FR3075452A1 - AUTOMATED INSPECTION ROBOT FOR RADIOACTIVE WASTE STORAGE GALLERIES - Google Patents

Abstract

 The invention relates to an inspection device (34) for use in a cell (10) for storing intermediate-level and / or long-lived radioactive packages (12), which comprises  a base (36) which carries a device for propelling and guiding the inspection device (34) in the cell (10), a source of electrical energy and a control device  a measuring arm (38) which is mounted articulated with respect to the base (36) and which carries at least one measuring device (16),  characterized in that the arm (38) has one end which is articulated with respect to the base (36) to allow movement of the arm (38) between a first folded position and deployed positions, in each of which said deployed positions, the arm (38) extends transversely beyond the first position.

Description

AUTOMATED INSPECTION ROBOT FOR RADIOACTIVE WASTE STORAGE GALLERIES

DESCRIPTION

TECHNICAL AREA

The invention relates to an installation for storing packages of radioactive waste in a cell which comprises means for checking the integrity of the cell and the packages.

The invention relates more particularly to an installation intended for the long-term storage of packages of radioactive waste of medium activity with long life.

PRIOR STATE OF THE ART

As part of the storage of concrete packages containing radioactive waste or contaminated elements, it is envisaged to constitute piles or stacks of packages of standardized dimensions. These stacks of packages will be stored in galleries or storage cells, tunnel-shaped, worked at great depth.

With regard to the design of this type of underground storage for packages of medium and highly radioactive long-lived waste, known as “deep geological disposal”, many technical constraints and associated operational safety requirements should be taken into account, among :

- the influence of storage packages;

- the great diversity of storage packages;

- extremely restricted circulation in underground structures;

- detection and measurement of gases likely to be produced by certain packages;

- minimization of residual voids in the disposal cells between packages and between packages and the walls of structures; and

- the reversibility of the storage system and therefore the recoverability of the packages if necessary.

The handling of packages inside the cells is only envisaged by means of traveling cranes installed inside these cells and moving longitudinally.

In order to optimize the use of the interior volume of the cell, it has been proposed to use overhead traveling cranes mounted on a guide path, which include transverse beams moving above the packages.

Such a type of overhead crane is of limited volume, which makes it possible to optimize the use of the internal volume of the cell.

Generally, the packages are arranged in groups of two transverse rows joined on two levels, which are separated from each other.

These packages must be checked regularly, both during the filling of the gallery and when the gallery has been filled, in order to verify that neither the walls of the gallery, nor the packages, are damaged or have displaced.

However, as stated above, once filled, the free volume inside the cell between, on the sides and above the packages, is extremely limited for long-term safety reasons, this which does not allow to dedicate an additional space for control means.

In addition, the means used to carry out the inspection must be designed so as not to hinder any subsequent loading of packages, when the inspection is carried out when the gallery is not completely filled.

STATEMENT OF THE INVENTION

The invention relates to a device intended for use in a cell for storing medium-level radioactive packages with medium and / or long life, which comprises a base which carries a device for propelling and guiding the inspection device in the cell, a source of electrical energy and a control device, a measuring arm which is mounted articulated with respect to the base and which carries at least one measuring device, characterized in that the arm has one end which is articulated with respect to the base to allow movement of the arm between a first folded position and deployed positions, in each of which said deployed positions, the arm extends transversely beyond the first position.

Preferably, the measuring arm is produced in a single piece mounted articulated with respect to the base about a vertical axis.

Preferably, the measuring arm comprises a first part articulated with respect to the base around a vertical axis and a second part articulated with respect to the first part of the arm around a second vertical axis.

Preferably, the measuring arm comprises a first part articulated with respect to the base around a first horizontal axis and a second part articulated with respect to the first part around a second horizontal axis.

Preferably, when the arm is in the first position, the first part of the arm is oriented vertically and the second part extends horizontally and transversely projecting relative to the guide base from the upper vertical end of the first part.

Preferably, the second part of the arm carries an autonomous inspection device able to be detached from the second part of the arm.

Preferably, the base includes electrical energy storage means and wireless communication means.

