JP2001305288A - Stock detecting method for glass solidified body index confirming device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a new stock detecting method for glass solidified body index confirming device allowing the precise detection of the stocking state of a glass solidified body. SOLUTION: In this stock detecting method for an index confirming device 1 for receiving and dispensing a plurality of glass solidified bodies G in revolver type, an ITV camera 15 is set above the confirmation device 1, and the image of the index confirmation device 1 taken by the ITV camera 15 is image- processed and analyzed, whereby the stocking state and stoked position of the glass solidified body G are detected. According to this, even if an unexpected trouble takes place, the stoking state of the glass solidified body G in the device 1 can be regularly precisely detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vitrified material index checking device used in a process of processing a vitrified material of high-level radioactive waste, and more particularly to a vitrified material temporarily accommodated in the device. The present invention relates to a method for detecting the presence status of a vehicle.

[0002]

2. Description of the Related Art High-level radioactive liquid waste generated in nuclear fuel reprocessing facilities, etc. is packed in a stainless steel container while being mixed with glass raw materials at a high temperature in a vitrified waste processing facility that is strictly shielded and isolated by reinforced concrete and is stabilized. It is sent to each inspection cell in sequence after passing through various inspection processes such as surface inspection, leakage inspection, decontamination inspection process, etc., and then naturally cooled in the storage facility for about 30 to 50 years, It is planned to be disposed in deep geological formations.

By the way, this vitrified body emits extremely high levels of radiation and high-temperature decay heat. for that reason,
The surface is provided with an index with an identification number for facilitating individual identification in various inspection processes, and in the above-mentioned vitrified waste treatment facility, each vitrified material is based on this index. Will be automatically handled remotely.

For example, when a vitrified product having undergone a predetermined inspection is transported to a storage facility or the like, as shown in FIG.
First, after the vitrified body G is set on the rotary table M of the index checking device R provided at the dispensing position by the overhead crane T1 on the receiving cell S1 side, the index provided on the side surface of the vitrified body G. The part is turned to the ITV camera (industrial camera) K side and its index is confirmed to specify the vitrified body G. Next, the vitrified material G on the index confirmation device R specified by the ITV camera K is discharged from the discharge cell S2
After being lifted by the floor traveling crane T2 and paid out to the payout cell S2 side, as shown in FIG. 6, the vitrified body G is transported to the storage facility S3 side connected to the payout cell S2, and By being stored in the upper and lower stages in the cooling pipe C, it is stored while being naturally cooled for a certain period.

On the other hand, as another form of the index confirmation device R, it has been proposed to use a revolver type index confirmation device in order to further improve work efficiency.

This revolver-type index checking device accommodates the plurality of vitrified bodies G individually in a revolver manner, and moves and rotates any stored vitrified bodies G from a receiving position to a payout position side. And a small turning table which is rotatably provided at the bottom of the accommodation section of the rotary gantry for individually mounting the vitrified body G. By changing the payout position, the storage position, and the index viewing position, a plurality of vitrified materials G can be collectively stored regardless of the state of dispensing or receiving the vitrified materials G, and index inspection and dispensing work can be arbitrarily performed. (Japanese Patent Application No. Hei 10-
91751).

[0007]

By the way, when such a revolver-type index confirmation device R is used, it is always possible to accurately detect at which position on the rotating gantry the number of vitrified bodies G is housed. Although it is necessary to perform
For example, the detection is performed by a computer on the basis of a receiving signal of the overhead crane T1 on the receiving cell S1 side, a payout signal of the floor traveling crane T2 on the paying cell S2 side, and a signal such as a rotation angle of the rotating base F. is there.

However, for example, when a failure of the device, a power failure, a drop or fall of the vitrified body G, or an unexpected unexpected situation occurs, the presence of the vitrified body G calculated on the basis of the above-mentioned signal is considered. A trouble such as inconsistency between the loading situation and the actual loading situation may occur, which may hinder the smooth operation of receiving and discharging the vitrified body.

