CN103064375B - Control method of remote control upper computer for nuclear-level device detecting - Google Patents
Control method of remote control upper computer for nuclear-level device detecting Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a control method of a software structure based on a remote control upper computer for a nuclear-level device detecting. The software structure and the control method of the remote control upper computer for the nuclear-level device detecting comprises an outer shell interface component and a core processing component, wherein the outer shell interface component is composed of a model data module, a three-dimensional display module, a man-machine interaction module, a system monitoring module, a hardware implementation module and an emulating calculation module, and the core processing component is composed of a model analysis module, a track calculation module, a path tracking module and a data interface layer module. According to the control method, by means of a standard model analysis interface, three-dimensional model files of general format can be read, by means of a standard control signal output interface, outputs of a real control model and an emulating calculation model can be supported and real-time switching control and the like are provided. The software structure and the control method of the remote control upper computer for the nuclear-level device detecting are applicable to the remote detection of nuclear power station nuclear equipment, and capable of providing a control function of an on-site detection device, an imitating function of on-site environment, an interaction function of operation staff and the like.
Description
Technical field
The present invention is specifically related to the remote operating control system of Nuclear Power Station level equipment Inspection, particularly a kind of control method of the software configuration based on core level equipment Inspection remote control system host computer, can be applicable to the remote control Software for Design under the occasions such as the inservice inspection of nuclear island of nuclear power station equipment, decontamination cleaning and control application, belonging to nuclear engineering and detect.
Background technology
In Nuclear Power Station level key equipment parts testing process, due to the high radiation character of running environment, site inspection surrounding environment is complicated, and to accurately complete the planning action of specifying in official hour window, complete operation must be carried out by remote control system, and reliability and the degree of accuracy of height must be possessed.
Core level equipment Inspection remote control software realizes key that is reliable, accurately remote control action, by running this upper computer software, can operating remote mechanical hook-up, obtain on-the-spot practice condition, cause maloperation for avoiding simultaneously, can also simulate tasks carrying details before execution practical operation, thus guarantee operating personnel can accurately, the reliable checking carrying out feasibility and security with regard to subsequent operation.In addition, also need to provide the functions such as the parsing of dynamic three-dimensional display, mechanical model, system monitoring.Detect remote control field at Nuclear island equipment at present, the domestic Nuclear island equipment not yet finding the relevant similar complexity of documents and materials journey detects remote control upper computer software.
Summary of the invention
The object of the present invention is to provide a kind of software configuration and the control method that are applicable to Nuclear Power Station level equipment Inspection remote control host computer.This software provides the interactive function etc. of the controlling functions of on-site detecting device, the simulation of site environment, the simulation of execute-in-place and operating personnel.
The present invention is achieved in that it comprises by man-machine interaction, model data, 3-D display, system monitoring, hardware performs, simulation algorithm model, key process unit is by model analyzing, trajectory calculation, path trace, data interface tier module composition, wherein said model data module connects with described model analyzing module, described 3-D display module connects with described model analyzing module and trajectory computation module simultaneously, described human-computer interaction module connects with described trajectory computation module, described system-monitoring module is connected with described path trace module, described 3-D display module connects with described human-computer interaction module, described hardware performs, simulation algorithm model all connects with described data interface tier module, described path trace module also connects with described data interface tier module, control method is that this software adopts standardized model analyzing interface, can read the three-dimensional model file of general format, adopt standardized control signal output interface, the output under working control pattern and simulation calculation pattern can be supported, there is provided and immediately switch control, be switched to simulation calculation pattern before performing working control action, carry out functional simulation and safety verification with regard to trajectory calculation process.
Described standardized model parsing interface is the model data module energy identification model form for the 3 d modeling software of different-format in the model analyzing module of described key process unit, reading in data, is the standard format of internal unity through model analyzing module converts.
Described standardization control signal output interface is trajectory calculation in described key process unit, path trace module performs with the hardware in described enclosure interface parts, arrange a data interface tier module between simulation algorithm model, and the inputoutput data of interface layer is consolidation form.
The feature that remote control software of the present invention detects for Nuclear island equipment carries out structural design, take into full account the otherness of various data-interface, application object-oriented method, achieve model analyzing nuclear interface standardizing, the standardization of control signal output interface, the host computer manipulation software of corresponding distinct interface can be completed fast.Upper computer software allows operating personnel to switch under working control pattern and simulation calculation pattern at any time, so that operating personnel are at the verification and validation passing down steering order advance line operate simultaneously.
The beneficial effect that the present invention has is: software configuration understands, dynamic three-dimensional display part is separated with model data parsing part, the cores such as trajectory calculation/path trace perform with hardware/and simulation calculation part is separated, and software can be resolved the model data of multiple 3 d modeling software; There is provided Instant simulation mode switch function, convenient operation personnel carried out the checking that operates and confirmation by software simulation before passing actual instruction down.
Accompanying drawing explanation
Fig. 1 is software program structural representation of the present invention;
Fig. 2 is software control basic flow sheet of the present invention;
Fig. 3 is model analyzing process flow diagram;
Fig. 4 is that control signal exports process flow diagram.
Wherein in Fig. 1: 1. man-machine interaction 2. model data 3. 3-D display 4. system monitoring 5. model analyzing 6. trajectory calculation 7. path trace 8. data interface tier 9. hardware performs 10. simulation calculation
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, software configuration of the present invention is: it comprises by man-machine interaction 1, model data 2, 3-D display 3, system monitoring 4, hardware performs 9, the enclosure interface parts of simulation calculation 10 module composition and by model analyzing 5, trajectory calculation 6, path trace 7, the key process unit of data interface tier 8 module composition, model data 2 module connects with model analyzing 5 module, 3-D display 3 module connects with model analyzing 5 module and trajectory calculation 6 module simultaneously, man-machine interaction 1 module connects with trajectory calculation 6 module, system monitoring 4 module is connected with path trace 7 module, and 3-D display 3 module connects with man-machine interaction 1 module, trajectory calculation 6 module respectively with model analyzing 5, data interface tier 8 module connects, hardware performs 9, simulation calculation 10, path trace 7 module connects with data interface tier 8 module respectively, when software reading model file, the information of model data 2 module is imported to model analyzing 5 module, data message after parsing outputs to 3-D display 3 module for interface display.Meanwhile, the information of software combination model data 2 module and user profile are input to trajectory calculation 6 module and carry out trajectory calculation, and result of calculation information outputs to 3-D display 3 module, for the dynamic refresh of track.3-D display 3 module supports that the interface operation of user is man-machine interaction 1 module alternately simultaneously, the information that the respective paths that trajectory calculation 6 module obtains follows the tracks of 7 modules is converted to control signal by software, pass to hardware by data interface tier 8 module and perform 9 modules or simulation calculation 10 module (determining according to operational mode), hardware performs 9 modules or simulation calculation 10 module can by the feedback of status value transmit in implementation to data interface tier 8 module, these data are fed back for the implementation of trajectory calculation 6 module on the one hand, be transferred to 3-D display 3 module for showing current state, this feedback of status is used for turning back to path trace 7 module on the other hand, for confirming whether path performs normally.
Separate between each program of core processing part and enclosure interface, avoid portion of program code mistake and cause program operation out of control; The variation of partial data interface does not need to carry out complicated adjustment and amendment yet; The data of system acceptance do not need to carry out complicated analysis, directly can pay data interface tier 8 module and process.
Remote control upper computer software provides model analyzing 5 module, can read the model data of the different 3 d modeling software such as 3DS, VRML1.0, VRML97.Upper computer software can pick out prototype software form easily, is the standard format of internal unity through model analyzing module converts.
Remote control upper computer software sets up middleware interface layer module between trajectory calculation/tracking and hardware controls/software emulation, no matter perform working control or simulation calculation, do not affect the core processing parts such as trajectory calculation/tracking, dynamic three-dimensional display, mission planning.
Remote control software provides Instant simulation mode switch function, and operating personnel can switch at any time under working control and software emulation two kinds of patterns, all can perform required simulation operations in any physical location attitude.After emulation terminates, can immediately switch back working control pattern, now position and attitude can flush to actual value.The switching of two kinds of patterns does not affect other nucleus modules of upper computer software.
At present, during described software configuration and control method are applied in " nuclear component detects and uses small-sized motion platform ".In this platform, host computer is communicated by Ethernet with field control equipment, and operating personnel, by the remote control software that operation host computer runs, can control the execution of field apparatus.
Operating personnel can be switched to software emulation pattern before execution working control action, carry out simplation validation to the implementation status detecting path, switch back true control model again, control signal is outputted to field control equipment after confirming to perform safety.This software can read the model file of VRML standard format, and model data is shown to interface.In addition, no matter be simulation model or true control model, path performs information can feed back to three-dimensional display interface, carries out the dynamic refresh of track.
The control method of software of the present invention is: adopt standardized model analyzing interface, the three-dimensional model file of general format can be read, adopt standardized control signal output interface, the output under working control pattern and simulation calculation pattern can be supported, can provide and immediately switch control, simulation calculation pattern can be switched to before execution working control action, carry out functional simulation and safety verification with regard to trajectory calculation process.
Software control basic procedure is shown in Fig. 2, after software startup, first carry out the initialization of variable, object data, then read in the model file of specified path, and by model data store in the data structure of correspondence, program carries out the 3-D display at interface again to the model data information of reading in.After having started, operational mode selected by operating personnel performs corresponding function, as being chosen to be working control pattern, then start actual motion thread, according to concrete function, steering order is sent to controller hardware, and obtain positional information online, for the dynamic refresh of 3-D display, whether then detect motion to complete, then circulation performs said process as unfinished, then returns and wait for subsequent operation instruction after completing.As being chosen to be Software simulation calculation pattern, then start simulation calculation thread, skimulated motion process, and home position information, whether for interface 3-D display, then whether completing decision according to motion needs to continue circulation.After having moved, then return and wait for subsequent operation instruction.
Model analyzing nuclear interface standardizing refers in model analyzing 5 module of remote control upper computer software, for model data 2 module of the 3 d modeling software of different-format, upper computer software can pick out model format easily, reading in data, is the standard format of internal unity through model analyzing 5 module converts.
Model analyzing flow process is shown in Fig. 3, first the initialization of performance variable, object data, then the file header of reading model file, judges that file is VRML form, 3DS form or invalid form according to file header data.As being judged to be vrml file form, then first obtaining Materials Library information, then entering the process that concrete object data is read in circulation, then reading in concrete object data process, obtain vertex data, face data, normal data, material quality data successively.As being judged to be 3DS file, first obtaining version, Materials Library information, then read block content successively, acquisition point, face data and material quality data, terminating until file reads.After VRML or 3DS file has read, by the model data store of reading in the data structure of correspondence, and carry out 3-D display with these data, so far model analyzing flow performing is complete.
The standardization of control signal output interface refers to that upper computer software performs between 9/ simulation calculation 10 module in trajectory calculation 6/ path trace 7 module and hardware and sets up data interface tier 8 module.Data interface tier 8 module belongs to middleware program, and no matter the inputoutput data complete unity form of interface layer, be perform actual hardware controls or simulation calculation, do not affect the core processing parts such as trajectory calculation 6, path trace 7,3-D display 3 module.
Control signal exports flow process and sees Fig. 4, first carries out initialization of variable, then obtains the main information that need export data, and carries out the encapsulation of corresponding steering order according to the content exporting data, forms complete steering order.Then according to the operational mode that operating personnel select, follow-up performing an action is determined.As being chosen to be working control pattern, then pass to controller hardware by under steering order, otherwise Software simulation calculation module will be passed under steering order.So far, control signal output flow process terminates.
Instant simulation switching refers to that operating personnel can switch at any time under working control and software emulation two kinds of patterns, all can perform required simulation operations in any physical location attitude.After emulation terminates, can immediately switch back working control pattern, now position and attitude can flush to actual value.The switching of two kinds of patterns does not affect other nucleus modules of upper computer software.
Claims (3)
1. the control method based on the software configuration of core level equipment Inspection remote control host computer, comprise by the enclosure interface parts of man-machine interaction (1) module, model data (2) module, 3-D display (3) module, system monitoring (4) module, hardware execution (9) module, simulation calculation (10) module composition, it is characterized in that:
A. key process unit is by model analyzing (5) module, trajectory calculation (6) module, path trace (7) module, data interface tier (8) module composition, wherein said model data (2) module connects with described model analyzing (5) module, described 3-D display (3) module connects with described model analyzing (5) module and trajectory calculation (6) module simultaneously, described man-machine interaction (1) module connects with described trajectory calculation (6) module, described system monitoring (4) module is connected with described path trace (7) module, described 3-D display (3) module connects with described man-machine interaction (1) module, described hardware performs (9) module, simulation calculation (10) module all connects with described data interface tier (8) module, described path trace (7) module also connects with described data interface tier (8) module,
B. described control method is that this software adopts standardized model analyzing interface, can read the three-dimensional model file of general format; Adopt standardized control signal output interface, the output under working control pattern and simulation calculation pattern can be supported; There is provided and immediately switch control, be switched to simulation calculation pattern before performing working control action, carry out functional simulation and safety verification with regard to trajectory calculation process.
2. the control method of a kind of software configuration based on core level equipment Inspection remote control host computer according to claim 1, it is characterized in that described standardized model parsing interface is model data (2) the module energy identification model form for the 3 d modeling software of different-format in model analyzing (5) module of described key process unit, reading in data, is the standard format of internal unity through model analyzing (5) module converts.
3. the control method of a kind of software configuration based on core level equipment Inspection remote control host computer according to claim 1, it is characterized in that described standardization control signal output interface is trajectory calculation (6) module in described key process unit, path trace (7) module performs between (9) module, simulation calculation (10) module with the hardware in described enclosure interface parts and arranges a data interface tier (8) module, the inputoutput data of interface layer module is consolidation form.
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| CN105139453B (en) * | 2015-07-30 | 2016-09-14 | 中国石油化工股份有限公司 | A kind of threedimensional model display systems |
| CN105652841B (en) * | 2016-02-24 | 2018-06-26 | 丁德峰 | A kind of Intelligent programmable logic controller |
| CN109413375A (en) * | 2018-06-13 | 2019-03-01 | 中核第四研究设计工程有限公司 | A kind of intelligent patrol detection and emergency set in radioactivity place |
| CN109991876A (en) * | 2019-03-29 | 2019-07-09 | 浙江大学 | A kind of emulation platform of long-range control multi-model scheduling |
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Denomination of invention: A Control Method for Software Structure of Remote Control Upper Computer Based on Nuclear Level Device Detection Effective date of registration: 20230628 Granted publication date: 20150114 Pledgee: China Construction Bank Corporation Shanghai Xuhui sub branch Pledgor: STATE NUCLEAR POWER PLANT SERVICE Co. Registration number: Y2023310000318 |
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