CN105354393A - System and method for realizing nuclear plant three-dimensional digital map - Google Patents

Abstract

The invention provides a system for realizing a nuclear plant three-dimensional digital map. The system comprises a virtual reality simulation module, a model rendering optimization module, a path planning algorithm implementation module, a path planning analysis module, a simulated figure walking control module, a path node arrangement module and an external data storage database. According to the system and method for realizing the nuclear plant three-dimensional digital map, through use of a nuclear power three-dimensional design model and combination of a virtual reality technology and a Dijkstra path planning algorithm, algorithm path nodes are distributed according to escape paths and paths through which staff of the nuclear island plant go into or out of rooms, path node attributes are set according to radiation subarea dosage rate and control information like internal locks, shield gates and so on in the nuclear plant, so that the nuclear plant three-dimensional digital map is created.

Description

A kind of nuclear power plant Three-dimensional Numeric Map realize system and method

Technical field

In nuclear power field, use virtual reality technology and path planning algorithm, realize items location, emergency escape path planning, and in conjunction with radiation subregion dose rate, institute's path planning is assessed and three-dimensional artificial.

Background technology

Normally to run and under accident conditions in nuclear power plant, the personnel of nuclear power plant inside of making rational planning for pass through scheme, and find out optimum pass, for meeting radioactivity protection principle, the particularly requirement of ALARA principle, guarantees that operations staff seems safely particularly important.Current nuclear power plant can consider projected dose rate in nuclear power plant when designing, and divides radiation subregion and passes in and out path and the emergency escape personnel path in each room in conjunction with factory building plane drawing primary design personnel.And nuclear power plant is as a huge system, inner structure is complicated, the One's name is legions such as equipment, pipeline, valve, airduct, crane span structure, be distributed in up to a hundred rooms, there is a large amount of small spaces in factory building inside simultaneously, cause current obstacle, therefore the optimality of path design and accessibility still to be tested.In addition, in nuclear island factory building, radiation dose evaluation work is except the calculating of dose rate in radiation areas, also needs to estimate the residence time staff, and the latter is a difficult point of carrying out dose assessment work.

Summary of the invention

The present invention is directed to the deficiencies in the prior art, what propose a kind of nuclear power plant Three-dimensional Numeric Map realizes system.

Nuclear power plant's Three-dimensional Numeric Map realize system, comprising:

Virtual reality emulation module, described virtual reality emulation module is the carrier of Three-dimensional Numeric Map;

Model rendering optimizes module, and described model rendering is optimized module and is used for nuclear power Three Dimensional Design Model to export as model format that virtual reality emulation module supports and carries out body merging (thus reducing computer resource usage, optimization Simulation performance); The model rendering model optimized handled by module is optimized module by described model rendering and is built three-dimensional virtual scene;

Path planning algorithm implements module, and described path planning algorithm is implemented module and is used for carrying out items location and emergency escape path planning according to user-selected nuclear power plant's duty (run shutdown) and path planning pattern (bee-line minimized radiation value);

Path planning analysis module, Pre-Evaluation is carried out in the path that described path planning analysis module is used for path planning algorithm enforcement module is planned, comprises the pre-statistical study to the radiation dose that travel distance, required used time, expectation occur; Also comprise and gathering the control information comprised in path (lock, roadblock etc.), user accordingly information can apply for corresponding right of access before operation;

Artificial figure travelling control module, described artificial figure travelling control module is for controlling the three-dimensional personage in virtual reality emulation module, implement module institute path planning according to path planning algorithm and carry out three-dimensional artificial, and contrast with the information of path analysis module institute Pre-Evaluation; In the design phase of nuclear power station, the emulation undertaken by described artificial figure travelling control module finds Problems existing (as small space etc.) in design, thus optimal design.

External data storage database, described external data storage database is used for the external data that store path planning algorithm implements module and path analysis module, comprises the corresponding room information of model, radiation subregion dose rate etc.;

Path node arranges module, and path node arranges module for placing the path node that path planning algorithm implements module fast in virtual reality emulation module.

