WO2022121288A1

WO2022121288A1 - Nuclear power plant three-dimensional wayfinding navigation method and system

Info

Publication number: WO2022121288A1
Application number: PCT/CN2021/103332
Authority: WO
Inventors: 王浩; 张亚男; 林佳; 田立成
Original assignee: 中广核工程有限公司; 深圳中广核工程设计有限公司; 中国广核集团有限公司; 中国广核电力股份有限公司
Priority date: 2021-02-26
Filing date: 2021-06-29
Publication date: 2022-06-16
Also published as: CN112945239A; CN112945239B

Abstract

A nuclear power plant three-dimensional wayfinding navigation method and system, the nuclear power plant three-dimensional wayfinding navigation method comprising: obtaining a three-dimensional layout model of a nuclear power plant (S10); constructing a three-dimensional virtual scene of the nuclear power plant, and in the three-dimensional virtual scene, dividing the plant according to layers and arranging a relay point in each layer so as to bake a navigation mesh layer by layer (S20); in the three-dimensional virtual scene, positioning a target item inputted by a user and receiving a start point and an end point set by the user, and on the basis of the layered navigation mesh, performing a wayfinding calculation in the three-dimensional virtual scene and performing a dynamic navigation demonstration of an optimal path according to a wayfinding calculation result (S30).

Description

3D wayfinding and navigation method and system for nuclear power plant

technical field

The invention relates to the field of nuclear power, in particular to a three-dimensional pathfinding and navigation method and system for a nuclear power plant.

Background technique

With the introduction and development of digital and intelligent means of various nuclear power projects and operating units, 3D digital power plants with virtual simulation technology as the core have begun to be applied to nuclear power project construction and operation management. At present, all nuclear power projects are carrying out forward three-dimensional design. These positive digital design results and accumulated model data provide key data support for the subsequent construction and operation management of the power plant. In particular, in the operation and management of power plants, 3D design data can be used to carry out a series of simulation deductions for process simulation, maintenance and other work in the virtual scene of a 3D nuclear power plant, providing intuitive, clear and accurate auxiliary references for on-site operators.

The maintenance operations of nuclear power plants are mostly based on two-dimensional drawings or operating procedures. To maintain a piece of equipment, it is often necessary to first find a route to the faulty equipment among the massive equipment and pipelines in the nuclear power plant. Specifically, the maintenance of power plant equipment is currently generally through the functional location code, that is, according to the unified functional location code of the power plant, to sequentially find the corresponding room, the system in the room, and the equipment in the system. Rooms, systems and equipment have their own naming conventions, for example RCP001GV stands for steam generator No. 001 of the RCP system in the nuclear island building. In this way, according to the analysis result of the functional location code, the equipment can be found in the corresponding workshop. Therefore, this method of finding rooms and system equipment based on functional location codes is very dependent on the operator's familiarity with nuclear power plants and system equipment, and requires high personal skills and experience of the operator. However, there are still the following defects:

1. Low efficiency: The internal rooms of the nuclear power plant are intricate and complicated. Even operators with rich experience should search carefully and look while walking, so as to avoid going to the wrong room and finding the wrong equipment. On the other hand, going to the destination often requires passing through multiple factories and taking redundant roads. It is difficult to find a shortest path to the target point, wasting maintenance time and reducing work efficiency.

2. Lack of intuitiveness: Some rooms and system equipment have similar coding names, which are easy to confuse, and the human eye lacks intuitiveness to search, resulting in inaccurate positioning and work errors. For hard-to-reach locations, it is often uncertain whether it is the target to be found, and misjudgments may also occur.

Therefore, how to use the 3D virtual power plant to quickly locate the workshop room and system equipment, and quickly find an accurate and feasible arrival route is of great significance for assisting maintenance personnel to operate on site.

technical problem

The technical problem to be solved by the present invention lies in the above-mentioned defects of low efficiency and poor intuitiveness in the prior art.

technical solutions

The technical solution adopted by the present invention to solve the technical problem is: constructing a three-dimensional way-finding and navigation method for a nuclear power plant, including:

Step S10. Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant;

Step S20. Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;

Step S30. In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.

Preferably, the step S30 includes:

Step S31. In the three-dimensional virtual scene, the target item input by the user is positioned, and the starting point and the end point set by the user are received;

Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path;

Step S33. Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.