For this reason, a method is also conceivable in which a plurality of other ITV cameras are newly installed in the receiving cell S1 and the presence status of the index checking device R is constantly checked visually by an operator. There is an inconvenience that the worker must constantly monitor the monitor due to a rare problem, and the burden on the worker is large.

The present invention has been devised in order to effectively solve such a problem, and its object is to always accurately detect the presence of a vitrified body even when a trouble occurs. It is an object of the present invention to provide a method for detecting the presence of a new vitrified body index checking device.

[0011]

According to the present invention, there is provided an index checking apparatus for receiving and discharging a plurality of vitrified materials from above in a revolver manner. In the presence detection method of
An ITV camera is installed above the index confirmation device, and the image of the index confirmation device photographed by the ITV camera is image-processed and analyzed to detect the presence status and the presence position of the vitrified body. It is like that.

As a result, in the process of receiving and discharging the vitrified body, unexpected troubles such as a failure of the apparatus, a power failure, and a fall or fall of the vitrified body G occur, and the receiving and discharging signals and the rotation angle signal of the crane are generated. For example, even if the calculated inventory status and the actual inventory status do not match, the inventory status and location of the vitrified body in the apparatus can always be accurately detected.

[0013] Then, the image of the index confirmation device photographed by the ITV camera is image-processed and analyzed, and according to the analysis result, the operation of the device and the receiving / dispensing crane is programmed, so that the work process is performed. Thus, even if a trouble occurs, it is possible to always accurately and automatically carry out the process of receiving and discharging the vitrified body.

According to a second aspect of the present invention, if a sticker coated with an easily recognizable paint or the like is attached to the top surface (lid portion) of the vitrified body, image processing analysis of the obtained video can be performed. Can be performed more accurately.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 1 and FIG. 2 show an embodiment of a revolver-type vitrified solid index confirmation device (hereinafter referred to as a confirmation device) according to the method of the present invention.

As shown in the figure, the confirmation device 1, a rotating gantry 2 for accommodating a plurality of (six in this embodiment) revolver type vitrified bodies G, and a vitrified body G A rotary table 3 provided at the bottom of each of the receiving sections 2a of the rotary base 2 to be mounted, and an ITV camera 4 for checking an index provided on the top surface of the vitrified body G for checking an index. It is configured.

The rotating base 2 has a rotating shaft 5 extending vertically.
And a rotary frame 7 at the bottom of the rotary shaft 5. A driving force from a drive rod (not shown) is applied to the rotary shaft 5 through the rotary mechanism 7.
By transmitting to the side, the whole can freely rotate in either the left or right direction around the rotation shaft 5. Also,
Around the rotary shaft 5, a plurality (six in the present embodiment) of storage portions 2a, 2a,... Partitioned by the frame 6 and a plurality of support rollers 8, 8,. Each of the storage portions 2a, 2a,... Stores the vitrified material G transported from the overhead crane T1 provided in the receiving cell S1 as described above.

The rotary table 3 includes rotary trays 9, 9 provided at the bottom of each of the receiving portions 2a, 2a,.
Are provided with rotary drive units 10, 10, respectively. Similarly, by transmitting a driving force from a drive rod (not shown) to the rotary tray 9 via the rotary drive unit 10, each of the storage units 2a, 2a,. Is rotated in each of the storage portions 2a, 2a,..., So that the index position can be freely directed toward the ITV camera 4 for index confirmation.

The ITV camera 4 for confirmation is mounted on a support 11 erected at the payout position of the rotating gantry 2 and captures the index of the vitrified body G immediately before the payout as an image, and its image signal is not shown. It is sent to the main control room. It is to be noted that the vitrified body dispensing position and the receiving position of the rotary gantry 1 are provided with lifting device release mechanisms 12 and 13, respectively, so that the lifting device 14 extending from the receiving crane or the discharging crane can be reliably released. It has become.

In the method of the present invention, first, an ITV camera 15 for image analysis is placed above the confirmation device 1 having such a structure, for example, on the ceiling wall B side of the receiving cell S1.
Is installed at a magnification that allows at least the entire rotating gantry 1 to be photographed as one image, and the image captured by the industrial camera 15 is sent as an image signal to a central control room (not shown) or the like. In this case,
It goes without saying that it is installed so as not to interfere with the overhead crane of the receiving cell S1.