The invention also relates to a package for storing packages of longitudinal main orientation, which is delimited by a raft, two side walls and a ceiling, and which comprises a mobile bridge for loading packages into the cell, comprising a transverse beam. support, a rolling foundation mounted at each transverse end of the beam, each rolling foundation is received in a longitudinal cavity formed in a side wall of the cell which is associated with it, characterized in that it comprises a device for inspection according to any one of the preceding claims, which moves longitudinally in one or other of the longitudinal cavities formed in the side walls and whose arm is movable in the cell when it is in a second position for that said at least one measuring device evolves in the internal volume of the cell.

The use of longitudinal cavities for moving the inspection device makes it possible to avoid adding a path for the inspection device which would reduce the useful volume of the gallery.

Preferably, each cavity has a horizontal lower face on which a longitudinal rail is disposed and in that the base of the inspection device comprises wheels which cooperate with the longitudinal rail for guiding and moving the inspection device in the alveolus.

Preferably, the arm is in the first position, the first part of the arm is located transversely between a side wall and packages stored in the cell and the second part is located vertically above the packages stored in the cell.

Preferably, packages are arranged in the cell in groups of at least two transverse rows joined longitudinally, and the arm moves between two groups of rows when it is in at least one deployed position.

BRIEF DESCRIPTION OF THE DRAWINGS

- Figure 1 is a side sectional view of one end of a cell during loading;

- Figure 2 is an end view of the cell shown in Figure 1;

- Figure 3 is a schematic representation of an inspection device for use in the cell shown in Figures 1 and 2;

- Figure 4 is a schematic perspective representation of a first embodiment of the inspection device in which the arm is made in one piece;

- Figure 5 is a view similar to that of Figure 4, showing a second embodiment of the inspection device in which the arm is made in two parts articulated around vertical axes;

- Figure 6 is a view similar to that of Figure 4, showing a second embodiment of the inspection device in which the arm is made in two parts hinged around horizontal axes;

- Figure 7 is a schematic representation of the inspection device shown in Figure 6, showing the arm in flat configuration;

- Figure 8 is a detail of the inspection device shown in Figure 6 in the raised configuration and placed in position in the cell;

- Figure 9 is an end view of a longitudinal cavity in which an inspection device is received with its arm folded.

DETAILED PRESENTATION OF PARTICULAR EMBODIMENTS

There is shown in Figure 1 a section of a storage cell 10 which consists of a sealed longitudinal enclosure buried underground.

This cell 10 is intended to receive radioactive waste of medium activity with a long lifespan. This waste is packaged in the form of packages 12, here packages of cubic shape.

Here, several packages 12 have already been stored, namely packages 12 of a first layer surmounted by several packages 12 of at least one second layer.

The packages 12 are also distributed in several transverse rows relative to the longitudinal orientation of the cell 10, these rows are joined and a space is present between each row.

It will be understood that the invention is not limited to such a distribution of the packages 12 in the cell 10 and that the number of rows and / or the number of layers of package can be different, such as for example three rows and / or three layers of packages

12.

This space between each row in particular ensures ventilation of the packages 12.

In order to optimize the use of the internal volume of the cell 10, when the packages 12 are stored, a minimum space is left between the packages 12 and the walls of the cell 10.

This space is preferably the space necessary to carry out the loading of the packages 12 into the cell since after the two layers of a row are deposited, there is no need to handle the packages located deeper in the cell, except in the event of deterioration thereof.

The loading of the packages 12 into the cell 10 is ensured by means of a movable bridge 14 which in particular comprises a transverse beam 20 and a carriage 22 for gripping the packages 12. The carriage 22 is mounted movable by sliding transversely along of the beam 20 and it comprises means for gripping the packages 12 which make it possible to move the packages 12 up and down in order to deposit them at the required location.

Each end of the beam 20 is mounted on a rolling base 24 allowing the movable bridge 14 to move in the cell 10.

As can be seen in more detail in FIG. 2, the cell 10 is delimited by a slab 31 on the ground, two side walls 30 and a ceiling 32.