Preferably, the step S30 further includes:

Step S34. Receive road closure setting information input by the user, and add road closure obstacles in the three-dimensional virtual scene.

Preferably, in the step S32, the optimal path of each layer is calculated according to the following steps:

Get multiple paths to the layer;

The radiation factor and the distance factor are fused to calculate multiple pathfinding cost values of the layer, and the path corresponding to the smallest pathfinding cost value is taken as the layer optimal path of the layer.

Preferably, the step S30 further includes:

Step S35. Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;

Moreover, in the step S32, the layer optimal path of each layer is calculated according to the following steps:

The layer is divided into multiple segments according to the corresponding necessary points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized into the layer optimal path.

Preferably, it also includes:

Record the data of each pathfinding calculation and output it through the display window.

Preferably, it also includes:

If it is determined that the target item does not exist, first prompt information is output.

Preferably, the step S30 further includes:

If it is determined that no optimal path exists according to the pathfinding calculation result, output the second prompt information, and determine whether it is necessary to continue pathfinding;

If the pathfinding needs to be continued, step S30 is performed again.

The present invention also constructs a three-dimensional wayfinding and navigation system for a nuclear power plant, comprising:

The modeling module is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling;

The virtual simulation module is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and each layer is set in the Follow the point to bake the navmesh layer by layer;

A wayfinding and navigation module is used to locate the target item input by the user in the three-dimensional virtual scene, and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, in the three-dimensional virtual scene The pathfinding calculation is performed, and the dynamic navigation demonstration of the optimal path is performed according to the pathfinding calculation result.

Preferably, the wayfinding and navigation module includes:

a positioning submodule, used for positioning the target item input by the user in the three-dimensional virtual scene, and receiving the starting point and the ending point set by the user;

The pathfinding sub-module is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path;

The navigation sub-module is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.

Preferably, it also includes:

The recording module is used to record the data of each pathfinding calculation and output it through the display window.

beneficial effect

The technical solution provided by the present invention can search and locate the target item input by the user, and calculate the optimal path according to the pathfinding algorithm. At the same time, the user can view the dynamic navigation and demonstrate the entire pathfinding process. Moreover, in the case of a large-scale nuclear power plant and complex system equipment, the method of layered baked navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, the user can reach the target point quickly and accurately, and the work efficiency is improved.

Description of drawings

FIG. 1 is a flow chart of Embodiment 1 of a three-dimensional pathfinding and navigation method for a nuclear power plant according to the present invention.

FIG. 2 is a flowchart of the first embodiment of step S10 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.

FIG. 3 is a flowchart of the first embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.

FIG. 4 is a schematic diagram of wayfinding and navigation in a nuclear power plant of the present invention.

FIG. 5A is a schematic diagram of an optimal route generated before setting road closure information.

FIG. 5B is a schematic diagram of an optimal route generated after the road closure information is set.

FIG. 6 is a schematic diagram of a waypoint queue for wayfinding according to the present invention.

FIG. 7 is a schematic diagram of segmented calculation of optimal route according to the present invention.

FIG. 8 is a flowchart of the second embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.

FIG. 9 is a logical structure diagram of Embodiment 1 of the three-dimensional wayfinding and navigation of a nuclear power plant according to the present invention.

FIG. 10 is a logical structure diagram of Embodiment 1 of the wayfinding and navigation module in FIG. 9 .

Embodiments of the present invention

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

On the basis of the existing nuclear power forward design data, the present invention uses virtual simulation technology to build an equal-scale three-dimensional digital power plant. Taking the CPR1000 reactor type as an example, it includes three-dimensional items such as civil engineering rooms, systems, equipment, and pipes of each powerhouse of the nuclear island. , Based on the path planning algorithm and simulation technology in the virtual scene, the design method of the nuclear power plant pathfinding and navigation system is proposed, and the core functions of the system and the deployment of the mobile terminal equipment are realized, so that the operator can pre- The room and equipment of interest are searched and routed, and a navigation solution is provided to facilitate them to quickly find the optimal path to the destination, saving maintenance time and improving maintenance efficiency.

