CN110633951A - Emergency rescue command system for nuclear power station - Google Patents
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Abstract
The application is suitable for nuclear power station emergency treatment technical field, provides a nuclear power station emergency rescue command system, including robot, fixed monitoring equipment and DCS main control center, wherein: the robot comprises an information acquisition module, a central processing module, an interaction module, a positioning module and an emergency treatment module; the information acquisition module is used for detecting environmental information and crowd information and transmitting the environmental information and the crowd information to the central processing module; the central processing module is used for processing the environmental information and the crowd information or sending the environmental information and the crowd information to the DCS main control center; the interaction module is used for interacting with a user according to the instruction of the central processing module; the positioning module is used for determining the geographic position information of the robot; the first-aid module is used for rescuing the patient in an emergency; and the fixed monitoring equipment acquires the environmental information and sends the environmental information to the DCS main control center. The method and the device can simplify the complexity of the monitoring equipment, and simultaneously keep the monitoring comprehensiveness and accuracy.
Description
Technical Field
The invention belongs to the technical field of emergency treatment of nuclear power stations, and particularly relates to a nuclear power station emergency rescue command system.
Background
At present, when a nuclear accident occurs, a reactor can release radioactive nuclides, and the radioactive nuclides migrate and diffuse in a nuclear power station area and even the environment, so that radiation damage is generated to surrounding personnel. Nuclear emergency evacuation is the act of migrating nuclear accident area personnel to a relatively safe area in order to reduce the radiation dose hazard to the personnel in the nuclear accident area. After the traditional nuclear emergency evacuation system monitors that the dosage reaches the emergency evacuation level by using a monitoring means of the nuclear power station, the traditional nuclear emergency evacuation system is developed according to a set emergency plan, so that the traditional nuclear emergency evacuation system is relatively passive and blind in the process of functioning. The traditional nuclear emergency evacuation scheme is formulated by considering more factors such as traffic demand, road network, artificial person capacity and emergency evacuation time, and considering less radioactive substance diffusion and dose field distribution conditions in accident areas.
In addition, in the nuclear emergency evacuation process, the traditional emergency evacuation process heavily depends on ordinary practice to ensure the emergency evacuation order, and real-time interaction and guidance are difficult to develop on site. Therefore, the problem of information isolated island between an organizer and a person to be assisted in the process of nuclear emergency evacuation exists in the traditional technical scheme.
Disclosure of Invention
The invention provides a nuclear power station emergency rescue command system, and aims to solve the problems that a nuclear emergency evacuation system is relatively passive and blind in the process of functioning in the traditional technical scheme.
The invention is realized in this way, a nuclear power station emergency rescue command system, including robot, fixed monitoring equipment and DCS main control center, wherein:
the robot comprises an information acquisition module, a central processing module, an interaction module, a positioning module and an emergency treatment module; the information acquisition module is used for detecting environmental information and crowd information and transmitting the environmental information and the crowd information to the central processing module; the central processing module is used for processing the environmental information and the crowd information or sending the environmental information and the crowd information to a DCS (distributed control system) main control center; the interaction module is used for interacting with a user according to the instruction of the central processing module; the positioning module is used for determining the geographic position information of the robot; the first-aid module is used for rescuing patients in emergency;
the fixed monitoring equipment is used for acquiring environmental information and sending the environmental information to the DCS main control center;
and the DCS master control center is used for receiving the environmental information and the crowd information sent by the robot and the fixed monitoring equipment, feeding back an instruction, and controlling and switching the nuclear power running state according to the environmental information.
Further, the information acquisition module comprises an environment information acquisition submodule, a life induction detecting head, a radar and a camera, wherein:
the environment information acquisition submodule is used for acquiring environment information, and the environment information comprises radionuclide concentration and radiation dose value of a monitoring point;
the life induction probe is used for detecting a life body;
the radar is used for acquiring crowd information, and the crowd information comprises at least one of position distribution, crowd classification, crowd density and crowd moving speed of ground crowd and is provided for the central processing module;
the camera is used for shooting or shooting the environment and providing the shot image information for the central processing module to be processed and analyzed to obtain the ground crowd information.
