JP2018005651A - Disassembly carry-out plan generation device and disassembly carry-out plan generation method - Google Patents

Abstract

A work plan for efficiently disassembling and carrying out large-scale equipment while reducing the exposure dose of workers as much as possible. A disassembling part specifying unit that specifies a disassembling candidate part that can be disassembled from a disassembling target device, an unloading path searching unit that searches for an unloading path of the disassembling candidate part, and the disassembly according to whether or not the unloading path exists A disassembly order generation unit that identifies a disassembly order of candidate parts and generates a disassembly / export plan including the disassembly order, and the disassembly order generation unit can search for a transport route to a predetermined transport position, When the disassembly candidate part is specified as the disassembly order and the carry-out route cannot be searched, the disassembly candidate part is excluded from the disassembly order, and the carry-out route search unit can search for the carry-out route. A dismantling / unloading plan generation device that searches for the unloading route of the disassembly candidate part corresponding to the next disassembly order using the space model in a state where the is removed. [Selection] Figure 9

Description

  The present invention relates to a dismantling / unloading plan generating apparatus and a dismantling / unloading plan generating method.

  Patent Document 1 relates to an assembly order generation device that generates an assembly order and a disassembly order of an assembly. “Assembly order generation device that generates an assembly order of an assembly, includes an arithmetic unit, and the arithmetic unit includes: A disassembleable component is identified from an assembly, the disassembleable component is a node, an edge is stretched between the nodes in a geometric constraint relationship, and an evaluation value is assigned to each of the node and the edge. The given disassembly graph is generated, the disassembly order of the assembly is determined using the disassembly graph, and the assembly order is generated based on the disassembly order. "

International Publication No. 2015/177855

  The assembly sequence generation device of Patent Literature 1 obtains a disassembly direction vector from a geometric constraint relationship between a part to be disassembled and a part in contact with the part. In addition, when the part to be disassembled appears in a virtual camera having a camera axis parallel to the disassembly direction without being hidden by other parts, the assembly sequence generation device identifies the part as a disassembleable part. On the other hand, the assembly sequence generation device calculates a linear disassembly trajectory, but does not generate a trajectory that avoids interference with other components.

  Further, this document does not describe searching for a disassembly part carrying-out route. For example, in the decommissioning of a nuclear power plant, the work of disassembling and carrying out large equipment requires careful and detailed planning in order to reduce the exposure dose of workers. Specifically, it is necessary to plan a carry-out route that avoids a plant internal structure that becomes an obstacle in carrying, and to estimate the exposure dose accompanying the carrying work. Furthermore, since the exposure dose associated with the transfer operation depends on the carry-out route, it is necessary to consider the dose in planning the carry-out route. However, since these disassembly and transport operations are influenced by the disassembly order and the carry-out route, it is difficult to make an efficient work plan while reducing the exposure dose of workers as much as possible.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a dismantling / unloading plan generating apparatus that generates a more efficient work plan considering both disassembling work and unloading work.

The present application includes a plurality of means for solving at least a part of the above-described problems. Examples of the means are as follows. In order to solve the above-described problem, the disassembly / export plan generation device according to the present invention includes a disassembly part specifying unit that specifies disassembly candidate parts that can be disassembled from the disassembly target device, and a discharge path for searching for a disassembly path of the disassembly candidate parts. A disassembling order generation unit that identifies a disassembly order of the disassembly candidate parts in accordance with the presence or absence of the carry-out path and generates a disassembly / export plan including the disassembly order; When a carry-out route to a predetermined carry-out position can be searched, the disassembly candidate parts are specified as the disassembly order, and when the carry-out path cannot be searched, the disassembly candidate parts are excluded from the disassembly order, and the carry-out route search is performed. The unit searches for the carry-out path of the decomposition candidate parts corresponding to the next decomposition order, using a space model in a state where the decomposition candidate parts for which the carry-out path has been found are removed.

