WO2022121288A1 - Nuclear power plant three-dimensional wayfinding navigation method and system - Google Patents
Nuclear power plant three-dimensional wayfinding navigation method and system Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Definitions
- the invention relates to the field of nuclear power, in particular to a three-dimensional pathfinding and navigation method and system for a nuclear power plant.
- 3D digital power plants with virtual simulation technology as the core have begun to be applied to nuclear power project construction and operation management.
- all nuclear power projects are carrying out forward three-dimensional design.
- These positive digital design results and accumulated model data provide key data support for the subsequent construction and operation management of the power plant.
- 3D design data can be used to carry out a series of simulation deductions for process simulation, maintenance and other work in the virtual scene of a 3D nuclear power plant, providing intuitive, clear and accurate auxiliary references for on-site operators.
- the maintenance operations of nuclear power plants are mostly based on two-dimensional drawings or operating procedures.
- the maintenance of power plant equipment is currently generally through the functional location code, that is, according to the unified functional location code of the power plant, to sequentially find the corresponding room, the system in the room, and the equipment in the system.
- Rooms, systems and equipment have their own naming conventions, for example RCP001GV stands for steam generator No. 001 of the RCP system in the nuclear island building.
- RCP001GV stands for steam generator No. 001 of the RCP system in the nuclear island building.
- the technical problem to be solved by the present invention lies in the above-mentioned defects of low efficiency and poor intuitiveness in the prior art.
- the technical solution adopted by the present invention to solve the technical problem is: constructing a three-dimensional way-finding and navigation method for a nuclear power plant, including:
- Step S10 Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant
- Step S20 Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;
- Step S30 In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
- the step S30 includes:
- Step S31 In the three-dimensional virtual scene, the target item input by the user is positioned, and the starting point and the end point set by the user are received;
- Step S32 Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path;
- Step S33 Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
- the step S30 further includes:
- Step S34 Receive road closure setting information input by the user, and add road closure obstacles in the three-dimensional virtual scene.
- the optimal path of each layer is calculated according to the following steps:
- the radiation factor and the distance factor are fused to calculate multiple pathfinding cost values of the layer, and the path corresponding to the smallest pathfinding cost value is taken as the layer optimal path of the layer.
- the step S30 further includes:
- Step S35 Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;
- the layer optimal path of each layer is calculated according to the following steps:
- the layer is divided into multiple segments according to the corresponding necessary points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized into the layer optimal path.
- it also includes:
- it also includes:
- first prompt information is output.
- the step S30 further includes:
- step S30 is performed again.
- the present invention also constructs a three-dimensional wayfinding and navigation system for a nuclear power plant, comprising:
- the modeling module is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling;
- the virtual simulation module is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and each layer is set in the Follow the point to bake the navmesh layer by layer;
- a wayfinding and navigation module is used to locate the target item input by the user in the three-dimensional virtual scene, and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, in the three-dimensional virtual scene
- the pathfinding calculation is performed, and the dynamic navigation demonstration of the optimal path is performed according to the pathfinding calculation result.
- the wayfinding and navigation module includes:
- a positioning submodule used for positioning the target item input by the user in the three-dimensional virtual scene, and receiving the starting point and the ending point set by the user;
- the pathfinding sub-module is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path;
- the navigation sub-module is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
- it also includes:
- the recording module is used to record the data of each pathfinding calculation and output it through the display window.
- the technical solution provided by the present invention can search and locate the target item input by the user, and calculate the optimal path according to the pathfinding algorithm. At the same time, the user can view the dynamic navigation and demonstrate the entire pathfinding process. Moreover, in the case of a large-scale nuclear power plant and complex system equipment, the method of layered baked navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, the user can reach the target point quickly and accurately, and the work efficiency is improved.
- FIG. 1 is a flow chart of Embodiment 1 of a three-dimensional pathfinding and navigation method for a nuclear power plant according to the present invention.
- FIG. 2 is a flowchart of the first embodiment of step S10 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
- FIG. 3 is a flowchart of the first embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
- FIG. 4 is a schematic diagram of wayfinding and navigation in a nuclear power plant of the present invention.
- FIG. 5A is a schematic diagram of an optimal route generated before setting road closure information.
- FIG. 5B is a schematic diagram of an optimal route generated after the road closure information is set.
- FIG. 6 is a schematic diagram of a waypoint queue for wayfinding according to the present invention.
- FIG. 7 is a schematic diagram of segmented calculation of optimal route according to the present invention.
- FIG. 8 is a flowchart of the second embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
- FIG. 9 is a logical structure diagram of Embodiment 1 of the three-dimensional wayfinding and navigation of a nuclear power plant according to the present invention.
- FIG. 10 is a logical structure diagram of Embodiment 1 of the wayfinding and navigation module in FIG. 9 .
- the present invention uses virtual simulation technology to build an equal-scale three-dimensional digital power plant.
- the CPR1000 reactor type includes three-dimensional items such as civil engineering rooms, systems, equipment, and pipes of each powerhouse of the nuclear island.
- the design method of the nuclear power plant pathfinding and navigation system is proposed, and the core functions of the system and the deployment of the mobile terminal equipment are realized, so that the operator can pre- The room and equipment of interest are searched and routed, and a navigation solution is provided to facilitate them to quickly find the optimal path to the destination, saving maintenance time and improving maintenance efficiency.
- Embodiment 1 is a flowchart of Embodiment 1 of the three-dimensional wayfinding and navigation method for a nuclear power plant according to the present invention.
- the three-dimensional wayfinding and navigation method for a nuclear power plant in this embodiment includes the following steps:
- Step S10 Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant
- Step S20 Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;
- Step S30 In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
- the technical solution of this embodiment is based on the forward three-dimensional design results of the power plant, and establishes a three-dimensional scene inside the nuclear island workshop of the nuclear power plant, and designs a set of mechanisms for locating, wayfinding and navigating items inside the workshop in the scene, which can be used in the scene.
- find and locate the target equipment and provide an optimal path according to the pathfinding algorithm.
- dynamic navigation can be viewed to demonstrate the entire pathfinding process.
- the method of layered baking navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, it is convenient to quickly locate the designated room and system equipment in the system during equipment operation, maintenance and repair work, and find the fastest and safest path to reach.
- the PDMS Plant Design Manage System, power plant design management system
- the PDMS platform is used to carry out forward design modeling of each professional layout model of the nuclear power plant, including the civil works and systems involved in the wayfinding scene. Pipes, valves, space-occupying equipment (appearance), air ducts, supports and hangers, cable trays, etc., these three-dimensional items are combined according to the drawing process, and the real scene of the power plant is simulated in equal proportions.
- the output of PDMS modeling is three-dimensional data in RVM format. Navisworks software is used to combine and process a series of RVM files, and the final output is FBX format model data that can enter the virtual simulation engine.
- step S20 it is first explained that Unity3D is a mainstream 3D application development tool, and developers can use it to quickly build virtual scenes, so as to focus on application function development.
- Most of the design and actual development work of the system of the present invention is completed in the Unity3D environment, and finally an application system is formed.
- the Unity3D virtual simulation engine is used to construct a three-dimensional virtual scene of a nuclear power plant, and lay it in the virtual scene for pathfinding. Waypoint information for navigation, set collision parameters, introduce layering mechanism, bake navigation mesh.
- the 3D layout model of the nuclear power plant formed in step S10 is the main data source for building the virtual scene
- the data will first be integrated and optimized according to the management structure of the 3D items of the power plant , including: model structure, naming, and adjustment of hierarchical relationship. For example, items under the same system or equipment should be organized into the same sub-level, and their naming should be standardized. This is a necessary preparation for retrieving 3D items in the subsequent positioning module.
- After sorting out the hierarchical structure and building the scene use the navigation grid baking function provided by the Navigation module of the engine to bake and render the scene.
- This work is to add the waypoint information and navigation meshes of all passages in the scene to the scene for pathfinding calculation, similar to building roads and installing traffic lights in a city. Only when this information is perfect can the arrival be calculated. The shortest path to a destination. Moreover, when baking the navigation mesh, the engine will automatically calculate items with collision information, such as walls, pipes, and equipment that will form blocking information. When simulating pathfinding calculations, people should not pass through these areas or items. of. Items like stairs, holes, etc.
