CN116382172A

CN116382172A - Remote centralized control system and method for fuel operation and storage equipment

Info

Publication number: CN116382172A
Application number: CN202310390309.5A
Authority: CN
Inventors: 何志军; 张鹏; 袁骏; 李波; 陈日罡; 徐思敏; 张志强; 张敏; 周传心; 聂洪权; 郑燃
Original assignee: China Nuclear Power Engineering Co Ltd
Current assignee: China Nuclear Power Engineering Co Ltd
Priority date: 2023-04-12
Filing date: 2023-04-12
Publication date: 2023-07-04

Abstract

The application discloses a fuel operation and storage device remote centralized control system and method. The system comprises: operator station, redundant control cabinet, equipment safety protection control cabinet, sensor and controlled equipment. The operator station is remotely connected with the redundant control cabinet; the redundant control cabinets are two and are arranged in a redundant manner; the controlled equipment is connected with the redundant control cabinet; the sensor is used for collecting safety signals of the controlled equipment and sending the safety signals to the equipment safety protection control cabinet; the equipment safety protection control cabinet is connected with the controlled equipment through hard wiring and is connected with the redundant control cabinet through a field bus. The fuel operation and storage equipment remote centralized control system and method can realize centralized, convenient, high-efficiency and reliable remote transmission and automatic execution of control instructions, thereby realizing centralized control and collaborative operation of equipment, further reducing time cost, improving working efficiency and guaranteeing reliability and stability of equipment operation.

Description

Remote centralized control system and method for fuel operation and storage equipment

Technical Field

The application relates to the technical field of nuclear power, in particular to a fuel operation and storage equipment remote centralized control system and method.

Background

With the continuous development of society, the demand for electric power energy is increasing. From the concrete application of the nuclear engineering at the present stage, the nuclear energy is taken as a clean energy source, and the ideal effect is shown in the practical application process. During the actual operation of the nuclear power plant, the equipment and components of the nuclear power plant may gradually wear out, age, and even possibly fail. Therefore, to ensure safe, reliable, efficient operation of the nuclear power plant, the nuclear power plant typically requires periodic overhaul and refueling, and each overhaul refueling of the nuclear power unit requires core unloading and loading procedures that require coordinated control of the relevant equipment for fuel operations and storage systems to complete the procedure. Currently, in fuel operation and storage systems, operations of key devices (such as a loading and unloading machine, a transfer device, a man-bridge crane, etc.) are all completed on control consoles set on site, and each control console is respectively arranged in a fuel plant, namely a KX plant and a reactor plant, namely an RX plant according to control targets. Because the control points of the key equipment are scattered in each factory building, operators need to shuttle in the factory building to control and operate, and the automation level is low. The system has the advantages that the system can enable workers to bear a large amount of radiation, and the system is low in work progress and efficiency due to poor information caused by operating the control console one by one, so that the labor cost and the time cost of operation investment are high.

At present, patent CN101770225 discloses a centralized monitoring system for a plurality of sets of spacecraft thermal vacuum environment simulation equipment, comprising: the system comprises a lower site monitoring subsystem, an upper remote centralized monitoring subsystem and a remote client monitoring subsystem. The lower site monitoring subsystem can monitor the thermal vacuum environment simulation equipment, control components in the thermal vacuum test equipment through the control cabinet, and then collect thermal vacuum test data based on the sensors. The upper remote centralized monitoring subsystem can be used for monitoring the thermal vacuum test equipment in real time in a centralized manner by exchanging monitoring data with the lower site monitoring subsystem. The remote client monitoring subsystem can enter an upper remote centralized control system interface to remotely control the thermal vacuum test equipment. The method mainly realizes centralized regulation and control of test equipment by monitoring, does not involve cooperative control of various associated equipment, and does not judge and verify control instructions, so that the method is not suitable for control of a fuel operation and storage system which is complex and changeable and has high requirements on stability. Patent CN109920562 discloses a protection system control device for a nuclear power plant, after the signals complete threshold comparison in the logic module, the signals are sent to the logic modules of the other three channels through unidirectional point-to-point communication, meanwhile, the threshold comparison results from the other three channels are received through point-to-point communication, and 'four-out-of-two' voting is completed for 4 sensor signals in the logic module of each shutdown protection unit, so that corresponding signals are generated. However, the logic module of the protection system is mainly used for preventing the common mode fault of the system from occurring in the automatic control function, and cannot meet the requirement of further judging the signal accuracy in the fuel operation and storage system.

Disclosure of Invention

The present application aims to solve, at least to some extent, one of the technical problems described above.

Therefore, a first object of the present application is to provide a remote centralized control system for fuel operation and storage equipment, which is centralized, convenient, efficient and reliable to implement remote transmission and automatic execution of control instructions, so as to implement centralized control and collaborative operation of fuel operation and storage equipment, reduce time cost, improve working efficiency, and ensure reliability and stability of equipment operation.

A second object of the present application is to propose a fuel handling and storage device remote centralized control device.

To achieve the above object, an embodiment of a first aspect of the present application provides a fuel operation and storage device remote centralized control system, including an operator station, a redundant control cabinet, a device safety protection control cabinet, a sensor and a controlled device,

the operator station is remotely connected with the redundant control cabinet, and is used for receiving a control instruction of an operator and sending the control instruction to the redundant control cabinet;

the redundant control cabinets are two and are arranged in a mutually redundant manner and are used for outputting the received control instructions to the controlled equipment;

the controlled equipment is connected with the redundant control cabinet and is used for executing control instructions based on the application voting control strategy;

The sensor is used for collecting safety signals of the controlled equipment and sending the safety signals to the equipment safety protection control cabinet;

the equipment safety protection control cabinet is connected with the controlled equipment through hard wiring and is connected with the redundant control cabinet through a field bus, and the equipment safety protection control cabinet is used for directly controlling the controlled equipment to execute protection operation according to a safety signal or controlling the controlled equipment to execute protection operation through the redundant control cabinet.

Optionally, the system further comprises an emergency console,

the emergency operation platform is connected with the equipment safety protection control cabinet, the redundancy control cabinet and the controlled equipment through hard wires respectively and is used for carrying out emergency operation on the controlled equipment under emergency working conditions.

Optionally, the controlled device comprises a loading and unloading machine, a fuel transfer device and a man-bridge crane.

Optionally, the sensor includes a load sensor, an anti-collision signal sensor, and an operational safety limit sensor.

