JP2001296923A - Positioning control apparatus of nuclear fuel conveying carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the positioning control apparatus of a fuel conveying carriage capable of performing the accurate positioning of even a fuel conveying carriage moving over a long distance. SOLUTION: The height of the summit part of a mountain-shaped object 11 formed on the side face of a traveling rail 2 on which a nuclear fuel conveying carriage 1 travels is preliminarily stored in a target position distance storing device 8 as a target position, and when a distance measurement signal indicating the distance to the mountain-shaped object 11 from a distance detecting device 12 becomes smaller than a distance between the distance detecting device 12 and the traveling rail 2, a comparison controller 13 outputs a deceleration command signal to a driving device 9 based on a deviation between the target position signal from the target position distance storing device 8 and the distance measurement signal from the distance detecting device 12. When the deviation becomes zero, the controller outputs a stop command signal. Thus, it is possible to realize accurate positioning even when the traveling distance of the nuclear fuel conveying carriage 1 is large.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nuclear fuel transport bogie positioning control device for transporting nuclear fuel from a fuel handling facility to another fuel handling facility.

[0002]

2. Description of the Related Art At a nuclear power plant, a nuclear fuel transport trolley carries out spent fuel from a nuclear reactor to a spent fuel storage facility and new fuel from a fuel storage facility to the reactor. ing. Generally, a nuclear fuel transport trolley is a trolley that transports new fuel or spent fuel from fuel handling equipment to other handling equipment, and is ± 1 mm from the target position.
It is necessary to operate with an error within.

[0003] That is, the delivery of nuclear fuel between the nuclear fuel transport trolley and the fuel handling equipment is performed by raising and lowering a fuel gripper called a gripper between the nuclear fuel transport trolley and the fuel handling equipment. In this case, a shield device called a shield ring on the nuclear fuel transport trolley is connected to the handling facility side. Then, the connection between the shielding ring and the handling equipment needs to be connected within an error of ± 1 mm with respect to the target position. This is because if connection cannot be made within this error, contaminated gas containing radioactive substances contained therein may leak.

FIG. 13 is a block diagram of a conventional positioning control device for a nuclear fuel transport trolley. The nuclear fuel transport trolley 1 travels on the travel rail 2 and travels to the target position P.

[0005] That is, a pinion rack 3 is installed on the floor side on which the traveling rail 2 is provided, and a synchro transmitter 5 with a pinion gear 4 is installed on the nuclear fuel transport trolley side, and a synchro signal from the synchro transmitter 5 is provided. Is input to the S / D converter 6, and the current position signal X0 converted by the S / D converter 6 is input to the drive control device 7.

Then, the drive control device 7 reads the target position signal x0 from the target position storage device 8, obtains a difference from the current position signal X0 from the S / D converter 6, and sends a control signal to the drive device 9 based on the difference. And the driving device 9 outputs the wheels 10
Is driven to perform positioning to the target position P. That is, control using the absolute position with respect to the traveling distance is performed.

[0007]

However, in such position control using the absolute position with respect to the traveling distance, a pinion rack 3 having the same length as the traveling distance of the nuclear fuel transport truck 1 is required. Further, the synchro transmitter 5 must be capable of detecting an absolute position that is longer than the moving distance of the fuel transport trolley 1. For a trolley that moves over a long distance, the synchro transmitter 5 must be large in order to increase the absolute position detection accuracy. There is a need to.

The pinion rack 3 and the pinion gear 4
If the teeth are missing, accurate positioning control cannot be performed. Further, when the running rail 2 is curved, it is difficult to install the pinion rack 3.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a fuel transport vehicle positioning control device capable of accurately positioning a fuel transport vehicle traveling a long distance.

[0010]

According to a first aspect of the present invention, there is provided a positioning control apparatus for a nuclear fuel transport vehicle, which is provided on a side surface of a traveling rail on which the nuclear fuel transport vehicle travels, and a top of which is positioned to stop the nuclear fuel transport vehicle. A chevron-shaped object that is a position, a driving device that drives wheels of the nuclear fuel transport trolley, a non-contact type distance detecting device that is provided on the nuclear fuel transport trolley and measures a distance from the chevron-shaped object, A target position distance storage device that stores the height of the peak of the mountain-shaped object as a target position in advance, and a distance measurement signal from the distance detection device is smaller than the distance between the distance detection device and the travel rail. When a deceleration command signal or a stop command signal is sent to the drive device based on a deviation between a target position signal from the target position distance storage device and a distance measurement signal from the distance detection device. Characterized in that a comparison control device for force.

