CN108627156A - A kind of paths planning method under nuclear radiation environment - Google Patents
A kind of paths planning method under nuclear radiation environment Download PDFInfo
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- CN108627156A CN108627156A CN201810288383.5A CN201810288383A CN108627156A CN 108627156 A CN108627156 A CN 108627156A CN 201810288383 A CN201810288383 A CN 201810288383A CN 108627156 A CN108627156 A CN 108627156A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses the paths planning methods under a kind of nuclear radiation environment, include the following steps：S1, it is to avoid colliding with barrier in staff's walking process, by barrier expansionization；S2, on the map that barrier expansionization has been carried out, generate comprising specifying number the point set V of random point, and the random point is present on free space, avoids colliding with barrier；S3, sector planning is carried out, the element in stochastic set V is connected two-by-two, after carrying out collision detection, construct the set E about the length of side, while each edge is calculated by dose function and grows corresponding dose value；S4, input starting point qIWith terminal qG, length of side set E is accessed into origin and destination by step S2；S5, A is used*Algorithm carries out discrete search to obtain the sequence on side, by the Sequence composition q on gained sideITo qGPath.The present invention carries out pathfinding using random walk figure method under nuclear radiation environment, and calculation amount is small, can be quickly found a complete path of probability, reduces radiation risk.
Description
Technical field
The present invention relates to the paths planning methods under nuclear engineering and nuclear technology field more particularly to a kind of nuclear radiation environment.
Background technology
Currently, nuclear power station has had nuclear radiation protection more thoughtful measure.But for those work and core
The closely related employee of facility is but also inevitably to be radiated on a small quantity.Although these radiation are most of all in controlled range,
Still there is potential risk to them, these radiation should be reduced or avoided in Nuclear Electricity development.For example, coming for service personnel
It says, in each Shutdown or maintenance repair, radiation has prodigious potential risk to their health.If he
It is careless go to the serious region of radiation, this will more cause great harm them.If we can design conjunction for them
The path of reason allows the amount of radiation that they are subject to minimize, and will be generated to employee individual and nuclear power station maintenance and maintenance work great
It influences.
Although there is various detections, detection device in nuclear energy field, but these equipment can only play the role of monitoring.For example,
In March, 2016, the patent of Cai Jiejin and Tan Zhixiong applications《A kind of nuclear reactor fuel breakage online monitoring alarm device》, can be with
Realize the monitoring to radioactive activity, generation of preventing accident.Although these equipment already ensure that nuclear power station to a certain extent
Safe operation, but maintenance repair for nuclear power station maintenance personal and Shutdown cannot play reduction their suffered spokes
The effect penetrated.Therefore, during nuclear power development, the problem of resolving this respect, can not be ignored.
Invention content
It is an object of the invention to overcome shortcoming and deficiency in the prior art, the path under a kind of nuclear radiation environment is provided
Planing method carries out pathfinding using random walk figure method, and calculation amount is small, can be quickly found a complete path of probability,
Reduce radiation risk.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of paths planning method under nuclear radiation environment, includes the following steps：
S1, it is to avoid colliding with barrier in staff's walking process, by barrier expansionization, along barrier wheel
Profile normal direction expands outwardly；
S2, on the map that barrier expansionization has been carried out, generate comprising specifying number the point set V of random point, and
The random point is present on free space, avoids colliding with barrier；
S3, sector planning is carried out：Element in stochastic set V is connected two-by-two, after carrying out collision detection, is constructed about side
Long set E, while each edge is calculated by dose function and grows corresponding dose value；
S4, input starting point qIWith terminal qG, length of side set E is accessed into origin and destination by step S2；
S5, A is used*Algorithm carries out discrete search to obtain the sequence on side, by the Sequence composition q on gained sideITo qGRoad
Diameter.
The barrier refers specifically to the various mechanical equipments in radiation environment as a preferred technical solution,.
As a preferred technical solution, in step S1, described expanded outwardly along barrier contour line normal direction is normal
Half of shoulder breadth distance of adult, specially 25~30cm.
As a preferred technical solution, in step S3, the collision detection mode is as follows：In a grid formation by actual environment
It divides, is used in combination 0 or 1 to indicate each grid；Wherein, 0 represent the space that is occupied by barrier, 1 indicate can by it is freely empty
Between；As long as then judging each grid in space.
It is described that the long matched doses value of each edge is calculated by dose function as a preferred technical solution, in step S3,
The specific method is as follows：
For any one length of side in set E, be divided into n sections, total n+1 node, then by each length of side when
It is by the dose value being subject toWherein i indicates i-th of node, RiIndicate the dosage rate of i-th of node, ti
It indicates through the i-th segmentation required time.
The node dosage rate passes through detector measurement mode or radiation field forward modeling or anti-as a preferred technical solution,
The mode of drilling obtains.
A in the step S5 as a preferred technical solution,*Algorithm is as follows：
S51, construction open list open and close list closed, by starting point qIIt is put into unlatching list；
S52, construction cost function, G (n) are indicated from starting point qIIt is moved to actual emanations dosage suffered by current point n；H (n) is
Heuristic function indicates to be moved to terminal q from current point nGEstimate dose of radiation, distance function used is Europe in calculating process
Distance function is obtained in several；Total radiation dosage：F (n)=G (n)+H (n)；
S53, traversal open list, using first vegetarian refreshments of F (n) value minimum as current point, after by the point from unlatching list
It deletes, is added to closing list；
S54, traversal set E, find out the point n ' being connected with current point n, and processing of classifying；The classification processing：If point
N ' in closing list, then ignores it；If point n ' is not opening list, it is added to and opens list and calculate its F
(n), G (n) and H (n) values, current point n is by the father node as point n '；If point n ' is in opening list, according to G (n) values
Size checks whether path is more excellent, if showing as more excellent, current point n as the father node of point n ' and recalculated its F
(n), then G (n) values are resequenced according to F values to opening the element in list, otherwise, are not handled point n '；
S55, step S53, step S54 are repeated until being added to terminal in unlatching list；
S56, outgoing route are moved until returning to starting point along the father node direction of every bit since terminal, are as advised
Draw path.
The present invention has the following advantages compared with the existing technology and effect：
(1) paths planning method of the invention carries out pathfinding, calculation amount using random walk figure method under nuclear radiation environment
It is small, it can be quickly found a complete path of probability, reduce radiation risk.
(2) paths planning method of the invention breaks the barriers expansionization, and evading for barrier may be implemented, simply easy
Row.
(3) the simplification dose of radiation that paths planning method of the invention proposes calculates mode, can meet primary demand, make
With convenient.
Description of the drawings
Fig. 1 is the paths planning method flow chart under the nuclear radiation environment of the present invention；
Fig. 2 (a) is a kind of simple map of simulation in the present embodiment (in workshop or room)；
Fig. 2 (b) is the map after barrier expansionization in the present embodiment；
Fig. 3 is A in the present invention*The implementation flow chart of algorithm.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment
As shown in Figure 1, the paths planning method under a kind of nuclear radiation environment, includes the following steps：
S1, such as Fig. 2 (a) are a kind of simple map (frame indicates workshop or room) of simulation of this implementation, to avoid work
Make in personnel's walking process and barrier collides, by barrier expansionization, along barrier contour line normal direction to extending out
Open is half of shoulder breadth distance of normal adult, specially 25~30cm, map such as Fig. 2 (b) institutes after barrier expansionization
Show；In the present embodiment, the barrier is the various equipment in radiation environment；
S2, on the map that barrier expansionization has been carried out, generate comprising specifying number the point set V of random point, and
The random point is present on free space, avoids colliding with barrier；
S3, sector planning is carried out：Element in stochastic set V is connected two-by-two, after carrying out collision detection, is constructed about side
Long set E, while each edge is calculated by dose function and grows corresponding dose value；
In the present embodiment, the collision detection mode is as follows：Actual environment is divided in a grid formation, 0 or 1 table is used in combination
Show each grid；Wherein, 0 represent the space that is occupied by barrier, 1 indicate can by free space；As long as then to space
In each grid be detected；
In the present embodiment, described to calculate the long matched doses value of each edge by dose function, the specific method is as follows：
For any one length of side in set E, be divided into n sections, total n+1 node, then by each length of side when
It is by the dose value being subject toWherein i indicates i-th of node, RiIndicate the dosage rate of i-th of node, ti
It indicates through the i-th segmentation required time；
In the present embodiment, the node dosage rate passes through detector measurement mode or radiation field forward modeling or inverting mode
It obtains.
S4, input starting point qIWith terminal qG, length of side set E is accessed into origin and destination by step S2；
S5, A is used*Algorithm (A-star algorithms) carries out discrete search to obtain the sequence on side, by the sequence structure on gained side
At qITo qGPath, be illustrated in figure 3 A*The implementation flow chart of algorithm, specifically includes following step：
S51, construction open list open and close list closed, by starting point qIIt is put into unlatching list；
S52, construction cost function, G (n) are indicated from starting point qIIt is moved to actual emanations dosage suffered by current point n；H (n) is
Heuristic function indicates to be moved to terminal q from current point nGEstimate dose of radiation, distance function used is Europe in calculating process
Distance function is obtained in several；Total radiation dosage：F (n)=G (n)+H (n)；
S53, traversal open list, using first vegetarian refreshments of F (n) value minimum as current point, after by the point from unlatching list
It deletes, is added to closing list；
S54, traversal set E, find out the point being connected with current point, and processing of classifying；The classification processing:If the point is
Through in closing list, then skipping the point；If the point is not opening list, it is added to and opens list and calculate its F
(n), G (n) and H (n) values, current point n is by the father node as point n '；If point n ' is in opening list, according to G (n) values
Size checks whether path is more excellent, if showing as more excellent, current point n as the father node of point n ' and recalculated its F
(n), then G (n) values are resequenced according to F values to opening the element in list, otherwise, are not handled point n '；
S55, step S53, step S54 are repeated until being added to terminal in unlatching list；
S56, outgoing route are moved until returning to starting point along the father node direction of every bit since terminal, are as advised
Draw path.
In the present embodiment, step S2~S5 is random walk figure method.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be subject to described in claim.
Claims (7)
1. the paths planning method under a kind of nuclear radiation environment, which is characterized in that include the following steps：
S1, it is to avoid colliding with barrier in staff's walking process, by barrier expansionization, along barrier contour line
Normal direction expands outwardly；
S2, on the map that barrier expansionization has been carried out, generate comprising specifying number the point set V of random point, and described
Random point is present on free space, avoids colliding with barrier；
S3, sector planning is carried out：Element in stochastic set V is connected two-by-two, after carrying out collision detection, is constructed about the length of side
Set E, while each edge is calculated by dose function and grows corresponding dose value；
S4, input starting point qIWith terminal qG, length of side set E is accessed into origin and destination by step S2；
S5, A is used*Algorithm carries out discrete search to obtain the sequence on side, by the Sequence composition q on gained sideITo qGPath.
2. the paths planning method under nuclear radiation environment according to claim 1, which is characterized in that the barrier is specific
Refer to the various mechanical equipments in radiation environment.
3. the paths planning method under nuclear radiation environment according to claim 1, which is characterized in that described in step S1
It is expanded outwardly as half of shoulder breadth distance of normal adult, specially 25~30cm along barrier contour line normal direction.
4. the paths planning method under nuclear radiation environment according to claim 1, which is characterized in that described in step S3
Collision detection mode is as follows：Actual environment is divided in a grid formation, is used in combination 0 or 1 to indicate each grid；Wherein, 0 representative is hindered
Hinder the space that object occupies, 1 indicate can by free space；As long as then judging each grid in space.
5. the paths planning method under nuclear radiation environment according to claim 1, which is characterized in that described in step S3
The long matched doses value of each edge is calculated by dose function, the specific method is as follows：
For any one length of side in set E, it is divided into n sections, total n+1 node, then by will be by when each length of side
To dose value beWherein i indicates i-th of node, RiIndicate the dosage rate of i-th of node, tiIt indicates
Passed through for the i-th segmentation required time.
6. the paths planning method under nuclear radiation environment according to claim 5, which is characterized in that the node dosage rate
It is obtained by detector measurement mode or radiation field forward modeling or inverting mode.
7. the paths planning method under nuclear radiation environment according to claim 1, which is characterized in that in the step S5
A*Algorithm is as follows：
S51, construction open list open and close list closed, by starting point qIIt is put into unlatching list；
S52, construction cost function, G (n) are indicated from starting point qIIt is moved to actual emanations dosage suffered by current point n；H (n) is to inspire
Formula function indicates to be moved to terminal q from current point nGEstimate dose of radiation, distance function used is in Europe is several in calculating process
Obtain distance function；Total radiation dosage：F (n)=G (n)+H (n)；
S53, traversal open list, using first vegetarian refreshments of F (n) value minimum as current point, after the point is deleted from unlatching list,
It is added to closing list；
S54, traversal set E, find out the point n ' being connected with current point n, and processing of classifying；The classification processing：If point n ' is
Through in closing list, then ignoring it；If point n ' is not opening list, it is added to and opens list and calculate its F (n), G
(n) and H (n) values, current point n is by the father node as point n '；If point n ' in opening list, according to G (n) values size come
It checks whether path is more excellent, if showing as more excellent, current point n as the father node of point n ' and is recalculated into its F (n), G
(n) then value is resequenced according to F values to opening the element in list, otherwise, is not handled point n '；
S55, step S53, step S54 are repeated until being added to terminal in unlatching list；
S56, outgoing route move until returning to starting point along the father node direction of every bit since terminal, as plan road
Diameter.
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| CN112595337A (en) * | 2020-12-01 | 2021-04-02 | 苏州欧菲光科技有限公司 | Obstacle avoidance path planning method and device, electronic device, vehicle and storage medium |
| CN115183777A (en) * | 2022-06-30 | 2022-10-14 | 中国舰船研究设计中心 | Nuclear radiation environment path planning method |
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Application publication date: 20181009 |