- the passability parameters such as setting jump points when going up and down straight ladders, setting steepness parameters for inclined ladders (the slope is too large, it is considered impossible to pass, or the cost of passing is too high), and the holes are set to pass thresholds (The hole is too small, and it is considered impossible to pass through when finding the way), etc.
- the workshop is divided into layers, and relay points are set on each layer, for example, stairs, straight ladders, and the rendering is baked layer by layer.
- the baking process is automatically executed by the simulation engine, and the time consumption depends on the complexity of the model and the scene. After baking, all connectable areas in the scene will become pathfinding areas, and these areas are indicated to be reachable. With the baked mesh data, pathfinding calculations can be performed.
- step S30 may include the following steps:
- Step S31 In the three-dimensional virtual scene, locate the target item input by the user, and receive the starting point and the ending point set by the user;
- a string matching technique can be used to locate the three-dimensional objects in the scene. Specifically, according to the functional location code of the name of the target item, a string matching algorithm of the model data (supporting fuzzy retrieval) is executed to locate the retrieved item. And display the snapshot, the snapshot provides free observation from all angles, and the associated background database can display the associated information of the retrieved item. At the same time, the positioning item can be set as a wayfinding node using the interactive interface.
- Step S32 Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path, that is, the pathfinding calculation adopts the layered search for local optimal recombination. globally optimal way;
- the pathfinding area layering mechanism can be added to further refine the pathfinding range, that is, the local optimum finally forms the global optimum.
- the calculation of the shortest reachable path from the current location to the target location is completed, the route route is rendered according to the calculation result, and the relevant path information is given.
- Step S33 Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
- real-time dynamic rendering can be used, that is, roaming and browsing on the optimal path and interactive linkage between the map and the three-dimensional scene.
- it adopts human-computer interaction technology to provide observation experience from multiple perspectives, and set navigation parameters, such as speed, perspective, window switching, and pause and resume.
- This step is mainly for user-oriented visual rendering, and runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions, as shown in Figure 4.
- Figure 4 A schematic diagram of road navigation, in which the lower right corner is a map.
- step S30 specifically includes three sub-steps of positioning, wayfinding, and navigation, that is, firstly, the search and calibration of the target item are realized; then the path planning and calculation are realized in the wayfinding; finally, the real-time movement to the destination is completed.
- Browse due to the complexity of the nuclear power plant and the large amount of 3D model data, if the conventional navigation mesh overall baking method is used, the consumption is large, and the pathfinding algorithm will not converge and the optimal solution cannot be found.
- the hierarchical structure of the nuclear power plant is reasonably used, the navigation grid is divided into multiple sub-layers or sub-regions for baking, the overall problem solving process is decomposed, and the optimal solution is found locally and then merged together to obtain a complete optimal solution. Therefore, the pathfinding calculation efficiency is improved and the algorithm performance is optimized.
- step S30 further includes: step S34. Receive the road sealing setting information input by the user, and in all Add road blocking obstacles to the 3D virtual scene described above.
- the user can dynamically add road blocking obstacles in the three-dimensional virtual scene according to the actual situation on the site, and the added obstacle information will be added to the looping pathfinding calculation thread in real time, As a result, new calculation results are obtained to obtain new reachable paths, and additional obstacles can be automatically avoided. Therefore, the road closure calculation provides an auxiliary means for the path planning in the later stage of the technical transformation of the power plant site.
- the pathfinding calculation is generally to find a path with the shortest distance between the start point item and the end point item in the 3D virtual scene (if it is reachable).
- step S32 the layers of each layer are calculated according to the following steps Optimal path: Obtain multiple paths of this layer; fuse radiation factor and distance factor to calculate multiple pathfinding cost values of this layer, and use the path corresponding to the smallest pathfinding cost value as the layer optimal path of this layer.
- the pathfinding rule of the conventional A* algorithm mainly considers the distance factor between two points. Assuming that there are n reachable paths between point i and point j in the factory building, Distance(i ,j) is the two-point path length function, and the shortest pathfinding cost is Cost(i,j), then there is formula (1):
- Cost(i,j) Min(Distance 1 (i,j),Distance 2 (i,j),...,Distance n )(1)
- ⁇ and ⁇ are the weight factors corresponding to the distance factor and the dose factor, respectively, which can be set adaptively according to the scene range and radiation intensity.
- the optimal path is the one with the smallest weighted statistics.
- the distance factor and the radiation dose factor are added to the pathfinding mechanism at the same time, the calculation result is more realistic and reasonable, and the radiation risk when the field personnel are in or pass through the radiation area during the work process is reduced.
- step S30 further includes:
- Step S35 Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;
- step S32 the layer optimal path of each layer is calculated according to the following steps: the layer is divided into multiple segments according to the corresponding must-pass points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized layer optimal path.
- any intermediate nodes can be added, and all the necessary points are stored in the waypoint queue as shown in FIG. 6 , and these nodes will be traversed in sequence before the end point. : If there is only one node in the queue after the starting point, then the next node is the end point; if there are multiple nodes in the queue, the pathfinding calculation is segmented, and the optimal path for each segment (to each must-passed point) is calculated. , and finally form the optimal path of the layer. As shown in Figure 7, when the necessary point 2 is added, the optimal path of the segment between points 1 and 2 is calculated first, and then the optimal path of the segment between points 2 and 3 is calculated. , and finally form the optimal path of the layer. Moreover, a must-pass mechanism is added to the pathfinding process, which facilitates multi-target pathfinding and optimizes the complete operation path.
- the method further includes: recording the data of each pathfinding calculation and outputting it through a display window.
- the pathfinding information statistics data are formed, for example, including: distance, radiation dose level, path reachability and other information, which will be output through the data display window , which is convenient for users to understand the background information of each pathfinding calculation and related calculation result data.
- the user after starting the system, the user can input the target item, and then judge whether the target five items exist, if not , the first prompt information can be output for the user to input the target item again.
- the user can set the starting point and the ending point, and then judge whether a custom road closure is required. If necessary, it can receive the custom parameters (road closure setting information) set by the user, and then update the wayfinding information. .
- navigation and browsing can be started, and at the same time, information statistics can be performed.
- the wayfinding and navigation system in this embodiment includes: a modeling module 10, a virtual simulation module 20 and a way-finding and navigation module 30, wherein the modeling The module 10 is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling; the virtual simulation module 20 is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene , the workshop is divided into layers, and relay points are set in each layer to bake the navigation grid layer by layer; the wayfinding navigation module 30 is used to locate the target item input by the user in the three-dimensional virtual scene , and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculation in the three-dimensional virtual scene, and perform dynamic navigation demonstration of the optimal path according to
- the wayfinding and navigation module 30 includes: a positioning submodule 31 , a wayfinding submodule 32 and a navigation submodule 33 , wherein the positioning submodule 31 is used for the target input by the user in the three-dimensional virtual scene The item is positioned, and the starting point and end point set by the user are received; the pathfinding sub-module 32 is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path. Path; the navigation sub-module 33 is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
- the positioning sub-module 31 executes the model data string matching algorithm according to the item name (functional location code), supports fuzzy retrieval, locates the retrieved item and displays the snapshot.
- the snapshot provides free observation from all angles, and the associated background database can The related information of the searched item is displayed.
- the positioning item can be set as a wayfinding node using the interactive interface.
- the data of the positioning sub-module 31 will be passed to the path-finding sub-module 32 as input parameters.
- the path-finding sub-module 32 is based on the A* path-finding algorithm and adds the path-finding area layering mechanism to further refine the path-finding range, that is, the local optimum finally forms the global optimum.
- the navigation sub-module 33 mainly adopts real-time dynamic rendering, that is, the roaming browsing on the path and the interactive linkage between the map and the three-dimensional scene.
- human-computer interaction technology is used to provide viewing experience from multiple perspectives, and to set navigation parameters, such as speed, perspective, window switching, and pause and resume.
- This module is mainly a user-oriented visual rendering, which runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions.
- a set of path planning scheme in the three-dimensional space of the power plant is constructed by three sub-modules of positioning, wayfinding and navigation.
- the nuclear power plant three-dimensional pathfinding and navigation system of the present invention further includes a recording module, which is used for recording the data of each pathfinding calculation and outputting it through the display window.
