Control method and device for loading and unloading machine in full-automatic refueling process of nuclear power station

Abstract

The invention discloses a method and a device for controlling a loading and unloading machine in a full-automatic refueling process of a nuclear power station. The method comprises the following steps of: reading a refueling step sequence in a database of a full-automatic refueling system; a temporary shutdown point of the loading and unloading machine in the full-automatic material changing process is set; generating a running path of the material loading and unloading machine in the full-automatic material changing process based on the material changing step sequence and the temporary shutdown point; and a control instruction is generated according to the running path, and the loading and unloading machine is controlled through an automatic control system. According to the operation path determined by the method, the fuel assembly can be safely and accurately transported to a reactor core or a designated storage position, the refueling efficiency can be effectively improved, manual intervention is reduced, the operation risk is reduced, the reliability and stability of the whole refueling process are further improved, and a powerful guarantee is provided for safe operation and maintenance of a nuclear reactor.

Description

Technical Field

[0001] This invention relates to the field of control of fuel handling and storage equipment, and specifically to a control method and device for a loading and unloading machine in a fully automated refueling process at a nuclear power plant. Background Technology

[0002] The refueling machine is a large and critical piece of equipment in the fuel handling and storage system of a pressurized water reactor (PWR) nuclear power plant. With the introduction of domestically developed fully automated CNC refueling machines for nuclear power plants, the coordinated control of equipment within the PWR nuclear power plant fuel handling and storage system has become a major research focus for researchers. Currently, problems exist such as a large number of refueling machine operators, low levels of equipment automation, and outdated methods for coordinated operation between refueling system equipment.

[0003] Existing patent CN116382172A discloses a remote centralized control system and method for fuel handling and storage equipment. The system includes: an operator station, a redundant control cabinet, an equipment safety protection control cabinet, sensors, and controlled equipment. The operator station is remotely connected to the redundant control cabinet; there are two redundant control cabinets, each redundantly configured; the controlled equipment is connected to the redundant control cabinet; the sensors are used to collect safety signals from the controlled equipment and send these signals to the equipment safety protection control cabinet; the equipment safety protection control cabinet is connected to the controlled equipment via hardwiring and to the redundant control cabinet via a fieldbus.

[0004] Existing patent CN113947885A discloses a remote wireless control method for loading and unloading machines. The remote wireless control system includes: a remote operating station, which includes a front-end device and a portable control console; the front-end device includes an analog camera, a video encoding conversion device, a wireless device box, and an integrated controller. The wireless device box has a built-in switch and a first wireless radio frequency module, providing wired access for the video encoding conversion device and the integrated controller. The portable control console integrates a display screen, a control host, and a second wireless radio frequency module. The control host is equipped with system software.

[0005] In summary, neither of the two existing patents addresses the problems of low automation levels in loading and unloading equipment, inaccurate fuel component transportation, low refueling efficiency, and excessive reliance on operator experience in the prior art. Summary of the Invention

[0006] Based on the above-mentioned technical problems, this invention proposes a control method and device for a refueling machine during the fully automated refueling process in a nuclear power plant, which solves the problems of low automation level of refueling machine equipment, insufficient accuracy in fuel assembly transportation, low refueling efficiency, and excessive reliance on operator experience in the prior art.

[0007] To achieve the above objectives, this invention proposes a control method for a loading and unloading machine during the fully automated refueling process in a nuclear power plant.

[0008] A control method for a refueling machine during a fully automated refueling process in a nuclear power plant, the method comprising:

[0009] Read the material changing sequence from the database of the fully automatic material changing system;

[0010] Set temporary stop points for the loading and unloading machine during the fully automatic material changing process;

[0011] The running path of the loading and unloading machine in the fully automatic material changing process is generated based on the material changing sequence and the temporary stop point;

[0012] Control commands are generated based on the operating path, and the loading and unloading machine is controlled by an automated control system.

[0013] Furthermore, the temporary shutdown points include two or more.

[0014] Furthermore, the temporary shutdown point includes a first temporary shutdown point and a second temporary shutdown point. The horizontal coordinate of the first temporary shutdown point is set as the difference between the horizontal coordinate value of the core center and a first set value. The vertical coordinate of the first temporary shutdown point is set as the vertical coordinate value of the overturning zone. The horizontal coordinate of the second temporary shutdown point is set as the difference between the horizontal coordinate value of the 90° side boundary of the core safety zone and a second set value. The vertical coordinate of the second temporary shutdown point is set as the vertical coordinate value of the centering target position in this refueling step.