On the three-dimensional virtual scene basis that model rendering optimization module is built, use path node that module is set and place path node, and after obtaining path planning, use artificial figure travelling control module to control virtual portrait and virtual emulation is carried out to path.

Another object of the present invention is to provide the implementation method of a kind of nuclear power plant Three-dimensional Numeric Map.

The implementation method of nuclear power plant's Three-dimensional Numeric Map comprises the following steps:

A, build three-dimensional simulated environment by virtual reality emulation module virtual reality engine Unity3D;

B, to be optimized module by model rendering and nuclear power Three Dimensional Design Model is converted to the model format that virtual reality emulation module supports, and it is machine-processed for the resource consumption of virtual reality emulation module, derived model is carried out body merging, to reduce resource consumption; Model after body merges, imports virtual reality emulation module;

C, optimize the model after resume module, successively according to hierarchical structure organization and administration in virtual reality emulation module of nuclear power plant, factory building, specialty, model through model rendering; Because three-dimensional model is when modeling, each model inside comprises many submodels with different identification, and after model rendering optimizes block merging body, integrally (CombinedMesh) plays up reality;

D, by the external data required for external data storage database purchase Three-dimensional Numeric Map, comprise the corresponding informance in model and nuclear power plant room, radiation subregion dose rate; In the design of nuclear power plant stage, radiation subregion dose rate is static data; In nuclear power plant's O&M stage, by on-site data gathering, these data are upgraded; In addition, under nuclear power plant's emergency circumstances, whether the room also needing collection fire, water logging etc. to cause is stored in database by information, to carry out the planning of emergency escape map;

The patten's design path node of e, employing Unity3D expanded editing device arranges module; Put to node needed for path planning algorithm at certain intervals fast; Under default situations, node is with its room, place name nominating; If Nodes has control information, then node naming method is: the title-control information of room, node place;

F, by path planning algorithm implement module 5 use Dijkstra path planning algorithm, carry out path planning; Path node arranges the path node set by module, is first initialized as the algorithm node (Node) corresponding to dijkstra's algorithm.

Preferably, described step f also comprises: implement module by path planning algorithm and carry out initialization to node, need relevant information to be stored in nodal community; Node ID is the unique identification that each node is different from other nodes; Room title and Control Cooling arrange module from path node and obtain in the name of node; Node location is the coordinate of node in three-dimensional virtual environment; Radiation properties comprises node place place when nuclear power plant normally runs and runs dose rate, runs dose fractionation, and during nuclear power plant's shutdown, node place place's shutdown dose rate, shutdown dose fractionation.

Preferably, in order to improve algorithm execution efficiency, adopting greedy method to realize dijkstra's algorithm, needing the descendant node list constructing each node; With the weights between the descendant node of the form of key-value pair storage present node and present node to descendant node; Under least distance programing pattern, using the distance between node as node weights; Under minimized radiation binarization mode, using by the dose value suffered by two nodes as weights; Its account form is as follows:

From node i to the distance of node i+1 be S _i(m):

$S_i=\sqrt{{(node\[i+1\].x-node\[i\].x)}^2+{(node\[i+1\].y-node\[i\].y)}^2+{(node\[i+1\].z-node\[i\].z)}^2}$

Required used time T _i(s):

T _i＝S _i/V _i

Wherein V _ifor by node i to the gait of march of node i+1, on level land, place's speed such as stair, staircase is different.Radiation dose value R (Sv):

$R=\frac{(R_i+R_{i+1})\×T_i}{2\×3600}$

R _i(Sv/h) be node i place subregion dose rate, this value is get different values for normal operation or shutdown according to nuclear power plant; Get by the average of two adjacent node dose rates as by dose rate during this two nodes.