Optionally, the operator station and the redundant control cabinet are connected by an Ethernet and a dual-network redundancy mode.

Optionally, the operator stations include a primary operator station and a secondary operator station,

the main operator station is used for data monitoring and receiving control instructions of operators;

The secondary operator station is used for data monitoring.

Optionally, a redundant controller and a redundant power supply are arranged in the redundant control cabinet.

Optionally, the controlled device comprises a driver and a motor,

the driver is used for receiving the control instruction and controlling the motor to perform corresponding actions.

Alternatively, the drive comprises an on-board DI,

the on-board DI is used for receiving the external working condition signal and switching the working mode of the driver according to the external working condition signal.

Optionally, the drive further comprises a three-way redundancy encoder,

the encoder is configured to switch the encoder data path based on a fault condition.

Optionally, when the redundant control cabinets work normally, the driver of the controlled device receives the control instructions of the two redundant control cabinets at the same time, and controls the motor of the controlled device by comparing the consistency of the two control instructions.

Optionally, the system further comprises a plurality of video monitoring devices, wherein the video monitoring devices are remotely connected with an operator station, and the operator station is used for monitoring the operation condition of the controlled device according to video data acquired by the video monitoring devices.

Optionally, the video monitoring device is also used to identify the fuel assembly ID, the presence/absence of fuel assemblies in the fuel transfer device tipping frame, the loader and the numerals/letters of the personnel bridge crane rail scale. Performing consistency check on the fuel assembly ID identification result and a reactor core/spent pool refueling plan layout of the current overhaul period of the unit in real time; the identification result of the number/letter of the fuel assembly, the loading and unloading machine and the staff gauge of the human bridge crane track in the tipping frame of the fuel transfer device is logically interlocked with the control system, so that the operation safety of the equipment is ensured. The related records can be automatically archived for later examination.

Optionally, the system further comprises a voice call device for voice call between the operator station and the controlled device.

Optionally, the system further comprises a three-dimensional animation display device, wherein the three-dimensional animation display device is used for displaying three-dimensional animation of the controlled device, the three-dimensional animation comprises factory building environment, relative position relation of the device, running data of the device, running animation of the device and local detail animation of action, the running data of the device comprise fuel assembly loading state of a reactor core/a spent pool, fuel assembly information, encoder values, load values, safety-related limit states and running fault prompts, and the local detail animation of action comprises loading and unloading machine assembly inserting/extracting fuel assembly actions, offset actions of loading and unloading machine offset method material changing, tipping frame tipping actions of a transfer device, loading and unloading fuel assembly actions of a human bridge crane, component gripper exchanging actions of the human bridge crane and water gate actions of the human bridge crane.

Optionally, the three-dimensional animation further includes a video monitoring picture of the monitored controlled device, which is acquired by the video monitoring device.

By applying the technical scheme, at least the following technical effects are realized:

1. the remote centralized control system for the fuel operation and storage equipment can realize centralized, convenient, high-efficiency and reliable remote transmission and automatic execution of control instructions, thereby realizing centralized control and collaborative operation of the fuel operation and storage equipment, reducing time cost and improving operation efficiency of the fuel operation and storage equipment.

2. The remote centralized control system for the fuel operation and storage equipment can accurately send the control instruction, so that the safety and reliability of the fuel operation and storage equipment in operation can be improved, and the time cost consumption caused by readjustment after error command execution is avoided, thereby improving the working efficiency of the equipment.

3. The fuel operation and storage equipment remote centralized control system adopts a double-network redundancy mode to carry out network connection, can realize synchronization and backup of control instructions, and improves the availability and reliability of network communication, thereby ensuring the stability of control command transmission.

4. The fuel operation and storage equipment remote centralized control system can comprehensively acquire comprehensive safety signal data, so that the protection operation is reliably and safely executed, the occurrence of danger is timely avoided, and the safety of equipment and staff is protected.

5. The fuel operation and storage equipment remote centralized control system can monitor and accurately acquire the running condition of equipment in real time based on omnibearing data, and acquire visual and effective auxiliary decision information, so that a control command can be timely sent out according to the running requirement of the equipment to accurately adjust the running of the equipment, and the efficiency of the fuel operation and storage equipment in running is improved.

To achieve the above object, an embodiment of a second aspect of the present application proposes a fuel operation and storage device remote centralized control method, which is performed by a fuel operation and storage device remote centralized control system, comprising:

judging whether two redundant control cabinets in the remote centralized control system of the fuel operation and storage equipment fail or not;

if no faults occur in the two redundant control cabinets, receiving control instructions of the two redundant control cabinets, and executing the control instructions based on an application voting control strategy;

if one redundant control cabinet fails, receiving a control instruction of the redundant control cabinet which operates normally, and executing the control instruction based on a single-path control instruction voting strategy;

and if the two redundant control cabinets are failed, receiving an emergency operation instruction of the emergency control cabinet.

Optionally, the redundant control cabinet includes a first control cabinet and a second control cabinet, and applying the voting control strategy includes:

consistency decision is carried out according to a first motion direction control instruction of the first control cabinet, and the correctness of the control instruction of the first control cabinet is judged;

consistency decision is carried out according to a first movement direction control instruction and a first position parameter of the first control cabinet, and the correctness of the control instruction of the first control cabinet is judged;

Consistency decision is carried out according to a first motion direction control instruction and a first speed parameter of the first control cabinet, and the correctness of the control instruction of the first control cabinet is judged;

consistency decision is carried out according to a second motion direction control instruction of the second control cabinet, and the correctness of the second control cabinet control instruction is judged;

consistency decision is carried out according to a second motion direction control instruction and a second position parameter of the second control cabinet, and the correctness of the control instruction of the second control cabinet is judged;

consistency decision is carried out according to a second motion direction control instruction and a second speed parameter of the second control cabinet, and the correctness of the control instruction of the second control cabinet is judged;

consistency decision is carried out according to a first movement direction control instruction of the first control cabinet and a second movement direction control instruction of the second control cabinet, and the correctness of the control instruction is judged;

consistency decision is carried out according to the first position parameter and the second position parameter, and the correctness of the position parameter is judged;

and carrying out consistency decision according to the first speed parameter and the second speed parameter, and judging the correctness of the speed parameter.