  According to the disassembly / export plan generation apparatus according to the present invention, it is possible to generate a more efficient work plan considering both the disassembly operation and the export operation. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is the functional block diagram which showed an example of the function structure of the decomposition | disassembly export plan production | generation apparatus. It is the figure which showed an example of the hardware constitutions of a decomposition | disassembly export plan production | generation apparatus. It is the flowchart which showed an example of the flow of the decomposition | disassembly order production | generation process included in a decomposition | disassembly carrying-out plan production | generation process. It is the flowchart which showed an example of the flow of the carrying-out route search process included in a decomposition | disassembly carrying-out plan production | generation process. FIG. 5A is a diagram illustrating an example of a building, a disassembly target device, and a disassembly candidate part. FIG. 5B is a diagram in which the building including the device to be disassembled in FIG. 5A is divided into voxels and the voxels at positions corresponding to the building and the device to be disassembled are hidden. FIG. 5C is a diagram illustrating a route search graph network in which the voxels in FIG. 5B are used as nodes and adjacent voxels are connected by edges (lines). It is the figure which showed an example of a mode that the voxel node regarding the decomposition | disassembly candidate component a was added on the route search graph network, and the edge which is the adjacent relationship regarding the node was added. It is the figure which showed an example of the decomposition | disassembly order search graph network which changes according to the search result of a carrying-out path | route. It is a figure which shows an example of the state where the evaluation value was attached to the edge couple | bonded with the added node. It is the figure which showed an example of the screen information which showed the carrying-out order etc. which minimize radiation exposure dose.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a functional block diagram illustrating an example of a functional configuration of the disassembly / export plan generation device 100. The dismantling / unloading plan generating apparatus 100 uses the model information indicating the three-dimensional shape of the disassembly target device and the building (for example, nuclear power generation) in which the disassembly target device is installed, etc. Is a device for obtaining

  As illustrated in FIG. 1, the disassembly / export plan generation device 100 includes a control unit 101 and a storage unit 102. In addition, the control unit 101 includes an input receiving unit 110, a disassembling part specifying unit 111, a disassembling order generation unit 112, a carry-out route searching unit 113, and a display unit 114.

  The input reception unit 110 is a functional unit that receives various instruction inputs from the user of the disassembly / export plan generation device 100. In generating the dismantling / unloading plan, the input receiving unit 110 receives a selection input of model information representing a three-dimensional (3D) shape such as a device to be disassembled or a building. Moreover, the input reception part 110 receives the input of the information (for example, coordinate information) which shows a carrying-out position. Moreover, the input reception part 110 receives the selection input of a conveying apparatus. Further, the input receiving unit 110 receives a display instruction of a GUI (Graphical User Interface) indicating a state of disassembly or carry-out.

  The disassembleable part specifying unit 111 is a functional part that specifies a disassembleable part (hereinafter referred to as “disassembly candidate part” or “disassembly candidate part”) from among the constituent parts constituting the disassembly target device. Specifically, the disassembleable part specifying unit 111 specifies a geometric constraint relationship between two adjacent surfaces of the component part, and calculates a decomposition vector indicating the decomposition direction of the component part. As a method for calculating the decomposition vector, if a known technique (for example, Japanese Patent Laid-Open No. 2012-14569 describes obtaining a decomposition vector from a movable direction of objects in contact with each other) is used. good.

  Further, the disassembling part specifying unit 111 places a virtual camera viewpoint on the axis of the calculated disassembling vector, and determines whether or not it interferes with a non-contact component that is not in a geometric constraint relationship. Identify candidate parts. For example, the method described in International Publication No. 2015/177855 may be used as a method for identifying such disassembly candidate parts.