[0015] Furthermore, during the fully automated material changing process, the loading and unloading machine performs loading and / or unloading.

[0016] Based on the material change sequence, obtain the centering target position of the loading and / or unloading stage in the current material change sequence;

[0017] Based on the centering target position, the first temporary stop point, and the second temporary stop point, the running path of the loading and / or unloading machine is determined during the loading and / or unloading process.

[0018] Furthermore, the operating path of the loading and unloading machine during the loading process is: from the tipping area to the first temporary stop point to the second temporary stop point to the centering target position under the current material changing step.

[0019] Furthermore, the operating path of the loading and unloading machine during the unloading process is as follows: from the centering target position in this material changing step to the second temporary stop point to the first temporary stop point to the tipping area.

[0020] Furthermore, it also includes:

[0021] Set up temporary shutdown points for equipment storage and maintenance during the fully automatic material changing process of the loading and unloading machine;

[0022] Based on the first temporary shutdown point, the second temporary shutdown point, and the temporary shutdown point for equipment storage and maintenance, the path for equipment storage and maintenance is determined.

[0023] Furthermore, the temporary shutdown points for equipment storage and maintenance include a third temporary shutdown point and a fourth temporary shutdown point.

[0024] The horizontal coordinate of the third temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the overturning zone.

[0025] The horizontal coordinate of the fourth temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the center point of the equipment maintenance and storage area.

[0026] Furthermore, the path for equipment storage and maintenance is: from the current location to the first temporary stop point or the second temporary stop point to the third temporary stop point to the fourth temporary stop point.

[0027] A control device for a refueling machine during a fully automated refueling process in a nuclear power plant, comprising:

[0028] The reading module is used to read the material changing sequence from the database of the fully automatic material changing system.

[0029] The setting module is used to set the temporary stop points of the loading and unloading machine during the fully automatic material changing process;

[0030] A generation module is used to generate the running path of the loading and unloading machine in the fully automatic material changing process based on the material changing sequence and the temporary stop point;

[0031] The control module is used to generate control commands based on the running path and to control the loading and unloading machine using an automated control system.

[0032] A computer-readable storage medium comprising a stored computer program, wherein the computer program can be executed by an electronic device to perform the method.

[0033] A computer program product includes a computer program that, when executed by a processor, implements the steps of the method.

[0034] An electronic device includes a memory and a processor, the memory storing a computer program and the processor being configured to execute the method via the computer program.

[0035] Based on the above technical solution, the present invention has at least the following beneficial effects:

[0036] 1. This invention sets temporary stop points for the refueling machine during the fully automated refueling process. Based on the refueling sequence and temporary stop points, it generates the operating path of the refueling machine during the fully automated refueling process. Finally, it generates control commands based on the operating path and uses an automated control system to control the refueling machine. The operating path determined by this invention enables the safe and accurate transport of fuel assemblies to the reactor core or designated storage location. It also effectively improves refueling efficiency, reduces manual intervention, lowers operational risks, optimizes the operating trajectory of the refueling machine, avoids unnecessary mechanical wear, extends equipment service life, and further enhances the reliability and stability of the entire refueling process, providing a strong guarantee for the safe operation and maintenance of nuclear reactors.

[0037] 2. This invention uses the abscissa of the core center as the abscissa of the first temporary shutdown point, which can be used as a reference for positioning. This ensures that the fuel assembly is aligned with the center of the core in the horizontal direction, which facilitates subsequent precise operation. The ordinate of the first temporary shutdown point is set as the height of the overturning zone. This height is a designed safety height. The coordinate design of the first temporary shutdown point can prevent the fuel assembly from colliding with other equipment during the movement.

[0038] 3. This invention uses the abscissa value of the 90° side boundary of the core safety zone as the abscissa of the second temporary stop point, which can provide a buffer area for the fuel assembly, so that it maintains a certain distance from the core before entering the core, reducing the collision or interference that may occur when directly entering the core. By setting the ordinate of the second temporary stop point as the target ordinate of the fuel assembly in the current refueling sequence, it can be ensured that the fuel assembly can be accurately aligned with the target position before entering the core, while adapting to different refueling sequences. Attached Figure Description

[0039] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0040] Figure 1 This is a flowchart illustrating a control method for a refueling machine during a fully automated refueling process in a nuclear power plant, according to an embodiment of the present invention.

[0041] Figure 2 This is a diagram showing the relative positions of the core safety area A, the overturning area E, and the equipment maintenance and storage area F in a specific embodiment of the present invention.