According to the embodiment of the invention, the complexity of the monitoring equipment can be simplified and the monitoring comprehensiveness and accuracy can be kept by combining the movable robot and the fixed monitoring equipment; the robot is provided with the information acquisition module to comprehensively acquire environmental information and know various information of radiation safety conditions and ground crowds in a nuclear power area, so that the crowds are instructed to evacuate, and accidents such as crowding and trampling are avoided; the defibrillator is arranged on the robot, so that the heart disease patient can be rescued and treated; by arranging the interactive module on the robot, people can more intuitively know the current real situation, relax nervous and relieve emotion; by adopting the improved image processing technology in the robot, the children can be found and tracked more quickly, and the safety of the children is protected. Through information sharing with the DCS main control center, the nuclear power running state can be controlled and switched according to the environmental information, and therefore the damage of accidents is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a nuclear power plant emergency rescue command system provided by an embodiment of the invention;
fig. 2 is a schematic block diagram of a robot according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, an emergency rescue command system for a nuclear power plant includes: robot 10, fixed monitoring device 20, and dcs (distributed Control system) main Control center 30, wherein:
the robot 10, the robot 10 includes an information acquisition module 102, a central processing module 104, an interaction module 106, a positioning module 108 and an emergency module 110; the information acquisition module 102 is used for detecting environmental information and crowd information and transmitting the environmental information and the crowd information to the central processing module 104; the central processing module 104 is configured to process the environmental information and the crowd information, or send the environmental information and the crowd information to the DCS main control center 30; the interaction module 106 is used for interacting with a user according to the instruction of the central processing module 104; the positioning module 108 is used for determining the geographic position information of the robot 10; the rescue module 110 is used to rescue a patient in an emergency.
And the fixed monitoring equipment 20 is used for acquiring the environmental information and sending the environmental information to the DCS main control center 30.
The environment information comprises radionuclide concentration and radiation dose value of a monitoring point, preferably, the radiation dose monitoring equipment adopts a gamma dose rate monitor, and the radionuclide concentration monitoring equipment adopts a radioactive gas activity monitor.
And the DCS main control center 30 is configured to receive the environmental information and the crowd information sent by the robot 10 and the fixed monitoring device 20, feed back an instruction, and control and switch the nuclear power operation state according to the environmental information. For example, reducing the power generation power or water filling the reactor when the environmental information exceeds a safety threshold or notifying an operator to perform emergency maintenance or emergency shutdown of the reactor.
The information acquisition module 102 comprises an environmental information acquisition submodule, a life induction detecting head, a radar and a camera, wherein the environmental information acquisition submodule is used for acquiring environmental information; the life induction probe is used for detecting a life body, and preventing people from being incapable of being timely rescued due to the fact that people are hidden in remote places and are faint or other dangerous situations occur; the radar is used for acquiring ground crowd information including at least one of position distribution, crowd classification, crowd density, crowd moving speed and the like; the camera is used for taking pictures or shooting images of the environment, and provides the shot image information for the central processing module 104 to be processed and analyzed to obtain various information of ground population.
The central processing module provides an improved image processing technology for better caring for children. The central processing module 104 module includes:
the region detection submodule is used for detecting a region of interest in the image by using a preset target detection algorithm;
the region screening submodule is used for calculating the region area of each region of interest, and the region of interest with the screened region area smaller than a preset area threshold value is used as a target region;
and the target processing submodule is used for carrying out target identification and/or target tracking on the target child corresponding to the target area.
The manner of calculating the area of the region may be set according to actual conditions, for example, the image is composed of pixels, and the number of pixels included in the region of interest may be used as the area of the region.
