assemblies is monitored during transport to ensure they are in optimal working condition, thereby minimizing the risk of radioactive material leakage.

[0057] In view of this, such as Figure 1 As shown, this application provides a transfer control system for a nuclear reactor detector assembly. The transfer control system 10 for the nuclear reactor detector assembly includes a shield 102, a transfer mechanism 104, and a control mechanism 106.

[0058] Specifically, the shield 102 isolates the nuclear reactor detector assembly from the external environment, effectively shielding radiation and protecting operators and the surrounding environment. The transfer mechanism 104 transports the shield 102 from its initial position to its target position. The control mechanism 106 determines the transfer status of the nuclear reactor detector assembly based on its movement within the shield during the transfer of the shield 102 by the transfer mechanism 104 according to the target transfer strategy. If the transfer status is safe, the transfer mechanism 104 continues to transfer the shield based on the target transfer strategy. Therefore, using the transfer mechanism to transfer the nuclear reactor detector assembly improves transfer efficiency. By determining that the transfer status of the nuclear reactor detector assembly is safe and continuing to control the transfer mechanism to transfer the shield based on the target transfer strategy, the risk of radioactive material leakage during the transfer process can be reduced, thus improving the safety of the nuclear reactor detector assembly during transfer.

[0059] The structure of the shield is not limited. For example, the shield may include a mechanical shaft, and the nuclear reactor detector assembly is connected to the mechanical shaft so that the nuclear reactor detector assembly can be loaded into the shield. The shape of the shield is not limited. For example, the shield may be cylindrical. In order to prevent the nuclear reactor detector assembly from contacting the shield, the height of the cylindrical shield may be greater than the height of the nuclear reactor detector assembly, and the diameter of the cylindrical shield may be greater than the diameter of the nuclear reactor detector assembly.

[0060] The safe state indicates that the probability of radioactive material leakage from the nuclear reactor detector assembly within the shield is less than a preset probability. In this case, the transfer state is considered safe. By continuing to control the transfer mechanism to transfer the shield based on the target transfer strategy, the risk of radioactive material leakage can be minimized by ensuring that the nuclear reactor detector assembly is in a safe state during the transfer process.

[0061] The initial position can refer to the location where the nuclear reactor detector assembly is mounted on the shield, while the target position can refer to the location where the nuclear reactor detector assembly is unloaded from the shield, matching the transfer task. The transfer mechanism can transport the shield from the initial position to the target position based on the target transfer strategy. The control mechanism can determine the target transfer strategy in any way; several methods are illustrated below.

[0062] In one embodiment, the control mechanism is further configured to determine a preset transfer strategy as a target transfer strategy. The target transfer strategy includes at least one of the following: the speed of the transfer mechanism during the transfer process, the acceleration, and the transfer time of the transfer mechanism relative to the shield.

[0063] In one embodiment, the location between the initial position and the target position includes a transit position. If the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position, then the control mechanism is further configured to determine a first transfer strategy matching the initial position and the transit position, and a second transfer strategy matching the transit position and the target position; and to determine the first transfer strategy and the second transfer strategy as the target transfer strategy.

[0064] In some cases, with the transit position as the origin of the coordinate axis, the plane containing the path connecting the transit position and the target position as the x-axis, and the plane containing the path connecting the initial position and the transit position as the y-axis, and the initial position being close to and parallel to the negative half of the y-axis, the first transit strategy can be used to control the transit mechanism to transport the shield to the transit position in a direction close to the positive half of the y-axis; the second transit strategy can be used to control the transit mechanism to transport the shield to the target position horizontally from the transit position.

[0065] The method for determining the first transfer strategy that matches the initial position and the transfer position is not limited. The following examples illustrate several implementation methods.

[0066] In one embodiment, the control mechanism is further configured to determine a first transfer strategy matching the initial position and the transit position based on the mapping relationship between the transfer position and the transfer strategy, and similarly, a second transfer strategy matching the transit position and the target position can be determined. For example, if the first transfer strategy includes a transfer speed and the second transfer strategy includes a transfer path, then for the path between the initial position and the transit position, the transfer mechanism can be controlled to transfer at the transfer speed; for the path between the transit position and the target position, the transfer mechanism can be controlled to transfer according to the transfer path.

