Multi-party interactive nuclear island intelligent navigation method and system

Abstract

The invention relates to a multi-party interactive nuclear island intelligent navigation method and system. The method comprises the following steps: determining a starting point position and an ending point position; and automatically generating a plurality of navigation paths according to the starting point position, the final point position and a three-dimensional map model pre-established according to map data in the nuclear island building. And displaying the path related information of each navigation path so that a user can select one navigation path as a travel route. And receiving an avoidance demand input by the first user, and automatically broadcasting the avoidance demand information to the second user so as to notify the second user of the advancing route and the avoidance demand of the first user. And performing comprehensive evaluation according to the current position and the advancing route of each second user and the advancing route of the first user, calculating to obtain an optimal avoidance place for each second user, and generating an avoidance path. Navigation information interaction during overhaul of maintainers can be improved, an intelligent nuclear island navigation system is constructed, and nuclear island overhaul work of a nuclear power station is assisted to be efficiently completed.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear island navigation, and in particular to a multi-party interactive nuclear island intelligent navigation method and system thereof. Background Art

[0002] The main target users of the nuclear island navigation system are the personnel such as nuclear power plant operation and maintenance. During the major overhaul of the unit, when carrying out work such as main isolation, periodic tests, and equipment maintenance, it is used to quickly locate and intelligently navigate the valves, instruments and other equipment in the reactor building. Due to the intricate layout of the equipment and pipelines in the reactor building, 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 the 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] However, at present, the nuclear island navigation system, like the ordinary navigation system, is one-way, that is, there will be no interactive behavior with other users during the use process. During the major overhaul, there are a large number of maintenance personnel in the nuclear island. When the maintenance personnel carry large objects or other factors require an unobstructed path, other people may not be aware and may meet on a narrow road or be unable to dodge when there are a large number of people, resulting in congestion, which is not conducive to the progress of the major overhaul work. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-party interactive nuclear island intelligent navigation method and system thereof.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a multi-party interactive nuclear island intelligent navigation method, which is applied to a multi-party interactive nuclear island intelligent navigation system. The method includes the following steps:

[0006] S1. After the first user successfully logs in to the interface provided by the server of the multi-party interactive nuclear island intelligent navigation system through the mobile terminal, determine the starting position and the ending position;

[0007] Wherein, the first user is the currently logged-in user, and the ending position is the position of the target equipment to be operated in the task instruction of the work ticket information;

[0008] S2. According to the starting position, the ending position and the three-dimensional map model built in advance according to the map data inside the nuclear island building, automatically generate multiple navigation paths;

[0009] S3. Display the path-related information of each navigation path for the user to select one of the navigation paths as the travel route;

[0010] S4. Receive the avoidance requirement input by the first user, and automatically broadcast the avoidance requirement information to the second user to notify the second user of the travel route and avoidance requirement of the first user; the second user is at least one other logged-in user;

[0011] S5. Based on the current positions and travel routes of each of the second users and the travel route of the first user, conduct a comprehensive evaluation, and calculate an optimal avoidance location for each of the second users and generate an avoidance path.

[0012] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, after step S5, it further includes:

[0013] S6. When the second user arrives at the optimal avoidance location according to the avoidance path, based on the situation of the first user passing through the relevant path monitored in real time, determine whether the second user can return to the location before avoidance and give a prompt.

[0014] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, step S6 further includes:

[0015] After confirming that the first user has passed through the relevant path, prompt the second user that they can return to the location before avoidance; moreover, when it is confirmed that the second user takes the current position as the starting point position and the location before avoidance as the target position, continue to provide navigation services for it.

[0016] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, in step S2, it includes:

[0017] Based on the starting point position and the ending point position, and based on the A* pathfinding algorithm and the three-dimensional map model, automatically generate multiple navigation paths.

[0018] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, the path-related information includes path distance, path smoothness, estimated time spent, and / or radiation dose level.

[0019] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, the method further includes:

[0020] Obtain the positioning information of all users, determine the actual number of people passing through in the navigation path according to the personnel positioning information, and judge the path smoothness according to the actual number of people.

[0021] Further, in the multi-party interactive nuclear island intelligent navigation method of the present invention, in step S1, the ending point position is determined by the following method:

[0022] Receive the keyword information of the target device input by the first user; the keyword information includes partial fields of the target device model.

[0023] Search in the device database according to the keyword information and display the search results in a list.

[0024] When the first user determines the target device from the search results, prompt the location of the target device and use it as the end position.

[0025] Furthermore, in the multi-party interactive nuclear island intelligent navigation method of the present invention, step S3 includes:

[0026] After selecting the travel route, automatically enter the real-time navigation interface.

[0027] In addition, the present invention also provides a multi-party interactive nuclear island intelligent navigation system, including a server and a mobile terminal for accessing the server. The server includes a nuclear island three-dimensional model, a position positioning module, a target search module, a path planning and navigation module, and an information interaction module.

[0028] The position positioning module is used to obtain the image or video captured by the mobile terminal camera, calculate the current position of the mobile terminal according to the captured image or video, and transmit the current position to the path planning and navigation module.

[0029] The target search module is used to search in the device database according to the keyword information of the target device input by the first user and display the search results. When the first user determines the target device from the search results, transmit the location of the target device to the path planning and navigation module.

[0030] The path planning and navigation module is used for:

[0031] Respectively use the current position and the location of the target device as the start position and the end position, and automatically generate multiple navigation paths according to the start position, the end position, and the three-dimensional map model built in advance according to the map data inside the nuclear island building. Moreover, display the path-related information of each navigation path for the user to select one navigation path as the travel route.

[0032] The information interaction module is used for:

[0033] Receive the avoidance requirement input by the first user and automatically broadcast the avoidance requirement information to the second user to notify the second user of the travel route and avoidance requirement of the first user; the second user is at least one other logged-in user.

[0034] Based on the current positions and travel routes of each of the second users and the travel route of the first user, a comprehensive evaluation is carried out, and an optimal avoidance location is calculated for each of the second users and an avoidance path is generated.

[0035] Further, in the multi-party interactive nuclear island intelligent navigation system of the present invention, the server further includes a path smoothness judgment module, and the path smoothness judgment module is used to obtain the positioning information of all users, determine the actual number of people passing through in the navigation path according to the personnel positioning information, and judge the path smoothness according to the actual number of people passing through.

[0036] Implementing the multi-party interactive nuclear island intelligent navigation method and system of the present invention has the following beneficial effects: The present invention can improve the navigation information interaction of maintenance personnel during major repairs, construct an intelligent nuclear island navigation system, and help the efficient completion of the nuclear island major repair work of nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0038] Figure 1 is a schematic flow chart of the multi-party interactive nuclear island intelligent navigation method provided by an embodiment of the present invention;

[0039] Figure 2 is a schematic flow chart of the multi-party interactive nuclear island intelligent navigation method provided by an embodiment of the present invention;

[0040] Figure 3 is a schematic structural diagram of the multi-party interactive nuclear island intelligent navigation system provided by an embodiment of the present invention;

[0041] Figure 4 is a schematic structural diagram of the multi-party interactive nuclear island intelligent navigation system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] For 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 accompanying drawings. In the following description, it should be noted that unless otherwise clearly specified and defined, terms such as "installed", "connected", "linked", "fixed", "set", etc. 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 an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located above the other element, or there may also be one or more intermediate elements. Terms such as "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. may 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.

[0043] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, the detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0044] In a preferred embodiment, referring to Figure 1 , the method of this embodiment is applied to a multi-party interactive nuclear island intelligent navigation system. It can be understood that the multi-party interactive nuclear island intelligent navigation system includes a server and a mobile terminal, and users can log in and access the interface provided by the server for nuclear island navigation through the mobile terminal. The multi-party interactive nuclear island intelligent navigation method of this embodiment includes the following steps:

[0045] S1. After the first user successfully logs in to the interface provided by the server of the multi-party interactive nuclear island intelligent navigation system through the mobile terminal, determine the starting position and the ending position. It should be noted that the first user is the currently logged-in user, and the ending position is the position where the target device to be operated is located in the task instruction of the work ticket information.

[0046] It can be understood that the user can input the starting position through the mobile terminal or scan the on-site environment through the mobile terminal to determine the starting position. Exemplarily, after the user logs in successfully, the starting position information is input. The maintenance personnel manually input the starting point position directly or confirm the starting point position by scanning the on-site environment through the mobile terminal. The on-site scanning obtains the information of the real world by using the camera device of the mobile terminal, and fuses and processes it with the VR data and navigation content. By analyzing the visual features and geometric relationships in the environment and combining machine learning and image processing algorithms, the accurate positioning of the starting position is realized.

[0047] S2. According to the starting position, the ending position, and the three-dimensional map model built in advance based on the map data inside the nuclear island building, automatically generate multiple navigation paths. It can be understood that regarding the three-dimensional map model, it contains information such as the overall structure of the nuclear island, supporting equipment, pipelines, room layout, etc. A high-fidelity digital twin model with a 1:1 scale highly consistent with the actual space is established through three-dimensional modeling technology, and the 1:1 restoration of the scene is realized by means of laser scanning + panoramic images + on-site taken photos, etc.; the BIM model is used on the device to fully restore the on-site equipment, and the background database will record the equipment, valve models, and models, and correspond to each sign, achieving the effect consistent with the actual scene.

[0048] S3. Display the path-related information of each navigation path for the user to select one of the navigation paths as the travel route. It can be understood that the path-related information includes but is not limited to path distance, path smoothness, estimated time spent, and / or radiation dose level, etc. It can be understood that the system can automatically enter the real-time navigation interface after the travel route is selected.

[0049] S4. Receive the avoidance requirement input by the first user and automatically broadcast the avoidance requirement information to the second user to notify the second user of the travel route and avoidance requirement of the first user. It can be understood that the second user is at least one other logged-in user. It can be understood that, for example, when user A navigates to a certain destination and hopes that other users avoid his travel route, he can input the avoidance requirement additionally after inputting the navigation destination. After the system receives the avoidance requirement of user A, it will automatically broadcast this information to all other users. On the front-end interface, the system will notify other users of the travel route and avoidance requirement of user A in a prominent way (such as pop-up windows, highlighting, etc.). The system can simultaneously display the instant position movement trajectory and the upcoming route plan of user A on the map. Other users can clearly see this information on the interface and adjust their travel routes as needed to avoid conflicts with A. Moreover, the system will comprehensively evaluate according to the current position, travel direction of each user and the travel route of user A, and calculate the optimal avoidance location for each user who needs to avoid.

[0050] S5. Based on the current positions and travel routes of each second user and the travel route of the first user, perform a comprehensive evaluation, calculate the optimal avoidance location for each second user, and generate an avoidance path.

[0051] This embodiment can enhance the navigation information interaction during the major overhaul of maintenance personnel, construct an intelligent nuclear island navigation system, and contribute to the efficient completion of the nuclear island major overhaul work in nuclear power plants.

[0052] In some embodiments, refer to Figure 2 , after step S5, it further includes: S6. When the second user arrives at the optimal avoidance location according to the avoidance path, based on the situation of the first user passing through the relevant path monitored in real time, determine whether the second user can return to the location before avoidance and give a prompt. Optionally, after confirming that the first user has passed through the relevant path, the system can also prompt the second user that they can return to the location before avoidance. Moreover, when it is confirmed that the second user takes the current position as the starting point position and the location before avoidance as the target position, continue to provide navigation services for it. That is to say, the system will perform a comprehensive evaluation based on the current positions, travel directions of each user, and the travel route of user A, calculate the optimal avoidance location for each user who needs to avoid, and generate a navigation path. After the user travels to the avoidance location according to the avoidance path, they can confirm arrival and the system will prompt whether to return to the location before avoidance; after user A passes through the relevant path, they can continue to follow the system prompt to return to the avoidance point, or continue navigation from the current location.

[0053] In some embodiments, in step S2, it includes: Based on the starting point position and the ending point position, and based on the A* pathfinding algorithm and the three-dimensional map model, automatically generate multiple navigation paths. It can be understood that through the starting point position and the target ending point position, determine the best travel path between the two points (considering factors such as distance, radiation dose, and traffic flow). When planning the path, use the intelligent navigation path planning algorithm combined with the intelligent device addressing algorithm to plan multiple navigation routes; after the user selects the required route, it can dynamically display the navigation path, indicating arrows, landmarks, etc. The user can intuitively understand their position and forward direction through a mobile terminal such as a mobile phone or other AR devices. It should be noted that the specific algorithm of the A* pathfinding algorithm in this embodiment can refer to the prior art and will not be elaborated here.