In practical application, the target recognition algorithm and the target tracking algorithm may be set according to actual requirements, for example, an Alexnet network may be selected as a model of the target recognition algorithm, the Alexnet network is trained, the training is completed to identify the type of the target child, a TLD tracking algorithm may be used as the target tracking algorithm, or other target recognition algorithms and target tracking algorithms may be selected according to actual requirements.
Further, the central processing module 104 further includes:
the region merging submodule is used for merging the target regions with the region spacing smaller than a preset distance threshold into candidate target regions and judging whether the region area of the candidate target regions is smaller than or equal to the preset area threshold;
the merging target sub-module is used for listing the candidate target area as a target area if the area of the candidate target area is less than or equal to the preset area threshold;
and the merging and rejecting submodule is used for listing the candidate target area as a non-target area if the area of the candidate target area is larger than the preset area threshold.
In the process of detecting the region of interest, a region corresponding to one adult may be detected as two independent regions, so after the target regions are screened, the region distance between the regions may be calculated, when the region distance is smaller than a preset distance threshold, the corresponding target regions are merged into candidate target regions, and then whether the area of the candidate target regions is smaller than or equal to a preset area threshold is judged.
The manner of calculating the region pitch may be set according to actual conditions, for example, the image is composed of pixels, and the number of pixels corresponding to the shortest connecting line between two regions may be used as the region pitch.
When the regions are merged, the two regions may be merged, or a plurality of regions may be merged, and as long as the distance between the regions is smaller than the preset distance threshold, the corresponding regions are regarded as image regions corresponding to the same person.
Further, the region detection sub-module specifically includes:
the image processing device comprises a region dividing unit, a processing unit and a processing unit, wherein the region dividing unit is used for dividing an image into a preset number of sub-regions according to a preset dividing rule;
and the partition detection unit is used for respectively detecting the interested areas in the sub-areas by using a preset target detection algorithm.
In the process of image processing, the calculation amount of processing has an exponential positive correlation with the size of the image, and therefore, in the image processing method of this embodiment, the image may be divided into a preset number of sub-regions according to a preset division rule.
The preset division rule may be set according to actual needs, for example, the image may be divided into four rectangular regions according to a cross division manner, the image may also be divided into nine rectangular regions according to a tic-tac-toe division manner, or the image may also be divided according to other division manners.
After the image is divided into a plurality of sub-regions, the region of interest of each sub-region is respectively detected by using a preset target detection algorithm, the calculated amount of image processing is reduced, and the output speed of the processing result can be increased due to the sub-region processing.
Further, the central processing module 104 further includes:
and the track prediction submodule is used for acquiring the position information of the target child in each frame of image and carrying out interpolation calculation to obtain and display the motion prediction track of the target child.
After the position information of the target child in the multi-frame images is recorded, interpolation calculation can be carried out, the motion track of the target child is predicted and displayed to relevant workers, so that the workers can judge the danger degree of the target child and take corresponding measures.
In the image processing method provided by the embodiment, after the interested areas in the image are detected by using the preset target detection algorithm, the area areas of the interested areas can be calculated, and since the target to which the image processing method is applied is a child, the interested areas with the area areas smaller than the preset area threshold can be screened as the target areas, only the target child corresponding to the target areas is subjected to target identification and/or target tracking, so that the influence of interference factors such as large objects or adults is reduced, the calculated amount of image processing is reduced, the accuracy of image processing is improved, and the problems of large calculated amount and low accuracy of image processing when the existing image processing scheme detects the child in the video picture are solved.
When the inter-region distance of the target region is too close, the target region may be merged to obtain a candidate target region, and it is determined whether the candidate target region should be set as the target region according to the region area of the candidate target region.
In order to reduce the amount of calculation of image processing, the image can be divided into a plurality of sub-regions, and then the image processing can be performed on each sub-region, so that the amount of calculation of image processing is reduced, and the output speed of the processing result is improved.
After the position information of the target child in the multi-frame images is recorded, interpolation calculation can be carried out, the motion track of the target child is predicted and displayed to relevant workers, so that the workers can judge the threat degree of the target child and take corresponding measures.
The radar and the camera are mutually supplemented, so that various ground crowd information can be more comprehensively and accurately acquired and all sent to the central processing module 104, the central processing module 104 generates command information according to the environment information and the crowd information, and the command information is played through the interaction module 106 and comprises at least one of the direction, the speed and the route of the evacuation movement of the command crowd, for example, people in other areas are prohibited from entering the area or the crowd in the area is guided to other safe areas when the crowd density is too high; when the moving speed is too fast, the broadcasting reminds people not to panic and advance slowly, so that accidents such as crowded treading and the like are avoided, and the safety is greatly improved.
Further, the central processing module 104 may directly process and output the control instruction after receiving the environmental information and the crowd information, or may send the environmental information and the crowd information to the DCS main control center 30, and the DCS main control center 30 feeds back command information according to the environmental information and the crowd information.
The interaction module 106 is used for interacting with people according to the instruction of the central processing module 104; including answering the user's voice query, broadcasting environmental or entertainment or command information, etc. Wherein the interrogation zone includes geographic location information, environmental information, directions, etc. associated with the evacuation. The broadcasting of the environmental information or the entertainment information or the command information aims to enable people to know the current real situation more intuitively, relax nervous, relieve emotion and avoid causing events of the masses.
The first aid module 110 is used for rescuing patients in emergency, and may include a defibrillator movably connected to the robot 10, which can eliminate some arrhythmia and restore the normal rhythm by controlling a certain energy of current through the heart, so as to rescue and treat the patients with the above-mentioned heart diseases. The defibrillator is preferably located on the abdomen of the robot 10 to allow for easier removal and use. When the user finds a patient, the user can click a take-out button on the robot 10 to take out the defibrillator to perform first aid on the patient while issuing voice instructions to the robot 10. Wherein the voice command may be first aid, lifesaving, taking or extracting a defibrillator, etc. The dual mechanism of voice commands and buttons ensures that the defibrillator is not taken out by mistake.
Meanwhile, the robot 10 can also automatically operate, when the robot 10 monitors that a patient who is dangerous and needs cardiopulmonary resuscitation is present through the information acquisition module 102, the robot reports the patient to the central processing module, the central processing module 104 can automatically send an instruction for taking out the defibrillator, the elastic part is driven to pop out the defibrillator, and the mechanical arm is used for grabbing the defibrillator to perform defibrillation operation on the patient.
The invention has the beneficial effects that:
(1) by combining the movable robot 10 with the fixed monitoring equipment 20, the complexity of the monitoring equipment can be simplified, and the monitoring comprehensiveness and accuracy can be kept;
(2) the robot 10 is provided with the information acquisition module 102 to comprehensively acquire environmental information and know various information of radiation safety conditions and ground crowds in a nuclear power area, so that the crowds are instructed to be evacuated, and accidents such as crowding and trampling are avoided; the defibrillator is arranged on the robot 10 so that the heart disease patient can be rescued and treated; by arranging the interactive module 106 on the robot 10, people can more intuitively know the current real situation, relax nervous and relieve emotion; by using improved image processing techniques on the robot 10, children can be discovered and tracked more quickly, protecting their safety.
(3) Through sharing information with the DCS main control center 30, the nuclear power running state can be controlled and switched according to the environmental information, and therefore the damage of accidents is reduced.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a nuclear power station emergency rescue command system which characterized in that, includes robot, fixed monitoring facilities and DCS main control center, wherein:
the robot comprises an information acquisition module, a central processing module, an interaction module, a positioning module and an emergency treatment module; the information acquisition module is used for detecting environmental information and crowd information and transmitting the environmental information and the crowd information to the central processing module; the central processing module is used for processing the environmental information and the crowd information or sending the environmental information and the crowd information to a DCS (distributed control system) main control center; the interaction module is used for interacting with a user according to the instruction of the central processing module; the positioning module is used for determining the geographic position information of the robot; the first-aid module is used for rescuing patients in emergency;
the fixed monitoring equipment is used for acquiring environmental information and sending the environmental information to the DCS main control center;
and the DCS master control center is used for receiving the environmental information and the crowd information sent by the robot and the fixed monitoring equipment, feeding back an instruction, and controlling and switching the nuclear power running state according to the environmental information.