Each side wall 30 of the cell 10 comprises a longitudinal cavity 28 delimited by a vertical bottom face 50, a horizontal lower face 52 and a horizontal upper face 54.

To carry out the guidance in movement of each rolling base 24, each cavity 28 comprises a longitudinal rail 26 which is arranged on the horizontal lower face 52 of the cavity 28. The cross section of the longitudinal guide rail 26 comprises several different portions, here at number three.

Each of these portions of the rail 26 is intended to provide a particular guide function, namely for example the support of the weight of the movable bridge, the transmission of the drive force, or the indexing for the longitudinal location of the rolling foundation 24.

Each cavity 28 is intended to receive a rolling base 24, each rolling base 24 moving on the longitudinal rails 26 of a longitudinal cavity 28 which is associated with it.

Packages 12 emit radiation throughout their lifespan and are liable to deteriorate during the period of their storage in the cell

10.

Also, the slab 31, the walls 30 and the ceiling 32 of the cell 10 are liable to deteriorate or deform over time, in particular because of the radiation coming from the packages 12.

All of this has the consequence that the packages 12 can also move in the cell 10.

The cell 10 also includes an inspection device 34 intended to carry out a control of the packages 12, the walls 30, and the ceiling 32 of the cell 10.

This inspection device 34 is designed to use the existing arrangement of the cell 10 to evolve, that is to say in particular the longitudinal rails 26 on which the roller bases 24 of the movable bridge 14 evolve.

In addition, this inspection device 34 is designed to be energy independent, from the point of view of its control and more generally from the point of view of data transmission, as will be seen below.

Finally, this inspection device 34 is designed to carry out the control between the different rows of packages 12 and possibly between the ceiling 32 of the cell 10 and the packages 12 of the upper layer.

FIGS. 3 et seq. Show several embodiments of such an autonomous inspection device 34.

The inspection device 34 comprises a base 36 and a measuring arm 38 carried by the base 36.

The base 36 connects the inspection device 34 with the rails 26, to allow the inspection device 34 to move in the cell 10, up to the packages 12, the ceiling 32 and walls 30 of the cell 10 to control.

The base 36 thus comprises wheels and rollers 37 which cooperate with the rails 26, as well as means for motorizing the wheels and rollers to drive the inspection device 34 moving along the rails 26. Preferably, the base 36 comprises two motorization assemblies allowing a redundancy of the drive, in the event of failure of one of the two motorization assemblies.

The base 36 also includes a source of electrical energy to allow the inspection device 34 to be autonomous in energy, which supplies the motorization means and all the other electronic components of the inspection device 34. This source of energy electric is for example a battery.

The base 36 also includes wireless communication means. Thus, the inspection device 34 is entirely autonomous, which makes it possible to have no cable in the cell 10 when the inspection device 34 evolves in the cell 10, which would risk interfering with the return of the device. inspection 34.

The base 36 also includes instrumentation for controlling the rails, an encoder independent of the traction wheels 37 so as to know the position of the inspection device 34 in the cell 10.

The arm 38 of the inspection device 34 is mounted on the base 36 and is articulated relative to the base 36.

The arm 38 is therefore mounted mobile on the base 36 between a first position which will be called retracted and which is shown in FIG. 3, in which it is oriented longitudinally and extends along the base 36 and a plurality of deployed positions in which it extends in the interior volume of the cell 10, in the surrounding space around the packages 12, in particular in the space between two rows of packages 12.

The arm 38 carries at least one device 16 intended to carry out the control and inspection of the cell 10 and of the packages 12.

This device 16 is chosen from a 3D laser, a detection device which operates with optical waves emitted by laser, commonly known by the acronym LIDAR, one or more cameras or any other device making it possible to check packages 12, walls 30 and ceiling 32 of the cell 10. Each measuring device 16 can also be connected to the arm 38 by means of an actuator (not shown) making it possible to modify its orientation in order to optimize the control.

FIG. 4 shows a first embodiment of the inspection device 34, according to which the arm 38 is made in one piece.

According to this embodiment, a first end 40 of the arm 38 is articulated with respect to the base 36 and the second end 42 carries one or more control devices 16 as stated above.