  The disassembly order generation unit 112 is a functional unit that generates a disassembly order of the disassembly target devices. Specifically, the decomposition order generation unit 112 generates a decomposition order search graph network in which the decomposition candidate parts are nodes, and the nodes of the decomposition candidate parts that are adjacent to each other are connected by edges. In addition, the decomposition order generation unit 112 uses the evaluation value of the edge, the evaluation value of the searched carry-out route, and the like, and the predetermined objective function representing the exposure dose, the space margin of the carry-out route, and the like is the best value (minimum or maximum). A disassembly order list of the devices to be disassembled is generated. Details of the decomposition order search graph network will be described later.

  The carry-out route search unit 113 is a functional unit that searches for a carry-out route for moving the disassembled components to a predetermined carry-out position. Specifically, the carry-out route searching unit 113 uses the 3D model information indicating the disassembly target device and the shape of the building and the information indicating the discharge position to subdivide the space in the building including the disassembly target device into a rectangular parallelepiped. Split. Further, the carry-out route search unit 113 generates a route search graph network having each voxel as a node and an adjacent relationship between the voxel nodes as an edge. If a model such as a building or facility exists at the position of the voxel node, the voxel node is invalidated, and if it is a space where none exists, the voxel node is validated. The validated voxel node is subject to route search.

  Further, the carry-out route search unit 113 searches for the carry-out route of the disassembled component parts using the route search graph network. Details of the route search graph network will be described later.

  Further, the carry-out route search unit 113 receives the radiation dose rate map as an input, and uses this and the generated route search graph network as an objective function for route search while accumulating the radiation dose rate along the carry-out route. A route through which the conveying device including the disassembled component parts (holding the component parts) can be searched without minimizing the radiation dose and without interfering with an interference such as a building. If the previous disassembly and unloading are successful, the unloading route search unit 113 validates the voxel node at the position occupied by the unpacked decomposition product and sets it as a target node for the next route search. Also, the carry-out route search unit 113 calculates sampling information of the disassembly target moving along the carry-out route and the trajectory of the position and posture of the transport device.

  Further, the carry-out route search unit 113 outputs the objective function value of the carry-out route that has been successfully searched to the decomposition order generation unit 112.

  The display unit 114 is a functional unit that generates predetermined screen information to be displayed on the display device. For example, the display unit 114 generates screen information of a selection input screen related to 3D model information of a building or a disassembly target device. Moreover, the display part 114 produces | generates the input screen information of the information which shows a carrying-out position, for example. Further, the display unit 114 generates screen information of a selection input screen related to the mechanism model information of the transport device, for example. In addition, the display unit 114 generates, for example, screen information indicating the disassembly order and the carry-out route to the carry-out position. Further, the display unit 114 generates screen information for disassembling the device and outputting a moving image of the carry-out. The display unit 114 displays the generated screen information on the display device.

  The storage unit 102 is a functional unit that stores (stores) predetermined information. Specifically, the storage unit 102 includes the building 3D model information 120, the disassembly target device 3D model information 121, the transport device mechanism model information 122, and predetermined information corresponding to the objective function (the objective function represents the exposure dose). , The radiation dose rate map etc.) 123 is stored.

  The building 3D model information 120 and the disassembly target device 3D model information 121 are STL (Standard Triangulated Language) information representing a three-dimensional shape of the building (for example, nuclear power generation) and the disassembly target device. The disassembly target device 3D model information 121 also includes parameter information such as the three-dimensional shape and mass of each component part of the disassembly target device.

  The transport device mechanism model information 122 includes, for example, mechanism parameters representing the relationship of motion joints with rigid links representing the motion mechanism of the transport device, and motion specifying parameter information such as the inertia tensor of each link. Here, the wire, which is a flexible object, approximates the movement of the flexible object by serially connecting the segmented rigid links with a universal joint.

  The radiation dose rate map is information that represents the radiation dose rate of each voxel by converting the space in the building into voxels.

  In the above, the functional block of the decomposition | disassembly carrying-out plan production | generation apparatus 100 was demonstrated.

  Next, the hardware configuration of the disassembly / export plan generation device 100 will be described. FIG. 2 is a diagram illustrating an example of a hardware configuration of the disassembly / export plan generation device 100. The disassembly / export plan generation device 100 is realized by an information processing device such as a personal computer, for example.

  As shown in the figure, the disassembly / export plan generation device 100 includes a calculation device 150, a storage device 160, an input device 170, a display device 180, and a bus 190 that interconnects the devices.

  The arithmetic device 150 includes a CPU (Central Processing Unit) 151, a RAM (Random Access Memory) 152, and a ROM (Read Only Memory) 153. The CPU 151 is a microprocessor that executes various processes such as numerical calculation and controlling each device. The RAM 152 is a readable / writable memory that stores calculation results, programs, and the like. The ROM 153 is a read-only memory that stores various programs used by the disassembly / export plan generation apparatus 100.

  The storage device 160 is, for example, a nonvolatile storage device 160 such as a hard disk device or a flash memory.

  The input device 170 is a device such as a pointing device that receives an instruction input from a user, such as a touch panel, a keyboard, and a mouse.

  The display device 180 is a unit that displays graphics information. The display device 180 is configured by, for example, a liquid crystal display or an organic EL display.

  The control unit 101 illustrated in FIG. 1 is realized by a predetermined program that causes the CPU 151 to perform processing. Such a program is stored in the ROM 153 or the storage device 160, loaded onto the RAM 152 for execution, and executed by the CPU 151.

  The storage unit 102 described above is realized by the RAM 152, the ROM 153, or the storage device 160.

  Heretofore, the hardware configuration of the disassembly / export plan generation apparatus 100 has been described.

[Description of operation]
Next, the decomposition / unloading plan generation process executed by the decomposition / unloading plan generation apparatus 100 will be described. This process is started, for example, when the input receiving unit 110 receives an instruction to execute the disassembly / export plan generation process from the user.

  FIG. 3 and FIG. 4 are flowcharts showing an example of the flow of the disassembly order generation process and the carry-out route search process included in the disassembly / export plan generation process, respectively. As shown in these figures, in the dismantling / unloading plan generating process, the disassembling order generating process and the unloading route search process proceed in cooperation in parallel, thereby considering both the disassembling work and the unloading work. Generate an efficient work plan.

  When the dismantling / unloading plan generation process is started, the input receiving unit 110 reads the building 3D model information, the disassembly target device 3D model information, and information indicating the unloading position that has received input from the user in advance (step of FIG. 4). S101).

  Further, the carry-out route search unit 113 performs voxel division to subdivide these into a rectangular parallelepiped using the 3D model information of the building and the disassembly target device (step S102), and generates a route search graph network (step S103). Specifically, the carry-out route search unit 113 subdivides a building including the division target device into rectangular parallelepiped voxels, and sets invalidation flags on the voxels at positions corresponding to the building and the disassembly target device. This is because the location where the building and the device to be divided are located cannot be a disassembly candidate part carry-out route.

  Further, the carry-out route search unit 113 generates a route search graph network in which non-invalid voxels are nodes and the adjacent relationship between non-invalid voxels is an edge.

  FIG. 5A is a diagram illustrating an example of a building, a disassembly target device, and a disassembly candidate part. FIG. 5B is a diagram in which the building including the device to be disassembled in FIG. 5A is divided into voxels and the voxels at positions corresponding to the building and the device to be disassembled are hidden. As shown in the figure, each block of a rectangular parallelepiped represents a voxel. The voxel is a candidate that can be passed through the search for the carry-out route of the disassembly candidate parts. FIG. 5C is a diagram illustrating a route search graph network in which the voxels in FIG. 5B are used as nodes and adjacent voxels are connected by edges (lines).

  In parallel with the carry-out route search process according to steps S101 to S103 described above, the disassembly order generation unit 112 reads the building 3D model information and the disassembly target device 3D model information (step S201), and performs disassembly order search. The graph network is initialized (step S202). Such initialization means, for example, securing a storage area of a decomposition order search graph network to be generated in the storage unit 102.

  Next, the disassembleable part specifying unit 111 specifies (detects) disassembly candidate parts and lists them (step S203). Specifically, the disassembleable part specifying unit 111 specifies disassembly candidate parts in a predetermined (i-th) disassembly order (if there are a plurality of disassembly candidate parts), and generates list information that lists them.

  In specifying the disassembly candidate part, the disassembleable part specifying unit 111 uses the 3D model information of the disassembly target device to specify the geometric constraint relationship between any two adjacent surfaces between the component parts, and A decomposition vector indicating the decomposition direction is calculated.

  Further, the disassembling part specifying unit 111 places a virtual camera viewpoint on the calculated axis of the disassembling vector, and determines whether or not to interfere with a non-contact constituent part that is not in a geometric constraint relationship. Identify parts.

  Next, the disassembly order generation unit 112 determines whether or not the pointer of the list information is the tail (step S204). If it is determined that the tail end is reached (Yes in step S204), the disassembly order generation unit 112 moves the process to step S206. Details of the processing in step S206 will be described later.

  On the other hand, when it is determined that it is not the tail (No in step S204), the disassembly order generation unit 112 extracts a disassembly candidate part pointed to by the list pointer (step S205), and the process proceeds to step S104 in FIG.

  In step S104 of FIG. 4, the carry-out route search unit 113 validates all voxels at the locations that have been decomposed so far and the decomposition candidate portions extracted in step S205, and adds them to the route search graph network generated in step S103. Add all valid voxel nodes. Moreover, the route search part 113 couple | bonds an edge between the voxel nodes adjacent to the added voxel node. Note that the node of the voxel corresponding to the already decomposed part remains as it is.

  FIG. 6 is a diagram illustrating an example of a state in which a voxel node related to the decomposition candidate part a is added to the route search graph network and an edge that is an adjacent relationship related to the node is added.

  Next, the carry-out route search unit 113 searches for a carry-out route for the decomposition candidate parts on the route search graph network (step S105). Specifically, the carry-out route search unit 113 searches for a carry-out route having a node corresponding to the center position before decomposition of the decomposition candidate site as a start point and an end point corresponding to the node corresponding to the carry-out position read in step S101. Note that the route search method is not particularly limited. For example, a route for optimizing a predetermined objective function is searched using the Dijkstra method or the like.

  At the time of route search, the carry-out route search unit 113, as an objective function, for example, an exposure dose obtained by integrating a value obtained by multiplying the dose rate for each area on the carry-out route obtained from the radiation dose rate map by the transit time of each area. Alternatively, a space margin represented by the reciprocal of the volume multiplied by the distance in the three orthogonal directions from a predetermined position on the route to the interference object is calculated to obtain an objective function value.

Next, the carry-out path search unit 113 reads the mechanism parameter information (mechanism model information) of the transport device (step S106), and includes point sequence information indicating the waypoint of the transport device in a state where the disassembly candidate parts are held, and the posture information Information representing the trajectory is calculated (step S107, step S108).

  For example, the carry-out route search unit 113 differentiates the motion of the transport mechanism as a method of calculating a trajectory in a predetermined method (for example, Atsuko Enomoto, Multiple Path Finding System for Replacement Tasks, CIRP / ICM2014, (2014-7)). The trajectory of the attitude of the transfer device is calculated by an algebraic equation, and it is described that the trajectory is obtained by integration by the Runge-Kutta method or the like.

  Further, the carry-out route search unit 113 determines whether or not the carry-out site and the carry-out device interfere with the building in the calculated position and posture trajectory.

  When it is possible to calculate a trajectory that does not interfere with the building, that is, when it is determined that there is no interference between the transfer device and the building (No in step S109), the carry-out route search unit 113 proceeds to step S209. On the other hand, when it is not possible to calculate a trajectory that does not interfere with the building, that is, when it is determined that there is interference between the transfer device and the building (Yes in step S109), the carry-out route search unit 113 determines that the number of times the route search is repeated is a predetermined threshold value ( For example, it is determined whether or not it has reached 5 to 10 times (step S110).

  And when it determines with having reached the predetermined threshold value (it is Yes at step S110), the carrying-out path | route search part 113 transfers a process to step S209 of FIG.

  On the other hand, when the number of re-route searches is less than the predetermined threshold (No in step S110), the carry-out route search unit 113 deletes all voxel nodes and edges near the interference position from the route search graph network (step S111). ), The process returns to step S105. That is, the carry-out route search unit 113 closes the space around the interference position and uses the space model after the closure until a trajectory that does not interfere is generated or the route search is repeated a predetermined upper limit number of times. These processes are repeatedly executed until the threshold value shown is reached, and the path of the decomposition candidate part is searched.

  In step S209 in FIG. 3, the disassembly order generation unit 112 determines whether there is a route that can be transported without interference with an interfering object such as a building from the start point to the end point. Specifically, if the decomposition order generation unit 112 determines that there is no route in the process of step S110 (No in step S209), the process proceeds to step S210. In step S210, the decomposition order generation unit 112 excludes the decomposition candidate parts from the decomposition candidate parts in that order, and returns the process to step S204.

  On the other hand, if the immediately preceding process is step S109, it is determined that there is a path (Yes in step S209), and the decomposition order generation unit 112 adds the decomposition candidate parts as nodes to the decomposition order search graph network, and adds edges. Combine (step S211).

  FIG. 7 is a diagram illustrating an example of a decomposition order search graph network that changes in accordance with the search result of the carry-out route. As shown in the figure, the decomposition order search graph network creates a hierarchy for each decomposition order, arranges decomposition candidate parts, disassembles the decomposition candidate parts, and then adds edges to the nodes of the decomposition candidate parts in the next decomposition order. It is a combined graph.

  As illustrated, the i-th disassembly order node a that can be disassembled after disassembling the disassembly candidate part related to the i-1th disassembly order node b does not interfere with the route on the route search graph network. Therefore, the node a is added to the decomposition order search graph network, and the edge is coupled to the node b of the i−1th decomposition order.

  On the other hand, since the node n of the i-th decomposition order has no carry-out route on the route search graph network, the node n is not added to the decomposition order search graph network.

  Returning to FIG. Next, the decomposition order generation unit 112 adds a path evaluation value to the corresponding edge of the decomposition order search graph network (step S212). Specifically, the decomposition order generation unit 112 stores evaluation values such as the exposure dose of the searched route and the space margin of the route as information accompanying the edge coupled to the node added in step S211 and decomposes the information. Update the ordered search graph network.

  FIG. 8 is a diagram illustrating an example of a state in which an evaluation value is attached to an edge coupled to an added node. As described with reference to FIG. 6, the node n in the (i + 1) -th disassembly order that can be disassembled after disassembling the disassembly candidate part related to the node “a” in the i-th disassembly order has a carry-out path in a state before disassembling the node a. Although the route is expanded by the decomposition of the node a, the carry-out route is searched without interfering with the route on the route search graph network. Therefore, node n is added to the decomposition order search graph network, and an edge is coupled to node a.

  In addition, the decomposition order search unit 112 associates an evaluation value based on the exposure dose and the space margin calculated by the carry-out route search unit 113 during the route search of the node n with an edge obtained by combining the node a and the node n. Although not shown, it is assumed that the disassembly order search unit 112 similarly attaches an evaluation value to an edge connecting two other nodes.

  When the decomposition order search unit 112 updates the decomposition order search graph network with an edge evaluation value, the process proceeds to step S204.

  Returning to FIG. 3, step S206 will be described. In step S206, when the disassembly candidate part listed in step S203 is the last part of the list (Yes in step S204), the disassembly order generation unit 112 determines whether all the constituent parts have been disassembled. And when it determines with not having decomposed | disassembled all the components (No in step S206), the decomposition | disassembly order production | generation part 112 advances one disassembly order (disassembly order) (step S207), and a process is again returned to step S203. Transition. Note that to advance the disassembly order by one means to advance the disassembly order from i-th to i + 1-th, and in step S203, the disassembly order generation unit 112 specifies the disassembly order i + 1-th disassembly candidate component and creates a list. To do.

  On the other hand, when it is determined that all the components are disassembled (Yes in step S206), the disassembly order generation unit 112 searches for a disassembly order on the disassembly order search graph network, and the disassembly with the best evaluation value is performed. The order is specified (step S208). Specifically, the decomposition order generation unit 112 uses the evaluation value of each edge on the generated decomposition order search graph network, and the objective function that is the integrated evaluation value is the best by a search method such as Dijkstra. Specify the disassembly order.

  Next, the disassembly order search unit 112 generates a disassembly order list using the specified disassembly order, and the trajectory information on the position and orientation of the transport device calculated by the carry-out route search unit 113 (that is, the sampled position and The disassembly / unloading plan information consisting of the posture) is output to the display unit 114, and the processing of this flow is terminated.

  Note that the display unit 114 may display, for example, a disassembled moving image that shows the state of disassembly, an unloading moving image that shows the state of unloading, a work instruction, and the like using the generated disassembly / export plan information.

  In addition, the display unit uses the dismantling / unloading plan information and the radiation dose rate map in the building model, and does not interfere with the structure inside the building, and the unloading order and route for minimizing the radiation exposure Screen information indicating such as may be generated.

  FIG. 9 is a diagram illustrating an example of screen information indicating a carry-out order for minimizing the radiation exposure dose.

  According to such a dismantling / unloading plan generating apparatus 100, it is possible to generate a more efficient work plan in consideration of both disassembling work and unloading work. In particular, the disassembly / export plan generation device 100 searches for an unloading route for the disassembly candidate parts, and the evaluation value becomes the best while changing the states of the route search graph network and the disassembly order search graph network according to the presence / absence of the route. Search for disassembly order and carry-out route. That is, the disassembly / unloading plan generation device 100 performs the decomposition order generation and the unloading route search in cooperation in parallel, thereby improving efficiency in consideration of both the disassembling work and the unloading work that affect each other. A realistic work plan.

  In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  In the above description, control lines and information lines indicate what is considered necessary for the description, and not all control lines and information lines on the product are necessarily shown. In practice, it can be considered that almost all the components are connected to each other.

DESCRIPTION OF SYMBOLS 100 ... Disassembly / export plan production | generation apparatus, 101 ... Control part, 102 ... Memory | storage part,
110... Input accepting unit, 111.
112 ... Decomposition order generation unit, 113 ... Unload route search unit, 114 ... Display unit,
120 ... Building 3D model information, 121 ... Disassembly target device 3D model information,
122... Transport device mechanism model information, 123... Information such as a radiation dose rate map 150... Arithmetic unit, 151... CPU, 152... RAM, 153. Storage device, 170 ... input device, 180 ... display device

Claims (10)

A decomposable part identifying unit for identifying a decomposable candidate part that can be disassembled from the device to be disassembled;
A carry-out route search unit for searching a carry-out route of the disassembly candidate parts;
A disassembly order generation unit that specifies a disassembly order of the disassembly candidate parts according to the presence or absence of the carry-out path, and generates a disassembly / export plan including the disassembly order;
The decomposition order generation unit includes:
When the carry-out route to the predetermined carry-out position can be searched, the disassembly candidate parts are specified as the disassembly order,
If the unloading route cannot be searched, the disassembly candidate part is excluded from the disassembly order,
The carry-out route search unit
An apparatus for generating a disassembly / export plan, wherein the disassembly candidate part is searched for the disassembly candidate part corresponding to the next disassembly order using a space model in a state where the disassembly candidate part for which the discharge path has been searched is removed. The disassembly / export plan generation device according to claim 1,
The carry-out route search unit
While searching for the carry-out route of the disassembly candidate part, calculate the evaluation value of the carry-out route that has been searched,
The decomposition order generation unit includes:
The evaluation value is an evaluation value related to the decomposition candidate part in the decomposition order,
An apparatus for generating a disassembly / export plan, wherein a disassembly order in which a predetermined objective function becomes a better value or a best value is specified using evaluation values of the disassembly candidate parts in each disassembly order. The disassembly / export plan generation device according to claim 2,
The carry-out route search unit
Decomposition / unloading plan generation apparatus characterized in that an exposure dose obtained by multiplying a dose rate for each voxel region on the unloading route by a value obtained by multiplying a passage time of each decomposition candidate part in each voxel region is used as the evaluation value. . The disassembly / export plan generation device according to claim 2,
The carry-out route search unit
A dismantling / unloading plan generation apparatus characterized in that a space margin calculated by multiplying a distance in the three orthogonal directions from a predetermined position on the unloading path to an interferer is used as the evaluation value. The disassembly / export plan generation device according to claim 1,
The carry-out route search unit
When the disassembly candidate part interferes with the carry-out path, it is possible to repeatedly search for a path that does not pass through the interference location by performing a route search for the carry-out path again using a space model that closes the space around the interference position. And
When the number of times the route search is repeated reaches a predetermined upper limit, it is determined that there is no carry-out route for the disassembly candidate part. The disassembly / export plan generation device according to claim 1,
The carry-out route search unit
Generating a route search graph network representing a network of routes in which the disassembly candidate part can move in a building including the disassembly target device, and using this to search the carry-out route of the disassembly candidate part, A dismantling / unloading plan generator. The dismantling / unloading plan generating device according to claim 6,
The carry-out route search unit
Using the route search graph network in which an edge is added between a voxel node in a free space that has been decomposed into a corresponding position of the decomposition candidate part for which the carry-out route has been searched and a voxel node adjacent to the voxel node is added, An apparatus for generating a dismantling / unloading plan that searches for the unloading path of the disassembly candidate parts corresponding to the disassembling order. The dismantling / unloading plan generating device according to claim 6,
The carry-out route search unit
When the conveyance device including the disassembly candidate part interferes on the carry-out route, the voxel node corresponding to the periphery of the interference position on the route search graph network and the edge adjacent to the voxel node are deleted from the route search graph network. An exploded carry-out plan generation apparatus, wherein a route search is performed using the route search graph network after deletion. The disassembly / export plan generation device according to claim 1,
The carry-out route search unit
Disassembling / unloading using the mechanism model information of the transporting device, calculating point sequence information of the waypoints of the transporting device moving along the unloading path and information representing the trajectory of the posture, and outputting the information as the dismantling / unloading plan Plan generator. A dismantling / unloading plan generating method of the dismantling / unloading plan generating device,
A decomposable part identifying step for identifying a decomposable candidate part that can be disassembled from the device to be disassembled;
A carry-out route search step for searching a carry-out route of the disassembly candidate parts,
A disassembly order generating step that specifies a disassembly order of the disassembly candidate parts according to the presence or absence of the carry-out path, and generates a disassembly / export plan including the disassembly order, and
The decomposition order generation step includes:
When the carry-out route to the predetermined carry-out position can be searched, the disassembly candidate parts are specified as the disassembly order,
If the unloading route cannot be searched, the disassembly candidate part is excluded from the disassembly order,
The carry-out route search step includes
A method for generating a dismantling / unloading plan, wherein the dismantling route of the disassembly candidate parts corresponding to the next disassembly order is searched using a spatial model in which the disassembly candidate parts for which the unloading path has been searched are removed.

Images