2. The rescue command system of claim 1, wherein the information acquisition module comprises an environmental information acquisition sub-module, a life sensing probe, a radar, a camera, wherein:
the environment information acquisition submodule is used for acquiring environment information, and the environment information comprises radionuclide concentration and radiation dose value of a monitoring point;
the life induction probe is used for detecting a life body;
the radar is used for acquiring crowd information, and the crowd information comprises at least one of position distribution, crowd classification, crowd density and crowd moving speed of ground crowd and is provided for the central processing module;
the camera is used for shooting or shooting the environment and providing the shot image information for the central processing module to be processed and analyzed to obtain the ground crowd information.
3. The rescue command system according to claim 1, wherein the control switching of the nuclear power operation state according to the environmental information is specifically: and when the environmental information exceeds a safety threshold, reducing the power generation power or performing water injection cooling on the reactor or informing an operator to perform emergency maintenance or emergency shutdown on the reactor.
4. The rescue command system of claim 1, wherein the interaction module is configured to interact with a person according to an instruction of the central processing module, and specifically comprises:
the method includes answering a user's voice query, broadcasting environmental or entertainment information, the query including geographic location information, environmental information, directions.
5. The rescue command system of claim 4, wherein the central processing module generates command information according to environmental information and crowd information;
or the environment information and the crowd information are sent to the DCS main control center, and the DCS main control center feeds back command information according to the environment information and the crowd information;
and the interactive module plays the command information, wherein the command information comprises at least one of the direction, the speed and the route of the evacuation movement of the command crowd.
6. The rescue command system of claim 1, wherein the first aid module includes a defibrillator that is in operative connection with the robot.
7. The rescue command system of claim 6, wherein the defibrillator is disposed at an abdominal location of the robot, and when the user finds a patient, the user issues a voice command to the robot and clicks a take-out button of the robot to take out the defibrillator to perform a first aid on the patient.
8. The rescue command system of claim 6, wherein the defibrillator is arranged at the abdomen of the robot, the robot reports the occurrence of a dangerous patient requiring cardiopulmonary resuscitation to the central processing module through the information acquisition module, the central processing module automatically sends out a command for taking out the defibrillator, drives the elastic component to eject the defibrillator, and the manipulator grabs the defibrillator to perform defibrillation operation on the patient.
9. The rescue command system of claim 1, wherein the central processing module comprises:
the region detection submodule is used for detecting a region of interest in the image by using a preset target detection algorithm;
the region screening submodule is used for calculating the region area of each region of interest, and the region of interest with the screened region area smaller than a preset area threshold value is used as a target region;
and the target processing submodule is used for carrying out target identification and/or target tracking on the target child corresponding to the target area.
The manner of calculating the area of the region may be set according to actual conditions, for example, the image is composed of pixels, and the number of pixels included in the region of interest may be used as the area of the region.
10. The rescue command system of claim 9, wherein the central processing module further comprises:
the region merging submodule is used for merging the target regions with the region spacing smaller than a preset distance threshold into candidate target regions and judging whether the region area of the candidate target regions is smaller than or equal to the preset area threshold;
the merging target sub-module is used for listing the candidate target area as a target area if the area of the candidate target area is less than or equal to the preset area threshold;
and the merging and rejecting submodule is used for listing the candidate target area as a non-target area if the area of the candidate target area is larger than the preset area threshold.
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