EP1735797A2 - Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif - Google Patents

Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif

Info

Publication number
EP1735797A2
EP1735797A2 EP05728217A EP05728217A EP1735797A2 EP 1735797 A2 EP1735797 A2 EP 1735797A2 EP 05728217 A EP05728217 A EP 05728217A EP 05728217 A EP05728217 A EP 05728217A EP 1735797 A2 EP1735797 A2 EP 1735797A2
Authority
EP
European Patent Office
Prior art keywords
container
loading
camera
loading device
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05728217A
Other languages
German (de)
English (en)
Inventor
Ulrich Beck
Werner Werschnik
Dirk Reinwald
Victor Gliha
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Areva GmbH
Original Assignee
Framatome ANP GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Framatome ANP GmbH filed Critical Framatome ANP GmbH
Publication of EP1735797A2 publication Critical patent/EP1735797A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21F—PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULAR RADIATION OR PARTICLE BOMBARDMENT; TREATING RADIOACTIVELY CONTAMINATED MATERIAL; DECONTAMINATION ARRANGEMENTS THEREFOR
    • G21F5/00—Transportable or portable shielded containers
    • G21F5/06—Details of, or accessories to, the containers
    • G21F5/14—Devices for handling containers or shipping-casks, e.g. transporting devices loading and unloading, filling of containers

Definitions

  • the invention relates to a method and a device for automatically loading and unloading a container with at least one container containing radioactive waste, in particular a barrel.
  • radioactive waste When operating a nuclear facility, particularly when operating a nuclear power plant for energy generation, radioactive waste is regularly generated and has to be disposed of. In the case of a nuclear power plant, in addition to spent fuel elements, this also includes low or medium-level radioactive waste, for example contaminated equipment. The waste is generated in both solid and liquid form. Liquid waste is often mixed with a cement mass in a cementation plant and filled into barrels in which the mass solidifies. The barrels must then be brought from the cementing plant into a storage area for the barrels. This can be an intermediate or a repository.
  • the barrels are therefore handled remotely.
  • the barrels are loaded, for example, in a specially designed container using a crane.
  • the container is then moved from the cementing system into the deposit, where the barrels are placed together with the container designed as a storage container or storage container.
  • the smallest possible volume of the storage container is sought.
  • the barrels are arranged as close as possible to one another and to the inside walls of the storage container. The distances are usually just large enough to leave enough work space for a drum gripper necessary for loading. There is therefore very little tolerance for loading the individual drums into the storage container.
  • the invention has for its object to enable automatic loading or unloading of the storage container.
  • This method enables the container with the individual containers, in particular drums, to be loaded with precise position, even if the container is positioned in an incorrectly positioned position within the loading zone, for example if it is being driven into the loading zone by a truck. In particular, under is inaccurate understood a positioning tolerance of up to about +/- 20 cm.
  • a decisive aspect of the method which enables automatic, that is to say not manually controlled loading or unloading, is to be seen in the fact that a transformation between the image coordinates and the travel coordinates, on the basis of which the loading device is moved, is carried out.
  • This step is based on the consideration that the coordinate system of the camera, which is determined by the number of pixels in the X ⁇ direction and the number of pixels in the Y ⁇ direction, does not match the coordinate system of the loading device that is in an XQ and a YG - Direction can be moved.
  • a coordinate transformation is therefore provided between the imaging system of the camera and the coordinate system of the loading device.
  • a container with fixedly specified dimensions is used, which are stored in the control device.
  • the total image coordinates of the container and its angular position in the coordinate system of the camera are then determined from the recorded reference points of the container, taking into account these stored geometric data.
  • the pixels of the camera are scaled using a reference object placed in the loading zone. This scaling enables easy conversion of the pixel values recorded by the camera into metric units of length.
  • a reference object is preferably also introduced into the loading zone.
  • calibration points are approached manually with the loading device and these manually determined travel coordinates of the calibration points compared and evaluated with the corresponding image coordinates of the calibration points in the coordinate system of the camera. All that is required is a one-time learning process in which the loading device has to be moved manually to predetermined points.
  • the camera is expediently arranged above the loading zone and also above the loading device, the loading device being moved out of the image area of the camera in order to record the image coordinates of the container.
  • the camera coordinate system can be arranged at least approximately parallel to the coordinate system of the loading device, i.e. the coordinate axes of the two coordinate systems run at least approximately parallel to one another. In the ideal case or if the requirements for positioning accuracy are somewhat lower, no angle correction between the image coordinate system and the coordinate system of the loading device is necessary.
  • the reference points are in particular specifically illuminated.
  • FIG. 1 is a partial sectional view of a building with a loading device
  • 2 shows a representation of a reference object in the coordinate system of the camera and 3 shows the reference object in the coordinate system of the loading device.
  • a container 2 which can be closed with a lid 3
  • the latter is moved into a loading zone 5 within a building 6 by means of a truck 4. Due to the positioning of the container 2 in the loading zone 5 with the aid of the truck 4, the respective position of the container 2 varies from loading operation to loading operation. So there is an imprecise positioning. A tolerance of approximately +/- 20 cm is considered to be inaccurate in position.
  • the container 2 is in particular designed as a concrete storage container, which is provided for the arrangement of several barrels 8 in which radioactive waste is poured.
  • the container 2 also serves as a storage container for storing the radioactive waste in an interim storage facility.
  • the barrels 8 are arranged very closely to one another within the container 2. The barrels 8 must therefore be loaded into the container 2 in a very precise position.
  • a loading device 10 For loading and unloading the barrels 8, a loading device 10 is provided which can be moved in two directions on the longitudinal and transverse rails 12.
  • the loading device 10 is designed in the manner of a crane and has a gripper 14 with which the barrels are gripped.
  • the gripper 14 is shown both in the upper basic position and in the lower gripping position.
  • the building 6 is of multi-storey design, the truck 4 with the container 2 being moved into the lower level.
  • the loading device 10 is arranged above an intermediate ceiling 16 in the second level.
  • the false ceiling 16 has an opening 18 under which the loading zone 5 is located.
  • the gripper 14 travels through the opening for loading and unloading 18, the gripper 14 picks up the drums to be loaded into the container 14, for example in a cementing plant in which liquid radioactive waste was previously mixed with a cement mass and poured into the drums 8.
  • the drums 8 Due to the high loading density in the container 2, the drums 8 have to be positioned in the container 2, for example, with a maximum of +/- 20 mm.
  • the automatic loading of the container 2 with the drums 8 takes place with the aid of a camera 20, in the image field 22 of which the loading zone 5 with the container 2 are arranged.
  • the procedure for automatic loading and unloading is as follows: First, the truck 4 drives the container 2 into the loading zone 5 as precisely as possible.
  • the loading device 10 is outside the image field 22 or is moved out of the image field 22.
  • At least reference points 24, for example the four corner positions of the container 2 are recorded with the aid of the camera 20. In the coordinate system of the camera 20 (camera coordinate system X «, Y ⁇ ), image points or image coordinates are assigned to these reference points 24.
  • the reference points 24 are illuminated for better identification, for example with spotlights. If different types of containers are used, these can be distinguished, for example, by reference points 24.
  • the exact geometric data of the container 2 are stored in the control device 26.
  • the image data captured by the camera 20 are thus transmitted to the control device 26 and evaluated there accordingly.
  • This evaluation also includes traversing coordinates being determined from the image coordinates by means of a coordinate transformation.
  • the control device 26 controls the loading device 10 on the basis of the travel coordinates determined in this way. This makes it possible to use the gripper 14 to move automatically and very precisely to individual target positions in the container 2, which correspond to the positions of the individual barrels 8 to be stored, and to automatically set down or automatically grip the barrels 8.
  • the entire loading or unloading process can be fully automated and can therefore be integrated into a process chain, for example at the end of a cementing plant, - 6 -
  • the gripper 14 picks up the drums to be loaded into the container 14, for example in a cementing plant in which liquid radioactive waste was previously mixed with a cement mass and poured into the drums 8.
  • the drums 8 Due to the high loading density in the container 2, the drums 8 have to be positioned in the container 2, for example, with a maximum of +/- 20 mm.
  • the automatic loading of the container 2 with the drums 8 takes place with the aid of a camera 20, in the image field 22 of which the loading zone 5 with the container 2 is arranged.
  • the procedure for automatic loading and unloading is as follows: First, the truck 4 drives the container 2 into the loading zone 5 as precisely as possible.
  • the loading device 10 is outside the image field 22 or is moved out of the image field 22.
  • At least reference points 24, for example the four corner positions of the container 2 are recorded with the aid of the camera 20. In the coordinate system of the camera 20 (camera coordinate system X ⁇ , Y ⁇ ), image points or image coordinates are assigned to these reference points 24.
  • the reference points 24 are illuminated for better identification, for example with spotlights. If different types of containers are used, these can be distinguished, for example, by reference points 24.
  • the exact geometric data of the container 2 are stored in the control device 26.
  • the image data captured by the camera 20 are thus transmitted to the control device 26 and evaluated there accordingly.
  • This evaluation also includes traversing coordinates being determined from the image coordinates by means of a coordinate transformation.
  • the control device 26 controls the loading device 10 on the basis of the travel coordinates determined in this way. This makes it possible to use the gripper 14 to move automatically and very precisely to individual target positions in the container 2, which correspond to the positions of the individual barrels 8 to be stored, and to automatically set down or automatically grip the barrels 8.
  • the entire loading or unloading process can be fully automated and can therefore be integrated into a process chain, for example at the end of a cementing plant, The specified work cycle can also be maintained for the loading.
  • the camera coordinate system X 1, Y und and the coordinate system of the loading device 10 must first be coordinated with one another.
  • a predefined reference object 28 is introduced into the loading zone.
  • the reference object 28 assumes a specific position within the camera coordinate system XK.YK.
  • the object center of the reference object 28 is provided as a calibration point 30. This object center has the values Xi and Yi in the camera coordinate system X «, Y ⁇ and is also arranged at an angle Wi.
  • the camera coordinate system X ⁇ , Y ⁇ is first scaled, i.e. a scaling factor is determined, which indicates which length corresponds to the distance between two pixels.
  • a scaling factor is determined, which indicates which length corresponds to the distance between two pixels.
  • two calibration points 30 of the reference object 28 are recorded, the exact actual distance of which from one another is known.
  • the calibration points 30 of the object 28 are included approached the gripper 14 manually.
  • the calibration points 30 are, for example, the four corner points of the reference object 28. This results in the coordinates Y 2 and X 2 in the gripper coordinate system X G .YG for the center of the object.
  • the angular orientation W 2 in the gripper space can also be determined.
  • This teaching enables complete automatic loading and unloading even if the container 2 is positioned inaccurately within the loading zone. This is because the system described here automatically recognizes the exact position of the container 2 and can use this to individually determine the respective approach positions for loading the individual barrels 8. With the system, different sizes of containers 2 can also be loaded automatically without any problems, since these can be distinguished by the image recognition and the stored data in the control device 26. With the help of the camera 20, it is also possible to check whether the container 2 is still closed with the lid 3 and whether the container 2 is empty or which positions may have already been filled with barrels 8. With the concept described here, gripper positioning accuracy in millimeter increments is possible. The positioning accuracy is determined on the one hand by the image resolution of the camera system and on the other hand by the accuracy of the manual approach with the gripper 14 to determine the travel coordinates of the reference object 28.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Control And Safety Of Cranes (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente invention concerne un procédé pour charger automatiquement un conteneur (2) comprenant des fûts (8) qui contiennent un déchet radioactif, grâce à une manipulation automatique au moyen d'un dispositif de chargement (10). Une caméra (20) permet de déterminer la position exacte du conteneur à charger (2). Une analyse d'image permet ensuite de déterminer la position du conteneur (2) dans le système de coordonnées de la caméra (XK,YK ). A l'aide d'une règle de calcul préalablement entrée, les coordonnées d'image ainsi déterminées (X1,Y1) dans le système de coordonnées de la caméra (XK,YK ) sont converties en coordonnées de déplacement (X2,Y2) dans le système de coordonnées du dispositif de chargement (10), de manière que le dispositif de chargement (10) adopte avec exactitude les positions de chargement individuelles dans le conteneur (2) de manière complètement automatique.
EP05728217A 2004-03-09 2005-03-09 Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif Withdrawn EP1735797A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200410011321 DE102004011321A1 (de) 2004-03-09 2004-03-09 Verfahren und Vorrichtung zum automatischen Be- oder Entladen eines Behälters mit zumindest einem radioaktiven Abfall enthaltenden Gebinde
PCT/EP2005/002504 WO2005088650A2 (fr) 2004-03-09 2005-03-09 Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif

Publications (1)

Publication Number Publication Date
EP1735797A2 true EP1735797A2 (fr) 2006-12-27

Family

ID=34895053

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05728217A Withdrawn EP1735797A2 (fr) 2004-03-09 2005-03-09 Procede et dispositif pour charger ou decharger automatiquement un conteneur comprenant au moins un emballage qui contient un dechet radioactif

Country Status (3)

Country Link
EP (1) EP1735797A2 (fr)
DE (1) DE102004011321A1 (fr)
WO (1) WO2005088650A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2910512B1 (fr) * 2014-02-21 2016-05-25 Siemens Aktiengesellschaft Procédé d'étalonnage de scanners laser sur une grue de manutention de conteneurs
DE102017219912A1 (de) * 2017-11-09 2019-05-09 Siemens Aktiengesellschaft Verfahren und Anordnung zum Platzieren von stapelbaren Lagerungsvorrichtungen
CN108502696A (zh) * 2018-06-04 2018-09-07 太仓秦风广告传媒有限公司 一种基于柱坐标的智能集装箱装卸方法及装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (fr) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs
WO2003078292A1 (fr) * 2002-03-15 2003-09-25 Gottwald Port Technology Gmbh Dispositif optique pour charger et decharger automatiquement des conteneurs sur des vehicules

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
US3972420A (en) * 1971-09-20 1976-08-03 Stock Equipment Company Crane apparatus
GB2099255B (en) * 1981-05-15 1985-09-04 Atomic Energy Authority Uk A system and a method for detecting the position of an object
JPS5863685A (ja) * 1981-10-07 1983-04-15 三菱重工業株式会社 ドラム缶のチヤツキング装置
JP2671385B2 (ja) * 1988-06-01 1997-10-29 三菱マテリアル株式会社 ドラム缶吊り上げ装置および吊り上げ方法
JPH02209323A (ja) * 1989-02-10 1990-08-20 Hitachi Ltd コンテナ等の運搬システム
FI90923C (fi) * 1989-12-08 1994-04-11 Kone Oy Menetelmä ja laite kontin paikallistamiseksi nostamista varten
SG134959A1 (en) * 1992-11-03 2007-09-28 Siemens Ag Apparatus for acquiring pendulum oscillations of crane loads using measurement techniques
JP3212465B2 (ja) * 1994-11-30 2001-09-25 三菱重工業株式会社 吊荷の振れ検出装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (fr) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Agencement pour la detection automatique de la position d'un vehicule de transport de conteneurs
WO2003078292A1 (fr) * 2002-03-15 2003-09-25 Gottwald Port Technology Gmbh Dispositif optique pour charger et decharger automatiquement des conteneurs sur des vehicules

Also Published As

Publication number Publication date
WO2005088650A3 (fr) 2005-11-10
WO2005088650A2 (fr) 2005-09-22
DE102004011321A1 (de) 2005-09-29

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