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Abstract
A nuclear power plant three-dimensional wayfinding navigation method and system, the nuclear power plant three-dimensional wayfinding navigation method comprising: obtaining a three-dimensional layout model of a nuclear power plant (S10); constructing a three-dimensional virtual scene of the nuclear power plant, and in the three-dimensional virtual scene, dividing the plant according to layers and arranging a relay point in each layer so as to bake a navigation mesh layer by layer (S20); in the three-dimensional virtual scene, positioning a target item inputted by a user and receiving a start point and an end point set by the user, and on the basis of the layered navigation mesh, performing a wayfinding calculation in the three-dimensional virtual scene and performing a dynamic navigation demonstration of an optimal path according to a wayfinding calculation result (S30).
Description
本发明涉及核电领域,尤其涉及一种核电厂房三维寻路导航方法及***。The invention relates to the field of nuclear power, in particular to a three-dimensional pathfinding and navigation method and system for a nuclear power plant.
随着各核电工程、运营单位数字化、智能化手段的引进和发展,以虚拟仿真技术为核心的三维数字电厂开始应用到核电工程建设及运营管理中。目前,各核电项目均开展正向三维设计,这些正向数字设计成果与积累的模型数据,为电厂后续建设与运营管理提供了关键的数据支撑。尤其,在电厂运营管理中,可利用三维设计数据,在三维核电厂的虚拟场景中进行一系列的工艺仿真、检修等工作的模拟推演,为现场操作人员提供直观、清晰、准确的辅助参考。With the introduction and development of digital and intelligent means of various nuclear power projects and operating units, 3D digital power plants with virtual simulation technology as the core have begun to be applied to nuclear power project construction and operation management. At present, all nuclear power projects are carrying out forward three-dimensional design. These positive digital design results and accumulated model data provide key data support for the subsequent construction and operation management of the power plant. In particular, in the operation and management of power plants, 3D design data can be used to carry out a series of simulation deductions for process simulation, maintenance and other work in the virtual scene of a 3D nuclear power plant, providing intuitive, clear and accurate auxiliary references for on-site operators.
核电厂检修操作大多基于二维图纸资料或操作规程,检修一个设备往往需要先在核电厂房海量的设备与管道中,找到前往故障设备的路线。具体地,电厂设备维修目前一般是通过功能位置码,即根据电厂统一的功能位置编码,依次找到相应的房间,房间中的***,***中的设备。房间、***和设备分别有各自的命名规则,例如RCP001GV,则代表核岛厂房中RCP***的001号蒸汽发生器。如此根据功能位置码的分析结果,便可以去相应的厂房中找到该设备。因此,这种根据功能位置码寻找房间、***设备的方式非常依赖操作人员对于核电厂房、***设备的熟悉程度,对操作人员的个人技能和经验要求很高,尽管如此,仍存在以下缺陷:The maintenance operations of nuclear power plants are mostly based on two-dimensional drawings or operating procedures. To maintain a piece of equipment, it is often necessary to first find a route to the faulty equipment among the massive equipment and pipelines in the nuclear power plant. Specifically, the maintenance of power plant equipment is currently generally through the functional location code, that is, according to the unified functional location code of the power plant, to sequentially find the corresponding room, the system in the room, and the equipment in the system. Rooms, systems and equipment have their own naming conventions, for example RCP001GV stands for steam generator No. 001 of the RCP system in the nuclear island building. In this way, according to the analysis result of the functional location code, the equipment can be found in the corresponding workshop. Therefore, this method of finding rooms and system equipment based on functional location codes is very dependent on the operator's familiarity with nuclear power plants and system equipment, and requires high personal skills and experience of the operator. However, there are still the following defects:
1.效率低:核电厂房内部房间错综复杂,即便是具有丰富经验的操作人员 也要谨慎查找,边走边看,以防走错房间、找错设备。另一方面,前往目的地往往会穿过多个厂房,走多余的路,很难找到一条最短路径到达目标点,浪费检修时间,拉低工作效率。1. Low efficiency: The internal rooms of the nuclear power plant are intricate and complicated. Even operators with rich experience should search carefully and look while walking, so as to avoid going to the wrong room and finding the wrong equipment. On the other hand, going to the destination often requires passing through multiple factories and taking redundant roads. It is difficult to find a shortest path to the target point, wasting maintenance time and reducing work efficiency.
2.缺乏直观性:部分房间、***设备编码名称相近,容易混淆,人眼查找缺乏直观性,从而导致不能准确定位,工作失误。对于难以到达的位置,往往不能确定其是否是要寻找的目标,也会产生错误判断。2. Lack of intuitiveness: Some rooms and system equipment have similar coding names, which are easy to confuse, and the human eye lacks intuitiveness to search, resulting in inaccurate positioning and work errors. For hard-to-reach locations, it is often uncertain whether it is the target to be found, and misjudgments may also occur.
因此,如何利用三维虚拟电厂快速定位厂房房间、***设备,并且快速找到准确可行的到达路线,对于辅助检修人员现场操作具有重大意义。Therefore, how to use the 3D virtual power plant to quickly locate the workshop room and system equipment, and quickly find an accurate and feasible arrival route is of great significance for assisting maintenance personnel to operate on site.
本发明要解决的技术问题在于,现有技术存在的上述效率低、直观性差的缺陷。The technical problem to be solved by the present invention lies in the above-mentioned defects of low efficiency and poor intuitiveness in the prior art.
本发明解决其技术问题所采用的技术方案是:构造一种核电厂房三维寻路导航方法,包括:The technical solution adopted by the present invention to solve the technical problem is: constructing a three-dimensional way-finding and navigation method for a nuclear power plant, including:
步骤S10.利用PDMS建模获取核电厂三维布置模型;Step S10. Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant;
步骤S20.利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;Step S20. Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;
步骤S30.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。Step S30. In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
优选地,所述步骤S30包括:Preferably, the step S30 includes:
步骤S31.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并 接收用户设置的起点和终点;Step S31. In the three-dimensional virtual scene, the target item input by the user is positioned, and the starting point and the end point set by the user are received;
步骤S32.分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径;Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path;
步骤S33.通过实时动态渲染,以第一或第三人称方式在所述最优路径上漫游浏览,以进行动态导航演示。Step S33. Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
优选地,所述步骤S30还包括:Preferably, the step S30 further includes:
步骤S34.接收用户输入的封路设置信息,并在所述三维虚拟场景中添加封路障碍。Step S34. Receive road closure setting information input by the user, and add road closure obstacles in the three-dimensional virtual scene.
优选地,在所述步骤S32中,根据以下步骤计算每层的层最优路径:Preferably, in the step S32, the optimal path of each layer is calculated according to the following steps:
获取该层的多条路径;Get multiple paths to the layer;
融合辐射因子和距离因子计算该层的多个寻路开销值,并将最小的寻路开销值所对应的路径作为该层的层最优路径。The radiation factor and the distance factor are fused to calculate multiple pathfinding cost values of the layer, and the path corresponding to the smallest pathfinding cost value is taken as the layer optimal path of the layer.
优选地,所述步骤S30还包括:Preferably, the step S30 further includes:
步骤S35.接收用户设置的必经点,并将所述必经点与所述起点、所述终点、所述中继点一并存入路点队列;Step S35. Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;
而且,在所述步骤S32中,根据以下步骤计算每层的层最优路径:Moreover, in the step S32, the layer optimal path of each layer is calculated according to the following steps:
根据相应必经点将该层分成多段,并计算每段的段最优路径,且将每段的段最优路径合成层最优路径。The layer is divided into multiple segments according to the corresponding necessary points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized into the layer optimal path.
优选地,还包括:Preferably, it also includes:
记录每次寻路计算的数据,并通过展示窗口输出。Record the data of each pathfinding calculation and output it through the display window.
优选地,还包括:Preferably, it also includes:
若判断所述目标物项不存在时,输出第一提示信息。If it is determined that the target item does not exist, first prompt information is output.
优选地,所述步骤S30还包括:Preferably, the step S30 further includes:
若根据寻路计算结果确定无最优路径存在,则输出第二提示信息,并判断是否需要继续寻路;If it is determined that no optimal path exists according to the pathfinding calculation result, output the second prompt information, and determine whether it is necessary to continue pathfinding;
若需要继续寻路,则重新执行步骤S30。If the pathfinding needs to be continued, step S30 is performed again.