1 is a flowchart of Embodiment 1 of the three-dimensional wayfinding and navigation method for a nuclear power plant according to the present invention. The three-dimensional wayfinding and navigation method for a nuclear power plant in this embodiment includes the following steps:

The technical solution of this embodiment is based on the forward three-dimensional design results of the power plant, and establishes a three-dimensional scene inside the nuclear island workshop of the nuclear power plant, and designs a set of mechanisms for locating, wayfinding and navigating items inside the workshop in the scene, which can be used in the scene. Before equipment maintenance, find and locate the target equipment, and provide an optimal path according to the pathfinding algorithm. At the same time, dynamic navigation can be viewed to demonstrate the entire pathfinding process. In addition, in the case of large-scale nuclear power plants and complex system equipment, the method of layered baking navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, it is convenient to quickly locate the designated room and system equipment in the system during equipment operation, maintenance and repair work, and find the fastest and safest path to reach.

Further, in step S10, with reference to FIG. 2, the PDMS (Plant Design Manage System, power plant design management system) platform is used to carry out forward design modeling of each professional layout model of the nuclear power plant, including the civil works and systems involved in the wayfinding scene. Pipes, valves, space-occupying equipment (appearance), air ducts, supports and hangers, cable trays, etc., these three-dimensional items are combined according to the drawing process, and the real scene of the power plant is simulated in equal proportions. The output of PDMS modeling is three-dimensional data in RVM format. Navisworks software is used to combine and process a series of RVM files, and the final output is FBX format model data that can enter the virtual simulation engine.

Further, in step S20, it is first explained that Unity3D is a mainstream 3D application development tool, and developers can use it to quickly build virtual scenes, so as to focus on application function development. Most of the design and actual development work of the system of the present invention is completed in the Unity3D environment, and finally an application system is formed. Specifically, the Unity3D virtual simulation engine is used to construct a three-dimensional virtual scene of a nuclear power plant, and lay it in the virtual scene for pathfinding. Waypoint information for navigation, set collision parameters, introduce layering mechanism, bake navigation mesh.

In a specific application, since the 3D layout model of the nuclear power plant formed in step S10 is the main data source for building the virtual scene, after the FBX data file is entered into Unity3D, the data will first be integrated and optimized according to the management structure of the 3D items of the power plant , including: model structure, naming, and adjustment of hierarchical relationship. For example, items under the same system or equipment should be organized into the same sub-level, and their naming should be standardized. This is a necessary preparation for retrieving 3D items in the subsequent positioning module. After sorting out the hierarchical structure and building the scene, use the navigation grid baking function provided by the Navigation module of the engine to bake and render the scene. This work is to add the waypoint information and navigation meshes of all passages in the scene to the scene for pathfinding calculation, similar to building roads and installing traffic lights in a city. Only when this information is perfect can the arrival be calculated. The shortest path to a destination. Moreover, when baking the navigation mesh, the engine will automatically calculate items with collision information, such as walls, pipes, and equipment that will form blocking information. When simulating pathfinding calculations, people should not pass through these areas or items. of. Items like stairs, holes, etc. Before baking the navigation meshes, set their passability parameters, such as setting jump points when going up and down straight ladders, setting steepness parameters for inclined ladders (the slope is too large, it is considered impossible to pass, or the cost of passing is too high), and the holes are set to pass thresholds (The hole is too small, and it is considered impossible to pass through when finding the way), etc. Moreover, when baking the navmesh, the workshop is divided into layers, and relay points are set on each layer, for example, stairs, straight ladders, and the rendering is baked layer by layer. In addition, the baking process is automatically executed by the simulation engine, and the time consumption depends on the complexity of the model and the scene. After baking, all connectable areas in the scene will become pathfinding areas, and these areas are indicated to be reachable. With the baked mesh data, pathfinding calculations can be performed.

Further, with reference to FIG. 3, step S30 may include the following steps:

Step S31. In the three-dimensional virtual scene, locate the target item input by the user, and receive the starting point and the ending point set by the user;

In this step, a string matching technique can be used to locate the three-dimensional objects in the scene. Specifically, according to the functional location code of the name of the target item, a string matching algorithm of the model data (supporting fuzzy retrieval) is executed to locate the retrieved item. And display the snapshot, the snapshot provides free observation from all angles, and the associated background database can display the associated information of the retrieved item. At the same time, the positioning item can be set as a wayfinding node using the interactive interface.

Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path, that is, the pathfinding calculation adopts the layered search for local optimal recombination. globally optimal way;

In this step, based on the A* pathfinding algorithm, the pathfinding area layering mechanism can be added to further refine the pathfinding range, that is, the local optimum finally forms the global optimum. Based on the basic 3D model structure and blocking information of the factory building, the calculation of the shortest reachable path from the current location to the target location is completed, the route route is rendered according to the calculation result, and the relevant path information is given.

In this step, real-time dynamic rendering can be used, that is, roaming and browsing on the optimal path and interactive linkage between the map and the three-dimensional scene. At the same time, it adopts human-computer interaction technology to provide observation experience from multiple perspectives, and set navigation parameters, such as speed, perspective, window switching, and pause and resume. This step is mainly for user-oriented visual rendering, and runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions, as shown in Figure 4. A schematic diagram of road navigation, in which the lower right corner is a map.

In this embodiment, step S30 specifically includes three sub-steps of positioning, wayfinding, and navigation, that is, firstly, the search and calibration of the target item are realized; then the path planning and calculation are realized in the wayfinding; finally, the real-time movement to the destination is completed. Browse. In addition, it should be noted that due to the complexity of the nuclear power plant and the large amount of 3D model data, if the conventional navigation mesh overall baking method is used, the consumption is large, and the pathfinding algorithm will not converge and the optimal solution cannot be found. In this embodiment, the hierarchical structure of the nuclear power plant is reasonably used, the navigation grid is divided into multiple sub-layers or sub-regions for baking, the overall problem solving process is decomposed, and the optimal solution is found locally and then merged together to obtain a complete optimal solution. Therefore, the pathfinding calculation efficiency is improved and the algorithm performance is optimized.

At the site of a nuclear power plant, there are often some technical transformations in the later stage that lead to unreasonable paths (there is no such information in the modeling data), which leads to the inconsistency between the 3D virtual scene and the actual scene. Therefore, in an optional embodiment, a self-defined road sealing mechanism is further added on the basis of the above-mentioned embodiment. Specifically, step S30 further includes: step S34. Receive the road sealing setting information input by the user, and in all Add road blocking obstacles to the 3D virtual scene described above.

In the technical solution of this embodiment, with reference to Figures 5A and 5B, the user can dynamically add road blocking obstacles in the three-dimensional virtual scene according to the actual situation on the site, and the added obstacle information will be added to the looping pathfinding calculation thread in real time, As a result, new calculation results are obtained to obtain new reachable paths, and additional obstacles can be automatically avoided. Therefore, the road closure calculation provides an auxiliary means for the path planning in the later stage of the technical transformation of the power plant site.

The pathfinding calculation is generally to find a path with the shortest distance between the start point item and the end point item in the 3D virtual scene (if it is reachable). However, there are radiation doses in nuclear power plants, especially in parts of the nuclear island. When operators enter or pass through the radiation area on site, they should consider avoiding or reducing the impact of the dose as much as possible. Therefore, in an optional embodiment, on the basis of the above-mentioned embodiment, in addition to considering the distance factor, the pathfinding calculation may further consider the radiation factor. Specifically, in step S32, the layers of each layer are calculated according to the following steps Optimal path: Obtain multiple paths of this layer; fuse radiation factor and distance factor to calculate multiple pathfinding cost values of this layer, and use the path corresponding to the smallest pathfinding cost value as the layer optimal path of this layer.

In a specific example, first of all, the pathfinding rule of the conventional A* algorithm mainly considers the distance factor between two points. Assuming that there are n reachable paths between point i and point j in the factory building, Distance(i ,j) is the two-point path length function, and the shortest pathfinding cost is Cost(i,j), then there is formula (1):

Cost(i,j)＝Min(Distance ₁ (i,j),Distance ₂ (i,j),...,Distance _n )(1)

In the technical solution of this embodiment, when calculating the pathfinding cost, the radiation factor is added to the algorithm as a calculation parameter at the same time. Let Radiation(i,j) be the sum of radiation doses on the path between two points, and the shortest pathfinding cost between two points is Cost (i,j) as formula (2):

Among them, α and β are the weight factors corresponding to the distance factor and the dose factor, respectively, which can be set adaptively according to the scene range and radiation intensity.

When the pathfinding calculation is performed based on formula (2), since each pathfinding calculation will comprehensively consider the path length and the dose level on the path, the optimal path is the one with the smallest weighted statistics.

