CN109190861B - Nuclear power station maintenance path planning method and device - Google Patents
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Abstract
The invention discloses a nuclear power station maintenance path planning method and a nuclear power station maintenance path planning device. The method comprises the following steps: according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station, a three-dimensional digital nuclear power station is made into a path to search for a needed navigation grid; and selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm, so that the radiation dose borne by the maintainers passing through the maintenance path is the lowest. According to the invention, radiation data information is introduced into the three-dimensional scene of the nuclear power station, the maintenance irradiated dose level is used as an evaluation standard for path search, and a heuristic search method is utilized to automatically search paths in the three-dimensional scene of the nuclear power station, so that the irradiated dose level of maintenance personnel can be effectively close to a maintenance target area under the condition of keeping the irradiated dose level of the maintenance personnel at a reasonable level as low as possible, excellent maintenance path planning is provided for the maintenance personnel, meanwhile, the maintenance path planning efficiency is greatly improved, and the maintenance work of the nuclear power station can be rapidly and reliably carried out.
Description
Technical Field
The invention relates to the technical field of path planning, in particular to a method and a device for planning a maintenance path of a nuclear power station.
Background
At present, radiation protection personnel must measure the radiation level of a working area in advance before a nuclear power station is repaired, and only within an allowable radiation dose range, the maintenance personnel can enter the working area to carry out on-site environment investigation. At present, the spot stepping of nuclear power maintenance only depends on the actual experience of maintenance personnel, the distribution characteristics of a radiation dose field cannot be analyzed in advance, and the radiation dose in the operation process cannot be pre-evaluated, so that the maintenance path cannot be effectively planned in advance, and the irradiated dose cannot be kept at the lowest possible level.
Therefore, the existing nuclear power plant maintenance path selection work has the following problems:
1, due to the lack of effective path planning, it is difficult to ensure that the exposure dose level is as lowest as possible and the residence time is as short as possible during the stepping process, thereby increasing the exposure dose risk of personnel.
And 2, path stepping is carried out only by depending on the actual experience of workers, and an effective maintenance path optimization means is lacked.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiment of the invention provides a method and a device for planning a maintenance path of a nuclear power station. The technical scheme is as follows:
in one aspect, an embodiment of the present invention provides a nuclear power plant maintenance path planning method, where the method includes:
according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station, a three-dimensional digital nuclear power station is made into a path to search for a needed navigation grid;
and selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm, so that the radiation dose borne by the maintainers passing through the maintenance path is the lowest.
In the method for planning a maintenance path of a nuclear power plant according to the embodiment of the present invention, the navigation mesh is formed by connecting a plurality of arbitrary convex polygons, and the navigation mesh includes: feasible regions and infeasible regions.
In the method for planning a maintenance path of a nuclear power station according to the embodiment of the present invention, selecting a suitable maintenance path in a navigation grid according to a preset heuristic search algorithm includes:
and (3) carrying out radiation dose evaluation on each convex polygon in the feasible region in the navigation grid by adopting the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
In the method for planning a maintenance path of a nuclear power station according to the embodiment of the present invention, the selecting a suitable maintenance path in a navigation grid according to a preset heuristic search algorithm further includes:
selecting the convex polygon with the starting point as a current convex polygon, and selecting all adjacent convex polygons of the current convex polygon in a feasible region;
and taking the convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and selecting all the adjacent convex polygons in the feasible region of the new current convex polygon until a target point exists in the selected adjacent convex polygons.
In the method for planning the maintenance path of the nuclear power plant according to the embodiment of the present invention, the step of taking the convex polygon with the lowest F value among the selected adjacent convex polygons as a new current convex polygon includes:
if there are multiple identical lowest F values in the selected adjacent convex polygons, the convex polygon with the lowest G value is selected as the new convex polygon.
In another aspect, an embodiment of the present invention provides a nuclear power plant maintenance path planning apparatus, where the apparatus includes:
the system comprises a manufacturing module, a path searching module and a path searching module, wherein the manufacturing module is used for manufacturing a path of the three-dimensional digital nuclear power station to search a required navigation grid according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station;
and the processing module is used for selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm so that the radiation dose borne by the maintainers passing through the maintenance path is the lowest.