本发明还构造一种核电厂房三维寻路导航***,包括:The present invention also constructs a three-dimensional wayfinding and navigation system for a nuclear power plant, comprising:
建模模块,用于利用PDMS建模获取核电厂三维布置模型;The modeling module is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling;
虚拟仿真模块,用于利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;The virtual simulation module is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and each layer is set in the Follow the point to bake the navmesh layer by layer;
寻路导航模块,用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点/终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。A wayfinding and navigation module is used to locate the target item input by the user in the three-dimensional virtual scene, and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, in the three-dimensional virtual scene The pathfinding calculation is performed, and the dynamic navigation demonstration of the optimal path is performed according to the pathfinding calculation result.
优选地,所述寻路导航模块包括:Preferably, the wayfinding and navigation module includes:
定位子模块,用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点;a positioning submodule, used for positioning the target item input by the user in the three-dimensional virtual scene, and receiving the starting point and the ending point set by the user;
寻路子模块,用于分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径;The pathfinding sub-module is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path;
导航子模块,用于通过实时动态渲染,以第一或第三人称方式在所述最优路径上漫游浏览,以进行动态导航演示。The navigation sub-module is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
优选地,还包括:Preferably, it also includes:
记录模块,用于记录每次寻路计算的数据,并通过展示窗口输出。The recording module is used to record the data of each pathfinding calculation and output it through the display window.
本发明所提供的技术方案,可对用户输入的目标物项进行查找及定位,并 根据寻路算法计算出最优路径,同时,用户可查看动态导航,演示整个寻路过程。而且,在核电厂房规模大、***设备繁杂的情况下,采用分层烘焙导航网格的方式及基于分层导航网格进行最优路径的寻路计算,可解决常规寻路算法不收敛的问题。因此,可使用户快速、准确地到达目标点,提高了工作效率。The technical solution provided by the present invention can search and locate the target item input by the user, and calculate the optimal path according to the pathfinding algorithm. At the same time, the user can view the dynamic navigation and demonstrate the entire pathfinding process. Moreover, in the case of a large-scale nuclear power plant and complex system equipment, the method of layered baked navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, the user can reach the target point quickly and accurately, and the work efficiency is improved.
图1是本发明核电厂房三维寻路导航方法实施例一的流程图。FIG. 1 is a flow chart of Embodiment 1 of a three-dimensional pathfinding and navigation method for a nuclear power plant according to the present invention.
图2是本发明核电厂房三维寻路导航方法中步骤S10实施例一的流程图。FIG. 2 is a flowchart of the first embodiment of step S10 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
图3是本发明核电厂房三维寻路导航方法中步骤S30实施例一的流程图。FIG. 3 is a flowchart of the first embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
图4是本发明核电厂房内寻路导航的示意图。FIG. 4 is a schematic diagram of wayfinding and navigation in a nuclear power plant of the present invention.
图5A是设置封路信息前所生成的最优路径的示意图。FIG. 5A is a schematic diagram of an optimal route generated before setting road closure information.
图5B是设置封路信息后所生成的最优路径的示意图。FIG. 5B is a schematic diagram of an optimal route generated after the road closure information is set.
图6是本发明寻路路点队列的示意图。FIG. 6 is a schematic diagram of a waypoint queue for wayfinding according to the present invention.
图7是本发明分段计算最优路线的示意图。FIG. 7 is a schematic diagram of segmented calculation of optimal route according to the present invention.
图8是本发明核电厂房三维寻路导航方法中步骤S30实施例二的流程图。FIG. 8 is a flowchart of the second embodiment of step S30 in the three-dimensional wayfinding and navigation method for a nuclear power plant of the present invention.
图9是本发明核电厂房三维寻路导航实施例一的逻辑结构图。FIG. 9 is a logical structure diagram of Embodiment 1 of the three-dimensional wayfinding and navigation of a nuclear power plant according to the present invention.
图10是图9中寻路导航模块实施例一的逻辑结构图。FIG. 10 is a logical structure diagram of Embodiment 1 of the wayfinding and navigation module in FIG. 9 .
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本发明在已有的核电正向设计数据基础上,利用虚拟仿真技术搭建等比例三维数字电厂,以CPR1000堆型为例,包含核岛各厂房的土建房间、系 统、设备、管道等三维物项,基于虚拟场景中的路径规划算法与仿真技术,提出核电厂房寻路导航***的设计方法,并实现了该***的核心功能及移动端设备的部署,使得操作人员在现场环境下,可预先对关注的房间、设备进行检索寻路,同时提供导航方案,方便其快速找到去往目的地的最优路径,节省维修时间、提高维修效率。On the basis of the existing nuclear power forward design data, the present invention uses virtual simulation technology to build an equal-scale three-dimensional digital power plant. Taking the CPR1000 reactor type as an example, it includes three-dimensional items such as civil engineering rooms, systems, equipment, and pipes of each powerhouse of the nuclear island. , Based on the path planning algorithm and simulation technology in the virtual scene, the design method of the nuclear power plant pathfinding and navigation system is proposed, and the core functions of the system and the deployment of the mobile terminal equipment are realized, so that the operator can pre- The room and equipment of interest are searched and routed, and a navigation solution is provided to facilitate them to quickly find the optimal path to the destination, saving maintenance time and improving maintenance efficiency.
图1是本发明核电厂房三维寻路导航方法实施例一的流程图,该实施例的核电厂房三维寻路导航方法包括以下步骤:1 is a flowchart of Embodiment 1 of the three-dimensional wayfinding and navigation method for a nuclear power plant according to the present invention. The three-dimensional wayfinding and navigation method for a nuclear power plant in this embodiment includes the following steps:
步骤S10.利用PDMS建模获取核电厂三维布置模型;Step S10. Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant;
步骤S20.利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;Step S20. Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;
步骤S30.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。Step S30. In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
该实施例的技术方案基于电厂正向三维设计成果,建立了核电厂核岛厂房内部的三维场景,并在场景中设计了一套用于厂房内部物项定位、寻路及导航的机制,可以在设备检修之前,查找并定位目标设备,根据寻路算法提供一条最优路径,同时可查看动态导航,演示整个寻路过程。另外,在核电厂房规模大、***设备繁杂的情况下,采用分层烘焙导航网格的方式及基于分层导航网格进行最优路径的寻路计算,可解决常规寻路算法不收敛的问题。因此,方便在设备运维及检修工作中快速在***中定位到指定的房间与***设备,找到最快的、安全的到达路径。The technical solution of this embodiment is based on the forward three-dimensional design results of the power plant, and establishes a three-dimensional scene inside the nuclear island workshop of the nuclear power plant, and designs a set of mechanisms for locating, wayfinding and navigating items inside the workshop in the scene, which can be used in the scene. Before equipment maintenance, find and locate the target equipment, and provide an optimal path according to the pathfinding algorithm. At the same time, dynamic navigation can be viewed to demonstrate the entire pathfinding process. In addition, in the case of large-scale nuclear power plants and complex system equipment, the method of layered baking navigation grid and the pathfinding calculation of the optimal path based on the layered navigation grid can solve the problem of non-convergence of conventional pathfinding algorithms. . Therefore, it is convenient to quickly locate the designated room and system equipment in the system during equipment operation, maintenance and repair work, and find the fastest and safest path to reach.
进一步地,在步骤S10中,结合图2,利用PDMS(Plant Design Manage System,电厂设计管理***)平台进行核电厂各专业布置模型的正向设计建模,包括寻路场景涉及到的土建、***管道、阀门、占位设备(外观)、风管、支吊架、线缆托盘等,这些三维物项按照图纸工艺组合关联在一起,等比例模拟出电厂真实场景。PDMS建模输出为RVM格式的三维数据,利用Navisworks软件对一系列RVM文件进行组合与处理,最终输出为可进入虚拟仿真引擎的FBX格式模型数据。Further, in step S10, with reference to FIG. 2, the PDMS (Plant Design Manage System, power plant design management system) platform is used to carry out forward design modeling of each professional layout model of the nuclear power plant, including the civil works and systems involved in the wayfinding scene. Pipes, valves, space-occupying equipment (appearance), air ducts, supports and hangers, cable trays, etc., these three-dimensional items are combined according to the drawing process, and the real scene of the power plant is simulated in equal proportions. The output of PDMS modeling is three-dimensional data in RVM format. Navisworks software is used to combine and process a series of RVM files, and the final output is FBX format model data that can enter the virtual simulation engine.