Next, the video captured by the industrial camera 15 is analyzed by a dedicated image processing software, and is output as a recognition pattern as shown in FIG. Can be grasped directly.

As a result, unexpected problems such as equipment failure, power failure, falling or falling of the vitrified body G occur during the receiving and discharging process of the vitrified body, and the receiving and discharging signals and rotation signals of the crane are generated. For example, even if there is a discrepancy between the inventory status calculated due to an error and the actual inventory status, the inventory status of the vitrified body G in the apparatus 1 can always be accurately detected.

As shown in FIG. 4, the presently conceived method of detecting the presence of goods is, as shown in FIG. 4, a rotation angle signal of the rotating gantry 2, a vitrified material receiving signal from a receiving overhead crane, etc. The in-stock state is indirectly grasped by processing software consisting of a predetermined algorithm.The in-stock state obtained by this in-stock detection method is compared with the in-stock state obtained by the method of the present invention. If the processing results match, it is determined that normal operation is being performed and operation is continued, and if the processing results do not match, operation is stopped and the operator If such a warning is issued, safe and reliable automatic driving can be achieved. At this time, as shown in FIG. 2, if the sticker 16 coated with an easily recognizable paint or the like is attached to the top surface of the vitrified body G, the obtained image becomes clearer and accurate image processing analysis is performed. Can be performed. By the way, it is possible to detect the occupancy status only by the detection method of the present invention and determine the continuation of the driving only by the detection result. However, even if the method as shown in FIG. Depending on the failure or the like, it is conceivable that it is difficult to make an accurate determination.

As this image processing software, conventional general-purpose image processing software can be diverted without any new development peculiar to the present invention. For example, the image processing software obtained as shown in FIG. The image is divided into several small areas, and the presence or absence of the vitrified material G in the area is analyzed based on the brightness and the like, so that the glass can be easily formed even when the rotating base 2 and the rotating table 3 are rotated. The position of the solidified body G can be specified. In this case, if the analysis is set to be performed only when the seal 16 is detected, the presence detection can be performed more accurately. Further, in the method of the present invention, an image is obtained by one industrial camera. However, it is a matter of course that two or more images may be used in advance in case of failure or inconvenience of the shooting condition.

[0026]

In summary, according to the present invention, even if an unexpected trouble such as a failure of the index confirmation device, a power failure, a fall or fall of the vitrified body occurs,
The presence state of the vitrified body in the vitrified body index confirmation device can be accurately detected. Therefore, excellent effects such as being able to contribute to a safe and reliable index checking operation and a receiving and discharging operation of a vitrified body are exhibited.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing one embodiment of the method of the present invention.

FIG. 2 is a plan view showing a rotating gantry of the index checking device according to the method of the present invention.

FIG. 3 is an explanatory diagram illustrating an example of image analysis.

FIG. 4 is an explanatory diagram showing an example of an automatic driving method using the method of the present invention.

FIG. 5 is a conceptual diagram showing a state in which a vitrified material is discharged from a vitrified material receiving cell into a discharge cell.

FIG. 6 is an explanatory diagram showing a state in which the vitrified matter discharged from the vitrified body receiving cell is stored in a cooling pipe in a storage facility.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 vitrified solid index checking device 2 rotating frame 3 rotating table 4 ITV camera for index confirmation 15 ITV camera for image analysis G vitrified solid

Claims (2)

[Claims] A method for detecting the presence of an index confirmation device for receiving and discharging a plurality of vitrified bodies in a revolver manner from above, wherein an ITV camera is installed above the index confirmation device, and the ITV camera is provided. The vitrified body index checking device is characterized in that the state of presence and the position of the vitrified body are detected by image processing and analyzing the image of the index checking device photographed in the above. Load detection method. 2. A vitrified body index checking device according to claim 1, wherein a seal is attached to an upper surface of said vitrified body so as to facilitate recognition of the state of presence of said vitrified body. Load detection method.