[0067] In one embodiment, the control mechanism is further configured to divide the path between the initial position and the transfer position to obtain multiple path intervals; for each path interval, the speed control strategy matching the path interval is determined as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategies corresponding to each path interval; for each path interval, when the current position of the shield is at the start of the path interval, the control mechanism is configured to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein, the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the target position.

[0068] For example, taking a path with three intervals as an example, for the first path interval, based on the acceleration strategy corresponding to the first path interval, the transfer mechanism can be controlled to accelerate and transfer the shielding body from the starting point of the first path interval to the starting point of the second path interval; for the second path interval, based on the constant speed strategy corresponding to the second path interval, the transfer mechanism can be controlled to transfer the shielding body at a constant speed from the starting point of the second path interval to the starting point of the third path interval; for the third path interval, based on the constant speed strategy corresponding to the third path interval, the transfer mechanism can be controlled to decelerate and transfer the shielding body from the starting point of the third path interval to the ending point of the third path interval.

[0069] In one embodiment, such as Figure 2 As shown, the transfer control system 10 of the nuclear reactor detector assembly may also include an image acquisition device 108, which is used to acquire environmental images of the environment in which the transfer location and the target location are located; the control mechanism 106 is also used to determine the spatial location of the shield in the environment and the location of obstacles in the environment based on the environmental images; and to determine a second transfer strategy that matches the transfer location and the target location based on the spatial location and the location of obstacles.

[0070] The type and number of image acquisition devices 108 are not limited. For example, the image acquisition device can refer to a vision camera. The number of vision cameras can be 3 sets. Then, the environment where the transfer position and the target position are located can be detected by the 3 sets of vision cameras to obtain environmental images.

[0071] The method for determining the spatial location of the shield and the location of obstacles in the environment based on environmental images is not limited. For example, the spatial location of the shield can be determined by analyzing the environmental images based on a pre-trained location recognition model; the location of obstacles in the environment can be determined based on a pre-trained obstacle recognition model and the spatial location of the shield.

[0072] The implementation method of determining the second transfer strategy that matches the transit position and the target position based on spatial location and obstacle location is not limited. For example, provided that the distance between the spatial location and the obstacle location is within a preset distance range, the target transfer path is determined based on the spatial location between the transit position and the target position, and this target transfer path is identified as the second transfer strategy that matches the transit position and the target position. Therefore, when transferring the shielding body based on the target transfer path, collisions between the shielding body and obstacles can be avoided, improving safety during the transfer process.

[0073] In some cases, in response to manual transfer events involving the transfer mechanism, if the transfer path corresponding to the manual transfer event deviates from the target transfer path, a path adjustment prompt can be output. This prompt includes the direction and angle of the path adjustment. In other words, when manually operating the transfer mechanism to transfer the shielding body, if the manually operated transfer path deviates from the target transfer path, a path adjustment prompt can be output to prevent the shielding body from colliding with obstacles.

[0074] exist Figure 1 Based on the above, in one embodiment, as shown Figure 3As shown, the shield 102 may further include: a mechanical shaft 1021, and a motor encoder 1022 and a force sensor 1023 mounted on the mechanical shaft 1021. The mechanical shaft 1021 is connected to the nuclear reactor detector assembly, allowing the nuclear reactor detector assembly to be loaded into the shield based on the mechanical shaft. The motor encoder 1022 is used to detect the movement distance of the nuclear reactor detector assembly relative to the mechanical shaft within a preset time period. The force sensor 1023 is used to detect the tension force exerted by the nuclear reactor detector assembly on the mechanical shaft within the preset time period. The control mechanism 106 is also used to determine the movement speed of the nuclear reactor detector assembly within the shield based on the movement distance and the preset time period; and to determine the transfer state of the nuclear reactor detector assembly based on the comparison between the movement speed and the preset speed, and the comparison between the movement tension force and the preset tension force.

[0075] The process of determining the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset duration includes: determining the ratio of the movement distance to the preset duration as the movement speed of the nuclear reactor detector assembly within the shielding body.