Preferably, the second end 42 of the arm carries a 3D laser carried by an actuator.

According to this first embodiment, the first end 40 of the arm 38 is articulated relative to the base 36 about a mainly vertical axis.

Thus, the deployment of the arm 38 consists in scanning the arm 38 in a horizontal plane.

FIG. 5 shows a second embodiment of the arm 38 which is produced in two parts.

The arm 38 thus comprises a first part 44, a first end 44a of which is articulated with respect to the base 36 around a first vertical axis and a second part 46 which is articulated with respect to the second end 44b of the first part 44 of the arm 38 around a second vertical axis.

Such an embodiment of the arm 38 makes it possible in particular to obtain a larger scanning area of the inspection device 16 and better access of the monitoring device 16 to the space to be checked.

In addition, one or more control devices 16 can be mounted at the free end 46b of the second part 46 and can also be mounted at the articulation between the two parts 44, 46 of the arm 38.

Preferably, a camera is mounted at the articulation between the two parts 44, 46 of the arm 38 and a camera and a LIDAR detection device are mounted on the free end 46b of the second part 46 of the arm 38 .

We see a second advantage of this embodiment of the arm which is able to carry a larger number of detection devices.

There is shown in Figures 6 and following a third embodiment of the arm 38 which is also here produced in two parts 44, 46. According to this embodiment, the two parts 44, 46 of the arm 38 are articulated with respect to the other and relative to the base 36 around horizontal axes.

According to this embodiment, the arm 38 is able to occupy two control configurations, namely a raised configuration shown in FIG. 6, in which the first part 44 of the arm 38 is vertical and the second part 46 of the arm 38 is horizontal, and a flat configuration shown in FIG. 7 in which the two parts 44, 46 of the arm 38 are horizontal.

When the arm 38 is in its raised configuration, as can be seen in FIG. 8, the second part 46 of the arm 38 is able to move in the space located between the top of a row of packages 12 and the ceiling 32 of the cell 10. Also, the first part 44 of the arm 38 is located transversely in the space located between a side wall 30 of the cell 10 and the packages 12.

This embodiment is particularly advantageous for the inspection of the space between two rows of packages 12 and for the inspection of the space between a row of packages 12 and the ceiling 32 of the cell 10 after the completion of a full row.

Also, according to this embodiment, the free end 46b of the second part 46 carries a control device 16 such as for example a motorized camera.

According to a preferred embodiment, the arm 38 carries an autonomous inspection machine 48 which is able to be separated from the arm and to move inside the cell 10, to increase the range of the control.

This autonomous inspection machine 48 includes its own motorization, control devices 16 which are preferably a dose rate sensor, cameras distributed thereon, laser rangefinders and optical sensors.

The autonomous inspection machine 48 is permanently connected to the inspection device 34 by a cable and a winch system (not shown) enabling it to be secured to the second part 46 of the arm 38.

Such an embodiment of the arm 38 thus makes it possible to bring the autonomous inspection machine 48 either on top of a row of packages 12, taking its raised configuration, and being able to pass between the top of this row of packages 12 and the ceiling of the cell 10, that is to say in the space between two rows of packages 12, being in its flat configuration.

When the inspection device 34 has brought the autonomous inspection machine 48 to the level of the area to be checked, the autonomous inspection machine 48 is detached from the second part 46 of the arm 38 and is controlled to move on the entire area chosen to carry out its control.

Then, once the control is complete, the autonomous inspection machine 48 is brought close to the second part 46 of the arm 38 to be attached to it, in order to be able to control a new zone or else for a return of the device d 'inspection 34.

Whatever the embodiment of the arm 38 described above, the dimensions of the base 36 and of the arm 38 are defined so that the inspection device 34 can move freely inside the cavities 28, that is to say that is to say both the base 36 and the measuring arm 38, during the movement of the inspection device 34.

FIG. 9 shows an inspection device 34 for which the arm 38 is folded along the base 36 and which shows that the inspection device 34 is entirely housed in a cavity 28.

The inspection device 34 can be used to carry out a control of the packages and of the cell 10 both after the cell has been completely filled with packages and as and when filling.