Compared with prior art, the present invention has following beneficial effect:

1, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, utilize nuclear power Three Dimensional Design Model, Combining with technology of virtual reality and Dijkstra path planning algorithm, path and the emergency escape paths arrangement algorithm path node in each room is passed in and out with reference to nuclear island factory building personnel, lock according to radiation subregion dose rate and factory building inside, the control information such as shield door arranges path point attribute, create the method and system of nuclear power plant's Three-dimensional Numeric Map.Design side's path planning accessibility and optimality are verified.Meanwhile, by the statistics to the virtual portrait residence time in emulation, can be used for carrying out dose assessment.In the O&M stage of nuclear power plant, the planning of daily O&M working path and dose assessment can be carried out in conjunction with Three-dimensional Numeric Map, select operation scheme.Rights management is carried out in control information simultaneously in conjunction with institute's path planning prompting.

2, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, path node arranges simply, and algorithm performs efficient.Can carry out across factory building, nuclear power full factory three-dimensional path planning across floor.

3, the implementation method of nuclear power plant provided by the invention Three-dimensional Numeric Map and system, radiation dose rate, control information etc. store with the form of nodal community, can carry out Pre-Evaluation to institute's path planning.

4, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, use nuclear power Three Dimensional Design Model, and be optimized according to virtual reality engine resource consumption mechanism, within the scope of full factory, three-dimensional artificial can be carried out to institute's path planning and job task.

5, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, changeable least distance programing pattern and MID Planning Model, carry out programme contrast.Operational mode and shutdown pattern switch, and are applicable to nuclear power plant's different application scene.

6, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, external data storage, in database, maintains easily and renewal, is convenient to Three-dimensional Numeric Map be applied in the actual O&M process of nuclear power plant.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the system that realizes of the nuclear power plant's Three-dimensional Numeric Map meeting the preferred embodiment of the present invention.

Fig. 2 is model level organization chart in virtual environment.

Fig. 3 is Dijkstra path planning algorithm nodal community Initialize installation figure.

Fig. 4 is Three-dimensional Numeric Map items location realization flow figure.

Embodiment

For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.

As shown in Figure 1, nuclear power plant's Three-dimensional Numeric Map realize system, comprising:

Virtual reality emulation module 1, described virtual reality emulation module 1 is the carrier of Three-dimensional Numeric Map;

Model rendering optimizes module 2, described model rendering is optimized module 2 for the model format that nuclear power Three Dimensional Design Model exported as virtual reality emulation module and support and is carried out body merging (thus reducing computer resource usage, optimization Simulation performance); The model rendering model optimized handled by module is optimized module by described model rendering and is built three-dimensional virtual scene;

Path planning algorithm implements module 5, and described path planning algorithm is implemented module and is used for carrying out items location and emergency escape path planning according to user-selected nuclear power plant's duty (run shutdown) and path planning pattern (bee-line minimized radiation value);

Path planning analysis module 6, Pre-Evaluation is carried out in the path that described path planning analysis module is used for path planning algorithm enforcement module is planned, comprises the pre-statistical study to the radiation dose that travel distance, required used time, expectation occur; Also comprise and gathering the control information comprised in path (lock, roadblock etc.), user accordingly information can apply for corresponding right of access before operation;

Artificial figure travelling control module 7, described artificial figure travelling control module is for controlling the three-dimensional personage in virtual reality emulation module, implement module institute path planning according to path planning algorithm and carry out three-dimensional artificial, and contrast with the information of path analysis module institute Pre-Evaluation; In the design phase of nuclear power station, the emulation undertaken by described artificial figure travelling control module finds Problems existing (as small space etc.) in design, thus optimal design.

External data storage database 3, described external data storage database is used for the external data that store path planning algorithm implements module and path analysis module, comprises the corresponding room information of model, radiation subregion dose rate etc.;

Path node arranges module 4, and path node arranges module 4 for placing the path node that path planning algorithm implements module 5 fast in virtual reality emulation module 1.

On the three-dimensional virtual scene basis that model rendering optimization module is built, use path node that module 4 is set and place path node, and after obtaining path planning, use artificial figure travelling control module 7 to control virtual portrait and virtual emulation is carried out to path.