[0076] The method for determining the transfer state of the nuclear reactor detector assembly based on the comparison between the movement speed and the preset speed, as well as the comparison between the movement tension and the preset tension, is not limited. Several of these methods will be illustrated below.

[0077] In one embodiment, if the speed difference between the moving speed and the preset speed is less than or equal to a first threshold, and the tension difference between the moving tension and the preset tension is less than or equal to a second threshold, the transfer state of the nuclear reactor detector assembly is determined to be a safe state.

[0078] In one embodiment, if the speed difference between the moving speed and the preset speed is less than or equal to a first threshold, and the tension difference between the moving tension and the preset tension is less than or equal to a second threshold, then if the transfer time for the shield is within the preset time range, the transfer state of the nuclear reactor detector assembly is determined to be a safe state.

[0079] In some embodiments, the transfer control system for the nuclear reactor detector assembly may further include an alarm mechanism, which is used to output a maintenance reminder signal to remind maintenance personnel to perform a safety inspection of the shielding when the control mechanism determines that the transfer status of the nuclear reactor detector assembly is an unsafe state.

[0080] In conjunction with the above, in one embodiment, such as Figure 4 As shown, a transfer control method for a nuclear reactor detector assembly is provided. Taking the application of this method to the control mechanism in the transfer control system of the nuclear reactor detector assembly as an example, it may include the following steps:

[0081] S402, Determine the target transfer strategy of the transfer mechanism for the shield.

[0082] S404, during the process of the transfer mechanism transporting the shielding body based on the target transfer strategy, the transfer status of the nuclear reactor detector assembly is determined based on the movement status of the nuclear reactor detector assembly within the shielding body.

[0083] S406 If the transfer status is safe, then based on the target transfer strategy, continue to control the transfer mechanism to transfer the shield.

[0084] The specific details of S402-S406 can be found in the aforementioned description and will not be repeated here.

[0085] based on Figure 4 The diagram shows that by using a transfer mechanism to transfer nuclear reactor detector components, transfer efficiency can be improved. The shielding can effectively shield radiation, protecting operators and the surrounding environment. Furthermore, by determining that the transfer status of the nuclear reactor detector components is safe, and based on the target transfer strategy, the transfer mechanism can continue to transfer the shielding, thereby reducing the risk of radioactive material leakage during the transfer process and improving the safety of the nuclear reactor detector components during transfer.

[0086] In one embodiment, determining the implementation method of the target transfer strategy (i.e., S402) for the transfer mechanism against the shield can be as follows: Figure 5 As shown, it includes the following steps:

[0087] S502, determine a first transfer strategy that matches the initial location and the transit location, and a second transfer strategy that matches the transit location and the target location.

[0088] S504, the first transfer strategy and the second transfer strategy are determined as the target transfer strategy.

[0089] The specific details of S502-S504 can be found in the aforementioned description and will not be repeated here.

[0090] based on Figure 5 The content shown demonstrates that by setting a transfer point between the initial position and the target position, the shield can be transferred in stages, which can improve the transfer accuracy.

[0091] In one embodiment, such as Figure 6 The diagram shows a flow chart of a transfer control method for a nuclear reactor detector assembly, which may include the following steps:

[0092] S602, divide the path between the initial position and the intermediate position to obtain multiple path intervals.

[0093] S604, for each path interval, the speed control strategy matching the path interval is determined as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategy corresponding to each path interval.

[0094] S606, for each path interval, when the current position of the shield is at the beginning of the path interval, control the transfer mechanism to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval.

[0095] In this case, the end point of a path interval coincides with the start point of the next adjacent path interval, and the end point of the last path interval coincides with the transfer point.

[0096] The specific details of S602-S606 can be found in the aforementioned description and will not be repeated here.

[0097] based on Figure 6 The content shown demonstrates that by dividing the path between the initial position and the transfer position into multiple path intervals, and then adopting a corresponding sub-transfer strategy for each path interval, the transfer mechanism can improve the transfer accuracy when transferring the shield, ensuring that the nuclear reactor detector assembly is in a safe state during the transfer process.

[0098] In one embodiment, the implementation of determining the second transit strategy that matches the transit location and the destination location can be as follows: Figure 7 As shown, it includes the following steps:

[0099] S702, acquire environmental images of the environment where the transit location and the target location are located.

[0100] S704, based on environmental images, determines the spatial location of the shield in the environment and the location of obstacles in the environment.

[0101] S706, based on spatial location and obstacle location, determines a second transfer strategy that matches the transit location and the target location.

[0102] The specific details of S702-S706 can be found in the aforementioned description and will not be repeated here.

[0103] based on Figure 7 The content shown demonstrates that by determining a second transfer strategy that matches the transfer location and the target location from the perspective of environmental images, it is possible to avoid the shield from colliding with obstacles in the environment during the transfer process, thereby improving the accuracy of transfer control.

[0104] In one embodiment, such as Figure 8 As shown, a flowchart illustrating the process of determining the transport state of a nuclear reactor detector assembly based on its motion within a shielding structure is provided, including the following steps:

[0105] S802, obtain the distance the nuclear reactor detector assembly moves relative to the mechanical axis within a preset time period.

[0106] S804, acquire the motion tension of the nuclear reactor detector assembly against the mechanical axis within a preset time period.

[0107] S806 determines the speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and preset duration.

[0108] S808 determines the transfer status of the nuclear reactor detector assembly based on the comparison between the moving speed and the preset speed, and the comparison between the moving tension and the preset tension.

[0109] The specific content of S802-S808 can be found in the aforementioned description and will not be repeated here.

[0110] based on Figure 8 The content shown demonstrates that by determining the transfer status of the nuclear reactor detector assembly, the safety status during the transfer process can be monitored based on the transfer status, thereby reducing the risk of radioactive material leakage during the transfer process and improving the safety of the nuclear reactor detector assembly during transfer.

[0111] In conjunction with the above, in one embodiment, the position between the initial position and the target position includes a transit position. The line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position. Specifically, for example... Figure 9 As shown, a transfer control method for a nuclear reactor detector assembly is provided. Taking the application of this method to the control mechanism in the transfer control system of the nuclear reactor detector assembly as an example, it may include the following steps:

[0112] S902, divides the path between the initial position and the intermediate position to obtain multiple path intervals.

[0113] S904, for each path interval, the speed control strategy matching the path interval is determined as the sub-transfer strategy corresponding to the path interval, and the sub-transfer strategy corresponding to each path interval is determined as the first transfer strategy matching the initial position and the transfer position.

[0114] S906, acquire environmental images of the environment where the transit location and the target location are located.

[0115] S908, based on environmental images, determines the spatial location of the shield in the environment and the location of obstacles in the environment.

[0116] S910 determines a second transfer strategy that matches the transit location and the target location based on the spatial location and the location of obstacles.

[0117] S912 controls the transfer mechanism to transport the shielding body using a first transfer strategy for the path between the initial position and the transfer position.

[0118] S914, for the path between the transit location and the target location, controls the transfer mechanism to transport the shielding body using a second transfer strategy.

[0119] S916, during the process of the transfer mechanism transporting the shielding body based on the first transfer strategy and the second transfer strategy, the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period and the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period are obtained.

[0120] S918 determines the speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and preset duration.

[0121] S920, if the speed difference between the moving speed and the preset speed is less than or equal to a first threshold, and the tension difference between the moving tension and the preset tension is less than or equal to a second threshold, the transfer state of the nuclear reactor detector assembly is determined to be a safe state.

[0122] S922, based on the first transfer strategy and the second transfer strategy, continues to control the transfer mechanism to transfer the shield.

[0123] The specific content of S902-S922 can be found in the aforementioned description and will not be repeated here.

[0124] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] Based on the same inventive concept, this application also provides a transfer control device for a nuclear reactor detector assembly to implement the transfer control method for the nuclear reactor detector assembly described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the transfer control device for a nuclear reactor detector assembly provided below can be found in the limitations of the transfer control method for the nuclear reactor detector assembly described above, and will not be repeated here.