进一步地,在步骤S20中,首先说明的是,Unity3D是一款主流的三维应用开发工具,开发人员可以用它快速搭建虚拟场景,从而把主要精力集中在应用功能开发上面。本发明***的设计与实际开发工作,大部分在Unity3D环境下完成,并最终形成应用***,具体地,利用Unity3D虚拟仿真引擎,构建核电厂房三维虚拟场景,并在虚拟场景中铺设用于寻路导航的路点信息,设置碰撞参数,引入分层机制,烘焙导航网格。Further, in step S20, it is first explained that Unity3D is a mainstream 3D application development tool, and developers can use it to quickly build virtual scenes, so as to focus on application function development. Most of the design and actual development work of the system of the present invention is completed in the Unity3D environment, and finally an application system is formed. Specifically, the Unity3D virtual simulation engine is used to construct a three-dimensional virtual scene of a nuclear power plant, and lay it in the virtual scene for pathfinding. Waypoint information for navigation, set collision parameters, introduce layering mechanism, bake navigation mesh.
在一个具体应用中,由于步骤S10中形成的核电厂三维布置模型是搭建虚拟场景的主要数据来源,所以,FBX数据文件进入Unity3D后,会按照电厂三维物项的管理结构首先对数据进行整合优化,具体包括:模型结构、命名以及层级关系的调整,如对于同一***或同一设备下的物项,需整理到同一子层级下,并规范其命名。这对于后续定位模块中检索三维物项是必要的准备工作。完成层级结构梳理与场景搭建之后,采用引擎的Navigation模块提供的导航网格烘焙功能,对场景进行烘焙渲染。这项工作是为了将场景中所有通路的路点信息、导航网格添加到场景中来,用于寻路计算,类似于给一座城市修路、装红绿灯,这些信息完善了,才能去计算到达某目的地的最短路径。而且,在烘焙导航网格时,引擎会自动计算带有碰撞信息的物项,例如墙体、管道、设备会形成阻挡信息,模拟寻路计算时是不应让人员穿过这些区域或物项的。像 楼梯、孔洞这类物项。在烘焙导航网格之前,设置好它们的通过性参数,如直梯上下时设置跳转点,斜梯设置陡峭参数(坡度过大,认为不可通过,或通过成本过高),孔洞设置通过阈值(孔洞过小,寻路时认为无法穿过)等。而且,在导航网格烘焙时,将厂房按层划分,并在各层设置中继点,例如,楼梯、直梯,并逐层烘焙渲染。另外,烘焙过程由仿真引擎自动执行,消耗时间取决于模型与场景的复杂程度,烘焙结束后场景中的所有可连通区域将成为寻路区域,这些区域表明是可以到达的。有了烘焙网格数据,寻路计算才可以开展。In a specific application, since the 3D layout model of the nuclear power plant formed in step S10 is the main data source for building the virtual scene, after the FBX data file is entered into Unity3D, the data will first be integrated and optimized according to the management structure of the 3D items of the power plant , including: model structure, naming, and adjustment of hierarchical relationship. For example, items under the same system or equipment should be organized into the same sub-level, and their naming should be standardized. This is a necessary preparation for retrieving 3D items in the subsequent positioning module. After sorting out the hierarchical structure and building the scene, use the navigation grid baking function provided by the Navigation module of the engine to bake and render the scene. This work is to add the waypoint information and navigation meshes of all passages in the scene to the scene for pathfinding calculation, similar to building roads and installing traffic lights in a city. Only when this information is perfect can the arrival be calculated. The shortest path to a destination. Moreover, when baking the navigation mesh, the engine will automatically calculate items with collision information, such as walls, pipes, and equipment that will form blocking information. When simulating pathfinding calculations, people should not pass through these areas or items. of. Items like stairs, holes, etc. Before baking the navigation meshes, set their passability parameters, such as setting jump points when going up and down straight ladders, setting steepness parameters for inclined ladders (the slope is too large, it is considered impossible to pass, or the cost of passing is too high), and the holes are set to pass thresholds (The hole is too small, and it is considered impossible to pass through when finding the way), etc. Moreover, when baking the navmesh, the workshop is divided into layers, and relay points are set on each layer, for example, stairs, straight ladders, and the rendering is baked layer by layer. In addition, the baking process is automatically executed by the simulation engine, and the time consumption depends on the complexity of the model and the scene. After baking, all connectable areas in the scene will become pathfinding areas, and these areas are indicated to be reachable. With the baked mesh data, pathfinding calculations can be performed.
进一步地,结合图3,步骤S30可包括以下步骤:Further, with reference to FIG. 3, step S30 may include the following steps:
步骤S31.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点;Step S31. In the three-dimensional virtual scene, locate the target item input by the user, and receive the starting point and the ending point set by the user;
在该步骤中,可使用字符串匹配技术来定位场景三维物项,具体地,根据目标物项名称的功能位置码,执行模型数据字符串匹配算法(支持模糊检索),定位检索到的物项并显示快照,快照提供全角度自由观察,关联的后台数据库可以显示出该检索物项的关联信息。同时,利用交互界面可将定位物项设置为寻路节点。In this step, a string matching technique can be used to locate the three-dimensional objects in the scene. Specifically, according to the functional location code of the name of the target item, a string matching algorithm of the model data (supporting fuzzy retrieval) is executed to locate the retrieved item. And display the snapshot, the snapshot provides free observation from all angles, and the associated background database can display the associated information of the retrieved item. At the same time, the positioning item can be set as a wayfinding node using the interactive interface.
步骤S32.分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径,即,寻路计算采用分层求取局部最优再合成全局最优的方式;Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path, that is, the pathfinding calculation adopts the layered search for local optimal recombination. globally optimal way;
在该步骤中,可基于A*寻路算法,加入寻路区域分层机制,将寻路范围进一步细化,即局部最优最终形成全局最优。基于厂房基本三维模型结构及阻挡信息,完成当前地点到目标地点的最短可达路径计算,根据计算结果渲染路径线路,并给出相关的路径信息。In this step, based on the A* pathfinding algorithm, the pathfinding area layering mechanism can be added to further refine the pathfinding range, that is, the local optimum finally forms the global optimum. Based on the basic 3D model structure and blocking information of the factory building, the calculation of the shortest reachable path from the current location to the target location is completed, the route route is rendered according to the calculation result, and the relevant path information is given.
步骤S33.通过实时动态渲染,以第一或第三人称方式在所述最优路径上 漫游浏览,以进行动态导航演示。Step S33. Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
在该步骤中,可采用实时动态渲染,即,在最优路径上漫游浏览以及地图和三维场景的交互联动。同时,采用人机交互技术提供多个视角的观察体验,设置导航参数,如速度、视角、窗口切换及暂停恢复等。该步骤主要是面向用户的可视化渲染,将寻路结果以第一或第三人称方式运行一遍,包括地图导航、场景导航、窗口切换以及部分人机交互功能,如图4所示出的厂房内寻路导航的示意图,其中,右下角为地图。In this step, real-time dynamic rendering can be used, that is, roaming and browsing on the optimal path and interactive linkage between the map and the three-dimensional scene. At the same time, it adopts human-computer interaction technology to provide observation experience from multiple perspectives, and set navigation parameters, such as speed, perspective, window switching, and pause and resume. This step is mainly for user-oriented visual rendering, and runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions, as shown in Figure 4. A schematic diagram of road navigation, in which the lower right corner is a map.
在该实施例中,步骤S30具体包括定位、寻路、导航三个子步骤,即,首先实现目标物项查找与标定;再在寻路中实现路径规划与计算;最后完成前往目的地的实时移动浏览。另外需说明的是,由于核电厂房错综复杂,三维模型数据量较大,如采用常规的导航网格整体烘焙方式,消耗较大,且会导致寻路算法不收敛,无法找到最优解。而该实施例合理利用核电厂房分层结构,把导航网格划分为多个子层或子区域进行烘焙,将整体问题求解过程分解,局部找到最优解后再合并至一起,得到完整的最优路径,因此,提升了寻路计算效率,优化了算法性能。In this embodiment, step S30 specifically includes three sub-steps of positioning, wayfinding, and navigation, that is, firstly, the search and calibration of the target item are realized; then the path planning and calculation are realized in the wayfinding; finally, the real-time movement to the destination is completed. Browse. In addition, it should be noted that due to the complexity of the nuclear power plant and the large amount of 3D model data, if the conventional navigation mesh overall baking method is used, the consumption is large, and the pathfinding algorithm will not converge and the optimal solution cannot be found. In this embodiment, the hierarchical structure of the nuclear power plant is reasonably used, the navigation grid is divided into multiple sub-layers or sub-regions for baking, the overall problem solving process is decomposed, and the optimal solution is found locally and then merged together to obtain a complete optimal solution. Therefore, the pathfinding calculation efficiency is improved and the algorithm performance is optimized.