Through the technical solution of this embodiment, the distance factor and the radiation dose factor are added to the pathfinding mechanism at the same time, the calculation result is more realistic and reasonable, and the radiation risk when the field personnel are in or pass through the radiation area during the work process is reduced.

In an optional embodiment, on the basis of the above-mentioned embodiment, a necessary point mechanism may be further added. Specifically, step S30 further includes:

Moreover, in step S32, the layer optimal path of each layer is calculated according to the following steps: the layer is divided into multiple segments according to the corresponding must-pass points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized layer optimal path.

In this embodiment, during the pathfinding calculation process, any intermediate nodes can be added, and all the necessary points are stored in the waypoint queue as shown in FIG. 6 , and these nodes will be traversed in sequence before the end point. : If there is only one node in the queue after the starting point, then the next node is the end point; if there are multiple nodes in the queue, the pathfinding calculation is segmented, and the optimal path for each segment (to each must-passed point) is calculated. , and finally form the optimal path of the layer. As shown in Figure 7, when the necessary point 2 is added, the optimal path of the segment between points 1 and 2 is calculated first, and then the optimal path of the segment between points 2 and 3 is calculated. , and finally form the optimal path of the layer. Moreover, a must-pass mechanism is added to the pathfinding process, which facilitates multi-target pathfinding and optimizes the complete operation path.

Further, in an optional embodiment, after step S30, the method further includes: recording the data of each pathfinding calculation and outputting it through a display window. In this embodiment, by recording the result data of each pathfinding calculation in the background, the pathfinding information statistics data are formed, for example, including: distance, radiation dose level, path reachability and other information, which will be output through the data display window , which is convenient for users to understand the background information of each pathfinding calculation and related calculation result data.

In a specific embodiment, combined with the schematic flow chart of the wayfinding navigation shown in FIG. 8, in this embodiment, after starting the system, the user can input the target item, and then judge whether the target five items exist, if not , the first prompt information can be output for the user to input the target item again.

When it is judged that the target item exists, the user can set the starting point and the ending point, and then judge whether a custom road closure is required. If necessary, it can receive the custom parameters (road closure setting information) set by the user, and then update the wayfinding information. .

When it is judged that the custom road closure is not required, start the road closure calculation, and then judge whether there is an optimal path exists/reachable according to the calculation result. Continue to find the way, if it is necessary to continue to find the way, wait for the user to input the target item again.

When it is determined that an optimal path exists, navigation and browsing can be started, and at the same time, information statistics can be performed.

9 is a logical structure diagram of Embodiment 1 of the three-dimensional wayfinding and navigation system for a nuclear power plant according to the present invention. The wayfinding and navigation system in this embodiment includes: a modeling module 10, a virtual simulation module 20 and a way-finding and navigation module 30, wherein the modeling The module 10 is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling; the virtual simulation module 20 is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene , the workshop is divided into layers, and relay points are set in each layer to bake the navigation grid layer by layer; the wayfinding navigation module 30 is used to locate the target item input by the user in the three-dimensional virtual scene , and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculation in the three-dimensional virtual scene, and perform dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.

In this embodiment, relying on the 3D forward design results, on the basis of the 3D model data of the power plant, using the virtual simulation technology and the development engine environment, and with the help of software development means, a set of tools for the 3D wayfinding and navigation system for the nuclear power plant workshop is developed. , and has the following technical effects:

1. Reproduce the internal structure of the nuclear power plant with a 3D virtual scene to provide a 3D visual reference for the on-site operators to prepare for work;

2. Provide pathfinding calculations between rooms, systems and equipment in the factory building, quickly plan the optimal path to the target item, and provide dynamic navigation demonstrations to provide auxiliary decision-making and intuitive reference for operators to work in the factory building;

3. For the search and maintenance of equipment items, a more intuitive and accurate visualization solution can be used to assist the digital and intelligent operation management of power plants.

Further, with reference to FIG. 10 , the wayfinding and navigation module 30 includes: a positioning submodule 31 , a wayfinding submodule 32 and a navigation submodule 33 , wherein the positioning submodule 31 is used for the target input by the user in the three-dimensional virtual scene The item is positioned, and the starting point and end point set by the user are received; the pathfinding sub-module 32 is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path. Path; the navigation sub-module 33 is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.

Specifically, the positioning sub-module 31 executes the model data string matching algorithm according to the item name (functional location code), supports fuzzy retrieval, locates the retrieved item and displays the snapshot. The snapshot provides free observation from all angles, and the associated background database can The related information of the searched item is displayed. At the same time, the positioning item can be set as a wayfinding node using the interactive interface. The data of the positioning sub-module 31 will be passed to the path-finding sub-module 32 as input parameters. The path-finding sub-module 32 is based on the A* path-finding algorithm and adds the path-finding area layering mechanism to further refine the path-finding range, that is, the local optimum finally forms the global optimum. Based on the basic 3D model structure and blocking information of the factory building, the calculation of the shortest reachable path from the current location to the target location is completed, the route route is rendered according to the calculation result, and the relevant path information is given. The calculation result of the path-finding sub-module 32 will be used as the input parameter of the navigation sub-module 33 to perform the next real-time path navigation operation. The navigation sub-module 33 mainly adopts real-time dynamic rendering, that is, the roaming browsing on the path and the interactive linkage between the map and the three-dimensional scene. At the same time, human-computer interaction technology is used to provide viewing experience from multiple perspectives, and to set navigation parameters, such as speed, perspective, window switching, and pause and resume. This module is mainly a user-oriented visual rendering, which runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions.

In this embodiment, a set of path planning scheme in the three-dimensional space of the power plant is constructed by three sub-modules of positioning, wayfinding and navigation. Provide retrieval and positioning of multi-level model data of factory rooms, systems and equipment, so that on-site staff can easily understand the working environment and operate the target position; quickly calculate the optimal path between any (multiple) points in the scene, and guide staff to the destination to save time and cost and improve work safety.

Further, the nuclear power plant three-dimensional pathfinding and navigation system of the present invention further includes a recording module, which is used for recording the data of each pathfinding calculation and outputting it through the display window.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

A three-dimensional way-finding and navigation method for a nuclear power plant, characterized by comprising:

Step S10. Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant;

Step S20. Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;

Step S30. In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, wherein the step S30 comprises:

Step S31. In the three-dimensional virtual scene, locate the target item input by the user, and receive the starting point and the ending point set by the user;

Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path;

Step S33. Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 2, wherein the step S30 further comprises:

Step S34. Receive road closure setting information input by the user, and add road closure obstacles in the three-dimensional virtual scene.
The three-dimensional wayfinding and navigation method of nuclear power plant according to claim 2, is characterized in that, in described step S32, calculates the layer optimal path of each layer according to the following steps:

Get multiple paths to the layer;

The radiation factor and the distance factor are fused to calculate multiple pathfinding cost values of the layer, and the path corresponding to the smallest pathfinding cost value is taken as the layer optimal path of the layer.
The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 2, wherein the step S30 further comprises:

Step S35. Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;

Moreover, in the step S32, the layer optimal path of each layer is calculated according to the following steps:

The layer is divided into multiple segments according to the corresponding necessary points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized into the layer optimal path.
The three-dimensional pathfinding and navigation method for a nuclear power plant according to any one of claims 1-5, further comprising:

Record the data of each pathfinding calculation and output it through the display window.
The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, further comprising:

If it is determined that the target item does not exist, first prompt information is output.
The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, wherein the step S30 further comprises:

If it is determined that no optimal path exists according to the pathfinding calculation result, output the second prompt information, and determine whether it is necessary to continue pathfinding;

If the pathfinding needs to be continued, step S30 is performed again.
A three-dimensional wayfinding and navigation system for a nuclear power plant, characterized by comprising:

The modeling module is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling;

The virtual simulation module is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and each layer is set in the Follow the point to bake the navmesh layer by layer;

A wayfinding and navigation module is used to locate the target item input by the user in the three-dimensional virtual scene, and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, in the three-dimensional virtual scene The pathfinding calculation is performed, and the dynamic navigation demonstration of the optimal path is performed according to the pathfinding calculation result.
The three-dimensional wayfinding and navigation system for a nuclear power plant according to claim 9, wherein the wayfinding and navigation module comprises:

a positioning submodule, used for positioning the target item input by the user in the three-dimensional virtual scene, and receiving the starting point and the ending point set by the user;

The pathfinding sub-module is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path;

The navigation sub-module is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
The three-dimensional wayfinding and navigation system for a nuclear power plant according to claim 9, further comprising:

The recording module is used to record the data of each pathfinding calculation and output it through the display window.