[0126] In one exemplary embodiment, such as Figure 10 As shown, a transfer control device for a nuclear reactor detector assembly is provided, comprising: a determination module 1002, a processing module 1004, and a control module 1006, wherein:

[0127] The determination module 1002 is used to determine the target transfer strategy of the transfer mechanism for the shield.

[0128] The processing module 1004 is used to determine the transfer status of the nuclear reactor detector assembly based on the movement status of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy.

[0129] The control module 1006 is used to continue controlling the transfer mechanism to transfer the shield body based on the target transfer strategy if the transfer state is a safe state.

[0130] In one embodiment, the location between the initial location and the target location includes a transit location, and the line connecting the transit location and the initial location is perpendicular to the line connecting the transit location and the target location; the determining module is further configured to determine a first transit strategy matching the initial location and the transit location, and a second transit strategy matching the transit location and the target location; and to determine the first transit strategy and the second transit strategy as the target transit strategy.

[0131] In one embodiment, the determining module is further configured to divide the path between the initial position and the transfer position to obtain multiple path intervals; for each path interval, a speed control strategy matching the path interval is determined as a sub-transfer strategy corresponding to the path interval; the first transfer strategy includes sub-transfer strategies corresponding to each path interval; the control module is further configured to, for each path interval, when the current position of the shield is at the start of the path interval, control the transfer mechanism to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

[0132] In one embodiment, the determining module is further configured to acquire environmental images of the environment in which the transit location and the target location are located; based on the environmental images, determine the spatial location of the shield in the environment and the location of obstacles in the environment; and based on the spatial location and the location of obstacles, determine a second transfer strategy that matches the transit location and the target location.

[0133] In one embodiment, the processing module is further configured to: acquire the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; acquire the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determine the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; and determine the transfer state of the nuclear reactor detector assembly based on the comparison result between the movement speed and the preset speed, and the comparison result between the movement tension and the preset tension.

[0134] In one embodiment, the processing module is further configured to determine that the transfer state of the nuclear reactor detector assembly is a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold.

[0135] Each module in the transfer control device of the aforementioned nuclear reactor detector assembly can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0136] In one exemplary embodiment, a computer device is provided, which may be a control mechanism, and its internal structure diagram may be as follows: Figure 11As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data such as target transfer strategies. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a transfer control method for a nuclear reactor detector assembly.

[0137] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0138] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: determining a target transfer strategy for the shielding body by the transfer mechanism; determining the transfer state of the nuclear reactor detector assembly based on the movement state of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body based on the target transfer strategy; and if the transfer state is a safe state, continuing to control the transfer mechanism to transport the shielding body based on the target transfer strategy.

[0139] In one embodiment, the location between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position; when the processor executes the computer program, it further implements the following steps: determining a first transit strategy matching the initial position and the transit position, and a second transit strategy matching the transit position and the target position; and determining the first transit strategy and the second transit strategy as the target transit strategy.

[0140] In one embodiment, when the processor executes the computer program, it further implements the following steps: dividing the path between the initial position and the transfer position to obtain multiple path intervals; for each path interval, determining the speed control strategy matching the path interval as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategies corresponding to each path interval; the control module is further configured to, for each path interval, when the current position of the shield is at the start of the path interval, control the transfer mechanism to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein, the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

[0141] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring environmental images of the environment in which the transit location and the target location are located; determining, based on the environmental images, the spatial location of the shield in the environment and the location of obstacles in the environment; and determining, based on the spatial location and the location of obstacles, a second transfer strategy matching the transit location and the target location.

[0142] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; obtaining the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determining the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; and determining the transfer state of the nuclear reactor detector assembly based on the comparison result between the movement speed and the preset speed, and the comparison result between the movement tension and the preset tension.

[0143] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the speed difference between the movement speed and the preset speed is less than or equal to a first threshold, and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold, the transfer state of the nuclear reactor detector assembly is determined to be a safe state.

[0144] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps: determining a target transfer strategy for the shielding body by the transfer mechanism; determining a transfer state of the nuclear reactor detector assembly based on the movement state of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy; and if the transfer state is a safe state, continuing to control the transfer mechanism to transfer the shielding body based on the target transfer strategy.