Optionally, the single-way control instruction voting strategy includes:

Consistency decision is carried out according to the motion direction control instruction of the redundancy control cabinet in normal operation, and the correctness of the control instruction of the redundancy control cabinet in normal operation is judged;

consistency decision is carried out according to the motion direction control instruction and the position parameter of the redundancy control cabinet in normal operation, and the correctness of the control instruction of the redundancy control cabinet in normal operation is judged;

and carrying out consistency decision according to the motion direction control instruction and the speed parameter of the redundancy control cabinet in normal operation, and judging the correctness of the control instruction of the redundancy control cabinet in normal operation.

By applying the technical scheme, the accuracy of the control command can be ensured by comprehensively, carefully and variously applying the voting control strategy, so that the safe operation of the fuel operation and the storage equipment is ensured, the time cost consumption caused by the adjustment of the error control command is avoided, and the efficient operation of the remote centralized control system of the fuel operation and the storage equipment is improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 illustrates a schematic diagram of a fuel operation and storage facility remote centralized control system of one embodiment;

FIG. 2 shows a schematic diagram of another embodiment of a fuel handling and storage device remote centralized control system;

FIG. 3 shows a schematic diagram of a fuel operation and storage facility remote centralized control system of yet another embodiment;

FIG. 4 shows a schematic diagram of a fuel operation and storage facility remote centralized control system of yet another embodiment;

FIG. 5 illustrates a flow chart of a method of remote centralized control of fuel operations and storage facilities of one embodiment;

FIG. 6 illustrates a block diagram of the architecture of a fuel operation and storage facility remote centralized control system in one embodiment;

FIG. 7 illustrates a flow chart of a complete voting control strategy decision method routine in one embodiment;

FIG. 8 illustrates a functional schematic of a fuel handling and storage device remote centralized control system in one embodiment.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The present application is described in further detail below in conjunction with specific embodiments, which should not be construed as limiting the scope of the claims.

The fuel operation and storage device remote centralized control system and method of the embodiment of the present application are described below with reference to the accompanying drawings.

FIG. 1 is a remote centralized control system for fuel handling and storage facilities according to an embodiment of the present application.

As shown in fig. 1, in the present embodiment, the fuel operation and storage device remote centralized control system may include: an operator station 110, a redundant control cabinet 120, an equipment safety protection control cabinet 130, sensors 140, and controlled equipment 150.

The operator station 110 is remotely connected to the redundant control cabinet 120, and the operator station 110 is configured to receive a control instruction of an operator and send the control instruction to the redundant control cabinet 120.

In one embodiment of the present application, the operator station 110 and the redundant control cabinet 120 may be connected to each other by an ethernet network and a dual-network redundancy mode. Therefore, the high-speed transmission of the control command can be realized through the Ethernet, so that the network connection is high in reliability and easy to deploy, maintain and expand. Meanwhile, the network connection is performed by adopting a double-network redundancy mode, so that the synchronization and the backup of control instructions can be realized, the usability and the reliability of network communication are improved, and the stability of control command transmission is ensured.

In another embodiment of the present application, the operator stations 110 may include a primary operator station 111 and a secondary operator station 112. Wherein the primary operator station 111 may be used for data monitoring and receiving operator control instructions and the secondary operator station 112 may be used for data monitoring. For example, the operator station 110 may provide a human-machine interface to operate a centralized control interface and associated sub-interfaces, responsible for receiving monitoring data from the controlled devices 150 and receiving and transmitting control instructions from an operator. In addition, when the main operator station 111 fails, the control command of the operator can be received and transmitted through the auxiliary operator station 112, thereby ensuring that the operator station 110 can stably transmit the control command, and further ensuring the reliability and efficiency of fuel operation and storage device operation.

Further, in this embodiment, the redundant control cabinets 120 are two, that is, the redundant control cabinet 121 and the redundant control cabinet 122, and are arranged in a mutually redundant manner, so as to output the received control instruction to the controlled device 150. Thus, the staff can intensively, conveniently, efficiently and reliably remotely transmit the control instruction to the controlled device 150 without entering the actual working area of the controlled device 150. Specifically, the hardware circuits and software programs of the two redundant control cabinets 120 are completely identical, are redundant to each other, and simultaneously receive control instructions from the operator station 110, and then output the received control instructions to the controlled device 150. In addition, the two redundant control cabinets 120 are provided with redundant controllers and redundant power supplies. And then, the redundant controller and the power supply can still work normally under the condition that a certain controller or power supply is abnormal, so that the safety and reliability of the operation of the equipment are ensured.

In one particular embodiment, the controlled device 150 may include a loader, a fuel transfer device, and a man-bridge crane. In general, the three controlled devices 150 are distributed, and in the prior art, setting control points respectively causes a large amount of radiation to be born by staff, and the cooperative operation between the devices cannot be realized, so that the working efficiency is low. The system can realize remote centralized control and collaborative operation of three controlled devices 150 by sending the control instruction received by the operator station 110 to the redundant control cabinet 120 and outputting the control instruction to the controlled devices 150, thereby avoiding time difference and information difference caused by operation one by one during decentralized control of the devices, improving the automation level of fuel operation and storage device operation, reducing the time cost and improving the working efficiency.

Further, in the present embodiment, the controlled device 150 is connected to the redundant control cabinet 120, and the controlled device 150 is configured to execute a control instruction based on applying a voting control policy.

In one embodiment of the present application, the controlled device 150 may include a driver, a motor, and the like. The driver is configured to receive the control instruction and control the motor to perform a corresponding action, so as to achieve remote accurate coordination of the controlled device 150 to complete the related operation. Further, when the redundant control cabinets 120 work normally, the driver of the controlled device 150 receives the control instructions of the two redundant control cabinets 120 at the same time, and controls the motor of the controlled device by comparing the consistency of the two control instructions. Therefore, the safety and reliability of the fuel operation and the storage equipment in operation can be improved by accurately sending the control instruction, and the time cost consumption caused by readjustment after the execution of the error command is avoided, so that the working efficiency of the equipment is improved.

In another embodiment of the present application, the driver may further comprise a three-way redundancy encoder. The encoder is configured to switch the encoder datapath based on a fault condition. For example, one of the encoder data can be preset as a control parameter, and the other encoder data are preset as a comparison parameter, so that when the encoder corresponding to the control parameter fails, the encoder data path can be replaced without affecting the normal operation of the fuel operation and the storage equipment, thereby effectively guaranteeing the stability and reliability of the operation of the fuel operation and the storage equipment.