As Figure 1-4, the implementation method of nuclear power plant's Three-dimensional Numeric Map comprises the following steps:

A, build three-dimensional simulated environment by virtual reality emulation module 1 virtual reality engine Unity3D;

B, to be optimized module 2 by model rendering and nuclear power Three Dimensional Design Model is converted to the model format that virtual reality emulation module supports, and it is machine-processed for the resource consumption of virtual reality emulation module, derived model is carried out body merging, to reduce resource consumption; Model after body merges, imports virtual reality emulation module;

C, through model rendering optimize module 2 process after model, successively according to hierarchical structure organization and administration in virtual reality emulation module of nuclear power plant, factory building, specialty, model; Because three-dimensional model is when modeling, each model inside comprises many submodels with different identification, and after model rendering optimizes block merging body, integrally (CombinedMesh) plays up reality;

D, store the external data required for Three-dimensional Numeric Map by external data storage database 3, comprise the corresponding informance in model and nuclear power plant room, radiation subregion dose rate; In the design of nuclear power plant stage, radiation subregion dose rate is static data; In nuclear power plant's O&M stage, by on-site data gathering, these data are upgraded; In addition, under nuclear power plant's emergency circumstances, whether the room also needing collection fire, water logging etc. to cause is stored in database by information, to carry out the planning of emergency escape map;

The patten's design path node of e, employing Unity3D expanded editing device arranges module 4; Put to node needed for path planning algorithm at certain intervals fast; Under default situations, node is with its room, place name nominating; If Nodes has control information, then node naming method is: the title-control information of room, node place;

F, by path planning algorithm implement module 5 use Dijkstra path planning algorithm, carry out path planning; Path node arranges the path node set by module, is first initialized as the algorithm node (Node) corresponding to dijkstra's algorithm.

Preferably, described step f also comprises: implement module by path planning algorithm and carry out initialization to node, need relevant information to be stored in nodal community; Node ID is the unique identification that each node is different from other nodes; Room title and Control Cooling arrange module from path node and obtain in the name of node; Node location is the coordinate of node in three-dimensional virtual environment; Radiation properties comprises node place place when nuclear power plant normally runs and runs dose rate, runs dose fractionation, and during nuclear power plant's shutdown, node place place's shutdown dose rate, shutdown dose fractionation.

Preferably, in order to improve algorithm execution efficiency, adopting greedy method to realize dijkstra's algorithm, needing the descendant node list constructing each node; With the weights between the descendant node of the form of key-value pair storage present node and present node to descendant node; Under least distance programing pattern, using the distance between node as node weights; Under minimized radiation binarization mode, using by the dose value suffered by two nodes as weights; Its account form is as follows:

From node i to the distance of node i+1 be S _i(m):

$S_i=\sqrt{{(node\[i+1\].x-node\[i\].x)}^2+{(node\[i+1\].y-node\[i\].y)}^2+{(node\[i+1\].z-node\[i\].z)}^2}$

Required used time T _i(s):

T _i＝S _i/V _i

Wherein V _ifor by node i to the gait of march of node i+1, on level land, place's speed such as stair, staircase is different.Radiation dose value R (Sv):

$R=\frac{(R_i+R_{i+1})\×T_i}{2\×3600}$

R _i(Sv/h) be node i place subregion dose rate, this value is get different values for normal operation or shutdown according to nuclear power plant; Get by the average of two adjacent node dose rates as by dose rate during this two nodes.

As shown in Figure 4, Three-dimensional Numeric Map items location realization flow.User is according to nuclear power plant's duty selective radiation subregion dose mode (S1), path planning mode (S2), input model name to be positioned (S3), path planning algorithm is implemented module 5 and is used initialized path node to carry out path planning.In the process of planning, use the model room information in external data storage database 3 to carry out the filtration of node, ensure the correctness of destination node.After the path obtaining extremely model to be positioned, path analysis module 6 is as shown in Figure 1 used to assess (S4) institute's path planning.Comprise path overall length, control information etc. that required used time, middle radiation dose value, path comprise.User selects to start emulation, then use artificial figure travelling control module 7 as shown in Figure 1, virtual portrait model in control three-dimensional scenic, along institute's path planning, emulates with different speed in different path situations (level land, stair, staircase etc.).In the process of emulation, to the distance that virtual portrait model has been passed by, the time used, suffered dose value carries out real-time statistics, can contrast with the assessment result of path analysis module 6.