Indeed, the duration of the filling is particularly long, packages 12 can therefore move in the cell 10, or else defects can appear on the walls of the cell during this time.

Thus, since the inspection device 34 moves on the rails 26 for guiding the mobile bridge 14, the two elements are not used at the same time.

Preferably, the inspection device 34 is used between two stages of placing packages.

For this, the inspection device is placed on the rails 26 from a loading lock (not shown) present in the cell 10, at one end of the cell 10. This loading lock is separated from the package storage area 12 of the cell by separation doors.

The fact that the inspection device 34 is autonomous, both from an energy point of view and by its wireless control, allows it to move throughout the cell without using connection cables, or requiring any intervention human in the cell, where such intervention presents a risk to the operator.

Claims (12)

1. Inspection device (34) intended for use in a cell (10) for storing medium-level and / or long-lived radioactive packages (12), which comprises a base (36) which carries a device for propelling and guiding the inspection device (34) in the cell (10), a source of electrical energy and a device for controlling a measuring arm (38) which is mounted articulated relative to the base ( 36) and which carries at least one measuring device (16), characterized in that the arm (38) has one end which is articulated relative to the base (36) to allow movement of the arm (38) between a first folded position and deployed positions, in each of which said deployed positions, the arm (38) extends transversely beyond the first position. 2. Inspection device (34) according to claim 1, characterized in that the measuring arm (38) is made in a single piece mounted articulated with respect to the base (36) about a vertical axis. 3. Inspection device (34) according to claim 1, characterized in that the measuring arm (38) has a first part (44) articulated relative to the base (36) about a vertical axis and a second part (46) articulated relative to the first part (44) of the arm (38) about a second vertical axis. 4. Inspection device (34) according to claim 1, characterized in that the measuring arm (38) comprises a first part (44) articulated relative to the base (36) around a first horizontal axis and a second part (46) articulated with respect to the first part (44) about a second horizontal axis. 5. Inspection device (34) according to claim 4, characterized in that when the arm (38) is in the first position, the first part (44) of the arm (38) is oriented vertically and the second part (46 ) extends horizontally and transversely projecting from the guide base (36) from the upper vertical end of the first part (44). 6. Inspection device (34) according to claim 4 or 5, characterized in that the second part (46) of the arm (38) carries an autonomous inspection device (48) capable of being detached from the second part ( 46) of the arm (38). 7. Inspection device (34) according to claim 1, characterized in that the base (36) comprises means for storing electrical energy and wireless communication means. 8. Cell (10) for storing packages (12) with a longitudinal main orientation, which is delimited by a raft (31), two side walls (30) and a ceiling (32), and which comprises a bridge (14) mobile for loading packages (12) into the cell (10), comprising a transverse support beam (20), a rolling base (24) mounted at each transverse end of the beam (20), including each rolling base (24 ) is received in a longitudinal cavity (28) formed in a side wall (30) of the cell (10) associated with it, characterized in that it comprises an inspection device (34) according to any one of the preceding claims, which moves longitudinally in one or the other of the longitudinal cavities (28) formed in the side walls (30) and the arm (38) of which is movable in the socket (10) when it is in a second position so that said at least one measuring device (16) evolves in the internal volume of the cell ole (10). 9. Cell (10) according to claim 8, characterized in that each cavity (28) has a horizontal lower face (52) on which a longitudinal rail (26) is disposed and in that the base (36) of the device d inspection (34) comprises wheels (37) which cooperate with the longitudinal rail for guiding and moving the 5 inspection device (34) in the cell (10). 10. Cell (10) according to any one of claims 8 or 9, in combination with claim 5, characterized in that when the arm (38) is in the first position, the first part (44) of the arm (38 ) is located transversely between 10 a side wall (30) and packages (12) stored in the cell (10) and the second part (46) is located vertically above the packages (12) stored in the cell (10). 11. Cell (10) according to any one of claims 8 to 10, in which packages (12) are arranged in the cell (10) in groups of at least two 15 transverse rows joined longitudinally, characterized in that the arm (38) moves between two groups of rows when it is in at least one deployed position.