[0042] Figure 3 This invention provides a flowchart of the loading process of a refueling machine in a fully automated refueling process of a pressurized water reactor nuclear power plant.

[0043] Figure 4 This invention provides a flow chart of the unloading process of a loading and unloading machine during the fully automated refueling process in a pressurized water reactor nuclear power plant.

[0044] Figure 5 This is a schematic diagram of a control device for a loading and unloading machine during a fully automated refueling process in a nuclear power plant, according to an embodiment of the present invention.

[0045] Figure 6 This is a computer system architecture block diagram for implementing the electronic device of the present application embodiments;

[0046] Figure 7 This is a schematic diagram of an electronic device used to control a loading and unloading machine during the fully automated refueling process in a nuclear power plant. Detailed Implementation

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0048] The present invention will be further described in detail below with reference to specific embodiments, which should not be construed as limiting the scope of protection claimed by the present invention.

[0049] Example

[0050] To address the issues of low automation levels in existing refueling equipment and outdated collaborative operation methods among refueling system equipment, this invention proposes a control method and device for refueling machines during fully automated refueling in nuclear power plants.

[0051] According to one aspect of the embodiments of this application, a control method for a loading and unloading machine during a fully automated refueling process in a nuclear power plant is provided.

[0052] like Figure 1 The diagram shows a flowchart of a control method for a refueling machine during a fully automated refueling process in a nuclear power plant, according to an embodiment of the present invention. The method includes:

[0053] S1, read the material changing sequence from the database of the fully automatic material changing system.

[0054] S2, set a temporary stop point for the loading and unloading machine during the fully automatic material changing process.

[0055] To ensure the safe and accurate transport of fuel assemblies to the reactor core or designated storage location, this invention incorporates temporary shutdown points. Furthermore, these temporary shutdown points may include two or more.

[0056] In this embodiment, the temporary shutdown points include a first temporary shutdown point and a second temporary shutdown point. The x-coordinate of the first temporary shutdown point is set as the difference between the x-coordinate of the core center and a first predetermined value, and the y-coordinate of the first temporary shutdown point is set as the y-coordinate of the overturning zone. Using the x-coordinate of the core center as the x-coordinate of the first temporary shutdown point allows for positioning with the core center as a reference, ensuring that the fuel assembly is horizontally aligned with the center of the core, facilitating subsequent precise operations. The height of the overturning zone is a designed safety height, and the coordinate design of this first temporary shutdown point prevents collisions between the fuel assembly and other equipment during movement.

[0057] The x-coordinate of the second temporary stop point is set to the difference between the x-coordinate value of the 90° side boundary of the core safety zone and a second preset value. The y-coordinate of the second temporary stop point is set to the y-coordinate value of the alignment target position in this refueling sequence. The function of the second temporary stop point is to further adjust the position of the fuel assembly so that it can be accurately aligned with the target position in the core. Using the x-coordinate value of the 90° side boundary of the core safety zone as the x-coordinate of the second temporary stop point can provide a buffer area for the fuel assembly, keeping it at a certain distance from the core before entering the core, reducing the possibility of collisions or interference when directly entering the core. By setting the y-coordinate of the second temporary stop point to the target y-coordinate of the fuel assembly in the current refueling sequence, it can be ensured that the fuel assembly can be accurately aligned with the target position before entering the core, while adapting to different refueling sequences. Figure 2 The diagram shows the relative positions of the core safety area A, the overturning area E, and the equipment maintenance and storage area F in a specific embodiment of the present invention. Figure 2 In the diagram, the direction of movement of the main trolley is used as the horizontal axis and the direction of movement of the auxiliary trolley is used as the vertical axis. The horizontal coordinate of the 90° side boundary of the core safety zone corresponding to position B is 18490mm, the horizontal coordinate of the core center corresponding to position C is 20040mm, the horizontal coordinate of the 270° guide post of the core safety zone corresponding to position D is 21590mm, and the vertical coordinate of the equipment maintenance and storage area corresponding to position F is 930mm.

[0058] Furthermore, the selection of the setpoint is determined based on the reactor building dimensions of pressurized water reactor nuclear power plants of different reactor types. The setpoints are basically the same for the same reactor type at different sites, but the setpoints differ for different reactor types and need to be determined based on the reactor building dimensions. In a specific embodiment of the present invention, the first setpoint is 3104±10, and the second setpoint is 300±10.

[0059] S3, Based on the material changing sequence and the temporary stop point, generate the running path of the loading and unloading machine in the fully automatic material changing process.

[0060] Furthermore, during the fully automated material changing process, the loading and unloading machine performs loading and / or unloading, and the process of determining the operating path is as follows: Based on the material changing sequence, the centering target position of the loading and / or unloading stage under the current material changing sequence is obtained. Based on the centering target position, the first temporary stop point, and the second temporary stop point, the operating path of the loading and / or unloading machine during the loading and / or unloading process is determined.

[0061] In this embodiment, the operating path of the loading and unloading machine during the loading process is: from the tipping area to the first temporary stop point to the second temporary stop point to the centering target position under the current material changing sequence.

[0062] The operating path of the loading and unloading machine during the unloading process is as follows: from the centering target position in this material changing step to the second temporary stop point to the first temporary stop point to the tipping area.

[0063] To facilitate equipment storage and maintenance during the fully automated material changing process of the loading and unloading machine, the present invention further includes: setting temporary stop points for equipment storage and maintenance during the fully automated material changing process. Specifically, the equipment storage and maintenance path is determined based on the first temporary stop point, the second temporary stop point, and the temporary stop point for equipment storage and maintenance.

[0064] In this embodiment, the temporary shutdown points for equipment storage and maintenance include a third temporary shutdown point and a fourth temporary shutdown point. The x-coordinate of the third temporary shutdown point is set to the sum of the x-coordinate value of the 270° guide post in the core safety zone and a third set value, and the y-coordinate is set to the y-coordinate value of the overturning zone. The x-coordinate of the fourth temporary shutdown point is set to the sum of the x-coordinate value of the 270° guide post in the core safety zone and a third set value, and the y-coordinate is set to the y-coordinate value of the center point of the equipment maintenance and storage area. The design of the third and fourth temporary shutdown points can avoid interference with other equipment in the core pool. In a specific embodiment of the present invention, such as... Figure 2 The horizontal coordinate of the 270° guide post in the core safety zone is 21590mm, and the range of the third set value is 510±10mm.

[0065] Furthermore, the path for equipment storage and maintenance is: from the current location to the first temporary stop point or the second temporary stop point to the third temporary stop point to the fourth temporary stop point.

[0066] S4. Based on the running path, control instructions are generated, and the loading and unloading machine is controlled by the automated control system.

[0067] During the fully automated refueling process, the loader automatically plans its route by interacting with the database of the fully automated refueling system in real time; it automatically detects the characteristic signals of fuel assemblies in adjacent grid positions of the target position in the reactor core, and automatically provides prompts to the operator when the offset method conditions are met; the loader uses a camera system with intelligent recognition function to determine whether there are fuel assemblies in the reactor core grid and in the tilting frame carrier of the RX side transfer device, and combines the main lifting elevation, the load of the tilting frame of the RX side transfer device and its vertical status signal to give the loader a signal to allow the main lifting operation of the loader.

[0068] Furthermore, before controlling the loading and unloading machine, the loading and unloading machine first needs to receive the operation mode selection information from the fully automatic material changing system database. The operation modes include fully automatic mode, semi-automatic mode, manual mode and emergency operation mode.

[0069] like Figure 3 The diagram shows a loading process flow chart of a refueling machine in a fully automated refueling process of a pressurized water reactor nuclear power plant according to the present invention. Figure 3 As can be seen, the loading process of the loading and unloading machine requires selecting the loading operation in fully automatic mode. By reading the material changing sequence from the fully automatic material changing system database in real time, the target coordinates are automatically obtained. In this operation, the loading and unloading machine executes the optimal safe operating path and the smoothest control speed according to the controller settings. When running above the outermost boundary of the core pool, the equipment is required to operate at a low speed. Therefore, the operating path is planned to minimize the low-speed operating area, avoiding the problem of discontinuous equipment operation caused by manual operation and reducing the target positioning time.

[0070] The loading process of the loading and unloading machine can be broken down into the following steps: The initial position of the loading and unloading machine's large / small trolley is adjusted to the tilting zone, the material changing sequence is read from the database of the fully automatic material changing system, and the loading process is started. When the main hoist is unloaded, the loading and unloading machine uses a camera system with intelligent recognition function to collect image information of the tilting frame of the RX side transfer device, and combines it with the load of the tilting frame of the transfer device and its vertical signal status to automatically determine whether the tilting frame is vertical and has components. If the tilting frame needs to be adjusted, the operator manually controls the operation of the tilting frame according to the signal status of the transfer device. If the tilting frame is in a vertical state and has components, the main hoist automatically descends to the fully lower position of the tilting zone and stops when the gripper engagement condition is met. The operator manually controls the gripper engagement, and the main hoist rises to the zero position of the load elevation. When the main hoist is loaded and at the zero elevation, the operator confirms whether to use the offset method. When using the offset method, the trolley / cart first automatically moves to the target offset position of the reactor core. The main hoist descends to the automatic offset stop point elevation of the reactor core. The operator confirms whether the offset method has ended. After confirmation, the trolley / cart automatically and slowly offsets back to the centering position. If the offset method is not used, the trolley / cart first moves to the target centering position of the reactor core. The main hoist descends to the automatic stop point elevation of the reactor core. Then, the loading / unloading machine uses a camera system with intelligent recognition function located below the equipment to collect image information of the reactor core at that coordinate. It automatically determines whether there is a fuel assembly below the target position of the reactor core. If there is a fuel assembly, the main hoist of the loading / unloading machine cannot descend and simultaneously outputs an alarm signal to the fully automatic refueling system. The operator then manually operates the loading / unloading machine. If there is no fuel assembly, the main hoist descends to the fully lowered position of the reactor core. When the gripper release condition is met, it stops. The operator manually controls the gripper to release, the main hoist rises to the no-load upper limit, the refueling data is recorded, and the trolley / cart automatically returns to the tipping area of ​​the transfer device.

[0071] Figure 4 This invention illustrates the unloading process of a refueling machine in a fully automated refueling process at a pressurized water reactor nuclear power plant, as described in this paper. Figure 4As can be seen, the unloading process of the loading and unloading machine requires selecting the unloading operation in fully automatic mode. By reading the material changing sequence from the fully automatic material changing system database in real time, the target coordinates are automatically obtained. In this operation, the loading and unloading machine executes the optimal safe operating path and the smoothest control speed according to the controller settings. When running above the outermost boundary of the core pool, the equipment is required to operate at a low speed. Therefore, the operating path is planned to minimize the low-speed operating area, avoiding the problem of discontinuous equipment operation caused by manual operation and reducing the target positioning time. The unloading process of the loading and unloading machine can be broken down into the following steps: The initial position of the large / small trolley is adjusted to the tilting zone; the material changing sequence is read from the fully automatic material changing system database; the unloading process is started; when the main hoist is loaded, the loading and unloading machine uses a camera system with intelligent recognition function to collect image information of the tilting frame of the RX side transfer device, and combines this with the tilting frame load and its vertical signal status to automatically determine whether the tilting frame is vertical and whether it has / does not have components. If the tilting frame needs adjustment, the operator manually controls the tilting frame operation according to the transfer device signal status; if the tilting frame is vertical and has no components, the main hoist descends to the fully lower position of the tilting zone, stops when the gripper release condition is met, and the operator manually controls the gripper release, and the main hoist rises to the zero-level unloaded elevation; when the main hoist is unloaded and at the zero-level elevation... The operator confirms whether the trolley / cart can operate. The trolley / cart moves to the target position for core alignment. The loading / unloading machine uses a camera system with intelligent recognition function located below the equipment to collect image information of the core at that coordinate. It automatically determines whether there are fuel assemblies below the target position. If there are no fuel assemblies, the main hoist of the loading / unloading machine cannot descend, and an alarm signal is sent to the fully automatic refueling system, requiring manual operation of the loading / unloading machine by the operator. If there are fuel assemblies, the main hoist descends to the core's automatic stop point elevation. The operator confirms whether the main hoist can continue descending. The main hoist descends to the core's fully lowered position, stopping when the gripper engagement conditions are met. The operator manually controls the gripper engagement. When the main hoist rises to the core's offset stop point elevation, the operator confirms whether to use the offset method. If the offset method is used, the operator confirms whether the trolley / cart can operate. After confirmation, the trolley / cart automatically and slowly moves to the offset target position. The main hoist rises to the upper load limit, records the refueling data, and the trolley / cart automatically returns to the tilting area of ​​the transfer device.

[0072] In a specific embodiment of the present invention, the operating path of the loading and unloading machine in the fully automatic material changing process is generated based on steps S2 and S3, so as to shorten the equipment operating time and ensure safe and stable operation. The specific content is as follows:

[0073] 1) The refueling machine sets up two temporary refueling operation points A(X1, Y1) and B(X2, Y2) on the operating path between the reactor core and the overturning zone and equipment maintenance storage area of ​​the transfer device; and two temporary equipment maintenance access points C(X3, Y4) and D(X4, Y4). For temporary point A(X1, Y1), X1 is set to the abscissa of the core center minus a set value (20040-3104=16936mm), and Y1 is set to the ordinate of the zero point of the overturning zone (0mm). For temporary point B(X2, Y2), X2 is set to the abscissa of the 90° side boundary of the core safety zone minus a set value (e.g., 18490-300=18190mm), and Y2 is set to the ordinate of the target position for this refueling step obtained from the refueling database. This set value is dynamically adjusted according to the target position of each refueling step. (e.g., the longitudinal coordinate of the core center H8 is 3000mm); for temporary point C (X3, Y3), X3 is set to the transverse coordinate of the 270° guide post in the core safety zone plus the set value (21590+510=22100mm), and Y3 is set to the longitudinal coordinate of the zero position of the flip zone (0mm); for temporary point D (X4, Y4), X4 is set to the transverse coordinate of the 270° guide post in the core plus the set value (21590+510=22100mm), and Y4 is set to the longitudinal coordinate of the center point of the equipment maintenance and storage area (930mm).

[0074] 2) The optimal safe operating path for the loading process is zero position of the tipping zone → temporary point A → temporary point B → target position (or offset target position) of this material change sequence; the operating path for the unloading process is the opposite.

[0075] 3) The optimal safe operating path for equipment storage and maintenance is: current location → nearest temporary point A or B → temporary point C → temporary point D → center point of the equipment storage and maintenance area. The operating path is reversed when the equipment returns.

[0076] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0077] According to another aspect of the embodiments of this application, the present invention also provides a control device for a refueling machine during a fully automated refueling process in a nuclear power plant. For example... Figure 5 As shown, the device includes: a reading module 401, a setting module 402, a generating module 403, and a control module 404.

[0078] The reading module 401 is used to read the material changing sequence from the database of the fully automatic material changing system.

[0079] Setting module 402 is used to set the temporary stop point of the loading and unloading machine during the fully automatic material changing process.

[0080] The generation module 403 is used to generate the running path of the loading and unloading machine in the fully automatic material changing process based on the material changing sequence and the temporary stop point.

[0081] The control module 404 is used to generate control commands based on the running path and control the loading and unloading machine using an automated control system.

[0082] As an optional solution, the above-mentioned device is also used to: include two or more temporary shutdown points.

[0083] Furthermore, the temporary shutdown point includes a first temporary shutdown point and a second temporary shutdown point. The horizontal coordinate of the first temporary shutdown point is set as the difference between the horizontal coordinate value of the core center and a first set value. The vertical coordinate of the first temporary shutdown point is set as the vertical coordinate value of the overturning zone. The horizontal coordinate of the second temporary shutdown point is set as the difference between the horizontal coordinate value of the 90° side boundary of the core safety zone and a second set value. The vertical coordinate of the second temporary shutdown point is set as the vertical coordinate value of the centering target position in this refueling step.

[0084] As an optional solution, the above-mentioned device is also used to: during the fully automatic material changing process, the loading and / or unloading machine performs loading and / or unloading.

[0085] Based on the material change sequence, obtain the centering target position of the loading and / or unloading stage in the current material change sequence.

[0086] Based on the centering target position, the first temporary stop point, and the second temporary stop point, the running path of the loading and / or unloading machine is determined during the loading and / or unloading process.

[0087] Furthermore, the operating path of the loading and unloading machine during the loading process is: from the tipping area to the first temporary stop point to the second temporary stop point to the centering target position under the current material changing step.

[0088] As an optional solution, the above-mentioned device is also used to: the running path of the loading and unloading machine during the unloading process is: from the centering target position in this material changing step sequence to the second temporary stop point to the first temporary stop point to the tipping area.

[0089] As an optional solution, the above-mentioned device is also used for:

[0090] The loading and unloading machine is configured with temporary shutdown points for equipment storage and maintenance during the fully automatic material changing process.

[0091] Based on the first temporary shutdown point, the second temporary shutdown point, and the temporary shutdown point for equipment storage and maintenance, the path for equipment storage and maintenance is determined.

[0092] Furthermore, the temporary shutdown points for equipment storage and maintenance include a third temporary shutdown point and a fourth temporary shutdown point.

[0093] The horizontal coordinate of the third temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the overturning zone.

[0094] The horizontal coordinate of the fourth temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the center point of the equipment maintenance and storage area.

[0095] Furthermore, the path for equipment storage and maintenance is: from the current location to the first temporary stop point or the second temporary stop point to the third temporary stop point to the fourth temporary stop point.

[0096] In this application embodiment, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0097] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0098] According to one aspect of this application, a computer program product is provided, the computer program product comprising a computer program.

[0099] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] Figure 6 A schematic block diagram of a computer system architecture for implementing an electronic device according to embodiments of the present application is shown.

[0101] It should be noted that, Figure 6The computer system 1100 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0102] like Figure 6 As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1102 or programs loaded from storage section 1108 into random access memory (RAM). The RAM 1103 also stores various programs and data required for system operation. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via a bus 1104. An input / output interface 1105 (I / O interface) is also connected to the bus 1104.

[0103] The following components are connected to the input / output interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a local area network card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the input / output interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on the drive 1110 as needed so that computer programs read from them can be installed into the storage section 1108 as needed.

[0104] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit 1101, it performs various functions defined in the system of this application.

[0105] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable media 1111. When the computer program is executed by central processing unit 1101, it performs various functions provided in the embodiments of this application.

[0106] According to another aspect of the embodiments of this application, an electronic device for controlling a refueling machine during a fully automated refueling process in a nuclear power plant is also provided. This embodiment uses this electronic device as an example of a terminal device. Figure 7 As shown, the electronic device includes a memory 1202 and a processor 1204. The memory 1202 stores a computer program, and the processor 1204 is configured to execute the steps of any of the above method embodiments through the computer program.

[0107] Optionally, in this embodiment, the aforementioned electronic device may be located in at least one of a plurality of network devices in a computer network.

[0108] Optionally, in this embodiment, the processor may be configured to execute the methods in the embodiments of this application via a computer program.

[0109] Alternatively, as those skilled in the art will understand, Figure 7 The structure shown is for illustrative purposes only. Figure 7 This does not limit the structure of the aforementioned electronic devices. For example, the electronic device may also include components that are more... Figure 7 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 7 The different configurations shown.

[0110] The memory 1202 can be used to store software programs and modules, such as the program instructions / modules corresponding to the control method and device for a refueling machine in a fully automated refueling process of a nuclear power plant according to an embodiment of this application. The processor 1204 executes various functional applications and data processing by running the software programs and modules stored in the memory 1202, thereby realizing the aforementioned control method for a refueling machine in a fully automated refueling process of a nuclear power plant. The memory 1202 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1202 may further include memory remotely located relative to the processor 1204, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 1202 may be used, but is not limited to, to store bias position data information. As an example, such as Figure 7As shown, the memory 1202 may include, but is not limited to, the reading module 401, setting module 402, generating module 403, and control module 404 from the control device of the loading and unloading machine in the fully automated refueling process of a nuclear power plant. Furthermore, it may include, but is not limited to, other module units from the aforementioned device, which will not be elaborated upon in this example.

[0111] Optionally, the transmission device 1206 described above is used to receive or send data via a network. Specific examples of the network described above may include wired networks and wireless networks. In one example, the transmission device 1206 includes a Network Interface Controller (NIC), which can be connected to other network devices and routers via a network cable to communicate with the Internet or a local area network. In another example, the transmission device 1206 is a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0112] In addition, the above-mentioned electronic device also includes: a display 1208 for displaying the above-mentioned bias position data; and a connection bus 1210 for connecting the various module components in the above-mentioned electronic device.

[0113] In other embodiments, the aforementioned terminal device or server can be a node in a distributed system, wherein the distributed system can be a blockchain system, which is a distributed system formed by connecting multiple nodes through network communication. The nodes can form a peer-to-peer network, and any form of computing device, such as a server, terminal, or other electronic device, can become a node in the blockchain system by joining this peer-to-peer network.

[0114] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of an electronic device reads computer instructions from the computer-readable storage medium, and executes the computer instructions to cause the electronic device to perform the methods provided in various alternative implementations of the above aspect.

[0115] Optionally, in this embodiment, the computer-readable storage medium described above may be configured to store methods for performing the embodiments of this application.

[0116] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0117] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0118] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more electronic devices to execute all or part of the steps of the methods described in the various embodiments of this application.

[0119] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed application can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0124] In summary, as can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0125] 1. This invention sets temporary stop points for the refueling machine during the fully automated refueling process. Based on the refueling sequence and temporary stop points, it generates the operating path of the refueling machine during the fully automated refueling process. Finally, it generates control commands based on the operating path and uses an automated control system to control the refueling machine. The operating path determined by this invention enables the safe and accurate transport of fuel assemblies to the reactor core or designated storage location. It also effectively improves refueling efficiency, reduces manual intervention, lowers operational risks, optimizes the operating trajectory of the refueling machine, avoids unnecessary mechanical wear, extends equipment service life, and further enhances the reliability and stability of the entire refueling process, providing a strong guarantee for the safe operation and maintenance of nuclear reactors.

[0126] 2. This invention uses the abscissa of the core center as the abscissa of the first temporary shutdown point, which can be used as a reference for positioning. This ensures that the fuel assembly is aligned with the center of the core in the horizontal direction, which facilitates subsequent precise operation. The ordinate of the first temporary shutdown point is set as the height of the overturning zone. This height is a designed safety height. The coordinate design of the first temporary shutdown point can prevent the fuel assembly from colliding with other equipment during the movement.

[0127] 3. This invention uses the abscissa value of the 90° side boundary of the core safety zone as the abscissa of the second temporary stop point, which can provide a buffer area for the fuel assembly, so that it maintains a certain distance from the core before entering the core, reducing the collision or interference that may occur when directly entering the core. By setting the ordinate of the second temporary stop point as the target ordinate of the fuel assembly in the current refueling sequence, it can be ensured that the fuel assembly can be accurately aligned with the target position before entering the core, while adapting to different refueling sequences.

[0128] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0129] It should be noted that, in the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A control method for a refueling machine during a fully automated refueling process in a nuclear power plant, characterized in that, include: Read the material changing sequence from the database of the fully automatic material changing system; Set temporary stop points for the loading and unloading machine during the fully automatic material changing process; The running path of the loading and unloading machine in the fully automatic material changing process is generated based on the material changing sequence and the temporary stop point; Control commands are generated based on the operating path, and the loading and unloading machine is controlled by an automated control system.

2. The method according to claim 1, characterized in that, The temporary shutdown points include two or more.

3. The method according to claim 1, characterized in that, The temporary shutdown points include a first temporary shutdown point and a second temporary shutdown point. The x-coordinate of the first temporary shutdown point is set as the difference between the x-coordinate value of the core center and a first set value. The y-coordinate of the first temporary shutdown point is set as the y-coordinate value of the overturning zone. The x-coordinate of the second temporary shutdown point is set as the difference between the x-coordinate value of the 90° side boundary of the core safety zone and a second set value. The y-coordinate of the second temporary shutdown point is set as the y-coordinate value of the centering target position in this refueling step.

4. The method according to claim 3, characterized in that, During the fully automated material changing process, the loading and / or unloading machine performs loading and / or unloading. Based on the material change sequence, obtain the centering target position of the loading and / or unloading stage in the current material change sequence; Based on the centering target position, the first temporary stop point, and the second temporary stop point, the running path of the loading and / or unloading machine is determined during the loading and / or unloading process.

5. The method according to claim 4, characterized in that, The operating path of the loading and unloading machine during the loading process is: from the tipping area to the first temporary stop point to the second temporary stop point to the centering target position under the current material changing step.

6. The method according to claim 4, characterized in that, The operating path of the loading and unloading machine during the unloading process is as follows: from the centering target position in this material changing step to the second temporary stop point to the first temporary stop point to the tipping area.

7. The method according to any one of claims 3 to 6, characterized in that, Also includes: Set up temporary shutdown points for equipment storage and maintenance during the fully automatic material changing process of the loading and unloading machine; Based on the first temporary shutdown point, the second temporary shutdown point, and the temporary shutdown point for equipment storage and maintenance, the path for equipment storage and maintenance is determined.

8. The method according to claim 7, characterized in that, The temporary shutdown points for equipment storage and maintenance include a third temporary shutdown point and a fourth temporary shutdown point. The horizontal coordinate of the third temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the overturning zone. The horizontal coordinate of the fourth temporary shutdown point is set as the sum of the horizontal coordinate value of the 270° guide column in the core safety zone and the third set value, and the vertical coordinate is set as the vertical coordinate value of the center point of the equipment maintenance and storage area.

9. The method according to claim 7, characterized in that, The path for equipment storage and maintenance is: from the current location to the first temporary stop point or the second temporary stop point to the third temporary stop point to the fourth temporary stop point.

10. A control device for a loading and unloading machine during a fully automated refueling process in a nuclear power plant, characterized in that, include: The reading module is used to read the material changing sequence from the database of the fully automatic material changing system. The setting module is used to set the temporary stop points of the loading and unloading machine during the fully automatic material changing process; A generation module is used to generate the running path of the loading and unloading machine in the fully automatic material changing process based on the material changing sequence and the temporary stop point; The control module is used to generate control commands based on the running path and to control the loading and unloading machine using an automated control system.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein the computer program can be executed by an electronic device to perform the method described in any one of claims 1 to 9.

12. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 9.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 9 through the computer program.

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