In nuclear power plant's accident (fire, water logging etc.) situation, Three-dimensional Numeric Map gathers each room passability information, calls path planning algorithm and implements module 5 and path analysis module 6 and cook up best-effort path to outlet fast.

Compared with prior art, the present invention has following beneficial effect:

1, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, utilize nuclear power Three Dimensional Design Model, Combining with technology of virtual reality and Dijkstra path planning algorithm, path and the emergency escape paths arrangement algorithm path node in each room is passed in and out with reference to nuclear island factory building personnel, lock according to radiation subregion dose rate and factory building inside, the control information such as shield door arranges path point attribute, create the method and system of nuclear power plant's Three-dimensional Numeric Map.Design side's path planning accessibility and optimality are verified.Meanwhile, by the statistics to the virtual portrait residence time in emulation, can be used for carrying out dose assessment.In the O&M stage of nuclear power plant, the planning of daily O&M working path and dose assessment can be carried out in conjunction with Three-dimensional Numeric Map, select operation scheme.Rights management is carried out in control information simultaneously in conjunction with institute's path planning prompting.

2, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, path node arranges simply, and algorithm performs efficient.Can carry out across factory building, nuclear power full factory three-dimensional path planning across floor.

3, the implementation method of nuclear power plant provided by the invention Three-dimensional Numeric Map and system, radiation dose rate, control information etc. store with the form of nodal community, can carry out Pre-Evaluation to institute's path planning.

4, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, use nuclear power Three Dimensional Design Model, and be optimized according to virtual reality engine resource consumption mechanism, within the scope of full factory, three-dimensional artificial can be carried out to institute's path planning and job task.

5, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, changeable least distance programing pattern and MID Planning Model, carry out programme contrast.Operational mode and shutdown pattern switch, and are applicable to nuclear power plant's different application scene.

6, nuclear power plant provided by the invention Three-dimensional Numeric Map realize system and method, external data storage, in database, maintains easily and renewal, is convenient to Three-dimensional Numeric Map be applied in the actual O&M process of nuclear power plant.

In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For system disclosed in embodiment, owing to corresponding to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.

Those skilled in the art can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.

Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (4)

1. nuclear power plant's Three-dimensional Numeric Map realize a system, it is characterized in that, comprising:

Virtual reality emulation module, described virtual reality emulation module is the carrier of Three-dimensional Numeric Map;

Model rendering optimizes module, and described model rendering is optimized module and is used for nuclear power Three Dimensional Design Model to export as model format that virtual reality emulation module supports and carries out body merging; The model rendering model optimized handled by module is optimized module by described model rendering and is built three-dimensional virtual scene;

Path planning algorithm implements module, and described path planning algorithm is implemented module and is used for carrying out items location and emergency escape path planning according to user-selected nuclear power plant's duty (run shutdown) and path planning pattern (bee-line minimized radiation value);

Path planning analysis module, Pre-Evaluation is carried out in the path that described path planning analysis module is used for path planning algorithm enforcement module is planned, comprises the pre-statistical study to the radiation dose that travel distance, required used time, expectation occur; The control information also comprised comprising in path gathers, and user accordingly information can apply for corresponding right of access before operation;

Artificial figure travelling control module, described artificial figure travelling control module is for controlling the three-dimensional personage in virtual reality emulation module, implement module institute path planning according to path planning algorithm and carry out three-dimensional artificial, and contrast with the information of path analysis module institute Pre-Evaluation; In the design phase of nuclear power station, the emulation undertaken by described artificial figure travelling control module finds Problems existing in design, thus optimal design.

Path node arranges module, and path node arranges module for placing the path node that path planning algorithm implements module fast in virtual reality emulation module.

External data storage database, described external data storage database is used for the external data that store path planning algorithm implements module and path analysis module, comprises the corresponding room information of model;

On the three-dimensional virtual scene basis that model rendering optimization module is built, use path node that module is set and place path node, and after obtaining path planning, use artificial figure travelling control module to control virtual portrait and virtual emulation is carried out to path.

2. an implementation method for nuclear power plant's Three-dimensional Numeric Map, is characterized in that, comprises the following steps:

A, build three-dimensional simulated environment by virtual reality emulation module virtual reality engine Unity3D;

B, to be optimized module by model rendering and nuclear power Three Dimensional Design Model is converted to the model format that virtual reality emulation module supports, and it is machine-processed for the resource consumption of virtual reality emulation module, derived model is carried out body merging, to reduce resource consumption; Model after body merges, imports virtual reality emulation module;

C, optimize the model after resume module, successively according to hierarchical structure organization and administration in virtual reality emulation module of nuclear power plant, factory building, specialty, model through model rendering; Because three-dimensional model is when modeling, each model inside comprises many submodels with different identification, and after model rendering optimizes block merging body, integrally (CombinedMesh) plays up reality;

D, by the external data required for external data storage database purchase Three-dimensional Numeric Map, comprise the corresponding informance in model and nuclear power plant room, radiation subregion dose rate; In the design of nuclear power plant stage, radiation subregion dose rate is static data; In nuclear power plant's O&M stage, by on-site data gathering, these data are upgraded; In addition, under nuclear power plant's emergency circumstances, whether the room also needing collection fire, water logging etc. to cause is stored in database by information, to carry out the planning of emergency escape map;

The patten's design path node of e, employing Unity3D expanded editing device arranges module; Put to node needed for path planning algorithm at certain intervals fast; Under default situations, node is with its room, place name nominating; If Nodes has control information, then node naming method is: the title-control information of room, node place;

F, implement module by path planning algorithm and use Dijkstra path planning algorithm, carry out path planning; Path node arranges the path node set by module, is first initialized as the algorithm node (Node) corresponding to dijkstra's algorithm.

3. the implementation method of nuclear power plant as claimed in claim 2 Three-dimensional Numeric Map, it is characterized in that, described step f also comprises: implement module by path planning algorithm and carry out initialization to node, need relevant information to be stored in nodal community; Node ID is the unique identification that each node is different from other nodes; Room title and Control Cooling arrange module from path node and obtain in the name of node; Node location is the coordinate of node in three-dimensional virtual environment; Radiation properties comprises node place place when nuclear power plant normally runs and runs dose rate, runs dose fractionation, and during nuclear power plant's shutdown, node place place's shutdown dose rate, shutdown dose fractionation.

4. the implementation method of nuclear power plant as claimed in claim 2 Three-dimensional Numeric Map, is characterized in that, adopts greedy method to realize dijkstra's algorithm, needs the descendant node list constructing each node; With the weights between the descendant node of the form of key-value pair storage present node and present node to descendant node; Under least distance programing pattern, using the distance between node as node weights; Under minimized radiation binarization mode, using by the dose value suffered by two nodes as weights; Its account form is as follows:

From node i to the distance of node i+1 be S _i(m):

$S_i=\sqrt{{\left(node\[i+1\].x-node\[i\].x\right)}^2+{\left(node\[i+1\].y-node\[i\].y\right)}^2+{\left(node\[i+1\].z-node\[i\].z\right)}^2}$

Required used time T _i(s):

T _i＝S _i/V _i

Wherein V _ifor by node i to the gait of march of node i+1, on level land, place's speed such as stair, staircase is different.Radiation dose value R (Sv):

$R=\frac{(R_i+R_{i+1})\×T_i}{2\×3600}$

R _i(Sv/h) be node i place subregion dose rate, this value is get different values for normal operation or shutdown according to nuclear power plant; Get by the average of two adjacent node dose rates as by dose rate during this two nodes.