Further, in the present embodiment, the sensor 140 is configured to collect a security signal of the controlled device 150 and send the security signal to the device security protection control cabinet 130.

The sensor can comprise a load sensor, an anti-collision signal sensor, an operation safety limit sensor and the like. Therefore, the safety signals of the controlled device 150 are respectively collected through the sensors and sent to the device safety protection control cabinet 130, so that comprehensive safety signal data can be comprehensively obtained, and the safety signals can be timely transmitted to protect the safety of the device and staff aiming at various abnormal conditions of the controlled device 150.

Further, in the present embodiment, the device safety protection control cabinet 130 is connected to the controlled device 150 through a hard wire, and is connected to the redundancy control cabinet 120 through a field bus. The device safety protection control cabinet 130 is configured to directly control the controlled device 150 to perform a protection operation according to a safety signal, or control the controlled device 150 to perform a protection operation through the redundancy control cabinet 120. Therefore, the device safety protection control cabinet 130 is connected with the controlled device 150 through hard wires, and after the device safety protection control cabinet 130 receives and processes the safety signal, the controlled device 150 is controlled to execute protection operation according to the processed safety signal, so that danger is avoided in time, and the safety of the device and staff is protected. The safety signal may be processed by a safety interlock logic operation, so that the processed safety signal may be determined as an overload signal, an underload signal, or the like. Meanwhile, the equipment safety protection control cabinet 130 is connected with the redundancy control cabinet 120 through a bus, and the redundancy control cabinet 120 can be directly controlled according to the processed control signals, so that more dangers caused by the fact that equipment continues to execute control commands sent by the operator station 110 are effectively avoided, the safety of equipment and staff is further protected, normal working progress of the equipment is prevented from being influenced due to dangerous operation, consumption of time cost caused by equipment maintenance is reduced, and overall working efficiency is improved.

In another embodiment, as shown in FIG. 2, the system further includes an emergency console 160. The emergency console 160 is connected to the equipment safety protection control cabinet 130, the redundancy control cabinet 120, and the controlled equipment 150 by hard wiring, respectively. The emergency console 160 is used for performing emergency operation on the controlled device 150 under an emergency working condition. The manual mode operation and/or emergency stop of the equipment safety protection control cabinet 130, the redundant control cabinet 120 and the controlled equipment 150 can be realized through the emergency operation console 160, so that the stable operation of fuel operation and storage equipment is ensured, the influence on the whole working efficiency due to emergency working conditions is avoided, and the safety of equipment and staff is ensured. In addition, an integrated display screen is arranged on the emergency console 160, and when the network connection is still available, signals on the site of the controlled device 150 are acquired and displayed, so that effective decision information is provided for the emergency auxiliary operation of an operator.

Further, the drive may also include an on-board DI. Specifically, the on-board DI is configured to receive an external working condition signal, and switch a working mode of the driver according to the external working condition signal. For example, in an emergency condition, the operation mode of the driver is to receive a control command transmitted by the emergency console 160 through hard wiring; under normal operating conditions, the drive operates in a mode that receives control commands transmitted by the operator station 110 over the network connection.

In yet another embodiment, as shown in FIG. 3, the system further includes a plurality of video surveillance devices 170. The video surveillance device 170 is remotely connected to the operator station 110. The operator station 110 is configured to monitor the operation of the controlled device 150 based on video data acquired by the video monitoring device 170. Therefore, the operation condition of the controlled device 150 can be integrally and intuitively displayed through the plurality of video monitoring devices 170, and a worker can monitor the operation condition of the controlled device 150 in real time at the operator station 110 based on video pictures, so as to acquire visual auxiliary decision information, thereby timely sending out control commands according to the operation requirements of the devices to adjust the operation of the controlled device 150, and improving the efficiency of fuel operation and storage device operation.

The video monitoring device 170 may be used to identify, among other things, the fuel assembly ID, the presence/absence of fuel assemblies within the fuel transfer device tipping frame, the loader and the numerals/letters of the personnel bridge rail scale. The video monitoring device 170 can perform real-time identification operation and acquire an identification result, the video monitoring device 170 communicates with the operator station 110 through the ethernet, the identification result signal is transmitted to the operator station 110, then the operator station 110 issues the identification result signal to the redundant control cabinet 120, the identification result signal is used as one of judging conditions of the operation logic of the remote centralized control system, and the safe operation of the fuel operation and the storage device is controlled in an interlocking manner.

In yet another embodiment, as shown in FIG. 4, the system further includes a three-dimensional animation display device 180. The three-dimensional animation display device 180 is used to display a three-dimensional animation of the controlled device 150. Specifically, the three-dimensional animation may include a factory environment, a relative positional relationship of devices, device operation data, a device operation animation, and a motion local detail animation. The equipment operation data can comprise fuel assembly loading state, fuel assembly information, encoder value, load value, safety-related limit state, operation fault prompt and the like of the reactor core/the spent pool, and the action local detail animation can comprise loading and unloading machine assembly inserting/extracting fuel assembly action, loading and unloading machine offset method refueling offset action, tipping frame tipping action of a transfer device, loading and unloading fuel assembly action of a human bridge crane, component gripper replacement action of the human bridge crane, water gate action of the human bridge crane and the like. Further, the three-dimensional animation further includes a video monitoring screen of the monitored device acquired by the video monitoring device 170.

The three-dimensional animation display device 180 performs real-time data interaction with the controlled device 150 on site, and the video monitoring picture of the controlled device 150 is fused and embedded in the three-dimensional picture of the corresponding device, so that the running condition of the controlled device 150 can be integrally and intuitively displayed. Therefore, the operator can monitor and accurately acquire the operation condition of the controlled device 150 in real time based on the omnibearing data in the three-dimensional animation at the operator station 110, and acquire visual and effective auxiliary decision information, so that a control command can be timely sent out according to the operation requirement of the device to accurately adjust the operation of the controlled device 150, and the efficiency of fuel operation and storage device operation is improved.

In another embodiment, the system further includes a voice call device 190 for voice calls between the operator station 110 and the controlled device 150. Thus, through the voice communication device 190, real-time intercom communication between the on-site operation and maintenance personnel of the controlled device 150 and the operator of the operator station 110 is realized, and auxiliary decision information is provided for searching the fault reasons of the nuclear power plant equipment, personnel-caused operation problems and the like.