[0011] In the positioning control apparatus for a nuclear fuel transport vehicle according to the first aspect of the present invention, the height of the peak of the mountain-shaped object provided on the side surface of the traveling rail on which the nuclear fuel transport vehicle travels is set as the target position in advance. When the distance measurement signal from the distance detection device to the mountain-shaped object is smaller than the distance between the distance detection device and the traveling rail, the comparison control device stores the target position and distance storage device. A deceleration command signal is output to the drive device based on the deviation between the target position signal from the distance detection device and the distance measurement signal from the distance detection device, and a stop command signal is output when the deviation becomes zero. Thus, accurate positioning can be performed even when the traveling distance of the nuclear fuel transport cart is long.

According to a second aspect of the present invention, there is provided a positioning control device for a nuclear fuel transportation vehicle, wherein the positioning device is provided on a side surface of a traveling rail on which the nuclear fuel transportation vehicle travels, and a peak is a target position for positioning and stopping the nuclear fuel transportation vehicle. Object, a driving device for driving the wheels of the nuclear fuel transport cart, a piston provided on the nuclear fuel transport cart and operating in contact with the chevron, and the chevron based on the displacement of the piston. A distance detection device that measures the distance of the target, a target position distance storage device that previously stores the displacement of the piston at the top of the mountain-shaped object as a target position, and a distance measurement signal from the distance detection device. When the distance between the distance detection device and the piston becomes smaller than the distance between the target position signal from the target position distance storage device and the distance measurement signal from the distance detection device. Characterized in that a comparison controller for outputting a deceleration command signal or a stop command signal to the drive unit based on the difference.

According to a second aspect of the present invention, there is provided a positioning control apparatus for a nuclear fuel transport vehicle, wherein a displacement of a piston which comes into contact with a top of a mountain-shaped object provided on a side surface of a traveling rail on which the nuclear fuel transport vehicle travels is set in advance. The position is stored in the target position distance storage device, and when the distance measurement signal from the distance detection device becomes smaller than the distance between the distance detection device and the piston, the comparison control device stores the target position from the target position distance storage device. Based on the deviation between the signal and the distance measurement signal from the distance detection device, output a deceleration command signal to the drive device,
When the deviation becomes zero, a stop command signal is output. Thus, since the distance displacement is detected when the piston is in contact with the mountain-shaped object, accurate control can be performed without considering the unevenness of the traveling rail itself as the displacement.

According to a third aspect of the present invention, there is provided a positioning control apparatus for a nuclear fuel transport vehicle, wherein the magnet is provided on a traveling rail on which the nuclear fuel transport vehicle travels, and a mounting position thereof is a target position for positioning and stopping the nuclear fuel transport vehicle. A driving device for driving the wheels of the nuclear fuel transport vehicle, a magnetic detector provided on the nuclear fuel transport vehicle for detecting the magnetic intensity from the magnet, and the magnetic intensity at the target position are stored in advance. A target position magnetic storage device, based on a deviation between a magnetic strength at a target position from the target position magnetic storage device and a magnetic strength from the magnetic detection device when the magnetic detection device starts detecting magnetism; The drive device includes a comparison control device that outputs a deceleration command signal or a stop command signal.

In the positioning control apparatus for a nuclear fuel transport vehicle according to a third aspect of the present invention, the magnetic intensity at the target position at which the positioning of the nuclear fuel transport vehicle is stopped is stored in the target position magnetic storage device in advance, and the comparison control is performed. When the magnetic detection device starts detecting the magnetism, the deceleration command signal is sent to the drive device based on the deviation between the magnetic intensity at the target position from the target position magnetic storage device and the magnetic intensity from the magnetic detection device. Is output. When the deviation becomes zero, a stop command signal is output. Thus, since the position is detected by using the magnetism generated by embedding the magnet in the traveling rail, it can be applied even when the traveling rail is curved or when there is no space for installing the mountain-shaped object.

According to a fourth aspect of the present invention, there is provided a positioning control device for a nuclear fuel transportation vehicle, wherein the positioning device is provided on a side surface of a traveling rail on which the nuclear fuel transportation vehicle travels, and a peak is a target position for positioning and stopping the nuclear fuel transportation vehicle. Object, a driving device for driving the wheels of the nuclear fuel transport vehicle, and measuring the distance between the mountain-shaped object provided on the nuclear fuel transport vehicle and when the distance measurement signal becomes smaller than a predetermined threshold value. A non-contact type distance detection device that outputs the distance measurement signal, a target position distance storage device that stores the height of the peak of the mountain-shaped object in advance as a target position, and a target position distance storage device. And a comparison control device that outputs a deceleration command signal or a stop command signal to the drive device based on a deviation between the target position signal of the target device and a distance measurement signal from the distance detection device. The features.

According to a fourth aspect of the present invention, in the positioning control apparatus for a nuclear fuel transport vehicle, the height of the peak of the mountain-shaped object provided on the side surface of the traveling rail on which the nuclear fuel transport vehicle travels is set as the target position in advance. The distance is stored in the position distance storage device, and the distance detection device outputs a distance measurement signal when the distance to the mountain-shaped object becomes smaller than a predetermined threshold value. The comparison control device outputs a deceleration command signal to the drive device based on a deviation between the target position signal from the target position distance storage device and the distance measurement signal from the distance detection device, and a stop command when the deviation becomes zero. Output a signal. As a result, the comparison control device does not operate below the predetermined threshold, so that accurate positioning control can be performed even when the traveling rail has irregularities.

According to a fifth aspect of the present invention, there is provided a positioning control device for a nuclear fuel transporting vehicle, wherein the non-contact type distance detecting device comprises a reflector provided on an inclined surface of the mountain-shaped object. A laser projector that irradiates the reflector plate with a laser beam, and a laser receiver that receives reflected light from the laser projector, and a distance between the mountain-shaped object and the nuclear fuel transport vehicle based on the reflected light. Is measured.

In the positioning control apparatus for a nuclear fuel transporting truck according to the fifth aspect of the present invention, in addition to the operation of the first aspect of the present invention, the distance is detected in a non-contact manner by using a laser beam, so that maintenance is unnecessary, and external Detection is possible without being affected by noise.

According to a sixth aspect of the present invention, there is provided a positioning control device for a nuclear fuel transport cart, wherein the non-contact type distance detecting device comprises a reflector provided on an inclined surface of the mountain-shaped object. An ultrasonic wave projecting device that irradiates the reflecting plate with ultrasonic waves, and an ultrasonic wave receiving device that receives reflected ultrasonic waves from the ultrasonic wave projecting device, based on the reflected ultrasonic waves. The distance between the mountain-shaped object and the nuclear fuel transport trolley is measured.

In the positioning control apparatus for a nuclear fuel transport truck according to the sixth aspect of the present invention, in addition to the function of the first aspect of the present invention, the distance is detected in a non-contact manner using ultrasonic waves, so that maintenance is not required, and external Detection can be performed without being affected by light such as illumination.

According to a seventh aspect of the present invention, in the positioning control device for a nuclear fuel transporting vehicle, in the second aspect of the present invention, the distance detecting device for measuring the distance based on the displacement of the piston comprises a reflecting device provided on a back surface of the piston. Plate, a laser projector that irradiates the reflector plate with a laser beam, and a laser receiver that receives the reflected light from the laser projector, and detects the displacement of the piston based on the reflected light to form a chevron. It is characterized in that the distance between the shaped object and the nuclear fuel transport trolley is measured.

According to a seventh aspect of the present invention, in addition to the function of the second aspect of the present invention, in addition to the operation of the second aspect of the present invention, the displacement of the piston is detected by a laser receiver mounted in the cylinder of the piston. Detection can be performed without being affected by light such as illumination.

According to an eighth aspect of the present invention, in the positioning control device for a nuclear fuel transport vehicle, in the second aspect of the present invention, the distance detecting device for measuring the distance based on the displacement of the piston comprises a reflecting device provided on the back surface of the piston. Plate, an ultrasonic wave projecting device that irradiates ultrasonic waves to the reflecting plate, and an ultrasonic wave receiving device that receives reflected ultrasonic waves from the ultrasonic wave projecting device, based on the reflected ultrasonic waves. Detecting the displacement of the piston to measure the distance between the chevron-shaped object and the nuclear fuel transport trolley.

In the positioning control apparatus for a nuclear fuel transport truck according to an eighth aspect of the present invention, in addition to the operation of the second aspect, the displacement of the piston is detected by an ultrasonic wave receiver mounted in the cylinder of the piston. , Detection is possible without being affected by the external environment.

[0026]

Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a first embodiment of the present invention.

In the first embodiment, a chevron-shaped object 1 is attached to the side surface of a traveling rail 2 at a target stop position of a nuclear fuel transport truck 1.
1 on the side of the nuclear fuel transport truck 1
A non-contact type distance detecting device 12 for detecting the position of the nuclear fuel transport vehicle 1 is detected by detecting an absolute position with respect to the target position P.

A traveling rail 2 on which a nuclear fuel transport truck 1 travels
Is provided with a mountain-shaped object 11. The chevron 11 is attached to the side surface of the traveling rail 2 so that the crest is located at a target position P for positioning and stopping the nuclear fuel transport trolley 1. Flat part (for example,
2mm).

On the side of the nuclear fuel transport trolley 1, a chevron 11
A non-contact type distance detecting device 12 for measuring a distance to the traveling rail 2 is always installed, and a distance measuring signal X1 is output to a comparison control device 13.

On the other hand, the distance x1 between the distance detector 12 at the target position P and the top of the mountain-shaped object 11 is determined by the target position signal.
It is stored in advance in the target position distance storage device 8 as x1. Upon receiving the truck traveling command, the target position distance storage device 8 outputs a target position signal x1 to the comparison control device 13. The comparison control device 13 calculates an absolute value Y1 (= | X1−x1 |) of a difference between the input distance measurement signal X1 and the target position signal x1, and calculates a distance detection device from the distance measurement signal X1 and the traveling rail 2. The difference y1 (= X1-L) from the distance L to 12 is calculated.