In the nuclear power plant maintenance route planning apparatus according to the embodiment of the present invention, the navigation mesh is formed by connecting a plurality of arbitrary convex polygons, and the navigation mesh includes: feasible regions and infeasible regions.
In the nuclear power plant maintenance path planning apparatus according to the embodiment of the present invention, the processing module is further configured to perform radiation dose evaluation on each convex polygon in the navigation grid in the feasible region by using the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
In the nuclear power plant maintenance path planning apparatus according to the embodiment of the present invention, the processing module is further configured to select a convex polygon where the starting point is located as a current convex polygon, and select all adjacent convex polygons of the current convex polygon that are located in a feasible region;
and the processing module is further configured to use the convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and select all adjacent convex polygons of the new current convex polygon that are in the feasible region until a target point exists in the selected adjacent convex polygon.
In the nuclear power plant maintenance route planning apparatus according to the embodiment of the present invention, the processing module is further configured to select the convex polygon with the lowest G value as a new convex polygon when a plurality of identical lowest F values exist in the selected adjacent convex polygons.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
by fully utilizing the advantages of the digital nuclear power station, radiation data information is introduced into the three-dimensional scene of the nuclear power station, the maintenance irradiated dose level is used as an evaluation standard for path search, a heuristic search method is utilized to automatically search paths in the three-dimensional scene of the nuclear power station, the irradiated dose level of maintenance personnel can be effectively close to a maintenance target area under the condition that the irradiated dose level of the maintenance personnel is kept at a reasonable level as low as possible, excellent maintenance path planning is provided for the maintenance personnel, meanwhile, the maintenance path planning efficiency is greatly improved, and the maintenance work of the nuclear power station can be rapidly and reliably carried out.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for planning a maintenance path of a nuclear power plant according to an embodiment of the present invention;
FIG. 2 is an exemplary diagram of a navigation grid provided by one embodiment of the present invention;
fig. 3 is an exemplary diagram of a process for planning a maintenance path of a nuclear power plant according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a nuclear power plant maintenance path planning apparatus according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example one
The embodiment of the invention provides a method for planning a maintenance path of a nuclear power station, which is suitable for reasonably planning the maintenance path before the maintenance work of the nuclear power station, and referring to fig. 1, the method can comprise the following steps:
and step S11, according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station, making the three-dimensional digital nuclear power station into a path to search a needed navigation grid.
In the embodiment, the advantages of the digital nuclear power station are fully utilized, the idea of automatic path finding in the current three-dimensional game scene is used for reference, and the characteristics of nuclear power station radiation partitioning, radiation hotspot distribution and the like are combined, and a three-dimensional simulation tool is utilized to automatically generate a navigation grid for path finding according to a three-dimensional model, so that a good basis is provided for automatic and reasonable planning of subsequent maintenance paths.
Specifically, the navigation mesh may be composed of a plurality of arbitrary convex polygon connections, the navigation mesh including: feasible regions and infeasible regions. Wherein the repair path can pass through the feasible region and can not pass through the infeasible region.
And step S12, selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm, so that the radiation dose received by the maintainers passing through the maintenance path is the lowest.
In the embodiment, the irradiated dose level is used as an evaluation basis of a search algorithm, a heuristic search algorithm is utilized to search and optimize paths in a generated navigation grid, and a maintenance path is searched and optimized for a three-dimensional visual nuclear power station scene, so that a proper maintenance path can be generated quickly and effectively, and the requirement of radiation dose is met. Compared with the prior art, the maintenance path is more reasonable and reliable to select, and a good foundation is provided for the maintenance work of the nuclear power station.
Specifically, the step S12 can be implemented as follows:
1, evaluating the radiation dose of each convex polygon in the feasible region in the navigation grid by adopting the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
Further, the step S12 can be implemented as follows:
and 2, selecting the convex polygon with the starting point as the current convex polygon, and selecting all adjacent convex polygons of the current convex polygon in the feasible region.
And 3, taking the convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and selecting all the adjacent convex polygons of the new current convex polygon in the feasible region until a target point exists in the selected adjacent convex polygon.
