Path planning method and nuclear power refueling robot

Abstract

The invention discloses a path planning method and a nuclear power refueling robot. The method comprises the following steps: acquiring a starting point and a target point of a robot; determining a first junction point of the first working area according to the starting point and the type of the first working area where the starting point is located; determining a second junction point of the second working area according to the target point and the type of the second working area where the target point is located; according to the type of the working area passed by the robot from the starting point to the target point, determining a process junction point in each passed working area; generating a data map set according to the starting point, the first handover point, the process handover point, the second handover point and the target point; and determining a target planning path by adopting an A star algorithm according to the starting point, the first junction point, the process junction point, the second junction point, the target point and the data map set. Through the scheme provided by the embodiment, the movement continuity and the working efficiency of the nuclear power refueling robot under the complex working conditions can be improved.

Description

Technical Field

[0001] This article relates to the field of nuclear power equipment control technology, specifically a path planning method and a nuclear power refueling robot. Background Technology

[0002] As a crucial piece of equipment in nuclear power plants, nuclear refueling robots are responsible for transporting and unloading nuclear fuel from reactors. Ensuring the safe and reliable completion of these tasks requires careful planning of their transport routes and optimization of their processes.

[0003] Currently, path planning for nuclear power plant refueling robots typically involves adding temporary stopping points and exhaustively searching all preset paths. Specifically, temporary stopping points are set between high-speed and low-speed operating areas in different work zones. When the refueling robot reaches a temporary stopping point, it stops moving and exhaustively searches all preset paths. Once a path leading to the next temporary stopping point is found, the robot moves to that point until it reaches the target point. While this approach achieves stable movement for the nuclear power plant refueling robot, the robot must decelerate from high speed to a stop and then accelerate again at each temporary stopping point, significantly impacting the continuity of its movement. Furthermore, the frequent start-stop processes waste a considerable amount of time. Additionally, when the rotation of the telegraph pole is restricted in a specific pit (a slot in the spent fuel pool for placing fuel assemblies and other objects), the safety of the robot mechanism is difficult to guarantee. Moreover, when the working area of ​​the nuclear power plant refueling robot is large and the working conditions are complex, it often takes a long time to find the optimal path, resulting in low path planning efficiency. Summary of the Invention

[0004] This application provides a path planning method and a nuclear power plant refueling robot, which can improve the continuity of movement and work efficiency of the nuclear power plant refueling robot under complex working conditions.

[0005] One embodiment of this application provides a path planning method applied to a nuclear power plant refueling robot, including: Obtain the robot's starting point and target point; Based on the robot's starting point and the type of the first work area where the starting point is located, a first handover point of the first work area is determined; based on the robot's target point and the type of the second work area where the target point is located, a second handover point of the second work area is determined; based on the type of work areas the robot passes through from the starting point to the target point, process handover points in each work area are determined; the first handover point, the second handover point, and the process handover point are points on the adjacent boundaries of the low-speed area and the high-speed area in the corresponding work area; A data map atlas is generated based on the starting point, the first handover point, the process handover point, the second handover point, and the target point; Using the A* algorithm, the target planning path of the robot is determined based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map set.

[0006] In one exemplary embodiment, the first working area includes adjacent low-speed and high-speed regions; determining the first junction point of the first working area based on the robot's starting point and the type of the first working area where the starting point is located includes: If the first working area is a refueling well working area or a reactor working area, and the starting point is located in the low-speed region of the first working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the starting point to the center of the first working area is determined as the first intersection point. If the first working area is a spent fuel pool working area, and the starting point is located in the low-speed region of the first working area, then the point where the robot moves from the starting point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the first intersection point.

[0007] In one exemplary embodiment, determining the first handover point of the first work area based on the robot's starting point and the type of the first work area where the starting point is located further includes: If the first working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the starting point is located in the high-speed area of ​​the first working area, then the starting point is determined as the first handover point.

[0008] In one exemplary embodiment, the second working area includes adjacent low-speed and high-speed regions; determining the second junction point of the second working area based on the robot's target point and the type of the second working area where the target point is located includes: If the second working area is a refueling well working area or a reactor working area, and the target point is located in the low-speed region of the second working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the target point to the center of the second working area is determined as the second intersection point. If the second working area is the spent fuel pool working area, and the target point is located in the low-speed region of the second working area, then the intersection point where the robot moves from the target point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the second intersection point.

[0009] In one exemplary embodiment, determining the second junction point of the second work area where the robot's target point is located, based on the robot's target point and the type of the second work area where the target point is located, further includes: If the second working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the second working area is a high-speed area, then the target point is determined as the second handover point.

[0010] In one exemplary embodiment, the work areas traversed include one or more of the following: a refueling well work area, a spent fuel pool work area, and a reactor work area; each work area includes a high-speed zone; determining the process handover point in each work area traversed by the robot from the starting point to the target point, based on the type of work area traversed, includes: If the robot enters the spent fuel pool working area from the refueling well working area, or enters the refueling well working area from the spent fuel pool working area, the process handover point includes the process point where the center line of the corridor between the refueling well working area and the spent fuel pool working area intersects with the high-speed area of ​​the refueling well working area, and the process point where the center line of the corridor intersects with the high-speed area of ​​the spent fuel pool working area. If the robot enters the spent fuel pool working area from the reactor working area, or enters the reactor working area from the spent fuel pool working area, the process handover point includes the process point where the centerline of the corridor between the reactor working area and the spent fuel pool working area intersects with the high-speed area of ​​the reactor working area, and the process point where the centerline of the corridor intersects with the high-speed area of ​​the spent fuel pool working area.

[0011] In one exemplary embodiment, generating a data map atlas based on the starting point, the first handover point, the process handover point, the second handover point, and the target point includes: The map information of the nuclear power plant is obtained, including: refueling well map information, spent fuel pool map information, and reactor map information. Based on the map information of the nuclear power plant, a data map set of the working area including the starting point, the first handover point, the process handover point, the second handover point, and the target point is generated.

[0012] In one exemplary embodiment, the step of employing the A* algorithm to determine the robot's target planning path based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map atlas includes: Based on the order in which the robot travels through the starting point, the first handover point, the process handover point, the second handover point, and the target point, and using the data map set, the A* algorithm is sequentially used to plan the path between two adjacent locations until the target planning path of the robot from the starting point to the target point is obtained; the location points include the starting point, the first handover point, the process handover point, the second handover point, and the target point.

[0013] In one exemplary embodiment, the value function of the A* algorithm is: f(n) = g(n) + h(n) Where n represents the current position, f(n) represents the total cost of traveling from the starting point to the target point via the current position, g(n) represents the actual cost from the starting point to the current position, and h(n) is the estimated travel cost from the current position to the target point; g(n) and h(n) are Euclidean distance calculation functions.

[0014] In another embodiment of this application, a nuclear power refueling robot is provided, characterized in that it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the path planning method described above.

[0015] The technical solutions provided in this application can improve the continuity of movement and work efficiency of nuclear power refueling robots under complex working conditions.

[0016] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the application. Other advantages of this application can be realized and obtained by means of the embodiments described in the description and the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings are used to provide an understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0018] Figure 1 A flowchart illustrating a path planning method provided in an embodiment of this application; Figure 2 A schematic diagram of the work area provided for an embodiment of this application; Figure 3 This is a schematic diagram of the path planning process handover points provided in an embodiment of this application; Figure 4 A flowchart illustrating the path planning A* algorithm provided in this application embodiment; Figure 5This is a schematic diagram of the path planning results provided in the embodiments of this application; Figure 6 This is a structural schematic diagram of a nuclear power plant refueling robot provided in an embodiment of this application. Detailed Implementation

[0019] This application describes several embodiments, but these descriptions are exemplary and not limiting, and it will be apparent to those skilled in the art that many more embodiments and implementations are possible within the scope of the embodiments described herein. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with, or may replace, any feature or element of any other embodiment.

[0020] This application includes and contemplates combinations of features and elements known to those skilled in the art. The embodiments, features, and elements disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution. Therefore, it should be understood that any feature shown and / or discussed in this application can be implemented individually or in any suitable combination. Therefore, the embodiments are not limited except by the limitations imposed by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0021] Furthermore, in describing representative embodiments, the specification may have presented methods and / or processes as a specific sequence of steps. However, the method or process should not be limited to the specific order of steps described herein, to the extent that it does not depend on such a specific order. As will be understood by those skilled in the art, other sequences of steps are also possible. Therefore, the specific order of steps set forth in the specification should not be construed as a limitation of the claims. Moreover, the claims concerning the method and / or process should not be limited to the steps performed in the written order, and those skilled in the art will readily understand that these orders can be varied and still remain within the spirit and scope of the embodiments of this application.

[0022] First, some nouns or terms that appear in the description of the embodiments of this application shall be interpreted as follows: Nuclear refueling robots, also known as nuclear fuel refueling machines or refueling loaders, are key pieces of equipment in large pressurized water reactor nuclear power plants for transferring nuclear fuel assemblies. They are primarily used to transport nuclear fuel assemblies between the reactor and the transfer system. During reactor shutdowns for refueling, nuclear refueling robots can unload spent fuel assemblies from the reactor and load new fuel assemblies into it. This process is crucial for the safe operation and continuous power supply of the nuclear power plant.

[0023] Refueling Shaft: A vertical shaft or passageway in a nuclear power plant used for replacing fuel assemblies within the reactor. During the operation of a nuclear power plant, fuel assemblies gradually deplete over time, requiring replacement with new fuel assemblies to maintain normal reactor operation. The refueling shaft provides the necessary access and facilities for this process.

[0024] Spent fuel pool: This generally refers to a pool in a nuclear facility such as a nuclear power plant or reprocessing plant used for the wet storage of spent fuel. Spent fuel is a nuclear fuel assembly that has been removed from the reactor after its burnup has reached the design burnup level and is no longer used in the reactor. The main function of the spent fuel pool is to safely and efficiently store this spent fuel, cooling it with water and shielding it from radioactivity.

[0025] A reactor is a device used to house fuel assemblies for a controlled, self-sustaining chain reaction of nuclear fission, thereby releasing nuclear energy. It typically consists of nuclear fuel, moderator, coolant, reflector, control rods, and shielding, and is a key component in nuclear power generation, nuclear heating, nuclear propulsion, and the production of radioactive isotopes.

[0026] Figure 1 This illustration shows a flowchart of a path planning method provided in one embodiment of this application, applied to a nuclear power plant refueling robot, such as... Figure 1 As shown, the method includes: Step 100: Obtain the starting point and target point of the robot; Step 101: Determine the first handover point of the first work area based on the robot's starting point and the type of the first work area where the starting point is located; determine the second handover point of the second work area based on the robot's target point and the type of the second work area where the target point is located; determine the process handover point in each work area the robot passes through from the starting point to the target point based on the type of work area it passes through. Step 102: Generate a data map set based on the starting point, the first handover point, the process handover point, the second handover point, and the target point; Step 103: Using the A* algorithm, determine the target planning path of the robot based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map set.

[0027] In this embodiment, the first handover point, the second handover point, and the process handover point are points on the adjacent boundaries of the low-speed area and the high-speed area in the corresponding work area; the starting point and the target point are used to characterize the starting position and target position of the movement path of the refueling robot during the loading, unloading, and transportation of fuel.

[0028] Nuclear refueling robots require active obstacle avoidance during operation to prevent the telescope pole from colliding with walls during movement. The safety and reliability of the mechanism's operation can be assessed by planning the rotation of the telescope pole. The horizontal movement of the refueling robot includes movement in the X and Y directions. The telescope pole can rotate within a maximum range of 0-315°, and the allowable rotation range varies at each pit location; for example, when traversing corridors, the telescope pole needs to rotate at 0° or 180°. During horizontal movement, the X and Y direction movements and the telescope pole rotation can be performed simultaneously. In this embodiment, the telescope pole rotation is separated from the X and Y direction movements, primarily considering path planning during the horizontal movement of the nuclear refueling robot. In one exemplary embodiment, the telescope pole rotation can be considered separately to avoid the risk of the mechanism colliding with walls due to the telescope pole's rotation during movement. The area where the refueling robot is currently located is used as the marker for the rotation of the TV pole: if the current position is in the low-speed area, the sub-thread of the TV pole rotation is turned off, and the TV pole rotation thread is turned on when the mechanism moves to the high-speed area. This avoids the risk of the TV pole hitting the wall during the movement of the mechanism and can improve the safety and reliability of the nuclear power refueling robot in complex working conditions.

[0029] This embodiment provides a path planning method for a nuclear power plant refueling robot. By acquiring the robot's starting point and target point, a first handover point in the first working area is determined based on the robot's starting point and the type of the first working area where the starting point is located. A second handover point in the second working area is determined based on the robot's target point and the type of the second working area where the target point is located. Process handover points in each working area traversed by the robot from the starting point to the target point are determined based on the types of working areas traversed by the robot from the starting point to the target point. The types of working areas traversed by the robot from the starting point to the target point can be determined based on preset path areas or by the working areas traversed by the connecting line between the starting point and the target point, thereby obtaining all the handover points the robot needs to traverse. In this way, the robot can clearly identify all the working areas it needs to traverse from the starting point in the first working area to the target point in the second working area during the path planning stage, as well as all the handover points on the boundaries of adjacent low-speed and high-speed areas within each working area. After establishing a data map atlas covering all location points of the starting point, the first handover point, the process handover point, the second handover point, and the target point, a complete target planning path is generated based on the A* algorithm, including the starting point, the target point, the first handover point, the second handover point, and multiple process handover points. This provides a reliable basis for the refueling robot to transport and unload fuel in complex working areas, helps the refueling robot to quickly plan a reasonable optimal path, and improves the timeliness of nuclear power refueling robot operation under complex working conditions.

[0030] In real-world operating environments, nuclear power plants have numerous work areas, each with its own high-speed and low-speed zones. This makes path planning for robots navigating between these different speed-limited zones complex. The path planning solution provided in this embodiment addresses this challenge by pre-planning the entire route of the nuclear power refueling robot from its starting point to its destination. The robot can continuously pass through first, second, and multiple process handover points without needing to make temporary stops to replan the route to the next temporary stop. This ensures continuous, uninterrupted movement, enhancing the robot's mobility and effectively reducing its operating time. Furthermore, the high-speed zones in each work area allow significantly higher speeds than the low-speed zones. This solution identifies all handover points between these zones during the path planning phase, enabling the robot to quickly enter the high-speed zone and maximize its time within it. This significantly reduces the overall path travel time, saving process time and improving robot efficiency.

[0031] In one exemplary embodiment, the first working area includes adjacent low-speed and high-speed regions; determining the first junction point of the first working area based on the robot's starting point and the type of the first working area where the starting point is located includes: If the first working area is a refueling well working area or a reactor working area, and the starting point is located in the low-speed region of the first working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the starting point to the center of the first working area is determined as the first intersection point. If the first working area is a spent fuel pool working area, and the starting point is located in the low-speed region of the first working area, then the point where the robot moves from the starting point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the first intersection point.

[0032] In this embodiment, the region where the robot's starting point is located in the first working area is first determined. If the starting point is in the low-speed region of the first working area, then the intersection point between the robot's starting point and the high-speed region of the first working area needs to be calculated. Figure 2 Taking the work area layout shown as an example, the operating range of the nuclear power plant refueling robot includes the refueling well work area Z1, the spent fuel pool Z21, the reactor Z3, and the corridors connecting the refueling well and the spent fuel pool, as well as the corridors connecting the reactor and the spent fuel pool. Figure 2 As shown in the figure, the shaded areas represent the high-speed areas of each work zone, and the diagonal lines represent the low-speed areas of each work zone.

[0033] If the robot's starting point is in the low-speed region of refueling well Z1 or reactor Z3, then the intersection point between the robot's starting point and the boundary of the high-speed region when the robot moves radially from the starting point to the center of the first working area is determined as the first intersection point. If the robot's starting point is in the low-speed region of the spent fuel pool Z21, then the point where the robot moves from the starting point to the boundary of the high-speed region along the horizontal or vertical direction is determined as the first intersection point.

[0034] In one exemplary embodiment, determining the first handover point of the first work area based on the robot's starting point and the type of the first work area where the starting point is located further includes: If the first working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the starting point is located in the high-speed area of ​​the first working area, then the starting point is determined as the first handover point.

[0035] In this embodiment, if the robot's starting point is located in the high-speed area of ​​the refueling well working area, the reactor working area, or the spent fuel pool working area, then the robot's starting point is directly determined as the first handover point.

[0036] The robot can enter the high-speed area from the starting point in the low-speed area through the first junction point with the shortest path distance, reducing the robot's travel time in the low-speed area and improving the robot's work efficiency.

[0037] In one exemplary embodiment, the second working area includes adjacent low-speed and high-speed regions; determining the second junction point of the second working area based on the robot's target point and the type of the second working area where the target point is located includes: If the second working area is a refueling well working area or a reactor working area, and the target point is located in the low-speed region of the second working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the target point to the center of the second working area is determined as the second intersection point. If the second working area is the spent fuel pool working area, and the target point is located in the low-speed region of the second working area, then the intersection point where the robot moves from the target point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the second intersection point.

[0038] In this embodiment, if the robot's target point is located in the low-speed region of the refueling well Z1 or the reactor Z3, the intersection point between the robot's radial movement from the target point to the center of the second working area and the boundary of the high-speed region is determined as the second intersection point. If the robot's target point is located in the low-speed region of the spent fuel pool Z21, then the intersection point where the robot moves from the target point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the second intersection point.

[0039] In one exemplary embodiment, determining the second junction point of the second work area based on the robot's target point and the type of the second work area where the target point is located further includes: If the second working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the target point is located in the high-speed area of ​​the second working area, then the target point is determined as the second handover point.

[0040] In this embodiment, if the robot's target point is located in the high-speed area of ​​the refueling well working area, the reactor working area, or the spent fuel pool working area, the robot's target point is directly determined as the second handover point.

[0041] The robot can reach the target point via the second junction point from a location in the high-speed area, reducing the robot's travel time in the low-speed area and improving the robot's work efficiency.

[0042] In one exemplary embodiment, the work areas traversed include one or more of the following: a refueling well work area, a spent fuel pool work area, and a reactor work area; each work area includes a high-speed zone; determining the process handover point in each work area traversed by the robot from the starting point to the target point, based on the type of work area traversed, includes: If the robot enters the spent fuel pool working area from the refueling well working area, or enters the refueling well working area from the spent fuel pool working area, the process handover point includes the process point where the center line of the corridor between the refueling well working area and the spent fuel pool working area intersects with the high-speed area of ​​the refueling well working area, and the process point where the center line of the corridor intersects with the high-speed area of ​​the spent fuel pool working area. If the robot enters the spent fuel pool working area from the reactor working area, or enters the reactor working area from the spent fuel pool working area, the process handover point includes the process point where the centerline of the corridor between the reactor working area and the spent fuel pool working area intersects with the high-speed area of ​​the reactor working area, and the process point where the centerline of the corridor intersects with the high-speed area of ​​the spent fuel pool working area.

[0043] In this embodiment, as Figure 3 As shown, if the refueling robot needs to enter or exit the spent fuel pool working area from the refueling well working area, the process points include the process points where the centerline of the corridor between the refueling well working area and the spent fuel pool working area intersects with the high-speed area of ​​the refueling well working area and the high-speed area of ​​the spent fuel pool working area.

[0044] If the refueling robot needs to enter or exit the spent fuel pool working area from the reactor working area, the process points include the process points where the centerline of the corridor between the reactor working area and the spent fuel pool working area intersects with the high-speed area of ​​the reactor working area and the high-speed area of ​​the spent fuel pool working area.

[0045] In one exemplary embodiment, generating a data map atlas based on the starting point, the first handover point, the process handover point, the second handover point, and the target point includes: The map information of the nuclear power plant is obtained, including: refueling well map information, spent fuel pool map information, and reactor map information. Based on the map information of the nuclear power plant, a data map set of the working area including the starting point, the first handover point, the process handover point, the second handover point, and the target point is generated.

[0046] In this embodiment, the first step is to obtain map information of the nuclear power plant. This map information includes at least: refueling well map information, spent fuel pool map information, and reactor map information. The map information refers to the basic geographic information of the work area traversed by the robot, such as a gridded map, a graph-based structure, or a map composed of nodes and edges.

[0047] After obtaining the nuclear power plant map information, a data map set containing all location points, including the start and end points, target points, first handover points, second handover points, and process points, is generated based on the nuclear power plant map information.

[0048] In one exemplary embodiment, the step of employing the A* algorithm to determine the robot's target planning path based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map atlas includes: Based on the order in which the robot travels through the starting point, the first handover point, the process handover point, the second handover point, and the target point, and using the data map set, the A* algorithm is sequentially used to plan the path between two adjacent locations until the target planning path of the robot from the starting point to the target point is obtained; the location points include the starting point, the first handover point, the process handover point, the second handover point, and the target point.

[0049] In one exemplary embodiment, the value function of the A* algorithm is: f(n) = g(n) + h(n) Where n represents the current position, f(n) represents the total cost of traveling from the starting point to the target point via the current position, g(n) represents the actual cost from the starting point to the current position, and h(n) is the estimated travel cost from the current position to the target point; g(n) and h(n) are Euclidean distance calculation functions.

[0050] like Figure 4 As shown, this embodiment designs an A* algorithm for path planning of nuclear power plant refueling robots. The A* algorithm is an intelligent heuristic search algorithm that can be applied to path planning tasks for refueling robots. The working principle of the A* algorithm is as follows: Step 400: First, create two lists, OPEN and CLOSE, and put the starting point into the OPEN list; Step 401: Take the node with the smallest value in the OPEN list as the current node and move it to the CLOSE list; Step 402: Determine if the current node is the target point. If it is, proceed to step 403; otherwise, proceed to step 404. Step 403: Path planning successful, output the optimal path; Step 404: Calculate the cost value of the neighboring nodes around the current node in turn and process them accordingly; Step 405: Compare the current generation value of neighboring nodes with the generation values ​​already stored in the OPEN list, and take the smaller generation value and the corresponding parent node information; after all neighboring nodes have been processed, return to step 401 and repeat the above operation until the target node is found.

[0051] In this embodiment, the value function of the A* algorithm can be set as follows: in, Indicates the current position node. This represents the total cost of reaching the target point from the starting point through the current node. This represents the actual cost from the starting point to the current node. This represents the estimated movement cost from the current node to the target point.

[0052] , It can be calculated using Euclidean distance, as shown in the following formula: in, This indicates the coordinate information of the current node. This indicates the coordinates of the starting node. This indicates the coordinate information of the target node.

[0053] Figure 5 This is the path planning result obtained in one exemplary embodiment.

[0054] The path planning process of a nuclear power plant refueling robot is described below using a specific embodiment.

[0055] In this embodiment, as Figure 2 As shown, the starting point of the refueling robot is located in the refueling well working area, and the target point is located in the reactor working area. The robot needs to pass through the spent fuel pool working area to travel from the starting point to the target point.

[0056] The center coordinates and related parameters of the Z1 area of ​​the material changing well are set as follows: Among them, (h z1 ,k z1() represents the center coordinates of the Z1 working area of ​​the refueling well. The radius of the Z1 working area of ​​the refueling well. The radius of the high-speed zone in the Z1 working area of ​​the refueling well.

[0057] The center coordinates and related parameters of the Z3 region of the reactor are set as follows: Among them, (h z3 ,k z3 () represents the coordinates of the center of the Z3 working area of ​​the reactor. The radius of the Z3 working area of ​​the reactor. This is the radius of the high-speed region in the Z3 working area of ​​the reactor.

[0058] The starting point coordinates of the nuclear power plant refueling robot are set as follows: The target point coordinates are set to .

[0059] Determine the regions where the starting point and target point of the nuclear power plant refueling robot are located. The starting point is determined to be in the low-speed region of the Z1 working area of ​​the refueling well. Calculations show that the first intersection point between the starting point and the high-speed region of the refueling well working area is (1043.5, 5200.7). The target point is in the low-speed region of the Z3 working area of ​​the reactor. The second intersection point between the target point and the high-speed region of the reactor working area is calculated to be (20358, 2715.5).

[0060] Generate a target planning path sequence including the starting point, target point, first intersection point, second intersection point, and process points: {(800, 5300); (1043.5, 5200.7); (2600, 4975); (5000, 4975); (14000, 2000); (19360, 2000); (20358, 2715.5); (20500, 3000)}.

[0061] Obtain map information of nuclear power plants, and generate a data map set based on the target planning path sequence and the map information of nuclear power plants.

[0062] Based on the target planning path sequence and the generated data atlas, the A* algorithm is used to generate the target planning path for the target generation robot from the starting point to the target point. Figure 5 As shown.

[0063] Figure 6 This application provides a schematic diagram of the structure of a nuclear power plant refueling robot according to another embodiment. Figure 6As shown, the nuclear power refueling robot includes a memory 600, a processor 601, and a computer program stored in the memory and executable on the processor. When the processor 601 executes the computer program, it implements the steps of the path planning method described above.

[0064] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term "computer storage medium" includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A path planning method, characterized in that, Applications in nuclear power plant refueling robots include: Obtain the robot's starting point and target point; Based on the robot's starting point and the type of the first work area where the starting point is located, a first handover point of the first work area is determined; based on the robot's target point and the type of the second work area where the target point is located, a second handover point of the second work area is determined; based on the type of work areas the robot passes through from the starting point to the target point, process handover points in each work area are determined; the first handover point, the second handover point, and the process handover point are points on the adjacent boundaries of the low-speed area and the high-speed area in the corresponding work area; A data map atlas is generated based on the starting point, the first handover point, the process handover point, the second handover point, and the target point; Using the A* algorithm, the target planning path of the robot is determined based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map set.

2. The path planning method according to claim 1, characterized in that, The first working area includes adjacent low-speed and high-speed regions; determining the first junction point of the first working area based on the robot's starting point and the type of the first working area where the starting point is located includes: If the first working area is a refueling well working area or a reactor working area, and the starting point is located in the low-speed region of the first working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the starting point to the center of the first working area is determined as the first intersection point. If the first working area is a spent fuel water tank working area, and the starting point is located in the low-speed region of the first working area, then the point where the robot moves from the starting point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the first intersection point.

3. The path planning method according to claim 2, characterized in that, The step of determining the first handover point of the first work area based on the robot's starting point and the type of the first work area where the starting point is located further includes: If the first working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the starting point is located in the high-speed area of ​​the first working area, then the starting point is determined as the first handover point.

4. The path planning method according to claim 1, characterized in that, The second working area includes adjacent low-speed and high-speed regions; determining the second junction point of the second working area based on the robot's target point and the type of the second working area where the target point is located includes: If the second working area is a refueling well working area or a reactor working area, and the target point is located in the low-speed region of the second working area, then the intersection point between the robot and the boundary of the high-speed region when the robot moves radially from the target point to the center of the second working area is determined as the second intersection point. If the second working area is the spent fuel water tank working area, and the target point is located in the low-speed region of the second working area, then the intersection point where the robot moves from the target point along the horizontal or vertical direction to the boundary of the high-speed region is determined as the second intersection point.

5. The path planning method according to claim 4, characterized in that, The step of determining the second junction point of the second work area where the robot's target point is located, based on the robot's target point and the type of the second work area where the target point is located, further includes: If the second working area is a refueling well working area, a reactor working area, or a spent fuel pool working area, and the target point is located in the high-speed area of ​​the second working area, then the target point is determined as the second handover point.

6. The path planning method according to any one of claims 1-5, characterized in that, The work areas traversed include one or more of the following: refueling well work area, spent fuel pool work area, and reactor work area; each work area includes a high-speed zone; determining the process handover points in each work area traversed by the robot from the starting point to the target point, based on the type of work area traversed, includes: If the robot enters the spent fuel pool working area from the refueling well working area, or enters the refueling well working area from the spent fuel pool working area, the process handover point includes the process point where the center line of the corridor between the refueling well working area and the spent fuel pool working area intersects with the high-speed area of ​​the refueling well working area, and the process point where the center line of the corridor intersects with the high-speed area of ​​the spent fuel pool working area. If the robot enters the spent fuel pool working area from the reactor working area, or enters the reactor working area from the spent fuel pool working area, the process handover point includes the process point where the centerline of the corridor between the reactor working area and the spent fuel pool working area intersects with the high-speed area of ​​the reactor working area, and the process point where the centerline of the corridor intersects with the high-speed area of ​​the spent fuel pool working area.

7. The path planning method according to claim 1, characterized in that, The step of generating a data map set based on the starting point, the first handover point, the process handover point, the second handover point, and the target point includes: The map information of the nuclear power plant is obtained, including: refueling well map information, spent fuel pool map information, and reactor map information. Based on the map information of the nuclear power plant, a data map set of the working area including the starting point, the first handover point, the process handover point, the second handover point, and the target point is generated.

8. The path planning method according to claim 1, characterized in that, The A* algorithm is used to determine the robot's target planning path based on the starting point, the first handover point, the process handover point, the second handover point, the target point, and the data map set, including: Based on the order in which the robot travels through the starting point, the first handover point, the process handover point, the second handover point, and the target point, and using the data map set, the A* algorithm is sequentially used to plan the path between two adjacent locations until the target planning path of the robot from the starting point to the target point is obtained; the location points include the starting point, the first handover point, the process handover point, the second handover point, and the target point.

9. The path planning method according to claim 8, characterized in that, The value function of the A* algorithm is: f(n) = g(n) + h(n) Where n represents the current position, f(n) represents the total cost of traveling from the starting point to the target point via the current position, g(n) represents the actual cost from the starting point to the current position, and h(n) is the estimated travel cost from the current position to the target point; g(n) and h(n) are Euclidean distance calculation functions.

10. A nuclear power plant refueling robot, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the path planning method as described in any one of claims 1-9.

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