The application also provides a fuel operation and storage equipment remote centralized control method which is implemented by the fuel operation and storage equipment remote centralized control system of the embodiment.

FIG. 5 is a flow chart of a method of remote centralized control of fuel handling and storage facilities according to one embodiment of the present application, the method specifically comprising the steps of:

S1, judging whether two redundant control cabinets in a remote centralized control system of fuel operation and storage equipment are in failure.

S2, if no faults occur in the two redundant control cabinets, receiving control instructions of the two redundant control cabinets, and executing the control instructions based on the application voting control strategy.

Wherein, redundant switch cabinets can include first switch cabinets and second switch cabinets.

Specifically, applying the voting control strategy may include the following:

1. and carrying out consistency decision according to the first movement direction control instruction of the first control cabinet, and judging the correctness of the control instruction of the first control cabinet. In one embodiment, the consistency decision is made based on a preset number of times. If the first movement direction control instruction sent out each time is consistent with the first movement direction control instruction sent out each time in the preset times, determining that the first control cabinet instruction has correctness. If the first movement direction control instruction sent out by one or a plurality of times is inconsistent with the first movement direction control instruction sent out by the preset times, determining that the first control cabinet instruction is not correct.

2. And carrying out consistency decision according to the first movement direction control instruction and the first position parameter of the first control cabinet, and judging the correctness of the control instruction of the first control cabinet. In one embodiment, the consistency decision is made based on a preset number of times. If the first movement direction control instruction and the first position parameter sent out each time are consistent in the preset times, determining that the first control cabinet instruction has correctness. If the first movement direction control command and the first position parameter are inconsistent in one or a plurality of times in the preset times, determining that the first control cabinet command is not correct.

3. And carrying out consistency decision according to the first motion direction control instruction and the first speed parameter of the first control cabinet, and judging the correctness of the control instruction of the first control cabinet. In one embodiment, the consistency decision is made based on a preset number of times. If the first movement direction control command and the first speed parameter sent out each time are consistent in the preset times, determining that the first control cabinet command has correctness. If the first movement direction control command and the first speed parameter are inconsistent in one or a plurality of times in the preset times, determining that the first control cabinet command is not correct.

4. And carrying out consistency decision according to the second motion direction control instruction of the second control cabinet, and judging the correctness of the second control cabinet control instruction. In one embodiment, the consistency decision is made based on a preset number of times. If the second movement direction control instruction sent out each time is consistent with the second movement direction control instruction sent out each time in the preset times, determining that the second control cabinet instruction has correctness. If the second movement direction control instruction sent out once or a plurality of times is inconsistent with the second movement direction control instruction sent out in the preset times, determining that the second control cabinet instruction is not correct.

5. And carrying out consistency decision according to a second motion direction control instruction and a second position parameter of the second control cabinet, and judging the correctness of the control instruction of the second control cabinet. In one embodiment, the consistency decision is made based on a preset number of times. If the second movement direction control instruction and the second position parameter sent out each time are consistent in the preset times, determining that the second control cabinet instruction has correctness. If the second movement direction control command and the second position parameter are inconsistent in one or a plurality of times in the preset times, determining that the second control cabinet command is not correct.

6. And carrying out consistency decision according to a second motion direction control instruction and a second speed parameter of the second control cabinet, and judging the correctness of the control instruction of the second control cabinet. In one embodiment, the consistency decision is made based on a preset number of times. If the second movement direction control instruction and the second speed parameter sent out each time are consistent in the preset times, determining that the second control cabinet instruction has correctness. If the second movement direction control command and the second speed parameter are inconsistent in one or a plurality of times in the preset times, determining that the second control cabinet command is not correct.

7. And carrying out consistency decision according to the first movement direction control instruction of the first control cabinet and the second movement direction control instruction of the second control cabinet, and judging the correctness of the control instruction. In one embodiment, the consistency decision is made based on a preset number of times. If the first movement direction control command and the second movement direction control command are consistent each time in the preset times, determining that the control command has correctness. If the first movement direction control command and the second movement direction control command are inconsistent in one or a plurality of times in the preset times, determining that the control command is not correct.

8. And carrying out consistency decision according to the first position parameter and the second position parameter, and judging the correctness of the position parameter. In one embodiment, the consistency decision is made based on a preset number of times. If the first position parameter and the second position parameter sent out each time are consistent in the preset times, the position parameters are determined to be correct. If the first position parameter and the second position parameter are inconsistent once or several times in the preset times, determining that the position parameter is not correct.

9. And carrying out consistency decision according to the first speed parameter and the second speed parameter, and judging the correctness of the speed parameter. In one embodiment, the consistency decision is made based on a preset number of times. If the first speed parameter and the second speed parameter sent out each time are consistent in the preset times, the speed parameter is determined to have correctness. If the first speed parameter and the second speed parameter are inconsistent once or several times in the preset times, determining that the speed parameter is not correct.

When each item of the application voting control strategy has correctness, executing a control instruction by the driver, and if any item of the application voting control strategy does not have correctness, feeding back corresponding error information by the driver through network communication, wherein the driver does not execute the control instruction.

In one embodiment, the preset number of times may be greater than or equal to ten times in order to avoid the occurrence of accidental decision conditions.

Therefore, the accuracy of the control command can be ensured by comprehensively, carefully and variously applying the voting control strategy, so that the safe operation of the fuel operation and the storage equipment is ensured, the time cost consumption caused by executing the error control command for adjustment is avoided, and the efficient operation of the remote centralized control system of the fuel operation and the storage equipment is improved.

And S3, if one redundant control cabinet fails, receiving a control instruction of the redundant control cabinet which operates normally, and executing the control instruction based on a single-path control instruction voting strategy.

Specifically, when one redundant control cabinet fails, a single-way control instruction voting strategy is started, and a driver of the fuel operation and storage equipment only receives control instructions transmitted through network communication of the redundant control cabinet which normally operates. The single pass control instruction voting strategy may include the following:

1. And carrying out consistency decision according to the motion direction control instruction of the redundancy control cabinet in normal operation, and judging the correctness of the control instruction of the redundancy control cabinet in normal operation.

2. And carrying out consistency decision according to the motion direction control instruction and the position parameter of the redundancy control cabinet in normal operation, and judging the correctness of the control instruction of the redundancy control cabinet in normal operation.

3. And carrying out consistency decision according to the motion direction control instruction and the speed parameter of the redundancy control cabinet in normal operation, and judging the correctness of the control instruction of the redundancy control cabinet in normal operation.

It should be understood that the specific judgment content of the single-path control instruction voting strategy is the same as that of the application voting control strategy, so that the detailed description is omitted.

Therefore, when the redundant control cabinet fails, consistency decision can be made through the control instruction of the redundant control cabinet which operates normally, so that the accuracy of the control command is ensured, the safe operation of fuel operation and storage equipment is further ensured, time cost consumption caused by the adjustment of the execution error control command is avoided, and the efficient operation of the remote centralized control system of the fuel operation and storage equipment is improved.

S4, if both redundant control cabinets fail, an emergency operation instruction of the emergency control cabinet is received.

In one embodiment, when both redundant control cabinets fail, both redundant control cabinets are required to be deactivated, the driver of the fuel operation and storage device will receive the control instruction transmitted by the emergency operation console through hard-wired communication, and no longer receive the control instruction transmitted by the operator station through network communication, thereby enabling manual mode operation and/or emergency stop of the device, ensuring stable operation of the fuel operation and storage device, avoiding affecting overall working efficiency due to failure, and simultaneously ensuring safety of the device and staff.

By applying the technical scheme, the accuracy of the control command can be ensured by comprehensively, carefully and variously applying the voting control strategy, so that the safe operation of the fuel operation and the storage equipment is ensured, the time cost consumption caused by executing the error control command for adjustment is avoided, and the efficient operation of the remote centralized control system of the fuel operation and the storage equipment is improved.

This system and method is described in one specific embodiment below.

FIG. 6 is a block diagram of an architecture of a fuel operation and storage facility remote centralized control system. As shown in fig. 6, the control system includes an operator station 61, an emergency console 62, an a/B redundancy control cabinet 63, an equipment safety protection control cabinet 64, a loader-unloader 65, a fuel transfer device 66, a man-bridge crane 67, and a sensor 68. Wherein, loader 65, fuel transfer device 66 and people's bridge crane 67 are key reloading equipment, all include respective driver and motor. Wherein the loader 65 includes a driver 65-1 and a motor 65-2, the fuel transfer device 66 includes a driver 66-1 and a motor 66-2, and the man-bridge crane 67 includes a driver 67-1 and a motor 67-2.

It should be noted that, in this embodiment, the loading and unloading machine 65, the fuel transfer device 66 and the man-bridge crane 67 are respectively located in different plants of the nuclear power plant, and are collectively controlled by the operator station 61 and the emergency console 62 located in the remote control room, and the distance between the remote control room and the plants can exceed 500 meters, and the two are in signal communication by combining an optical cable and hard wiring. In practical applications, ethernet communication techniques such as E-Bus, TCP/IP, etc. may be employed between the operator station 61 and the A/B control cabinet 63. The equipment safety protection control cabinet 64 is in hard-wired communication with the emergency operation console 62 and each driver, and a field bus network communication technology such as EtherCAT, modbus TCP and the like can be adopted between the equipment safety protection control cabinet and the A/B control cabinet 63. Meanwhile, the rest of the control system is uniformly distributed in the controlled equipment except for the operator station 61, the emergency operation table 62 and the A/B redundancy control cabinet 63.

Specifically, the touch screen computer on the operator station is used for operating the centralized control interface and the related sub-interfaces, is responsible for receiving feedback signals of three key refueling devices, sending control instructions and setting parameters, and completing cooperative full-automatic operation among the devices. The total of three operator stations is three, and in normal operation, the main operator station is responsible for operation and data monitoring, and the two auxiliary operator stations are only responsible for data monitoring. The secondary operator station may operate and data monitor in lieu of the primary operator station when the primary operator station fails. When the controller or the network signal communication fails, the emergency operation table realizes the manual mode operation of three key material changing devices through hard-wired signal communication.

In addition, the hardware circuit and the software program in the A/B redundancy control cabinet are completely consistent, and simultaneously, network signals from an operator station are received, and the network signal communication mode adopts a double-network redundancy mode, so that the reliability of network communication is improved. Under normal conditions, the A/B redundant control cabinet of the control system outputs control commands to the site through logic operation at the same time, and three key refueling devices executed on the site complete the execution of the control commands by applying a voting control strategy. Under abnormal conditions, an operator can bypass a certain loop or a certain cabinet which is in fault in the A/B control cabinet, and the control system can still normally complete cooperative control of three key refueling devices by activating the bypass function.

As shown in fig. 7, the flow of the voting control policy decision method is specifically as follows:

step one, initializing an A/B control cabinet.

And step two, judging whether the A/B control cabinet is normal or not.

If so, executing the third step; if not, the control cabinet is overhauled and reinitialized.

And step three, executing a voting control strategy.

Specifically, the fully enabled voting control strategy includes:

a) Consistency decision is carried out on the movement direction control instruction from the control cabinet A, and the correctness of the control instruction of the control cabinet A is judged;

b) Consistency decision is carried out on the movement direction control instruction and the position parameter from the control cabinet A, and the correctness of the control instruction of the control cabinet A is judged;

c) Consistency decision is carried out on a motion direction control instruction and a speed parameter from the control cabinet A, and the correctness of the control instruction of the control cabinet A is judged;

d) Consistency decision is carried out on the motion direction control instruction from the B control cabinet, and the correctness of the control instruction of the B control cabinet is judged;

e) Consistency decision is carried out on the motion direction control instruction and the position parameter from the B control cabinet, and the correctness of the control instruction of the B control cabinet is judged;

f) Consistency decision is carried out on a motion direction control instruction and a speed parameter from the B control cabinet, and the correctness of the control instruction of the B control cabinet is judged;

g) Consistency decision is carried out on the movement direction control instruction from the control cabinet A and the movement direction control instruction of the control cabinet B, and the correctness of the control instruction is judged;

h) Consistency decision is carried out on the position parameters from the control cabinet A and the position parameters of the control cabinet B, and the correctness of the position parameters is judged;

i) And carrying out consistency decision on the speed parameter from the A control cabinet and the speed parameter of the B control cabinet, and judging the correctness of the speed parameter.

For example, for engagement/release actions of the loader and the truck fuel assembly grippers, a hardware electrical control logic is employed to implement a voting control strategy; under normal working conditions, a 'two-out-of-two' control logic is adopted; when one electric loop fails, the operator confirms that the electric bypass function is activated, and the 'two-in-one' control logic is adopted to complete the engagement/release action of the gripper.