[0145] In one embodiment, the location between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position; when the computer program is executed by the processor, it further implements the following steps: determining a first transit strategy matching the initial position and the transit position, and a second transit strategy matching the transit position and the target position; and determining the first transit strategy and the second transit strategy as the target transit strategy.

[0146] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: dividing the path between the initial position and the transfer position to obtain multiple path intervals; for each path interval, determining the speed control strategy matching the path interval as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategies corresponding to each path interval; the control module is further configured to, for each path interval, when the current position of the shield is at the start of the path interval, control the transfer mechanism to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

[0147] In one embodiment, when the computer program is executed by a processor, it further performs the following steps: acquiring environmental images of the environment in which the transit location and the target location are located; determining, based on the environmental images, the spatial location of the shield in the environment and the location of obstacles in the environment; and determining, based on the spatial location and the location of obstacles, a second transfer strategy matching the transit location and the target location.

[0148] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; obtaining the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determining the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; and determining the transfer state of the nuclear reactor detector assembly based on the comparison result between the movement speed and the preset speed, and the comparison result between the movement tension and the preset tension.

[0149] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining that the transfer state of the nuclear reactor detector assembly is a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold.

[0150] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: determining a target transfer strategy for the shielding body by the transfer mechanism; determining a transfer state of the nuclear reactor detector assembly based on the movement state of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body based on the target transfer strategy; and if the transfer state is a safe state, continuing to control the transfer mechanism to transfer the shielding body based on the target transfer strategy.

[0151] In one embodiment, the location between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position; when the computer program is executed by the processor, it further implements the following steps: determining a first transit strategy matching the initial position and the transit position, and a second transit strategy matching the transit position and the target position; and determining the first transit strategy and the second transit strategy as the target transit strategy.

[0152] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: dividing the path between the initial position and the transfer position to obtain multiple path intervals; for each path interval, determining the speed control strategy matching the path interval as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategies corresponding to each path interval; the control module is further configured to, for each path interval, when the current position of the shield is at the start of the path interval, control the transfer mechanism to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

[0153] In one embodiment, when the computer program is executed by a processor, it further performs the following steps: acquiring environmental images of the environment in which the transit location and the target location are located; determining, based on the environmental images, the spatial location of the shield in the environment and the location of obstacles in the environment; and determining, based on the spatial location and the location of obstacles, a second transfer strategy matching the transit location and the target location.

[0154] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; obtaining the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determining the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; and determining the transfer state of the nuclear reactor detector assembly based on the comparison result between the movement speed and the preset speed, and the comparison result between the movement tension and the preset tension.

[0155] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining that the transfer state of the nuclear reactor detector assembly is a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold.

[0156] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0157] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0158] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0159] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A transfer control system for a nuclear reactor detector assembly, characterized in that, The system includes: A shielding enclosure is used to isolate nuclear reactor detector components from the external environment. A transfer mechanism for transporting the shield from its initial position to its target position; A control mechanism is configured to determine the transfer status of the nuclear reactor detector assembly based on the movement status of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy; if the transfer status is a safe status, then the control mechanism continues to transfer the shielding body based on the target transfer strategy. The shielding body includes a mechanical shaft, a force sensor and a motor encoder mounted on the mechanical shaft, and the mechanical shaft is connected to the nuclear reactor detector assembly. The motor encoder is used to detect the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; The force sensor is used to detect the tensile force exerted by the nuclear reactor detector assembly on the mechanical axis within a preset time period. The control mechanism is further configured to determine the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset duration; and to determine the transfer state of the nuclear reactor detector assembly as a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold; the safe state indicates that the probability of radioactive material leakage from the nuclear reactor detector assembly within the shielding body is less than a preset probability.

2. The system according to claim 1, characterized in that, The position between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position. The control mechanism is also used for: Determine a first transit strategy that matches the initial location and the transit location, and a second transit strategy that matches the transit location and the target location; The first transfer strategy and the second transfer strategy are determined as the target transfer strategy.

3. The system according to claim 2, characterized in that, The control mechanism is also used for: Divide the path between the initial position and the transit position to obtain multiple path intervals; For each of the aforementioned path intervals, the speed control strategy that matches the path interval is determined as the sub-transfer strategy corresponding to the path interval; the first transfer strategy includes the sub-transfer strategy corresponding to each of the aforementioned path intervals. For each of the path intervals, when the current position of the shield is at the start of the path interval, the transfer mechanism is controlled to transport the shield using the sub-transfer strategy corresponding to the path interval until the shield is at the end of the path interval; wherein the end of the path interval coincides with the start of the next adjacent path interval, and the end of the last path interval coincides with the transfer position.

4. The system according to claim 2, characterized in that, The system also includes; Image acquisition equipment is used to acquire environmental images of the environment in which the transfer location and the target location are located; The control mechanism is also used to determine the spatial position of the shield in the environment and the position of obstacles in the environment based on the environmental image. Based on the spatial location and the location of the obstacles, a second transfer strategy matching the transit location and the target location is determined.

5. The system according to claim 4, characterized in that, The control mechanism is also used for: If the distance between the spatial location and the obstacle location is within a preset distance range, the target transfer path is determined based on the spatial location between the transfer location and the target location. The target transfer path is determined as a second transfer strategy that matches the transit location and the target location.

6. The system according to claim 1, characterized in that, The system also includes an alarm mechanism, which is used for: If the control mechanism determines that the transfer status of the nuclear reactor detector assembly is unsafe, it outputs a maintenance prompt signal to remind maintenance personnel to conduct a safety inspection of the shielding.

7. The system according to claim 1, characterized in that, The shield is cylindrical in shape, and the height of the cylindrical shield is greater than the height of the nuclear reactor detector assembly.

8. A method for controlling the transfer of a nuclear reactor detector assembly, characterized in that, The method, applied to the transfer control system according to any one of claims 1 to 7, comprises: Determine the target transfer strategy of the transfer mechanism for the shield; During the process of the transfer mechanism transporting the shielding body based on the target transfer strategy, the transfer status of the nuclear reactor detector assembly is determined based on the movement status of the nuclear reactor detector assembly within the shielding body. If the transfer status is a safe status, then based on the target transfer strategy, the transfer mechanism continues to transfer the shielding body; The method further includes: acquiring the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; acquiring the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determining the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; determining the transfer state of the nuclear reactor detector assembly as a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold; the safe state indicates that the probability of radioactive material leakage from the nuclear reactor detector assembly within the shielding body is less than a preset probability.

9. The method according to claim 8, characterized in that, The position between the initial position and the target position includes a transit position, and the line connecting the transit position and the initial position is perpendicular to the line connecting the transit position and the target position. Determining the target transfer strategy of the transfer mechanism for the shield includes: Determine a first transit strategy that matches the initial location and the transit location, and a second transit strategy that matches the transit location and the target location; The first transfer strategy and the second transfer strategy are determined as the target transfer strategy.

10. A transfer control device for a nuclear reactor detector assembly, characterized in that, The device is applied to the transfer control system according to any one of claims 1 to 7, the device comprising: The determining module is used to determine the target transfer strategy of the transfer mechanism for the shield; The processing module is used to determine the transfer status of the nuclear reactor detector assembly based on the movement status of the nuclear reactor detector assembly within the shielding body during the process of the transfer mechanism transporting the shielding body according to the target transfer strategy. The control module is used to continue controlling the transfer mechanism to transfer the shielding body based on the target transfer strategy if the transfer status is a safe status. The processing module is further configured to: acquire the movement distance of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; acquire the movement tension of the nuclear reactor detector assembly relative to the mechanical axis within a preset time period; determine the movement speed of the nuclear reactor detector assembly within the shielding body based on the movement distance and the preset time period; and determine the transfer state of the nuclear reactor detector assembly as a safe state when the speed difference between the movement speed and the preset speed is less than or equal to a first threshold and the tension difference between the movement tension and the preset tension is less than or equal to a second threshold; the safe state indicates that the probability of radioactive material leakage from the nuclear reactor detector assembly within the shielding body is less than a preset probability.

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