在核电厂房现场,后期往往会有一些技术改造导致路径不通的情况(建模数据中无这些信息),这便出现了三维虚拟场景与实际场景不一致的情况。因此,在一个可选实施例中,还在上述实施例的基础上进一步加入了自定义封路机制,具体地,步骤S30还包括:步骤S34.接收用户输入的封路设置信息,并在所述三维虚拟场景中添加封路障碍。At the site of a nuclear power plant, there are often some technical transformations in the later stage that lead to unreasonable paths (there is no such information in the modeling data), which leads to the inconsistency between the 3D virtual scene and the actual scene. Therefore, in an optional embodiment, a self-defined road sealing mechanism is further added on the basis of the above-mentioned embodiment. Specifically, step S30 further includes: step S34. Receive the road sealing setting information input by the user, and in all Add road blocking obstacles to the 3D virtual scene described above.
在该实施例的技术方案中,结合图5A、5B,用户可根据现场实际情况,在三维虚拟场景中动态添加封路障碍,添加的障碍信息将实时地加入到循环的寻路计算线程中,从而得到新的计算结果,以获取新的可达路径,而且,可自 动避开添加障碍。因此,封路计算为电厂后期现场技术改造后期的路径规划提供辅助手段。In the technical solution of this embodiment, with reference to Figures 5A and 5B, the user can dynamically add road blocking obstacles in the three-dimensional virtual scene according to the actual situation on the site, and the added obstacle information will be added to the looping pathfinding calculation thread in real time, As a result, new calculation results are obtained to obtain new reachable paths, and additional obstacles can be automatically avoided. Therefore, the road closure calculation provides an auxiliary means for the path planning in the later stage of the technical transformation of the power plant site.
寻路计算一般是在三维虚拟场景中的起点物项与终点物项之间找到一条距离最短的路径(可达的情况下)。但是,核电厂房中尤其是核岛部分厂房存在辐射剂量,操作人员在现场进入或经过辐射区域时,应考虑尽量避免或降低其受到剂量的影响。因此,在一个可选实施例中,寻路计算可在上述实施例的基础上,除了考虑距离因子,还进一步融合考虑辐射因子,具体地,在步骤S32中,根据以下步骤计算每层的层最优路径:获取该层的多条路径;融合辐射因子和距离因子计算该层的多个寻路开销值,并将最小的寻路开销值所对应的路径作为该层的层最优路径。The pathfinding calculation is generally to find a path with the shortest distance between the start point item and the end point item in the 3D virtual scene (if it is reachable). However, there are radiation doses in nuclear power plants, especially in parts of the nuclear island. When operators enter or pass through the radiation area on site, they should consider avoiding or reducing the impact of the dose as much as possible. Therefore, in an optional embodiment, on the basis of the above-mentioned embodiment, in addition to considering the distance factor, the pathfinding calculation may further consider the radiation factor. Specifically, in step S32, the layers of each layer are calculated according to the following steps Optimal path: Obtain multiple paths of this layer; fuse radiation factor and distance factor to calculate multiple pathfinding cost values of this layer, and use the path corresponding to the smallest pathfinding cost value as the layer optimal path of this layer.
在一个具体例子中,首先说明的是,常规的A*算法的寻路规则主要考虑两点间的距离因素,假设厂房中i点到j点间有n条可达路径,Dis tan ce(i,j)为两点路径长度函数,最短寻路开销为Cost(i,j),那么则有公式(1):In a specific example, first of all, the pathfinding rule of the conventional A* algorithm mainly considers the distance factor between two points. Assuming that there are n reachable paths between point i and point j in the factory building, Distance(i ,j) is the two-point path length function, and the shortest pathfinding cost is Cost(i,j), then there is formula (1):
Cost(i,j)=Min(Dis tan ce
1(i,j),Dis tan ce
2(i,j),...,Dis tan ce
n) (1)
Cost(i,j)=Min(Distance 1 (i,j),Distance 2 (i,j),...,Distance n )(1)
该实施例的技术方案在计算寻路开销时,将辐射因子同时作为计算参数加入到算法中,设Radiation(i,j)为两点间路径上辐射剂量总和,两点间最短寻路开销Cost(i,j)如公式(2):In the technical solution of this embodiment, when calculating the pathfinding cost, the radiation factor is added to the algorithm as a calculation parameter at the same time. Let Radiation(i,j) be the sum of radiation doses on the path between two points, and the shortest pathfinding cost between two points is Cost (i,j) as formula (2):
其中,α和β分别为距离因素和剂量因素所对应的权重因子,可根据场景范围与辐射强度进行适应性设置。Among them, α and β are the weight factors corresponding to the distance factor and the dose factor, respectively, which can be set adaptively according to the scene range and radiation intensity.
在基于公式(2)进行寻路计算时,由于每次寻路计算时都将综合考虑路 径长度和路径上的剂量水平,两者加权统计最小的则为最优路径。When the pathfinding calculation is performed based on formula (2), since each pathfinding calculation will comprehensively consider the path length and the dose level on the path, the optimal path is the one with the smallest weighted statistics.
通过该实施例的技术方案,在寻路机制中同时加入了距离因素和辐射剂量因素,计算结果更现实合理,降低现场人员工作过程中处于或经过辐射区域带来时的辐射风险。Through the technical solution of this embodiment, the distance factor and the radiation dose factor are added to the pathfinding mechanism at the same time, the calculation result is more realistic and reasonable, and the radiation risk when the field personnel are in or pass through the radiation area during the work process is reduced.
在一个可选实施例中,还可在上述实施例的基础上,进一步加入必经点机制,具体地,步骤S30还包括:In an optional embodiment, on the basis of the above-mentioned embodiment, a necessary point mechanism may be further added. Specifically, step S30 further includes:
步骤S35.接收用户设置的必经点,并将所述必经点与所述起点、所述终点、所述中继点一并存入路点队列;Step S35. Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;
而且,在步骤S32中,根据以下步骤计算每层的层最优路径:根据相应必经点将该层分成多段,并计算每段的段最优路径,且将每段的段最优路径合成层最优路径。Moreover, in step S32, the layer optimal path of each layer is calculated according to the following steps: the layer is divided into multiple segments according to the corresponding must-pass points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized layer optimal path.
在该实施例中,在寻路计算过程中,可增加任意个中间节点,并将所有必经点存入如图6所示的路点队列,这些节点将在终点之前被依次遍历,具体为:如果起点之后的队列中只有一个节点,那么下个节点即是终点;如果队列中有多个节点,则将寻路计算分段,计算出每段(到达各必经点)的最优路径,最终形成层最优路径,如图7所示,当加入了必经点2后,先计算点1与2之间的段最优路径,再计算点2与3之间的段最优路径,最终形成层最优路径。而且,寻路过程加入必经点机制,方便多目标寻路,优化完整作业路径。In this embodiment, during the pathfinding calculation process, any intermediate nodes can be added, and all the necessary points are stored in the waypoint queue as shown in FIG. 6 , and these nodes will be traversed in sequence before the end point. : If there is only one node in the queue after the starting point, then the next node is the end point; if there are multiple nodes in the queue, the pathfinding calculation is segmented, and the optimal path for each segment (to each must-passed point) is calculated. , and finally form the optimal path of the layer. As shown in Figure 7, when the necessary point 2 is added, the optimal path of the segment between points 1 and 2 is calculated first, and then the optimal path of the segment between points 2 and 3 is calculated. , and finally form the optimal path of the layer. Moreover, a must-pass mechanism is added to the pathfinding process, which facilitates multi-target pathfinding and optimizes the complete operation path.