In order to avoid the accidental decision working condition, each type of correctness judgment result in the flow needs to be output after ten continuous decisions. When one or several consistency errors occur, the driver feeds back each type of error information through network communication, and the driver does not execute the control instruction; when the decision judgment of ten continuous times of each type of correctness judgment results is correct, the driver executes the control instruction and outputs corresponding actions.

In addition, the driver receives network signal communication data under the normal working condition and controls the motor to move; the driver receives hard-wired signal communication data of the emergency operation table under the emergency working condition and controls the motor to move; the driver receives an external given working condition selection signal through the on-board DI, and then switches the two working conditions. The driver is simultaneously connected with three paths of redundant encoders, one path of encoder data is preset as a control parameter, and the other two paths of encoder data are preset as comparison parameters; if the encoder corresponding to the control parameter fails, the switching of the encoder data path without stopping the machine can be realized.

The fuel operation and storage equipment remote centralized control system applying the voting control strategy of the embodiment has the equipment safety protection function, the emergency auxiliary function, the three-dimensional animation display function, the intelligent video monitoring function and the real-time intercom function as shown in fig. 8, except for the remote cooperative control function, the manual single equipment operation function and the voting control strategy function.

The equipment safety protection function is used for automatic emergency shutdown of equipment, load sensors, anti-collision signals, door limit, operation safety limit and other signals related to equipment protection and personnel safety of a loading and unloading machine, a fuel transfer device and a man-bridge crane are directly transmitted to a programmable logic gate array in an equipment safety protection control cabinet, and after safety interlock logic operation, safety signals such as overload or underload are directly output to a driver to control a motor to be stopped in an emergency or to directly disconnect a control loop power supply.

The emergency auxiliary function is used for auxiliary control operation in an emergency period, and when a system has faults affecting the normal operation of the system, such as controller failure, centralized control interface failure, network communication interruption or loss of on-site sensor signals, the loading and unloading machine, the fuel transfer device and the man-bridge crane can respectively complete emergency auxiliary operation by an emergency operation platform, and the emergency operation platform is communicated with the driver through hard-wired signals, so that manual mode operation and emergency stop of each motor are realized. The emergency operation table is provided with an integrated display screen, when the system only has a controller failure but the communication network is still available, on-site signals such as an encoder, a limit switch or a load can still be transmitted to the integrated display screen through the network to be displayed, so that effective decision information is provided for emergency auxiliary operation of an operator, and the equipment is returned to a safe position and a safe state in an emergency.

The three-dimensional animation display function is used for realizing integrated visual display of the factory building environment, the relative position relationship of the equipment, the important equipment operation data, the overall equipment operation animation and the local detail animation display of the important action process of three equipment of the loading and unloading machine, the transfer device and the man-bridge crane through linkage of the three-dimensional picture and the real-time interaction data of the control system according to a program preset formula. The important operation data of the equipment comprises the loading state of the fuel assemblies of the reactor core/the spent pool, the information of the currently grabbed fuel assemblies (such as assembly ID, assembly type, stacking times and the like), encoder values, load values, safety-related limit states, operation fault prompts and the like. The local detail animation comprises the processes of fuel assembly inserting/extracting actions (reactor core area and RX factory building tipping area) of a loader assembly, offset actions of loading and unloading by an offset method, tipping frame tipping actions (RX and KX factory building) of a transfer device, fuel assembly inserting/extracting actions (spent fuel pool and KX factory building tipping area) of a human bridge crane, component grabbing actions of human bridge crane replacement, water gate passing actions of the human bridge crane and the like. In addition, when the loader is located above the core or the man bridge, the partial animation shows the fuel assembly distribution within the current core or storage grid.

The intelligent video monitoring realizes the operation condition of the centralized monitoring equipment in a remote control room through cameras arranged on key parts such as a reactor factory hall, a reactor factory material changing pool, a fuel factory hall, a transfer passage in the fuel factory, an equipment track scale and the like. The intelligent video monitoring subsystem has the functions of automatically tracking and alarming targets in the running areas of the reactor plant pool loading and unloading machine and the spent fuel plant human bridge crane, alarms on triggering events in the set areas and continuously and stably tracks moving targets in the areas by setting intelligent event rules, and can manually switch the tracking targets in the tracking process. Meanwhile, the intelligent video monitoring subsystem supports continuous and stable tracking of manually selected tracking targets in set tracking time and supports automatic switching tracking of multiple targets. In addition, the intelligent video monitoring subsystem also has the functions of intelligently identifying the ID of the fuel assembly, the fuel assembly in the tipping frame of the fuel transfer device, the loading and unloading machine and the numerals/letters of the staff of the human bridge crane, and the identification result can be interacted with the control system in real time to serve as a redundancy judgment measure of the logic of the control system to interlock the safe operation of the control equipment. In addition, the intelligent video monitoring picture is provided with overhauling, AI start/stop, full screen and zoom-in/zoom-out buttons, and is used for controlling full screen, zooming, mode switching and the like of the video picture. Wherein AI is enabled/disabled to turn on or off the smart identification function. The default mode is automatic adjustment, the camera is linked with the running action of the equipment, the monitoring picture of the equipment is automatically displayed according to the optimal picture size and the monitoring view angle, and the AI recognition function is automatically started. When the overhaul function is started, the camera is in a manual regulation mode for a long time, and the camera is not switched back to an automatic regulation mode in a delayed mode. In the manual adjustment mode, an operator is allowed to manually adjust the monitoring picture, and a certain time (set by a control program) is delayed after the manual adjustment is finished to automatically switch back to the automatic adjustment mode.

Furthermore, the video monitoring frames of the three devices can be integrated and embedded in the three-dimensional frames of the corresponding devices, and an operator can control the video frames in the three-dimensional frames according to the operation requirements of the devices, namely, the video monitoring frames of the loading and unloading machine, the transfer device and the man-bridge crane are respectively displayed in the respective three-dimensional frames, so that visual and effective auxiliary decision information is provided for the operator.