[0054] In some embodiments, this embodiment can also obtain the location information of all users, determine the actual number of people passing through on the navigation path based on the personnel location information, and judge the path smoothness based on the actual number of people passing through. The path smoothness can be identified by colors. Specifically, the smoothness of the navigation path is judged and identified in the following way: The system can draw a personnel distribution map in real time through the personnel location information to visualize the path smoothness. Automatically adjust the color identification of the corresponding location on the navigation interface according to the actual number of people passing through: within a certain area (taking 3㎡ as an example), when the number of people exceeds 5, it is marked as red to warn of an emergency congestion situation; when the number of people is between 3 and 5, it is shown as orange, indicating the possibility of congestion; when the number of people is less than 3, it is marked in green, indicating smooth passage.

[0055] In some embodiments, the end position can be determined in the following way: Receive the keyword information of the target device input by the first user. The keyword information includes some fields of the target device model. Search from the device database according to the keyword information and display the search results in a list. When the first user determines the target device from the search results, prompt the location of the target device and use it as the end position. That is to say, the user can search for the target by inputting the keyword information of the target. The system supports fuzzy search and can display the relevant option list searched out in the form of a list when inputting a small number of keywords; according to the display results, the search target can be visually identified and the target information can be clicked for positioning.

[0056] In another preferred embodiment, referring to Figure 3 , the multi-party interactive nuclear island intelligent navigation system of this embodiment includes a server 1 and a mobile terminal 2 for accessing the server 1. The server 1 includes a nuclear island three-dimensional map model 11, a location positioning module 12, a target search module 13, a path planning and navigation module 14, and an information interaction module 15.

[0057] The location positioning module 12 is used to obtain the image or video captured by the camera of the mobile terminal 2, calculate the current position of the mobile terminal 2 based on the captured image or video, and transmit the current position to the path planning and navigation module 14. The target search module 13 is used to search from the device database according to the keyword information of the target device input by the first user and display the search results. When the first user determines the target device from the search results, transmit the location of the target device to the path planning and navigation module 14.

[0058] The path planning and navigation module 14 is used for: taking the current position and the position of the target device as the starting position and the ending position respectively, and automatically generating multiple navigation paths according to the starting position, the ending position, and the three-dimensional map model 11 built in advance based on the map data inside the nuclear island building. Moreover, it displays the path-related information of each navigation path for the user to select one of the navigation paths as the travel route.

[0059] Since the three-dimensional map needs to render the complex three-dimensional models inside the nuclear island, different usage terminals (mobile phones, pads, PC terminals) are limited by hardware and cannot handle complex graphic rendering and calculations. Therefore, the three-dimensional map can be developed using the UE4 / 5 (Unreal Engine) three-dimensional engine and meet the requirements using the pixel streaming technology. Through pixel streaming, the three-dimensional 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. That is to say, the Unreal Engine imports the nuclear island 3D model file (3Dmax) into the Unreal Engine for rendering, and the rendered three-dimensional image will be pushed to the WebRTC client in the form of a streaming media. The web page or APP application of the client receives the image stream and renders the game scene on the user's terminal device accordingly. The user can interact with the three-dimensional 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, reduce the hardware requirements of the client device at the same time, and improve the accessibility of the three-dimensional scene. 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.

[0060] The information interaction module 15 is used for: receiving the avoidance requirement input by the first user, and automatically broadcasting the avoidance requirement information to the second user to notify the second user of the travel route and avoidance requirement of the first user. The second user is at least one other logged-in user. Based on the comprehensive evaluation of the current position and travel route of each second user and the travel route of the first user, the optimal avoidance location is calculated for each second user and the avoidance path is generated. This embodiment can improve the navigation information interaction during the major overhaul of maintenance personnel, build an intelligent nuclear island navigation system, and help the efficient completion of the nuclear island major overhaul work in nuclear power plants.

[0061] It can be understood that the information interaction module 15 is used for information feedback and reception to implement the interaction function. It includes the following aspects:

[0062] (1) Information feedback: Avoidance requirement input: When user A navigates to a certain destination and hopes that other users avoid his route, after entering the navigation destination, he can additionally input an avoidance requirement (during major repairs, there are many maintenance personnel in the nuclear island and the space is relatively narrow. For maintenance personnel who need to carry large objects or other objects to be avoided, this function can assist in quickly reaching the destination).

[0063] (2) Information reception: After the system receives the avoidance requirement of user A, it will automatically broadcast this information to all other users. On the front-end interface, the system will notify other users of user A's route and avoidance requirement in a prominent way (such as pop-up windows, highlighting, etc.). The system can simultaneously display the real-time position movement trajectory and the upcoming route plan of user A on the map. Other users can clearly see this information on the interface and adjust their travel routes as needed to avoid conflicts with A.

[0064] (3) Intelligent processing: Optimal avoidance location recommendation: The system will comprehensively evaluate based on the current position, travel direction of each user, and the route of user A, calculate the optimal avoidance location for each user who needs to avoid, and generate a navigation path. After the user goes to the avoidance location according to the avoidance path, he can confirm arrival and the system will prompt whether to return to the location before avoidance; after user A passes through the relevant path, he can continue to follow the system prompt to return to the avoidance point, or continue to navigate from the current location.

[0065] It can be understood that the navigation process of this navigation system is as follows:

[0066] 1. Log in to the navigation system and input the starting point information.

[0067] 2. After confirming the starting point position, input the keyword information and confirm the ending point position.

[0068] 3. The system automatically generates multiple navigation paths based on the starting point position and the ending point position, and the user can independently select a navigation path. When the path is generated, display the path-related information (distance, traffic flow, estimated time spent, radiation dose level, etc.).

[0069] 4. After selecting the navigation path, enter the navigation interface, and the interface can be selected to navigate in the first-person perspective.

[0070] 5. During navigation, an avoidance request can be made as needed. After the system receives the request, it makes a feedback, sends the avoidance information to the relevant users, and provides avoidance navigation for each user who needs to avoid.

[0071] In some embodiments, refer to Figure 4, the server further includes a path smoothness judgment module 16. The path smoothness judgment module 16 is used to obtain the positioning information of all users, determine the actual number of people passing through in the navigation path according to the personnel positioning information, and judge the path smoothness according to the actual number of people passing through. It can be understood that this system will dynamically display the real-time position movement trajectory of on-site staff and the route plan to be traveled according to the current time point, providing detailed personnel whereabouts views for management personnel. For the preset travel route, the system automatically adjusts the color marking according to the actual number of people passing through. Exemplarily, for example, it can be set to be marked red when the number of people exceeds 5 to warn of an emergency congestion situation; it is shown as orange when the number of people is between 3 and 5, indicating that there may be congestion; and when the number of people is less than 3, it is marked green, indicating smooth passage.

[0072] This navigation system has the advantages of combining navigation path optimization and path smoothness. It can automatically display the path smoothness, which is convenient for users to respond flexibly and can also play a warning role for users. After being promoted and used in the whole plant, it can improve the navigation information interaction of maintenance personnel during major repairs, build an intelligent nuclear island navigation system, and help the efficient completion of the nuclear island major repair work in nuclear power plants.

[0073] In some embodiments, when the work ticket information includes multiple task instructions, the system can also plan the optimal travel route covering all devices based on the A* pathfinding algorithm and the three-dimensional map model according to the starting position and the positions of all devices to be operated (multiple end positions). It should be noted that there is a one-to-one correspondence between the task instructions and the target devices to be operated. That is to say, if the work ticket (work ticket information) contains multiple task instructions, when pathfinding, the system judges the optimal solution (less time, shorter path) according to the starting position and combines the positions of all task instruction devices to form the optimal path covering all devices. After the staff arrives at 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) arrives at each target point, they can manually confirm the arrival, or they can also automatically judge 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.

[0074] Professional personnel can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article 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. Professional technical personnel can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present invention.

[0075] The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be implemented directly in hardware, in software modules executed by a processor, or in a combination thereof. The software modules may be placed in a random access memory (RAM), internal 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 art.

[0076] 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, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be pointed out 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 belong to 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 multi-party interactive nuclear island intelligent navigation method, which is applied to a multi-party interactive nuclear island intelligent navigation system, and is characterized in that, The method includes the following steps: S1. After the first user successfully logs in to the interface provided by the server of the multi-party interactive nuclear island intelligent navigation system through the mobile terminal, determine the starting position and the ending position; wherein, the first user is the currently logged-in user, and the ending position is the position where the target device to be operated in the task instruction of the work ticket information is located; S2. According to the starting position, the ending position, and the three-dimensional map model built in advance based on the map data inside the nuclear island building, automatically generate multiple navigation paths; S3. Display the path-related information of each navigation path for the user to select one navigation path therefrom as the travel route; S4. Receive the avoidance requirement input by the first user, and automatically broadcast the avoidance requirement information to the second user to notify the second user of the travel route and the avoidance requirement of the first user; the second user is at least one other logged-in user; S5. Based on the current position and the travel route of each second user and the travel route of the first user, conduct a comprehensive evaluation, and calculate the optimal avoidance location for each second user and generate an avoidance path.

2. The multi-party interactive nuclear island intelligent navigation method according to claim 1, wherein After step S5, it further includes: S6. When the second user reaches the optimal avoidance location according to the avoidance path, judge whether the second user can return to the location before avoidance and give a prompt according to the situation of the first user passing through the relevant path monitored in real time.

3. The multi-party interactive nuclear island intelligent navigation method according to claim 2, characterized in that, Step S6 further includes: After confirming that the first user has passed through the relevant path, prompt the second user that they can return to the location before avoidance; moreover, when it is confirmed that the second user takes the current position as the starting point position and the location before avoidance as the target position, continue to provide navigation services for it.

4. The multi-party interactive nuclear island intelligent navigation method according to claim 1, characterized in that In step S2, it includes: According to the starting position and the ending position, and based on the A* pathfinding algorithm and the three-dimensional map model, automatically generate multiple navigation paths.

5. The multi-party interactive nuclear island intelligent navigation method according to claim 1, wherein The path-related information includes path distance, path smoothness, estimated time spent, and / or radiation dose level.

6. The multi-party interactive nuclear island intelligent navigation method according to claim 1, characterized in that The method further includes: Obtain the positioning information of all users, determine the actual number of people passing through in the navigation path according to the personnel positioning information, and judge the path smoothness according to the actual number of people.

7. The multi-party interactive nuclear island intelligent navigation method according to claim 1, characterized in that, In step S1, the ending position is determined in the following manner: Receive the keyword information of the target device input by the first user; the keyword information includes partial fields of the target device model; Search in the device database according to the keyword information and display the search results in a list; When the first user determines the target device from the search results, prompt the location where the target device is located and use it as the ending position.

8. The multi-party interactive nuclear island intelligent navigation method according to claim 1, wherein Step S3 includes: After selecting the travel route, automatically enter the real-time navigation interface.

9. A multi-party interactive nuclear island intelligent navigation system, characterized in that, It includes a server and a mobile terminal for accessing the server. The server includes a nuclear island three-dimensional model, a position positioning module, a target search module, a path planning and navigation module, and an information interaction module; The position positioning module is used to obtain the images or videos captured by the camera of the mobile terminal, calculate the current position of the mobile terminal based on the captured images or videos, and transmit the current position to the path planning and navigation module; The target search module is used to search in the device database according to the keyword information of the target device input by the first user and display the search results. When the first user determines the target device from the search results, transmit the location where the target device is located to the path planning and navigation module; The path planning and navigation module is used for: Taking the current position and the location where the target device is located as the starting position and the ending position respectively, and automatically generating multiple navigation paths according to the starting position, the ending position, and the three-dimensional map model pre-built based on the map data inside the nuclear island building; moreover, displaying the path-related information of each navigation path for the user to select one of the navigation paths as the travel route; The information interaction module is used for: Receiving the avoidance requirement input by the first user, and automatically broadcasting the avoidance requirement information to the second user to notify the second user of the travel route and the avoidance requirement of the first user; The second user is at least one other logged-in user; Conducting a comprehensive evaluation based on the current position and travel route of each second user and the travel route of the first user, and calculating the optimal avoidance location and generating an avoidance path for each second user.

10. The multi-party interactive nuclear island intelligent navigation system according to claim 9, characterized in that, The server further includes a path trafficability judgment module. The path trafficability judgment module is used to obtain the positioning information of all users, determine the actual number of people passing through in the navigation path according to the personnel positioning information, and judge the path trafficability according to the actual number of people.

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