进一步地,在一个可选实施例中,在步骤S30之后,还包括:记录每次寻路计算的数据,并通过展示窗口输出。在该实施例中,通过在后台记录每次寻路计算的结果数据,形成寻路信息统计数据,例如包括:距离、辐射剂量等级、路径可达等信息,这些信息将通过数据展示窗口进行输出,方便用户了解每次寻路计算的后台信息以及相关计算结果数据。Further, in an optional embodiment, after step S30, the method further includes: recording the data of each pathfinding calculation and outputting it through a display window. In this embodiment, by recording the result data of each pathfinding calculation in the background, the pathfinding information statistics data are formed, for example, including: distance, radiation dose level, path reachability and other information, which will be output through the data display window , which is convenient for users to understand the background information of each pathfinding calculation and related calculation result data.
在一个具体实施例中,结合图8所示的寻路导航的流程示意图,在该实施例中,在启动***后,用户可输入目标物项,然后判断该目标五项是否存在,若不存在,则可输出第一提示信息,以供用户再次输入目标物项。In a specific embodiment, combined with the schematic flow chart of the wayfinding navigation shown in FIG. 8, in this embodiment, after starting the system, the user can input the target item, and then judge whether the target five items exist, if not , the first prompt information can be output for the user to input the target item again.
当判断目标物项存在时,可供用户设置起点、终点,然后再判断是否需要自定义封路,若需要,则可接收用户设置的自定义参数(封路设置信息),然后更新寻路信息。When it is judged that the target item exists, the user can set the starting point and the ending point, and then judge whether a custom road closure is required. If necessary, it can receive the custom parameters (road closure setting information) set by the user, and then update the wayfinding information. .
当判断不需要自定义封路时,开始进行封路计算,然后根据计算结果判断是否有最优路径存在/可达,若确定无最优路径存在,则输出第二提示信息,并判断是否需要继续寻路,如果需要继续寻路,则重新等待用户输入目标物项。When it is judged that the custom road closure is not required, start the road closure calculation, and then judge whether there is an optimal path exists/reachable according to the calculation result. Continue to find the way, if it is necessary to continue to find the way, wait for the user to input the target item again.
当确定有最优路径存在时,则可开始导航浏览,同时,进行信息统计。When it is determined that an optimal path exists, navigation and browsing can be started, and at the same time, information statistics can be performed.
图9是本发明核电厂房三维寻路导航***实施例一的逻辑结构图,该实施例的寻路导航***包括:建模模块10、虚拟仿真模块20和寻路导航模块30,其中,建模模块10用于利用PDMS建模获取核电厂三维布置模型;虚拟仿真模块20用于利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;寻路导航模块30用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点/终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。9 is a logical structure diagram of Embodiment 1 of the three-dimensional wayfinding and navigation system for a nuclear power plant according to the present invention. The wayfinding and navigation system in this embodiment includes: a modeling module 10, a virtual simulation module 20 and a way-finding and navigation module 30, wherein the modeling The module 10 is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling; the virtual simulation module 20 is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene , the workshop is divided into layers, and relay points are set in each layer to bake the navigation grid layer by layer; the wayfinding navigation module 30 is used to locate the target item input by the user in the three-dimensional virtual scene , and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculation in the three-dimensional virtual scene, and perform dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
在该实施例中,依托三维正向设计成果,在电厂三维模型数据的基础上,利用虚拟仿真技术和开发引擎环境,并借助软件开发手段,研发了一套核电厂厂房三维寻路导航***工具,并具有以下技术效果:In this embodiment, relying on the 3D forward design results, on the basis of the 3D model data of the power plant, using the virtual simulation technology and the development engine environment, and with the help of software development means, a set of tools for the 3D wayfinding and navigation system for the nuclear power plant workshop is developed. , and has the following technical effects:
1.以三维虚拟场景再现核电厂房内部构造,为现场操作人员工作准备提供 三维可视化参考;1. Reproduce the internal structure of the nuclear power plant with a 3D virtual scene to provide a 3D visual reference for the on-site operators to prepare for work;
2.提供厂房内部房间、***和设备间的寻路计算,快速规划前往目标物项的最优路径,并提供导航动态演示,为操作人员在厂房中的作业提供辅助决策与直观参考;2. Provide pathfinding calculations between rooms, systems and equipment in the factory building, quickly plan the optimal path to the target item, and provide dynamic navigation demonstrations to provide auxiliary decision-making and intuitive reference for operators to work in the factory building;
3.针对设备物项查找与检修,可以一种更加直观、准确的可视化解决方案来助力电厂数字化、智能化运营管理。3. For the search and maintenance of equipment items, a more intuitive and accurate visualization solution can be used to assist the digital and intelligent operation management of power plants.
进一步地,结合图10,寻路导航模块30包括:定位子模块31、寻路子模块32和导航子模块33,其中,定位子模块31用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点;寻路子模块32用于分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径;导航子模块33用于通过实时动态渲染,以第一或第三人称方式在所述最优路径上漫游浏览,以进行动态导航演示。Further, with reference to FIG. 10 , the wayfinding and navigation module 30 includes: a positioning submodule 31 , a wayfinding submodule 32 and a navigation submodule 33 , wherein the positioning submodule 31 is used for the target input by the user in the three-dimensional virtual scene The item is positioned, and the starting point and end point set by the user are received; the pathfinding sub-module 32 is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path. Path; the navigation sub-module 33 is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
具体地,定位子模块31根据物项名称(功能位置码)执行模型数据字符串匹配算法,支持模糊检索,定位检索到的物项并显示快照,快照提供全角度自由观察,关联的后台数据库可以显示出该检索物项的关联信息。同时,利用交互界面可将定位物项设置为寻路节点。定位子模块31的数据将作为输入参数传递给寻路子模块32。寻路子模块32基于A*寻路算法,加入寻路区域分层机制,将寻路范围进一步细化,即局部最优最终形成全局最优。基于厂房基本三维模型结构及阻挡信息,完成当前地点到目标地点的最短可达路径计算,根据计算结果渲染路径线路,并给出相关的路径信息。寻路子模块32的计算结果将作为导航子模块33的输入参数,进行下一步实时路径导航操作。导航子模块33主要是采用实时动态渲染,即路径上的漫游浏览以及地图和三维场景的交互联动。同时,采用人机交互技术提供多个视角的观察体验,设置导航参 数,如速度、视角、窗口切换及暂停恢复等。该模块主要是面向用户的可视化渲染,将寻路结果以第一或第三人称方式运行一遍,包括地图导航、场景导航、窗口切换以及部分人机交互功能。Specifically, the positioning sub-module 31 executes the model data string matching algorithm according to the item name (functional location code), supports fuzzy retrieval, locates the retrieved item and displays the snapshot. The snapshot provides free observation from all angles, and the associated background database can The related information of the searched item is displayed. At the same time, the positioning item can be set as a wayfinding node using the interactive interface. The data of the positioning sub-module 31 will be passed to the path-finding sub-module 32 as input parameters. The path-finding sub-module 32 is based on the A* path-finding algorithm and adds the path-finding area layering mechanism to further refine the path-finding range, that is, the local optimum finally forms the global optimum. Based on the basic 3D model structure and blocking information of the factory building, the calculation of the shortest reachable path from the current location to the target location is completed, the route route is rendered according to the calculation result, and the relevant path information is given. The calculation result of the path-finding sub-module 32 will be used as the input parameter of the navigation sub-module 33 to perform the next real-time path navigation operation. The navigation sub-module 33 mainly adopts real-time dynamic rendering, that is, the roaming browsing on the path and the interactive linkage between the map and the three-dimensional scene. At the same time, human-computer interaction technology is used to provide viewing experience from multiple perspectives, and to set navigation parameters, such as speed, perspective, window switching, and pause and resume. This module is mainly a user-oriented visual rendering, which runs the pathfinding results in the first or third person mode, including map navigation, scene navigation, window switching and some human-computer interaction functions.
在该实施例中,采用定位、寻路、导航三个子模块构建了一套在电厂三维空间中的路径规划方案。提供厂房房间、***、设备多级模型数据的检索定位,方便现场人员工前了解工作环境,操作目标位置;快速计算场景中任意(多个)点位间的最优路径,指导工作人员前往目的地,节省时间开销、提高作业安全性。In this embodiment, a set of path planning scheme in the three-dimensional space of the power plant is constructed by three sub-modules of positioning, wayfinding and navigation. Provide retrieval and positioning of multi-level model data of factory rooms, systems and equipment, so that on-site staff can easily understand the working environment and operate the target position; quickly calculate the optimal path between any (multiple) points in the scene, and guide staff to the destination to save time and cost and improve work safety.
进一步地,本发明的核电厂房三维寻路导航***还包括记录模块,该记录模块用于记录每次寻路计算的数据,并通过展示窗口输出。Further, the nuclear power plant three-dimensional pathfinding and navigation system of the present invention further includes a recording module, which is used for recording the data of each pathfinding calculation and outputting it through the display window.
以上所述仅为本发明的优选实施例而已,并不用于限制本发明,对于本领域的技术人员来说,本发明可以有各种更改和变化。凡在本发明的精神和原则之内,所作的任何纂改、等同替换、改进等,均应包含在本发明的权利要求范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.
Claims (11)
- 一种核电厂房三维寻路导航方法,其特征在于,包括:A three-dimensional way-finding and navigation method for a nuclear power plant, characterized by comprising:步骤S10.利用PDMS建模获取核电厂三维布置模型;Step S10. Use PDMS modeling to obtain a three-dimensional layout model of the nuclear power plant;步骤S20.利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;Step S20. Utilize the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and relay points are set in each layer, Bake the navmesh layer by layer;步骤S30.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。Step S30. In the three-dimensional virtual scene, locate the target item input by the user, and receive the start and end points set by the user, and, based on the hierarchical navigation grid, perform pathfinding calculations in the three-dimensional virtual scene , and perform a dynamic navigation demonstration of the optimal path according to the pathfinding calculation result.
- 根据权利要求1所述的核电厂房三维寻路导航方法,其特征在于,所述步骤S30包括:The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, wherein the step S30 comprises:步骤S31.在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点;Step S31. In the three-dimensional virtual scene, locate the target item input by the user, and receive the starting point and the ending point set by the user;步骤S32.分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径;Step S32. Calculate the layer optimal path of each layer separately, and use the corresponding relay point to synthesize the layer optimal path of each layer into the final optimal path;步骤S33.通过实时动态渲染,以第一或第三人称方式在所述最优路径上漫游浏览,以进行动态导航演示。Step S33. Through real-time dynamic rendering, roaming and browsing on the optimal path in the first or third person mode to perform dynamic navigation demonstration.
- 根据权利要求2所述的核电厂房三维寻路导航方法,其特征在于,所述步骤S30还包括:The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 2, wherein the step S30 further comprises:步骤S34.接收用户输入的封路设置信息,并在所述三维虚拟场景中添加封路障碍。Step S34. Receive road closure setting information input by the user, and add road closure obstacles in the three-dimensional virtual scene.
- 根据权利要求2所述的核电厂房三维寻路导航方法,其特征在于,在所 述步骤S32中,根据以下步骤计算每层的层最优路径:The three-dimensional wayfinding and navigation method of nuclear power plant according to claim 2, is characterized in that, in described step S32, calculates the layer optimal path of each layer according to the following steps:获取该层的多条路径;Get multiple paths to the layer;融合辐射因子和距离因子计算该层的多个寻路开销值,并将最小的寻路开销值所对应的路径作为该层的层最优路径。The radiation factor and the distance factor are fused to calculate multiple pathfinding cost values of the layer, and the path corresponding to the smallest pathfinding cost value is taken as the layer optimal path of the layer.
- 根据权利要求2所述的核电厂房三维寻路导航方法,其特征在于,所述步骤S30还包括:The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 2, wherein the step S30 further comprises:步骤S35.接收用户设置的必经点,并将所述必经点与所述起点、所述终点、所述中继点一并存入路点队列;Step S35. Receive the mandatory point set by the user, and store the mandatory point together with the starting point, the end point, and the relay point into the waypoint queue;而且,在所述步骤S32中,根据以下步骤计算每层的层最优路径:Moreover, in the step S32, the layer optimal path of each layer is calculated according to the following steps:根据相应必经点将该层分成多段,并计算每段的段最优路径,且将每段的段最优路径合成层最优路径。The layer is divided into multiple segments according to the corresponding necessary points, and the segment optimal path of each segment is calculated, and the segment optimal path of each segment is synthesized into the layer optimal path.
- 根据权利要求1-5任一项所述的核电厂房三维寻路导航方法,其特征在于,还包括:The three-dimensional pathfinding and navigation method for a nuclear power plant according to any one of claims 1-5, further comprising:记录每次寻路计算的数据,并通过展示窗口输出。Record the data of each pathfinding calculation and output it through the display window.
- 根据权利要求1所述的核电厂房三维寻路导航方法,其特征在于,还包括:The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, further comprising:若判断所述目标物项不存在时,输出第一提示信息。If it is determined that the target item does not exist, first prompt information is output.
- 根据权利要求1所述的核电厂房三维寻路导航方法,其特征在于,所述步骤S30还包括:The three-dimensional wayfinding and navigation method for a nuclear power plant according to claim 1, wherein the step S30 further comprises:若根据寻路计算结果确定无最优路径存在,则输出第二提示信息,并判断是否需要继续寻路;If it is determined that no optimal path exists according to the pathfinding calculation result, output the second prompt information, and determine whether it is necessary to continue pathfinding;若需要继续寻路,则重新执行步骤S30。If the pathfinding needs to be continued, step S30 is performed again.
- 一种核电厂房三维寻路导航***,其特征在于,包括:A three-dimensional wayfinding and navigation system for a nuclear power plant, characterized by comprising:建模模块,用于利用PDMS建模获取核电厂三维布置模型;The modeling module is used to obtain the three-dimensional layout model of the nuclear power plant by using PDMS modeling;虚拟仿真模块,用于利用Unity3D虚拟仿真引擎,根据所述核电厂三维布置模型构建核电厂三维虚拟场景,而且,在所述三维虚拟场景中,将厂房按层划分,并在各层中设置中继点,以逐层烘焙导航网格;The virtual simulation module is used to use the Unity3D virtual simulation engine to construct a three-dimensional virtual scene of the nuclear power plant according to the three-dimensional layout model of the nuclear power plant, and, in the three-dimensional virtual scene, the workshop is divided into layers, and each layer is set in the Follow the point to bake the navmesh layer by layer;寻路导航模块,用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点/终点,而且,基于分层导航网格,在所述三维虚拟场景中进行寻路计算,并根据寻路计算结果进行最优路径的动态导航演示。A wayfinding and navigation module is used to locate the target item input by the user in the three-dimensional virtual scene, and receive the starting point/end point set by the user, and, based on the hierarchical navigation grid, in the three-dimensional virtual scene The pathfinding calculation is performed, and the dynamic navigation demonstration of the optimal path is performed according to the pathfinding calculation result.
- 根据权利要求9所述的核电厂房三维寻路导航***,其特征在于,所述寻路导航模块包括:The three-dimensional wayfinding and navigation system for a nuclear power plant according to claim 9, wherein the wayfinding and navigation module comprises:定位子模块,用于在所述三维虚拟场景中,对用户输入的目标物项进行定位,并接收用户设置的起点和终点;a positioning submodule, used for positioning the target item input by the user in the three-dimensional virtual scene, and receiving the starting point and the ending point set by the user;寻路子模块,用于分别计算每层的层最优路径,并使用相应的中继点将每层的层最优路径合成最终的最优路径;The pathfinding sub-module is used to calculate the optimal path of each layer separately, and use the corresponding relay point to synthesize the optimal path of each layer into the final optimal path;导航子模块,用于通过实时动态渲染,以第一或第三人称方式在所述最优路径上漫游浏览,以进行动态导航演示。The navigation sub-module is used for roaming and browsing on the optimal path in the first or third person mode through real-time dynamic rendering, so as to perform dynamic navigation demonstration.
- 根据权利要求9所述的核电厂房三维寻路导航***,其特征在于,还包括:The three-dimensional wayfinding and navigation system for a nuclear power plant according to claim 9, further comprising:记录模块,用于记录每次寻路计算的数据,并通过展示窗口输出。The recording module is used to record the data of each pathfinding calculation and output it through the display window.
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CN115183777A (en) * | 2022-06-30 | 2022-10-14 | 中国舰船研究设计中心 | Nuclear radiation environment path planning method |
CN115600015A (en) * | 2022-12-16 | 2023-01-13 | 山东捷瑞数字科技股份有限公司(Cn) | Visitor management system of digital twin factory |
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