In this embodiment, the selection of the maintenance path is performed by selecting adjacent convex polygons, first selecting the convex polygon from which the starting point is located as the current convex polygon, then selecting all the adjacent convex polygons of the current convex polygon that are in the feasible region, using the convex polygon with the lowest F value as the new current convex polygon (i.e., selecting the new current convex polygon as a ring of the maintenance path), then selecting all the adjacent convex polygons of the new current convex polygon that are in the feasible region, using the convex polygon with the lowest F value as the new current convex polygon (i.e., selecting the new current convex polygon as a ring of the maintenance path), and sequentially looping until the target point exists in the selected adjacent convex polygon, so that all the passing convex polygons of the maintenance path are completed, and the selected convex polygons are connected to form the required maintenance path.
Preferably, if there are a plurality of identical lowest F values in the selected adjacent convex polygons, taking the convex polygon with the lowest F value in the selected adjacent convex polygons as the new current convex polygon can be implemented as follows:
and selecting the convex polygon with the lowest G value as the new convex polygon.
In the real-time, if the optimal convex polygon is difficult to select by the F value, the G value can be added as a judgment standard to further optimize the selection of the maintenance path.
In practical application, referring to fig. 3, a specific process of the nuclear power plant maintenance path planning method is as follows:
1, the navigation grid of fig. 2 is composed of a plurality of arbitrary convex polygons which are connected, wherein the hollow represents a feasible region and the solid represents a forbidden region; setting a starting point and a target point in the navigation grid, marking the starting point as P _ Start and the target point as P _ End, and finding out the convex polygon area where the P _ Start and the P _ End are located.
2, establishing sets OpenList and CloseList which are initially empty, wherein the OpenList and CloseList are used for storing convex polygons in the navigation grid; setting an evaluation function F ═ G + H for each convex polygon in OpenList, G being the radiation dose received by the convex polygon center moving along the generation path from the starting point P _ Start, and H being the radiation dose received by the convex polygon center linearly moving to the target point P _ End.
And 3, adding the convex polygon of the P _ Start into the OpenList, and calculating and storing the F, G, H value.
4, circularly executing the following operations (namely a-c):
a, traversing Openlist, finding out a convex polygon with the lowest F, called a current convex polygon, deleting the current convex polygon from OpenList, and adding the current convex polygon into CloseList;
b, traversing all adjacent convex polygons of the current convex polygon, and performing the following operation on each adjacent convex polygon;
c, if the convex polygon is not passed or is already in CloseList, skipping the convex polygon, otherwise:
c1, if the convex polygon is not in OpenList, adding the convex polygon into OpenList, calculating and storing the corresponding F, G, H value, and taking the current convex polygon as the parent object;
c2, if the convex polygon is already in OpenList, checking if the new path is more optimal with the G value as reference; if so, the parent object of the convex polygon is changed to the current convex polygon and the F, G value for the convex polygon is updated.
And 5, stopping searching. When the convex polygon where the target point is located is added to CloseList, the path is found; or when the convex polygon where the target point is located is not added to the CloseList, the OpenList is empty, and the path is not found.
And 6, saving the path. An initially empty ordered set PathNode is created. Adding P _ End into PathNode; then starting to move along the father object of the convex polygon according to the convex polygon where the searched target point is located until the convex polygon where the starting point is located is returned; sequentially adding the passing convex polygon center points into PathNode; and finally, adding the P _ Start into the PathNode, and traversing the PathNode in a reverse order to obtain a final path.
In the embodiment, radiation data information is innovatively introduced into a three-dimensional scene of the nuclear power plant, and the irradiated dose level is used as an evaluation function of a path search algorithm. The heuristic search method is used for automatically searching the path in the three-dimensional scene of the nuclear power station, the requirement of path planning by using a digital power station model is met, and a three-dimensional basis is provided for the optimization of the maintenance path of the nuclear power station. In addition, the method adopts a heuristic search method, the irradiated dose level of each position is estimated in a navigation grid according to an estimation function to obtain the position with the lowest level, and then the position is continuously searched until a target is found.
According to the embodiment of the invention, by fully utilizing the advantages of the digital nuclear power station, radiation data information is introduced into the three-dimensional scene of the nuclear power station, the maintenance irradiated dose level is used as an evaluation standard for path search, and a heuristic search method is utilized to automatically search paths in the three-dimensional scene of the nuclear power station, so that the maintenance target area can be effectively approached under the condition that the irradiated dose level of maintenance personnel is kept at a reasonable level as low as possible, excellent maintenance path planning is provided for the maintenance personnel, meanwhile, the maintenance path planning efficiency is greatly improved, and the maintenance work of the nuclear power station can be rapidly and reliably carried out.
Example two
The embodiment of the present invention provides a nuclear power plant maintenance path planning apparatus, which executes the method described in the first embodiment, and with reference to fig. 4, the apparatus may include: the module 100 and the processing module 200 are manufactured.
And the manufacturing module 100 is used for manufacturing a path of the three-dimensional digital nuclear power station into a navigation grid required by searching according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station.
In the embodiment, the advantages of the digital nuclear power station are fully utilized, the idea of automatic path finding in the current three-dimensional game scene is used for reference, and the characteristics of nuclear power station radiation partitioning, radiation hotspot distribution and the like are combined, and a three-dimensional simulation tool is utilized to automatically generate a navigation grid for path finding according to a three-dimensional model, so that a good basis is provided for automatic and reasonable planning of subsequent maintenance paths.
And the processing module 200 is configured to select a suitable maintenance path in the navigation grid according to a preset heuristic search algorithm, so that the radiation dose received by the maintainer passing through the maintenance path is the lowest.
In the embodiment, the irradiated dose level is used as an evaluation basis of a search algorithm, a heuristic search algorithm is utilized to search and optimize paths in a generated navigation grid, and a maintenance path is searched and optimized for a three-dimensional visual nuclear power station scene, so that a proper maintenance path can be generated quickly and effectively, and the requirement of radiation dose is met. Compared with the prior art, the maintenance path is more reasonable and reliable to select, and a good foundation is provided for the maintenance work of the nuclear power station.
Specifically, the navigation mesh may be composed of a plurality of arbitrary convex polygon connections, the navigation mesh including: feasible regions and infeasible regions. Wherein the repair path can pass through the feasible region and can not pass through the infeasible region.
Further, the processing module 200 is further configured to perform a radiation dose evaluation on each convex polygon in the navigation grid in the feasible region by using the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
Further, the processing module 200 is further configured to select the convex polygon where the starting point is located as the current convex polygon, and select all adjacent convex polygons of the current convex polygon that are located in the feasible region.
The processing module 200 is further configured to use a convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and select all adjacent convex polygons of the new current convex polygon that are in the feasible region until a target point exists in the selected adjacent convex polygon.
In this embodiment, the selection of the maintenance path is performed by selecting adjacent convex polygons, first selecting the convex polygon from which the starting point is located as the current convex polygon, then selecting all the adjacent convex polygons of the current convex polygon that are in the feasible region, using the convex polygon with the lowest F value as the new current convex polygon (i.e., selecting the new current convex polygon as a ring of the maintenance path), then selecting all the adjacent convex polygons of the new current convex polygon that are in the feasible region, using the convex polygon with the lowest F value as the new current convex polygon (i.e., selecting the new current convex polygon as a ring of the maintenance path), and sequentially looping until the target point exists in the selected adjacent convex polygon, so that all the passing convex polygons of the maintenance path are completed, and the selected convex polygons are connected to form the required maintenance path.
Preferably, the processing module 200 is further configured to select the convex polygon with the lowest G value as the new convex polygon when there are a plurality of same lowest F values in the selected adjacent convex polygons.
In the real-time, if the optimal convex polygon is difficult to select by the F value, the G value can be added as a judgment standard to further optimize the selection of the maintenance path.
In the embodiment, radiation data information is innovatively introduced into a three-dimensional scene of the nuclear power plant, and the irradiated dose level is used as an evaluation function of a path search algorithm. The heuristic search method is used for automatically searching the path in the three-dimensional scene of the nuclear power station, the requirement of path planning by using a digital power station model is met, and a three-dimensional basis is provided for the optimization of the maintenance path of the nuclear power station. In addition, the method adopts a heuristic search method, the irradiated dose level of each position is estimated in a navigation grid according to an estimation function to obtain the position with the lowest level, and then the position is continuously searched until a target is found.
According to the embodiment of the invention, by fully utilizing the advantages of the digital nuclear power station, radiation data information is introduced into the three-dimensional scene of the nuclear power station, the maintenance irradiated dose level is used as an evaluation standard for path search, and a heuristic search method is utilized to automatically search paths in the three-dimensional scene of the nuclear power station, so that the maintenance target area can be effectively approached under the condition that the irradiated dose level of maintenance personnel is kept at a reasonable level as low as possible, excellent maintenance path planning is provided for the maintenance personnel, meanwhile, the maintenance path planning efficiency is greatly improved, and the maintenance work of the nuclear power station can be rapidly and reliably carried out.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
It should be noted that: when the nuclear power plant maintenance path planning apparatus provided in the above embodiment implements the nuclear power plant maintenance path planning method, only the division of each function module is exemplified, and in practical applications, the function distribution may be completed by different function modules according to needs, that is, the internal structure of the equipment is divided into different function modules, so as to complete all or part of the functions described above. In addition, the nuclear power plant maintenance path planning apparatus provided by the above embodiment and the nuclear power plant maintenance path planning method embodiment belong to the same concept, and specific implementation processes thereof are referred to in the method embodiment and are not described herein again.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A nuclear power plant maintenance path planning method is characterized by comprising the following steps:
according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station, a three-dimensional digital nuclear power station is made into a path to search for a needed navigation grid;
selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm, so that the radiation dose borne by the maintainers passing through the maintenance path is the lowest;
the navigation grid is composed of a plurality of arbitrary convex polygons which are connected, and the navigation grid comprises: feasible regions and infeasible regions;
selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm comprises the following steps:
and (3) carrying out radiation dose evaluation on each convex polygon in the feasible region in the navigation grid by adopting the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
2. The method of claim 1, wherein selecting the appropriate repair path in the navigation grid according to a predetermined heuristic search algorithm further comprises:
selecting the convex polygon with the starting point as a current convex polygon, and selecting all adjacent convex polygons of the current convex polygon in a feasible region;
and taking the convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and selecting all the adjacent convex polygons in the feasible region of the new current convex polygon until a target point exists in the selected adjacent convex polygons.
3. The method according to claim 2, wherein the step of using the convex polygon with the lowest F value as the new current convex polygon comprises:
if there are multiple identical lowest F values in the selected adjacent convex polygons, the convex polygon with the lowest G value is selected as the new convex polygon.
4. A nuclear power plant maintenance path planning apparatus, the apparatus comprising:
the system comprises a manufacturing module, a path searching module and a path searching module, wherein the manufacturing module is used for manufacturing a path of the three-dimensional digital nuclear power station to search a required navigation grid according to the distribution conditions of radiation partitions and radiation hot spots in the nuclear power station;
the processing module is used for selecting a proper maintenance path in the navigation grid according to a preset heuristic search algorithm so that the radiation dose borne by the maintainers passing through the maintenance path is the lowest;
the navigation grid is composed of a plurality of arbitrary convex polygons which are connected, and the navigation grid comprises: feasible regions and infeasible regions;
the processing module is further configured to perform radiation dose evaluation on each convex polygon in the feasible region in the navigation grid by using the following evaluation function:
the valuation function F is G + H,
wherein G is the radiation dose of the starting point moving to the center of the convex polygon to be evaluated along the generation path, and H is the radiation dose of the central line of the convex polygon to be evaluated moving to the target point.
5. The apparatus according to claim 4, wherein the processing module is further configured to select a convex polygon with a starting point as a current convex polygon, and select all neighboring convex polygons of the current convex polygon in a feasible region;
and the processing module is further configured to use the convex polygon with the lowest F value in the selected adjacent convex polygons as a new current convex polygon, and select all adjacent convex polygons of the new current convex polygon that are in the feasible region until a target point exists in the selected adjacent convex polygon.
6. The apparatus of claim 5, wherein the processing module is further configured to select a convex polygon with a lowest G value as the new convex polygon when there are multiple same lowest F values in the selected adjacent convex polygons.
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