The real-time intercom function comprises a fixed-position intercom function and a mobile intercom function. The real-time intercom communication between the on-site operation and maintenance personnel and the system operator in the four places is realized through the fixed interphone and the mobile interphone which are arranged on the remote control room operator station, the reactor factory building loading and unloading machine, the fuel transfer device and the fuel factory building bridge crane. The fixed intercom is used for directly communicating the important position of the equipment with the control room; the mobile intercom is used for temporary conversation requirements between operation and maintenance personnel and a control room. The intercom subsystem has a voice storage function and provides auxiliary decision information for later equipment fault reasons, personnel human operation problems and the like for the nuclear power plant operation and maintenance department.

The embodiment specifically describes a fuel operation and storage equipment remote centralized control system and method, the fuel operation and storage equipment remote centralized control system creatively fuses the control and state monitoring of a loading and unloading machine, a fuel transfer device and a man-bridge crane together, has a remote cooperative control function, a manual single-equipment operation function and voting control strategy function, an equipment safety protection function, an emergency auxiliary function, a three-dimensional animation display function, an intelligent video monitoring function and a real-time intercom function, realizes the remote control and cooperative operation between the fuel operation and the storage equipment, improves the automation operation level, reduces personnel intervention, and effectively shortens the loading and unloading time of a fuel assembly, thereby improving the loading and unloading and transportation efficiency of the fuel assembly. Meanwhile, the multi-dimensional safety protection function is provided by applying the voting control strategy method, the equipment safety protection function, the emergency auxiliary function, the intelligent video monitoring, the three-dimensional animation display and real-time intercom function application, the multi-channel redundancy encoder and other functions, the safety of the fuel assembly loading and unloading process is ensured, and the safety and reliability of the equipment are improved.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

It should be noted that in the description of the present specification, descriptions of terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Claims

1. The remote centralized control system for the fuel operation and storage equipment is characterized by comprising an operator station, a redundant control cabinet, an equipment safety protection control cabinet, a sensor and controlled equipment, wherein the operator station is remotely connected with the redundant control cabinet, and is used for receiving a control instruction of an operator and sending the control instruction to the redundant control cabinet;

the controlled device is connected with the redundant control cabinet and is used for executing the control instruction based on an application voting control strategy;

the sensor is used for collecting the safety signal of the controlled equipment and sending the safety signal to the equipment safety protection control cabinet;

the equipment safety protection control cabinet is connected with the controlled equipment through hard wiring and is connected with the redundant control cabinet through a field bus, and the equipment safety protection control cabinet is used for directly controlling the controlled equipment to execute protection operation according to the safety signal or controlling the controlled equipment to execute protection operation through the redundant control cabinet.

2. The system of claim 1, further comprising an emergency console,

the emergency operation platform is connected with the equipment safety protection control cabinet, the redundancy control cabinet and the controlled equipment through hard wires respectively, and is used for carrying out emergency operation on the controlled equipment under emergency working conditions.

3. The system of claim 1, wherein the controlled device comprises a loader-unloader, a fuel transfer device, and a human-bridge crane.

4. The system of claim 1, wherein the sensor comprises a load sensor, an anti-collision signal sensor, and an operational safety limit sensor.

5. The system of claim 1, wherein the operator station and the redundant control cabinet are networked via ethernet using a dual network redundancy scheme.

6. The system of claim 1, wherein the operator stations include a primary operator station and a secondary operator station,

the secondary operator station is for data monitoring.

7. The system of claim 1, wherein a redundant controller and a redundant power supply are provided within the redundant control cabinet.

8. The system of claim 1, wherein the controlled device comprises a driver and a motor,

9. The system of claim 8, wherein the driver comprises an on-board DI for receiving an external operating signal and switching an operating mode of the driver according to the external operating signal.

10. The system of claim 8, wherein the driver further comprises a three-way redundancy encoder,

the encoder is configured to switch the encoder datapath based on a fault condition.

11. The system of claim 1, wherein when the redundant control cabinets are operating normally, the driver of the controlled device receives control instructions of two redundant control cabinets simultaneously, and controls the motor of the controlled device by comparing the consistency of the two control instructions.

12. The system of claim 1, further comprising a plurality of video monitoring devices remotely connected to the operator station, the operator station configured to monitor the operation of the controlled device based on video data acquired by the video monitoring devices.

13. The system of claim 12, wherein the video monitoring device is further configured to identify a fuel assembly ID, the presence/absence of a fuel assembly within the fuel transfer device tipping frame, a loader and a number/letter of a people bridge rail scale; performing consistency check on the fuel assembly ID identification result and a reactor core/spent pool refueling plan layout of the current overhaul period of the unit in real time; the identification result of the number/letter of the fuel assembly, the loading and unloading machine and the staff gauge of the human bridge crane track in the tipping frame of the fuel transfer device is logically interlocked with the control system, so that the operation safety of the equipment is ensured.

14. The system of claim 1, further comprising a voice call device for voice calls between the operator station and the controlled device.

15. The system of claim 1, further comprising a three-dimensional animation display device for displaying a three-dimensional animation of the controlled device, the three-dimensional animation including a plant environment, a relative positional relationship of the device, device operation data including a fuel assembly loading state of a core/spent pool, fuel assembly information, an encoder value, a load value, a safety-related limit state, an operation failure indication, and an action local detail animation including a loader assembly insertion/extraction fuel assembly action, a loader offset reloading offset action, a transfer device roll-over rack roll-over action, a human bridge crane insertion/extraction fuel assembly action, a human bridge crane replacement assembly gripper action, a human bridge crane water gate action.

16. The system of claim 15, wherein the three-dimensional animation further comprises a video monitoring screen acquired by a video monitoring device that monitors the controlled device.

17. A fuel operation and storage facility remote centralized control method, the method being performed by the fuel operation and storage facility remote centralized control system according to any one of claims 1 to 16, comprising:

judging whether two redundant control cabinets in the remote centralized control system of the fuel operation and storage equipment are in failure or not;

18. The method of claim 17, wherein the redundant control cabinets comprise a first control cabinet and a second control cabinet, and wherein applying the voting control strategy comprises:

Consistency decision is carried out according to a first movement direction control instruction of the first control cabinet, and the correctness of the first control cabinet control instruction is judged;

consistency decision is carried out according to a first motion direction control instruction and a first position parameter of the first control cabinet, and the correctness of the control instruction of the first control cabinet is judged;

Carrying out consistency decision according to the first position parameter and the second position parameter, and judging the correctness of the position parameter;

19. The method of claim 17, wherein the single-pass control instruction voting strategy comprises: