Nuclear island navigation method and system based on work task guidance

Abstract

The invention relates to a nuclear island navigation method and system based on work task guidance. The method comprises the following steps: S1, when a user logs in an interface provided by a server of a navigation system through a mobile terminal, automatically obtaining work ticket information of the current login user from an SAP system; the work ticket information comprises at least one task instruction, and the task instructions are in one-to-one correspondence with the devices needing to be operated. And S2, identifying an equipment code to be operated in the work ticket information. And S3, determining an equipment position according to the equipment code, and taking the equipment position as a target position. And S4, planning at least one advancing route according to the target position, the determined starting point position and the map data in the nuclear island building. According to the invention, the SAP system interconnection and one-key navigation based on the work ticket can be realized, the paperless operation requirement of a power station can be met, the personnel risk is reduced, and the intelligent degree of navigation in a nuclear island is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power navigation, and particularly to a nuclear island navigation method and system oriented by work tasks. Background Art

[0002] The equipment and pipelines in the reactor building are arranged in a complex manner. During the daily operation of the unit, since the building remains closed, the familiarity of the staff with the reactor building is not as good as that of the nuclear auxiliary building and the fuel building. When locating equipment during a major overhaul, after entering the designated room area, it is necessary to rely on the work experience of the staff or refer to the flow chart for equipment location.

[0003] In some cases, such as when the valve / instrument nameplate is blurred or lost, or the valve / instrument is blocked or covered by the SARS shed, it will cause great interference to equipment location, and may seriously affect the critical path of the major overhaul and increase unnecessary radiation dose at the same time. In order to improve the efficiency of the staff in equipment location and increase the familiarity of the staff with the in-island environment, nuclear power plants at home and abroad have developed a nuclear island equipment addressing and location and travel path planning system to guide the staff to travel. In addition, at present, the work arrangement of the staff is still based on paper work tickets. It is necessary to allocate and receive work tickets and carry out maintenance work according to the work instructions on the work tickets. During the maintenance process, the staff needs to input the coding of the equipment to be repaired on the work ticket into the navigation system according to the work card, and after the navigation system locates the equipment position, plan the path.

[0004] However, there are the following problems: the work ticket is still paper-based, which does not meet the requirement of paperless operation in the power station; the navigation system needs to manually input the work ticket equipment information, there is a human factor risk, and it lacks intelligence. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a nuclear island navigation method and system oriented by work tasks in view of the above defects.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a nuclear island navigation method oriented by work tasks, which is applied to a navigation system, and includes the following steps:

[0007] S1. When the user logs in to the interface provided by the server of the navigation system through a mobile terminal, automatically obtain the work ticket information of the currently logged-in user from the SAP system; the work ticket information includes at least one task instruction, and the task instruction corresponds to the equipment to be operated one by one;

[0008] S2. Identify the equipment coding to be operated in the work ticket information;

[0009] S3. Determine the device location based on the device code and use it as the target location;

[0010] S4. Plan at least one travel route based on the target location, the determined starting point location, and the map data inside the nuclear island building.

[0011] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, in step S1, it includes:

[0012] According to the identity information input by the user during login and the pre-configured SAP system interface parameters, call the API or middleware of the SAP system, and obtain the work ticket task list of the currently logged-in user from the SAP system through an API request and pop it up for display in a window form.

[0013] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, in step S3, it includes:

[0014] There is a pre-set correspondence table between device codes and device locations. Search from the correspondence table according to the device code to determine the device location.

[0015] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, in step S4, it includes:

[0016] Input the starting point location through a mobile terminal or scan the on-site environment through a mobile terminal to determine the starting point location.

[0017] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, in step S4, it includes:

[0018] Render a three-dimensional map based on the map data inside the nuclear island building. According to the starting point location and the target location, and based on the A* pathfinding algorithm and the three-dimensional map, plan at least one travel route; the travel route includes the optimal travel route.

[0019] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, in step S4, it includes:

[0020] When the work ticket information includes multiple task instructions, plan the optimal travel route covering all devices based on the starting point location and the locations of all devices to be operated, based on the A* pathfinding algorithm and the three-dimensional map.

[0021] Furthermore, in the nuclear island navigation method oriented by work tasks of the present invention, this method further includes:

[0022] After generating the travel route, perform permission verification on the logged-in user to determine whether the currently logged-in user has obtained the permission for the venues passed by the travel route.

[0023] In addition, the present invention further provides a navigation system for a nuclear island, including a server and a mobile terminal for accessing the server. The server includes an Unreal Engine, a location positioning unit, a device positioning unit, a path planning and navigation unit, and an interface unit connected to the Unreal Engine and the device positioning unit;

[0024] The Unreal Engine connected to the interface unit is used to obtain map data inside the nuclear island building from the SAP system through the interface unit and render it to obtain a rendered three-dimensional map, and push the three-dimensional map to the mobile terminal by means of pixel streaming;

[0025] The location positioning unit is used to obtain the image or video captured by the camera of the mobile terminal, calculate the current position of the mobile terminal based on the captured image or video, and transmit the current position to the path planning and navigation unit;

[0026] The device positioning unit connected to the interface unit is used to obtain work ticket information from the SAP system through the interface unit, determine the device position according to the device code to be operated in the work ticket information, and transmit the device position to the path planning and navigation unit;

[0027] The path planning and navigation unit is used to use the current position and the device position as the starting point position and the target position respectively, and plan at least one travel route based on the starting point position and the target position and in combination with the three-dimensional map.

[0028] Further, in the navigation system for a nuclear island according to the present invention, the path planning and navigation unit also pre-sets a correspondence table between device codes and device positions, searches according to the device code in the correspondence table to determine the device position, and displays or marks the device position in the three-dimensional map.

[0029] Further, in the navigation system for a nuclear island according to the present invention, the path planning and navigation unit is used to plan at least one travel route based on the starting point position and the target position, based on the A* pathfinding algorithm and in combination with the three-dimensional map; the travel route includes an optimal travel route.

[0030] Implementing the work task-oriented nuclear island navigation method and system of the present invention has the following beneficial effects: The present invention can achieve the effect of SAP system interconnection and one-key navigation based on work tickets, can meet the requirements of paperless operation in power plants, reduce personnel risks, improve the intelligence level of navigation within the nuclear island, and further improve operation convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0032] Figure 1 is a schematic flowchart of the work task-oriented nuclear island navigation method provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic flowchart of the work task-oriented nuclear island navigation method provided by an embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of the navigation system for the nuclear island provided by an embodiment of the present invention;

[0035] Figure 4 is a schematic flowchart of the three-dimensional map model construction provided by an embodiment of the present invention;

[0036] Figure 5 is a schematic diagram of the principle of the Unreal Engine provided by an embodiment of the present invention;

[0037] Figure 6 is an example diagram of the simulated on-site environment provided by an embodiment of the present invention;

[0038] Figure 7 is a schematic diagram of multi-objective point route planning provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to have a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the drawings, and are constructed and operated in a specific orientation, only for the convenience of describing the technical solution, rather than indicating that the device or element referred to must have a specific orientation, so it should not be construed as a limitation to the present invention.

[0040] It should also be noted that, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. When a component is referred to as "on" or "under" another component, the component can be "directly" or "indirectly" located above the other component, or there may also be one or more intermediate components. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", etc. can explicitly or implicitly include one or more of such features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In the following description, for purposes of illustration and not limitation, specific details such as specific system architectures, technologies, etc. are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art should understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to impede the description of the present invention with unnecessary details.

[0042] In a preferred embodiment, referring to Figure 1 , the work task-oriented nuclear island navigation method of this embodiment is applied to a navigation system, and includes the following steps:

[0043] S1. When the user logs in to the interface provided by the server of the navigation system through a mobile terminal, automatically obtain the work ticket information of the currently logged-in user from the SAP system. The work ticket information includes at least one task instruction, and the task instruction corresponds to the device to be operated one by one. Further, in step S1, it includes: according to the identity information input by the user during login and the pre-configured SAP system interface parameters, call the API or middleware of the SAP system, and obtain the work ticket task list of the currently logged-in user from the SAP system through an API request and pop it up for display in a window form.

[0044] S2. Identify the device code of the device to be operated in the work ticket information.

[0045] S3. Determine the device location according to the device code and use it as the target location. Specifically, in step S3, it includes: preset a correspondence table between the device code and the device location, and find the device location from the correspondence table according to the device code.

[0046] S4. Based on the target location, the determined starting point location, and the map data inside the nuclear island building, plan at least one travel route. It can be understood that the travel route includes, but is not limited to, one or more of the shortest distance route, the shortest time-consuming route, and the recommended route. Optionally, in step S4, the starting point location is input through the mobile terminal or the on-site environment is scanned through the mobile terminal to determine the starting point location.

[0047] In some embodiments, step S4 includes: rendering a three-dimensional map based on the map data inside the nuclear island building, and based on the starting point location and the target location, planning at least one travel route based on the A* pathfinding algorithm and the three-dimensional map. The travel route includes the optimal travel route.

[0048] This application provides a task-oriented nuclear island navigation method. After the user logs in to the navigation system, the system will automatically dock with the SAP system and automatically pull the user's current work ticket task list. Through the intelligent analysis of the work content in the work ticket and the identification of the equipment codes to be operated in the work ticket. For each work ticket task, the system can perform efficient navigation with one key. This function can not only plan the optimal travel route, including the floor and room information along the way, but also accurately calculate the whole journey distance (in meters). This embodiment can achieve the effect of interconnecting with the SAP system and realizing one-key navigation based on the work ticket, can meet the requirements of paperless operation in the power station, reduce personnel risks, improve the intelligence level of navigation inside the nuclear island, and further improve the operation convenience.

[0049] In a specific implementation manner, the user logs in to the navigation system through the mobile terminal, and the system verifies the user's identity through 4A login. It should be noted that 4A login usually refers to the login method based on the 4A unified security management platform. 4A is the abbreviation of "Authentication, Authorization, Account, Audit", and it is a solution for enterprise IT system security management. In the nuclear power field, the SAP system usually refers to the enterprise resource planning (ERP) software system provided by the German SAP company, which is widely used in the operation management of nuclear power plants to realize the digitization and efficient management of business processes.

[0050] After the user logs in successfully, the work ticket information of the currently logged-in user is automatically obtained from the SAP system. Specifically, the system can call the API or middleware of the SAP system according to the user identity information and the configured SAP system interface parameters. Then, through the API request, the work ticket task list of the current user is pulled from the SAP system and automatically popped up in window form or popped up in window form after being selected by the staff. It can be understood that the API is an interface specification that allows different software systems to interact and communicate. It defines how software components request and respond to data. The middleware is a software component located between the client and the server and is used to process requests and responses.

[0051] Parse the returned JSON or XML format data, extract the key information of the work ticket, such as task ID, task description, the encoding of the equipment to be operated, etc., and determine the target point (i.e., the target location) according to the equipment encoding. It can be understood that the positions of the equipment in the reactor building are usually fixed, so the system can pre-store a correspondence table between the equipment encoding and the equipment location. After identifying the equipment encoding of the equipment to be operated, the equipment location (i.e., the target location) can be determined by looking up in the preset correspondence table according to the equipment encoding.

[0052] After determining the target point, the staff can confirm the target point as the end point through the mobile terminal, and then input the starting point location through the mobile terminal or scan the on-site environment through the mobile terminal to confirm the starting point location. Optionally, after the navigation system searches for the equipment, it can self-locate the mobile terminal. The user can move the terminal in their hand left and right to scan the environment. After the scan is completed, the current location can be identified and used as the starting point location. Of course, it can also be directly input the starting point location required by the user.

[0053] After determining the starting point location and the end point location, the navigation system plans the optimal travel route for each piece of equipment to be operated based on the A* pathfinding algorithm and in combination with the map data inside the building. It can be understood that the A* pathfinding algorithm will consider various factors, such as distance, obstacles, elevator / stair positions, etc., to find the fastest or shortest travel path. Calculate and store the detailed information of each path, including the floors, rooms passed through, and the estimated travel time or distance, and display the floor and room information passed through, as well as the total distance (in meters) and the interval distance between the rooms passed through in the navigation interface. The system will default to recommend the optimal path, and the staff can also select the path according to the situation. It should be noted that the map data inside the building of the nuclear island is pre-stored in the navigation system. It should be noted that the algorithm logic of the A* pathfinding algorithm can refer to the prior art.

[0054] Exemplarily, navigate to the location of the 3RAZ885VZ device (the device to be operated in the work ticket). The 3RAZ885VZ device is in Room 505, and the starting point is the corridor 0 meters away. The navigation system plans three travel routes. The first travel route is the optimal recommended route: first walk 20 meters past Room 507, then walk 15 meters past Corridor 501, and finally reach the room of the 3RAZ885VZ device. The second travel route requires detouring: first walk 50 meters past the outer corridor, then walk 15 meters past Room 503, and finally reach the room of the 3RAZ885VZ device. The third travel route is a high-dose route and requires passing through rooms with relatively high radiation doses.

[0055] Further, in step S4, when the work ticket information includes multiple task instructions, based on the starting point location and the locations of all devices to be operated, an optimal travel route covering all devices is planned based on the A* pathfinding algorithm and the 3D map. That is to say, if the work ticket (work ticket information) contains multiple task instructions, when pathfinding, the system determines the optimal solution (less time, shorter path) according to the starting point location, combined with the locations of all task instruction devices, and forms an optimal path covering all devices.

[0056] Based on the above embodiments, after the staff reaches the task instruction device through the navigation system, they can start the maintenance work until all maintenance is completed or they reach the last task instruction device. Specifically, when the staff (user) reaches each target point, they can manually confirm the arrival, or they can also automatically determine the arrival by means of real-time scanning and identifying the current environment for positioning. If it is incorrect, the navigation will continue to be provided for the user.

[0057] In some embodiments, referring to Figure 2 , the task-oriented nuclear island navigation method of this embodiment further includes: S5. After generating the travel route, perform permission verification on the logged-in user to determine whether the currently logged-in user has obtained the permission for the places passed by the travel route. It can be understood that after the navigation system generates the navigation path, it can also perform permission verification on the logged-in staff to determine whether the logged-in person has obtained the permission for the places passed by the navigation path. If the permission has been obtained, it is prompted that the permission verification has been completed, and then the next step is continued. If not, a pop-up window prompts that the permission has not been obtained and the verification fails, reminding the staff to handle the relevant permission.

[0058] In another preferred embodiment, referring to Figure 3, the navigation system for the nuclear island in this embodiment includes a server 1 and a mobile terminal 2 for accessing the server 1. The mobile terminal 2 can obtain the corresponding navigation route and display it on the terminal by logging in to access the server 1. The server 1 includes an Unreal Engine 11, a location positioning unit 12, a device positioning unit 13, a path planning and navigation unit 14, and an interface unit 15 connected to the Unreal Engine 11 and the device positioning unit 13. The Unreal Engine 11 connected to the interface unit 15 is used to obtain the map data inside the nuclear island building from the SAP system through the interface unit 15 and render it to obtain a rendered three-dimensional map, and push the three-dimensional map to the mobile terminal 2 through the pixel streaming method.

[0059] The location positioning unit 12 is used to obtain the images or videos captured by the camera of the mobile terminal 2, calculate the current location of the mobile terminal 2 based on the captured images or videos, and transmit the current location to the path planning and navigation unit 14. The device positioning unit 13 connected to the interface unit 15 is used to obtain the work ticket information from the SAP system through the interface unit 15, determine the device location according to the device code identified in the work ticket information, and transmit the device location to the path planning and navigation unit 14. The path planning and navigation unit 14 is used to use the current location and the device location as the starting point location and the target location respectively, and plan at least one travel route based on the starting point location and the target location and in combination with the three-dimensional map. The navigation system in this embodiment can improve the operation convenience during the major overhaul of the nuclear island, be interconnected with the SAP system, can automatically read the work ticket information of the staff, avoid manual input errors, reduce human errors, and link the navigation with the tasks of the personnel.

[0060] In some embodiments, the path planning and navigation unit 14 also presets a correspondence table between device codes and device locations, searches according to the device code in the correspondence table to determine the device location, and displays or marks the device location in the three-dimensional map. The path planning and navigation unit 14 plans at least one travel route based on the starting point location and the target location, based on the A* pathfinding algorithm and in combination with the three-dimensional map. The travel route includes the optimal travel route.

[0061] It can be understood that the three-dimensional map is a 1:1 high-fidelity digital twin model that is consistent with the actual space height, and the scene is restored 1:1 through methods such as laser scanning + panoramic images + on-site photos; the content of the three-dimensional map includes all contents such as the overall layout of the plant, the structure and location of equipment, and the pipeline situation. Exemplarily, Figure 4It is a schematic diagram of the process for constructing a 3D map model, showing the construction process of the 3D map model. Specifically, regarding the acquisition method, the laser scanning plus panoramic modeling method is adopted to improve the factory building. When collecting data, three devices are used to ensure the accuracy of data collection and ensure no omission. Regarding environmental occlusion, a panoramic camera is used to collect information behind occluding objects, and the collected information is used to reconstruct the model to achieve occlusion elimination. Regarding the factory building construction, a BIM model is used on the equipment to fully restore the on-site equipment. Later, the database records the equipment, valve models, and models, and corresponds to each signboard.

[0062] Since the 3D map needs to render complex 3D models in the nuclear island, different usage terminals (mobile phones, pads, PC terminals) are limited by hardware reasons and cannot handle complex graphics rendering and calculations. Therefore, the 3D map is developed using the UE4 / 5 (Unreal Engine) 3D engine, and the pixel streaming technology is used to meet the requirements. Through pixel streaming, the 3D rendering process is transferred from the terminal to the server, and then the rendered image is transmitted to the mobile terminal in the form of a video stream. In this way, the mobile terminal only needs to have the video decoding and display capabilities, and can experience high-quality game content on ordinary mobile phones, PADs or PCs through simple video playback and input control, without upgrading the hardware or using more powerful devices.

[0063] As Figure 5 shown, it is a schematic diagram of the principle of the Unreal Engine. Taking the UE4 Unreal Engine as an example, the working principle of the UE4 Unreal Engine: 1) The UE4 engine runs on a dedicated server and renders the game scene. 2) Through the Pixel Streaming plugin, the nuclear island 3D model file (3Dmax) is imported into the Unreal Engine for rendering, and the rendered 3D image will be pushed to the WebRTC client in the form of a streaming media. 3) The web page or APP application on the client receives the image stream and renders the game scene on the user's terminal device accordingly. 4) The user can interact with the 3D scene and transmit the operation commands back to the UE Unreal Engine server, and these commands will also be transmitted back to the server through the network to update the scene state. This technical solution can achieve high-quality game rendering effects, while reducing the hardware requirements of the client device and improving the accessibility of the 3D scene.

[0064] The position location unit mainly calculates and determines the current position by obtaining the images or videos captured by the mobile terminal camera. Specifically, the position location unit supports positioning through manual input or on-site scanning. On-site scanning obtains information about the real world by using the camera device of the mobile terminal, and integrates and processes it with VR data and navigation content. By analyzing the visual features and geometric relationships in the environment, combined with machine learning and image processing algorithms, precise positioning of the current position is achieved. The device location unit is used to obtain the task device information and 3D map information fed back by the interface unit, and determine the end position by referring to the 3D map.

[0065] The path planning and navigation unit intelligently plans the path from the starting point to the end point, realizing dynamic display of the navigation path, indicating arrows, landmarks, etc. Users can intuitively understand their position and forward direction through mobile terminals such as mobile phones or other AR devices.

[0066] The interface unit is used to dock with the SAP system. Through the configured SAP system interface parameters, it calls the API or middleware of the SAP system. Through an API request, it pulls the work order task list of the current user from the SAP system, parses the returned JSON or XML format data, and extracts the key information of the work order.

[0067] It can be understood that the intelligent device addressing algorithm realizes the basic addressing of devices based on the Navigation Mesh algorithm. The navigation mesh is composed of multiple convex polygons (Convex Polygon, Poly Mesh). Poly Mesh is sometimes also simply referred to as Poly, that is, each colored block part in the following figure. Note that here Poly specifically refers to the constituent unit of the navigation mesh. The pathfinding in the navigation mesh is based on Poly. For two points within the same Poly, they can reach each other directly in the case of ignoring the terrain height; if two points are located in different Polys, then the navigation mesh + pathfinding algorithm (such as the A* algorithm) is used to calculate the Polys that need to be passed through, and then the specific path is calculated.

[0068] The Navigation Mesh is mainly based on the Recast Navigation open-source library to automatically generate a navigation mesh. The generation of the navigation mesh is divided into the following steps: 1. Voxelization of the scene model, also known as "rasterization". 2. Filter out the walkable surface. 3. Generate Regions. 4. Generate Contours. 5. Generate Poly Meshes. 6. Generate Detailed Meshes. Voxelization, as the name implies, is to convert the entire scene model into voxels. This step of processing is the same concept as the rasterization process in the GPU rendering pipeline, which is to convert the vector model information (triangles) into dot matrix information (pixels or voxels).

[0069] The Walkable Suface initially calculates the walkable surface by determining which voxels have enough space at the top for walking and filtering out some non-compliant voxels according to the set parameters. A Region is formed by using a specific algorithm to divide these walkable surfaces into as large, continuous, non-overlapping "regions" without "holes" in the middle. This region is called a Region. Since there is no overlap, height information is no longer required, so the problem is transformed from three-dimensional space to two-dimensional space at this step. Recast provides three algorithms for this step: Watershed partitioning: The most classic and best-performing, but relatively slow to process, generally used for offline processing. Monotone Partitioning, the fastest and can ensure that the generated Regions are non-overlapping and without holes, but the generated Regions may be thin and long and have poor results. Layer Partitioning, with speed and performance between the Watershed algorithm and Monotone Partitioning, and is more dependent on the initial data. Although a Region is a non-overlapping and hole-free area, it may still be a concave polygon, and it cannot be guaranteed that any two points within the Region can reach each other in a straight line on the two-dimensional plane. Therefore, the next step is to split each Region into multiple convex polygons.

[0070] In this step of generating the Contour, based on the voxelization information and the Region, the Detailed Contours (precise contours) depicting the Region are first constructed. Since the Detailed Contour constructs the edges in terms of voxels, it is jagged. Then, the Detailed Contours are simplified to Simplified Contours to facilitate subsequent triangulation. After this step, the voxelization data will no longer be used.

[0071] Generating the Polygon Mesh: Since most algorithms require convex polygons for processing, this step is to split the Simplified Contours into multiple convex polygons. Convex polygons are abbreviated as Polygon or Poly in the code. In a Polygon, any two points can be reached directly by a straight line in the two-dimensional plane. Therefore, the Polygon is the basic pathfinding unit of Detour.

[0072] Generating the Detailed Mesh: If the topological structure of the scene is regarded as an undirected graph, where each Polygon is a vertex. Then the Polygon only solves the pathfinding problem in terms of topology. However, in order to make the character walk more closely to the ground during the actual pathfinding process, some more precise terrain information (such as height) is needed. Therefore, the Polygon also needs to be split into a Detailed Mesh that is closer to the surface shape.

[0073] The pathfinding algorithm mainly uses the A* algorithm for path search. The A* algorithm combines the advantages of the Dijkstra algorithm and the greedy best-first search and can efficiently find the optimal path from the starting point to the target. The estimation function of the A* algorithm is: F(n) = G(n) + H(n). g(n) represents the actual distance from the starting point to point n (in practice, the starting point used is actually the g value of the previous point plus the additional value). h(n) represents the estimated distance from point n to the target vertex. The distance is generally calculated using the Manhattan distance, which supports four directions, and the Manhattan distance is |x1 - x2| + |y1 + y2| for the starting point; if eight directions are supported, the diagonal is added for calculation.

[0074] The heuristic function is used to estimate some values that need to be referred to in pathfinding. By using different heuristic functions in the algorithm, different pathfinding results can be obtained. The open set (Open List) stores the points that need to be concerned currently, usually the points around the current pathfinding point. In pathfinding calculations, it is often necessary to take out the point with the smallest estimated value calculated by the heuristic function from the open set. Therefore, the open set is generally implemented using an ordered data structure. The closed set (Close List) stores all the points whose estimated values have been calculated by the heuristic function. When a point has been processed in the pathfinding calculation, it will be placed in this set. Since it is often necessary to determine whether a point is in the closed set, it is generally implemented using a data structure such as a hash table. The steps of the addressing algorithm are as follows:

[0075] 1. First, set the starting point as the current point and add it to the closed set.

[0076] 2. Process each reachable point of the current point that is not in the closed set in turn. Check whether it is in the open set. If not, set its previous point as the current point, calculate its total cost, and add it to the open set. If it is already in the open set, recalculate its total cost with the current point as its previous point. If it is less than before, change its previous point to the current point and update its total cost.

[0077] 3. Check the open set. If it is empty, the map search has ended. Jump to step 5.

[0078] 4. If the open set is not empty, take out the point with the smallest total cost in it and set it as the current point. Compare its position with the target end point. If they are the same, the search ends. Otherwise, add it to the closed set and repeat step 2.

[0079] 5. When the search ends, if the position of the current point is not the target end point, then the pathfinding fails. Otherwise, start from the current point, which is the end point, and keep looking for the previous points. The reverse order of this line is the result of the pathfinding.

[0080] First, in the A* algorithm, two path sums are used for calculation. Second, when the A* algorithm processes a reachable point that is already in the open set, it will compare its current total cost with the total cost with itself as the previous point. Only when the total cost with itself as the previous point is smaller will it update the previous point of the reachable point.

[0081] The intelligent navigation path planning algorithm is further extended on the basis of the device addressing algorithm. According to the complex on-site operation environment, such as radiation dose level, narrow walkable area, cross-floor target location, etc., it uses Navigation Modifier Volumes and Navigation Query Filters to control path planning. For multi-target navigation, the dynamic programming algorithm of TSP (Traveling Salesman Problem) is used to calculate the optimal path.

[0082] The Navigation Modifier Volumes will use Area Classes to determine the default cost multiplier for pathfinding within the volume. The Area Classes also define the Fixed Area Entering Cost, which is the initial cost adopted when an agent enters this area. The Navigation Query Filters contain information about one or more Area Classes and can override the cost values if necessary. The steps of the intelligent navigation path planning algorithm are as follows:

[0083] 1. Eliminate the walkable areas in narrow spaces according to the Navigation Modifier Volumes.

[0084] 2. Configure the radiation dose data model into the cost of the area in the Navigation Modifier Volumes. During the addressing algorithm process, combine the path length and the area cost to plan the optimal path.

[0085] 3. Set query conditions, such as stairs and elevators. Through the Navigation Query Filters, switch different query conditions and calculate the route planning in different ways.

[0086] As Figure 6 shown, it is an example diagram of the simulated on-site environment. The red and blue areas represent different radiation dose data, with the red dose being higher than the blue, and the purple represents the non-walkable area. Through the algorithm calculation, the character automatically selects the blue area and moves towards the target point.

[0087] As Figure 7 shown, it is a schematic diagram of the multi-target point route planning, where 1, 2, 3, 4, and 5 represent five target points. This model can be abstracted as a graph and can be represented by an adjacency matrix c as follows:

[0088]

[0089] Dynamic programming equation: Assume starting from vertex s, let d(i, V) represent the shortest path length from vertex i, passing through each vertex in V (which is a set of points) once and only once, and finally returning to the starting point s. The derivation is as follows:

[0090] There are two cases: ① When V is an empty set, it means going directly back from i to s. ② If V is not empty, it is the optimal solution to the sub-problem. You must try each one in the set of cities V and find the optimal solution. The distance between the selected city and city i represents a sub-problem. Thus, the dynamic programming equation for the TSP problem can be obtained:

[0091]

[0092] where s is the starting point.

[0093] Data structure: As represented by the above dynamic programming formula d(i, V), it is the length of the shortest path starting from vertex i, passing through each vertex in V (a set of points) once and only once, and finally returning to the starting point s. According to the given test cases above, there are 5 city numbers: 0, 1, 2, 3, 4. Then, visiting n cities, exactly visiting each city once, and finally returning to the starting city, the shortest distance can be expressed as d(0, {1, 2, 3, 4}). So, the question is what data structure we use to represent d(i, V). Here, we can use a two-dimensional array dp[N][M] to represent it. N represents the number of cities, and M represents the number of sets. That is, the reason for this representation is that set V has subsets. According to the test cases, the dp array table as shown in Table 1 below can be obtained.

[0094] Table 1 dp array table

[0095]

[0096] Calculation of the shortest path vertex: After calculating the dp[N][M] array, the path can be deduced backward using the dp array. The algorithm idea is as follows: For example, in the first step, we know which value is the smallest, as shown below:

[0097] d(0, {1, 2, 3, 4}) = min{

[0098] C 01 + d(1, {2, 3, 4}

[0099] C 02 + d{2, {1, 3, 4}}

[0100] C 03 + d{3, {1, 2, 4}}

[0101] C 04 + d{3, {1, 2, 3}}

[0102] }

[0103] Since the dp[N][M] array is known, it can be calculated that C01 + d(1, {2, 3, 4}) is the smallest. Therefore, starting from the starting point 0 at the beginning, it passes through 1. Next, calculate d(1, {2, 3, 4}) in the same way as follows:

[0104] d(1, {2, 3, 4}) = min{

[0105] C 12 + d(2, {3, 4}

[0106] C 13 + d(3, {2, 4}

[0107] C 14 + d(4, {2, 3}

[0108] }

[0109] It can be calculated that C14 + d(4, {2, 3}), so 0 ---> 1 ----> 4. Next, find d(4, {2, 3}) in the same way. The finally calculated path is: 0 ---> 1 ---> 4 ---> 2 ---> 3 ---> 0.

[0110] Those skilled in the art can further realize that, combining the units and algorithm steps of the examples described in the embodiments disclosed herein, they can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0111] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0112] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A nuclear island navigation method oriented by work tasks, applied to a navigation system, characterized in that It includes the following steps: S1. When the user logs in to the interface provided by the server of the navigation system through the mobile terminal, automatically obtain the work ticket information of the currently logged-in user from the SAP system; the work ticket information includes at least one task instruction, and each task instruction corresponds to an equipment to be operated one by one; S2. Identify the equipment code to be operated in the work ticket information; S3. Determine the equipment location according to the equipment code and use it as the target location; S4. Plan at least one travel route according to the target location, the determined starting point location, and the map data inside the nuclear island building.

2. The method for nuclear island navigation oriented by work tasks according to claim 1, characterized in that In step S1, it includes: According to the identity information input by the user during login and the pre-configured SAP system interface parameters, call the API or middleware of the SAP system, and obtain the work ticket task list of the currently logged-in user from the SAP system through the API request and pop it up for display in a window form.

3. The method for nuclear island navigation oriented by work tasks according to claim 1, characterized in that, In step S3, it includes: There is a pre-set correspondence table between equipment codes and equipment locations, and the equipment location is found from the correspondence table according to the equipment code.

4. The method for nuclear island navigation oriented by work tasks according to claim 1, characterized in that In step S4, it includes: Input the starting point location through the mobile terminal or scan the on-site environment through the mobile terminal to determine the starting point location.

5. The method for nuclear island navigation oriented by work tasks according to claim 1, characterized in that In step S4, it includes: Render a three-dimensional map according to the map data inside the nuclear island building, and plan at least one travel route according to the starting point location and the target location, and based on the A* pathfinding algorithm and the three-dimensional map; the travel route includes the optimal travel route.

6. The method for nuclear island navigation oriented by work tasks according to claim 5, wherein In step S4, it includes: When the work ticket information includes multiple task instructions, plan the optimal travel route covering all equipment based on the starting point location and the locations of all equipment to be operated, and based on the A* pathfinding algorithm and the three-dimensional map.

7. The method for nuclear island navigation oriented by work tasks according to claim 1, characterized in that This method further includes: S5. After generating the travel route, perform permission verification on the logged-in user to determine whether the currently logged-in user has obtained the permission for the places passed by the travel route.

8. A navigation system for a nuclear island, characterized in that, It includes a server and a mobile terminal for accessing the server. The server includes an Unreal Engine, a location positioning unit, an equipment positioning unit, a path planning and navigation unit, and an interface unit connected to the Unreal Engine and the equipment positioning unit; The Unreal Engine connected to the interface unit is used to obtain the map data inside the nuclear island building from the SAP system through the interface unit and render it to obtain a rendered three-dimensional map, and push the three-dimensional map to the mobile terminal through the pixel streaming method; The location positioning unit is used to obtain the image or video captured by the mobile terminal camera, calculate the current location of the mobile terminal according to the captured image or video, and transmit the current location to the path planning and navigation unit; The equipment positioning unit connected to the interface unit is used to obtain the work ticket information from the SAP system through the interface unit, identify the equipment code to be operated in the work ticket information, determine the equipment location according to the equipment code, and transmit the equipment location to the path planning and navigation unit; The path planning and navigation unit is used to take the current position and the device position as the starting point position and the target position respectively, and plan at least one travel route according to the starting point position and the target position in combination with the three-dimensional map.

9. The navigation system for a nuclear island according to claim 8, characterized in that, The path planning and navigation unit also presets a correspondence table between device codes and device positions, searches according to the device code in the correspondence table to determine the device position, and displays or marks the device position in the three-dimensional map.

10. The navigation system for a nuclear island according to claim 8, characterized in that, The path planning and navigation unit is used to plan at least one travel route according to the starting point position and the target position, based on the A* pathfinding algorithm and in combination with the three-dimensional map; the travel route includes an optimal travel route.

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