When the comparison control device 13 detects y1 <0, it outputs a deceleration command signal to the drive device 9. Further, when Y1 = 0, which indicates the peak of the mountain-shaped object 11, the stop command signal is output to the drive device 9 to stop the nuclear fuel transport vehicle 1.

FIG. 2 is a flowchart showing the operation of the nuclear fuel transport device according to the first embodiment. First, the mountain-shaped object 11 is installed at a target position P at which the positioning of the nuclear fuel transport carriage 1 is stopped, and the distance x1 between the distance detection device 12 and the peak of the mountain-shaped object 11 at the target position P is set as a target. It is set as the target position signal x1 in the position distance storage device 8 (S1).

The comparison control device 13 receives the target position signal x1 (S2) and receives the distance measurement signal X1 from the distance detection device 12 (S3). Then, the absolute value Y1 of the difference between the input distance measurement signal X1 and the target position signal x1 (= |
X1-x1 |), and the difference y1 between the distance measurement signal X1 and the distance L from the traveling rail 2 to the distance detection device 12.
(= X1-L) is calculated (S4).

Next, Y1 indicating the top of the mountain-shaped object 11
= 0 is determined (S5), and the chevron-shaped object 11 is determined.
If Y1 = 0, which indicates the summit of, is not set, y1 <0
It is determined whether or not (S6). If y1 <0, the process returns to step S3. If y1 <0, a deceleration command signal is output to the driving device 9 (S7), and the process returns to step S3.

On the other hand, when it is determined in step S5 that Y1 = 0 indicating the peak of the mountain-shaped object 11, a stop command signal is output to the driving device 9 to stop the nuclear fuel transport vehicle 1. (S8).

According to the first embodiment, since the positioning control to the target position P is performed in the vicinity where the mountain-shaped object 11 is provided, the positioning accuracy can be maintained even when the nuclear fuel transport vehicle 1 moves over a long distance. Can be improved. For example,
Stops at ± 1mm (stop position allowable range width).

Next, a second embodiment of the present invention will be described. FIG. 3 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a second embodiment of the present invention. In the second embodiment, a mountain-shaped object 11 is installed on a side surface of a traveling rail 2 at a target position P, and a piston 14 that operates by contacting the mountain-shaped object 11 on a side of a nuclear fuel transport truck 1 is provided. The distance detection device 12 for detecting the operation displacement of the piston 14 is installed, and thereby, the absolute position with respect to the target position P is detected to position the nuclear fuel transport vehicle 1.

In FIG. 3, a mountain-shaped object 11 is provided on the side surface of the traveling rail 2 at a target position P at which the nuclear fuel transport cart 1 is positioned and stopped. A flat portion is formed at the top of the mountain-shaped object 11 as a stop position allowable range. On the side of the nuclear fuel transport vehicle 1, a piston 14 with a roller that operates by contacting the mountain-shaped object 11 is installed, and the operating distance of the piston 14 is measured by the distance detecting device 12. The piston 14 is restored by the spring.

The distance detecting device 12 constantly measures the displacement with respect to the piston 14, and compares the distance measuring signal X2 with the comparison control device 1.
Output to 3. On the other hand, a target position signal x2, which is the displacement of the piston 14 at the target position P, is stored in the target position distance storage device 8 in advance. Upon receiving the truck traveling command, the target position distance storage device 8 outputs a target position setting signal x2 to the comparison control device 13.

The comparison control device 13 calculates the absolute value Y2 (= |) of the difference between the input distance measurement signal X2 and the target position setting signal x2.
X2−x2 |) and the difference between the distance measurement signal X2 and the distance La from the piston 14 to the distance detection device 12
Calculate y2 (= X2-La). The comparison control device 13
When y2 <0 is detected, a deceleration command signal is output to the driving device 9. Furthermore, Y indicating the peak of the mountain-shaped object 11
When 2 = 0, a stop command signal is output to the driving device 9 to stop the nuclear fuel transport vehicle 1.

FIG. 4 is a flow chart showing the operation of the nuclear fuel transport device according to the second embodiment. First, the mountain-shaped object 11 is set at a target position P at which the positioning of the nuclear fuel transport trolley 1 is stopped.
The target position signal x2, which is the displacement of No. 4, is set in the target position distance storage device 8 (S1).

The comparison control device 13 receives the target position signal x2 (S2) and receives the distance measurement signal X2 from the distance detection device 12 (S3). Then, the absolute value Y2 of the difference between the input distance measurement signal X2 and the target position signal x2 (= |
X2−x2 |) and the difference between the distance measurement signal X2 and the distance La from the piston 14 to the distance detection device 12
y2 (= X2-La) is calculated (S4).

Next, Y2 indicating the top of the mountain-shaped object 11
= 0 is determined (S5), and the chevron-shaped object 11 is determined.
When Y2 = 0, which indicates the top of the mountain, is not set to y2 <0
It is determined whether or not (S6). If y2 <0, the process returns to step S3. If y2 <0, a deceleration command signal is output to the driving device 9 (S7), and the process returns to step S3.

On the other hand, if it is determined in step S5 that Y2 = 0 indicating the peak of the mountain-shaped object 11, a stop command signal is output to the drive unit 9 to stop the nuclear fuel transport cart 1. (S8).

According to the second embodiment, the distance displacement is detected when the piston 14 is in contact with the chevron 11 at the target position P.
The unevenness of the traveling rail 2 itself is not regarded as a displacement. Therefore, accurate control is possible.

Next, a third embodiment of the present invention will be described. FIG. 5 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a third embodiment of the present invention. In the third embodiment, a magnet 15 is installed at a target position P of the traveling rail 2, and a magnetic detection device 16 for detecting the magnetic strength of the magnet 15 is installed on the side of the nuclear fuel transport carriage 1. The absolute position with respect to P is detected, whereby the positioning of the nuclear fuel transport cart 1 is performed.

In FIG. 5, a magnet 15 is installed on the traveling rail 2 at the target position P at which the nuclear fuel transport vehicle 1 is positioned and stopped, and a magnetic detector 16 for measuring the magnetism of the magnet 15 is installed on the nuclear fuel transport vehicle 1 side. The magnetism detecting device 16 constantly measures the intensity of magnetism generated on the traveling rail 2 and outputs a magnetism measurement signal X3 to the comparison control device 13.

On the other hand, the magnetic intensity at the target position P is previously stored in the target position magnetic storage device 8A as a target position signal x3. The target position magnetic storage device 8A compares the target position signal x3 indicating the magnetic intensity at the target position P with the comparison control device 13A.
Output to

The comparison control unit 13 calculates the absolute value Y3 (= the difference between the input magnetic measurement signal X3 and the target position setting signal x3).
| X3-x3 |) is calculated. The comparison control device 13 outputs a deceleration command signal to the driving device 9 when | X3 |> 0 at which the magnetic detection is started. Further, when Y3 = 0 at which the magnetic strength becomes maximum is detected, a stop command signal is output to the driving device 9 to stop the nuclear fuel transport vehicle 1.

FIG. 6 is a flow chart showing the operation of the nuclear fuel transport device according to the third embodiment. First, the magnet 15 is installed on the traveling rail 2 at the target position P at which the nuclear fuel transport trolley 1 is positioned and stopped, and the magnetic intensity at the target position P is set in advance as a target position signal x3 in the target position magnetic storage device 8.
A is set (S1).

The comparison control device 13 receives the target position signal x3 (S2) and the distance measurement signal X3 from the distance detection device 12 (S3). Then, the absolute value Y3 of the difference between the input distance measurement signal X3 and the target position signal x3 (= |
X3−x3 |) is calculated (S4).

Next, it is determined whether or not Y3 = 0 at which the magnetic intensity becomes maximum (S5). If Y3 = 0 at which the magnetic intensity becomes maximum, | X3 | It is determined whether or not> 0 (S6). If | X3 |> 0 is not satisfied, the process returns to step S3, and | X3 |>
When it becomes 0, a deceleration command signal is output to the driving device 9 (S7), and the process returns to step S3.

On the other hand, if it is determined in step S5 that Y3 = 0, at which the magnetic strength becomes the maximum, a stop command signal is output to the drive unit 9 to stop the nuclear fuel transport vehicle 1 (S8). ).

According to the third embodiment, the magnet 15
Is embedded in the traveling rail 2, positioning control can be performed even under installation conditions such as when the traveling rail 2 is curved or when there is no space for installing the mountain-shaped object 11.

Next, a fourth embodiment of the present invention will be described. FIG. 7 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a fourth embodiment of the present invention. In the fourth embodiment, the threshold value L4 is set so that irregularities on the traveling rail 2 other than the mountain-shaped object 11 are not erroneously detected as the mountain-shaped object 11. Thereby, the traveling rail 2
Accurate positioning control is possible even when there are irregularities in the surface.

In FIG. 7, a mountain-shaped object 11 is installed on the side surface of the traveling rail 2 at a target position P at which the nuclear fuel transport cart 1 is positioned and stopped. A flat portion is formed at the top of the mountain-shaped object 11 as a stop position allowable range. A non-contact type distance detecting device 12 for measuring the distance of the mountain-shaped object 11 is installed on the side of the nuclear fuel transporting trolley 1. Distance detection device 1
2 constantly measures the distance from the running rail 2.

The distance detecting device 12 has a threshold value L4 for confirming the validity of the measured distance. When the measured distance becomes smaller than the threshold value L4, the distance measuring signal X4 is compared. Output to the control device 13.

On the other hand, the target position distance storage device 8 previously stores a target position signal x4 which is a distance between the distance detection device 12 and the mountain top of the mountain-shaped object 11 at the target position P. The target position distance storage device 8 outputs a target position signal x4 to the comparison control device 13. The comparison control device 13 calculates the absolute value Y of the difference between the input distance measurement signal X4 and the target position signal x4.
4 (= | X4-x4 |) is calculated.

When the distance measurement signal X4 is input, the comparison control device 13 outputs a deceleration command signal to the drive device 9. Further, Y4 indicating the top of the mountain-shaped object 11
When = 0 is detected, a stop command signal is output to the driving device 9 to stop the nuclear fuel transport vehicle 1.

FIG. 8 is a flow chart showing the operation of the nuclear fuel transport device according to the fourth embodiment. First, the mountain-shaped object 11 is installed at a target position P at which the positioning and stopping of the nuclear fuel transporting trolley 1 is performed. The target position signal x4 is set in the position distance storage device 8 (S1). The comparison control device 13 receives the target position signal x4 (S2).

On the other hand, the distance detecting device 12 determines whether or not the measured distance measuring signal X4 is smaller than a predetermined threshold L4 (S3).
4 is output to the comparison control device 13. When the distance measurement signal X4 is input (S4), the comparison control device 13 drives the drive device 9
, A deceleration command signal is output (S5).

Then, the absolute value Y4 (= | X4-x4 |) of the difference between the input distance measurement signal X4 and the target position signal x4 is calculated (S6), and Y4 = indicating the peak of the mountain-shaped object 11 is obtained. 0
Is determined (S7). Mountain-shaped object 11
When Y4 = 0 indicating the top of the mountain-shaped object 11 is not satisfied, the process returns to step S3. When Y4 = 0 indicating the top of the mountain-shaped object 11 is detected, a stop command signal is output to the drive unit 9 to transport nuclear fuel. The carriage 1 is stopped (S8).

According to the fourth embodiment, the threshold value is provided in the distance detection device 8 so that the unevenness of the traveling rail 2 is not detected as an error. Positioning control becomes possible.

Next, a fifth embodiment of the present invention will be described. FIG. 9 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a fifth embodiment of the present invention. This fifth embodiment differs from the first embodiment shown in FIG.
A reflection plate 17 for reflecting laser light is installed on a mountain-shaped object 11, and a laser projector 18 and a laser receiver 19 are installed as a distance detection device 12.

In FIG. 9, a mountain-shaped object 11 is installed on the side surface of the traveling rail 2 at a target position P at which the nuclear fuel transport trolley 1 is positioned and stopped, and a reflection plate 17 is attached to the mountain-shaped object 11. A laser floodlight 18 is mounted on the side of the nuclear fuel transport trolley 1. The reflector 17 is irradiated with laser light by the laser projector 18, and the reflected light reflected by the reflector 17 is received by the laser receiver 19 to measure the distance. As a result, the distance can be detected without being affected by external noise.

Next, a sixth embodiment of the present invention will be described. FIG. 10 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a sixth embodiment of the present invention. This sixth
This embodiment is different from the first embodiment shown in FIG. 1 in that a reflection plate 17 for reflecting ultrasonic waves is installed on a mountain-shaped object 11, and an ultrasonic wave projector 20 is used as a distance detection device 12. An ultrasonic receiver 21 is installed.

In FIG. 10, the mountain-shaped object 11 is set on the side surface of the traveling rail 2 at the target position P at which the nuclear fuel transport cart 1 is positioned and stopped, and the reflection plate 17 is attached to the mountain-shaped object 11. In addition, an ultrasonic wave transmitter 2
0 and the ultrasonic wave receiver 21 are attached. Ultrasonic waves are emitted to the reflector 17 by the ultrasonic wave projector 20, and the ultrasonic waves reflected by the reflector 17 are received by the ultrasonic wave receiver 21 to measure the distance. As a result, the distance can be detected without being affected by light such as external illumination.

Next, a seventh embodiment of the present invention will be described. FIG. 11 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a seventh embodiment of the present invention. This seventh
This embodiment is different from the second embodiment shown in FIG. 3 in that a reflecting plate 17 for reflecting a laser beam is installed on a piston 14, and a laser projector 18 and a laser receiver 19 are used as the distance detecting device 12. It was installed.

In FIG. 11, the mountain-shaped object 11 is set on the side surface of the traveling rail 2 at the target position P at which the nuclear fuel transportation vehicle 1 is positioned and stopped, and is brought into contact with the mountain-shaped object 11 on the side of the nuclear fuel transportation vehicle 1. Piston with moving roller 1
4 is installed. The piston 14 is restored by the spring. A reflector 14 is provided on the upper part of the piston 14 in the cylinder, and a laser projector 18 and a laser receiver 19 are mounted on the reflector.

The piston 14 moves up and down simultaneously with the movement of the nuclear fuel transport trolley 1, and moves up and down the reflector 17. The laser beam is emitted from the laser projector 18 to the reflector 17 and the reflected light is received by the laser beam receiver 19 to measure the distance. Accordingly, the displacement of the piston 14 is detected by the laser receiver 19 mounted on the upper part of the piston 14 in the cylinder, so that the distance can be detected without being affected by light such as external illumination.

Next, an eighth embodiment of the present invention will be described. FIG. 12 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to an eighth embodiment of the present invention. This 8th
This embodiment is different from the second embodiment shown in FIG. 3 in that a reflecting plate 17 for reflecting an ultrasonic wave is installed on a piston 14, and an ultrasonic wave projector 20 and an ultrasonic wave receiving A wave device 21 is installed.

In FIG. 12, the mountain-shaped object 11 is set on the side surface of the traveling rail 2 at the target position P at which the nuclear fuel transportation vehicle 1 is positioned and stopped, and is brought into contact with the mountain-shaped object 11 on the nuclear fuel transportation vehicle 1 side. Piston with moving roller 1
4 is installed. The piston 14 is restored by the spring. A reflection plate 17 is provided on the upper part of the piston 14 in the cylinder, and an ultrasonic wave projector 20 and an ultrasonic wave receiver 21 are further mounted on the upper part thereof.

The piston 14 moves up and down simultaneously with the movement of the nuclear fuel transporting trolley 1, and accordingly, the reflector 17 moves up and down. Ultrasonic waves are emitted to the reflector 17 by the ultrasonic wave projector 20, and the ultrasonic waves reflected by the reflector 17 are received by the ultrasonic wave receiver 21 to measure the distance.

Thus, since the displacement of the piston 14 is detected by the ultrasonic wave receiver 21 mounted on the upper part of the piston 14 in the cylinder, the distance can be detected without being affected by the external environment.

[0075]

As described above, according to the present invention, accurate target positioning can be performed even on a nuclear fuel transportation truck traveling a long distance.

According to the first and second aspects of the present invention, the chevron-shaped object installed on the side surface of the traveling rail at the target position is detected in a non-contact type and positioned at the target position. Even if the distance is long, accurate positioning can be performed.

According to the third aspect of the present invention, the target position is detected by utilizing the magnetism generated by embedding the magnet in the traveling rail, so that the traveling rail is curved or a mountain-shaped object is installed. It is effective when there is no space to do.

According to the fourth aspect of the present invention, a threshold value for distance detection is set to prevent erroneous detection of irregularities on the traveling rail other than the target. Positioning control becomes possible.

According to any one of the fifth to eighth aspects of the present invention, the distance can be detected without being affected by external noise, and the distance can be detected with high accuracy.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the nuclear fuel transport device according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a second embodiment of the present invention.

FIG. 4 is a flowchart showing an operation of the nuclear fuel transport device according to the second embodiment of the present invention.

FIG. 5 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a third embodiment of the present invention.

FIG. 6 is a flowchart showing an operation of the nuclear fuel transport device according to the third embodiment of the present invention.

FIG. 7 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a fourth embodiment of the present invention.

FIG. 8 is a flowchart showing an operation of the nuclear fuel transport device according to the fourth embodiment of the present invention.

FIG. 9 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a fifth embodiment of the present invention.

FIG. 10 is a configuration diagram of a nuclear fuel transport trolley positioning control device according to a sixth embodiment of the present invention.

FIG. 11 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to a seventh embodiment of the present invention.

FIG. 12 is a configuration diagram of a positioning control device for a nuclear fuel transport trolley according to an eighth embodiment of the present invention.

FIG. 13 is a configuration diagram of a conventional positioning control device for a nuclear fuel transport trolley.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Nuclear fuel transport trolley, 2 ... Running rail, 3 ... Pinion rack, 4 ... Pinion gear, 5 ... Synchro transmitter, 6 ... S
/ D converter, 7: drive control device, 8: target position storage device, 8A: target position magnetic storage device, 9: drive device, 10
... wheels, 11 ... mountain-shaped object, 12 ... distance detection device, 13
... Comparison control device, 14 ... Piston, 15 ... Magnet, 16 ...
Magnetic detector, 17 ... Reflector, 18 ... Laser projector,
19: laser receiver, 20: ultrasonic wave projector, 21: ultrasonic wave receiver

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Eiji Zama, Inventor F-term (reference) 5H301 AA01 AA09 BB05 CC03 EE03 FF04 FF06 FF16 FF10 2-1 Toshiba System Technology Co., Ltd. JJ01

Claims (8)

[Claims] 1. A mountain-shaped object provided on a side surface of a traveling rail on which a nuclear fuel transport vehicle travels, the peak of which is a target position for positioning and stopping the nuclear fuel transport vehicle, and a driving device for driving wheels of the nuclear fuel transport vehicle. A non-contact type distance detecting device provided on the nuclear fuel transporting trolley for measuring a distance from the chevron-shaped object, and a target in which the height of the crest of the chevron-shaped object is stored in advance as a target position. When the distance measurement signal from the distance detection device becomes smaller than the distance between the distance detection device and the travel rail, the target position signal from the target position distance storage device and the position detection signal from the distance detection device A comparison control device for outputting a deceleration command signal or a stop command signal to the drive device based on a deviation from the distance measurement signal. apparatus. 2. A mountain-shaped object which is provided on a side surface of a traveling rail on which a nuclear fuel transport vehicle travels and whose peak is a target position for positioning and stopping the nuclear fuel transport vehicle, and a drive device for driving wheels of the nuclear fuel transport vehicle. A piston provided on the nuclear fuel transport cart and operating in contact with the chevron, a distance detection device for measuring a distance between the chevron based on displacement of the piston, and the chevron; A target position distance storage device that previously stores the displacement of the piston at the top of the object as a target position, and a distance measurement signal from the distance detection device is smaller than the distance between the distance detection device and the piston. A deceleration command signal or a stop command signal to the drive device based on a deviation between a target position signal from the target position distance storage device and a distance measurement signal from the distance detection device. And a comparison control device that outputs a signal. 3. A magnet provided on a traveling rail on which a nuclear fuel transport vehicle travels, the mounting position of which is a target position for positioning and stopping the nuclear fuel transport vehicle, a drive device for driving wheels of the nuclear fuel transport vehicle, and the nuclear fuel. A magnetic detection device provided on the transport trolley for detecting the magnetic intensity from the magnet, a target position magnetic storage device for storing the magnetic intensity at the target position in advance, and the magnetic detection device A comparison that outputs a deceleration command signal or a stop command signal to the drive device based on a deviation between the magnetic strength at the target position from the target position magnetic storage device and the magnetic strength from the magnetic detection device when detection is started. A positioning control device for a nuclear fuel transport trolley, comprising: a control device. 4. A mountain-shaped object provided on a side surface of a traveling rail on which a nuclear fuel transport vehicle travels, the peak of which is a target position for positioning and stopping the nuclear fuel transport vehicle, and a driving device for driving wheels of the nuclear fuel transport vehicle. And a non-contact distance detecting device that measures the distance between the mountain-shaped object provided on the nuclear fuel transport cart and outputs the distance measurement signal when the distance measurement signal is smaller than a predetermined threshold value. When,
A target position distance storage device that stores the height of the peak of the mountain-shaped object as a target position in advance, and a target position signal from the target position distance storage device and a distance measurement signal from the distance detection device. A comparison control device for outputting a deceleration command signal or a stop command signal to the drive device based on the deviation. 5. A non-contact type distance detecting device, comprising: a reflector provided on an inclined surface of the chevron-shaped object; a laser projector for irradiating the reflector with a laser beam; 2. The positioning control device for a nuclear fuel transport vehicle according to claim 1, further comprising a laser receiver for receiving the reflected light, wherein the distance between the mountain-shaped object and the nuclear fuel transport vehicle is measured based on the reflected light. . 6. A non-contact type distance detecting device, comprising: a reflector provided on an inclined surface of the chevron-shaped object; an ultrasonic wave projector for irradiating the reflector with ultrasonic waves; An ultrasonic wave receiver for receiving reflected ultrasonic waves from an ultrasonic wave projecting device, wherein the distance between the chevron-shaped object and the nuclear fuel transport vehicle is measured based on the reflected ultrasonic waves. 2. The positioning control device for a nuclear fuel transport cart according to 1. 7. A distance detecting device for measuring a distance based on a displacement of a piston, a reflector provided on a back surface of the piston, a laser projector for irradiating the reflector with a laser beam, and the laser projector. And a laser receiver for receiving the reflected light from the vehicle, wherein the displacement of the piston is detected based on the reflected light, and the distance between the mountain-shaped object and the nuclear fuel transporting truck is measured. A positioning control device for a nuclear fuel transport truck according to the above. 8. A distance detecting device for measuring a distance based on a displacement of a piston, a reflector provided on a back surface of the piston, an ultrasonic wave projector for irradiating an ultrasonic wave to the reflector, An ultrasonic wave receiver that receives reflected ultrasonic waves from the ultrasonic wave projector, detects displacement of the piston based on the reflected ultrasonic waves, and measures a distance between the chevron-shaped object and the nuclear fuel transport cart. 3. The positioning control device for a nuclear fuel transport trolley according to claim 2, wherein: