JP2007057496A - Controller unit of control rod drive exchanger control method for control rod drive exchanger - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control unit of and control method for CRD exchanger which makes CRD exchanging work efficient. <P>SOLUTION: The position coordinates data of a platform and a dolly when attaching a CRD in a housing on reactor pressure vessel side are read. From the read position coordinates data, the travel route of the platform and the dolly are calculated. According to the calculated travel route, the platform and the dolly are controlled to move. The image of the housing that the photographing means provided on the CRD exchanger takes is obtained. By comparing the acquired image with a preserved reference image, the shifts of direction and displacement are calculated. From the calculated shifts of direction and displacement, fine control of movement of the platform and the dolly is made. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a control device and a control method for a CRD (control rod drive mechanism) exchange, and more particularly to a control device and a control method for a CRD exchange suitable for improving the efficiency of CRD exchange work.

  The boiling water reactor is configured such that a large number of CRDs can be attached and detached from the lower part of a vertical cylindrical reactor pressure vessel. A CRD exchanger provided on the lower side (pedestal) of the reactor pressure vessel is used for attaching and removing the CRD. The CRD switch has a platform that rotates in the pedestal and a traveling carriage that moves in a radial direction on the platform in order to match the loading position of each CRD. In addition, there is an elevating carriage that moves up and down on the traveling carriage for attaching / removing the CRD, and a bolt demounting machine that tightens / removes bolts for fixing the RDC to each housing below the reactor pressure vessel. ing. For example, the following patent documents 1 to 4 can be referred to.

Although it is ideal if the CRD replacement work can be performed according to the loading position in the design of the CRD, the actual loading position differs from the design value depending on the accuracy of construction. Furthermore, since the CRD exchanger is carried into the pedestal every time the reactor is regularly inspected, and is carried out at the end of the work, a relative displacement from the pressure vessel also occurs. For these reasons, even if alignment is performed with the design value as a target, alignment by manual operation is necessary at the end. Since this alignment requires visual alignment at the site under the pressure vessel, it is inevitable that an on-site worker will be exposed, and there is a limitation in the working time. In addition, if the deviation between the design value and the actual loading position is large, it is necessary to correct the coordinate value registered in the control device of the CRD exchange. There is also a fear.
Japanese Patent Laid-Open No. 9-197088 Japanese Patent Laid-Open No. 10-90479 JP 2001-194485 A JP 2002-196095 A

  The present invention has been made in consideration of the above circumstances, and provides a control device and a control method for a CRD switch capable of improving the efficiency of CRD replacement work in the control device and control method for a CRD switch. Objective.

  In order to solve the above problems, a control device for a CRD exchange according to the present invention is a control device used to control a CRD exchange having a platform, a traveling carriage, and an imaging means, and the CRD is connected to the reactor pressure vessel side. A coordinate database that holds, as nominal data, position coordinate data of the platform and the traveling carriage when mounted in the housing of the vehicle, a position coordinate data reading unit that reads the held position coordinate data, and the read position A movement route calculation unit that calculates a movement route of the platform and the traveling carriage based on coordinate data, a movement control unit that controls movement of the platform and the traveling carriage according to the calculated movement route, and the movement control unit. The platform after being mobile controlled and A housing image acquisition unit for acquiring an image of the housing imaged by the imaging means provided on the CRD exchange at the position of the traveling carriage, and when the platform and the traveling carriage are at a reference position; A reference image holding unit that holds, as a reference image, an image of the housing that is captured in advance by the imaging unit provided on the CRD exchange, and compares the acquired image with the held reference image in a direction and A position error calculation unit that calculates a displacement deviation, and the movement control unit further has a function of finely controlling the movement of the platform and the traveling carriage based on the calculated direction and displacement deviation. It is characterized by having.

  Another control device for a CRD switch according to an aspect of the present invention is a control device used for controlling a CRD switch having a platform, a traveling carriage, a bolt detacher, and an imaging means. From the acquired image, a housing image acquisition unit for acquiring an image of the housing on the reactor pressure vessel side imaged by the imaging means provided on the CRD exchange when the carriage is at a reference position A bolt image part extraction processing unit that extracts a bolt part; an angle difference calculation unit that compares the extracted bolt image part with a reference bolt image and calculates a difference in rotational direction position as an angle difference; and the calculation And a turning control unit that controls turning of the bolt detaching machine in advance based on the angle difference.

  Further, a control method of a CRD exchanger according to the present invention is a method for controlling a CRD exchanger having a platform, a traveling carriage, and an imaging means, wherein the CRD is installed in a housing on the reactor pressure vessel side. The position coordinate data of the platform and the traveling carriage is held as nominal data, the held position coordinate data is read, and the movement path of the platform and the traveling carriage is determined based on the read position coordinate data. The imaging means provided on the CRD exchange at the position of the platform and the traveling carriage after the movement is calculated and controlled to move the platform and the traveling carriage according to the calculated movement route. Acquires an image of the housing to be imaged, and When the image and the traveling carriage are at a reference position, the image pickup unit provided on the CRD exchange holds an image of the housing imaged in advance as a reference image, and the acquired image A displacement of a direction and a displacement is calculated by comparing with the held reference image, and the movement of the platform and the traveling carriage is finely controlled based on the calculated displacement of the direction and the displacement. To do.

  Further, another CRD exchange control method according to the present invention is a method for controlling a CRD exchange having a platform, a traveling carriage, a bolt detacher, and an imaging means, and the platform and the traveling carriage should be provided. When in the reference position, obtain an image of the reactor pressure vessel housing imaged by the imaging means provided on the CRD exchange, extract a bolt portion from the obtained image, and extract the The difference between the rotation direction position is calculated as an angle difference by comparing the bolt image portion thus obtained with the reference bolt image, and the bolt detacher is controlled in advance based on the calculated angle difference.

  ADVANTAGE OF THE INVENTION According to this invention, in the control apparatus and control method of a CRD exchange, CRD exchange work can be made efficient.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a control device of a CRD exchange according to an embodiment of the present invention. As shown in FIG. 1, the control device 30 includes a coordinate database 31, a position coordinate data reading unit 32, a movement path calculation unit 33, a movement control unit 34, a housing image acquisition unit 35, and a position error calculation unit 37. The control device 30 controls the CRD switch 20 in general, but only the characteristic configuration is shown as a block in the drawing.

  The CRD exchanger 20 that is the control target of the control device 30 is provided on the lower side (pedestal) of the vertical cylindrical pressure vessel 10 as a whole, and the platform 21 that rotates in the pedestal, and the platform 21 A traveling carriage 22 that moves in the radial direction, a lifting carriage 23 that moves up and down on the traveling carriage 22 to attach (contain) / remove (pull out) the CRD 15 into the housing from the lower side of the pressure vessel 10, and a CRD 15 And a bolt demounter 25 for tightening / removing a bolt (not shown) for fixing to the housing. The CRD switch 20 is shown from a schematic side view.

  With such a configuration, the CRD exchanger 20 attaches (contains) / removes (withdraws) the CRD 15 from the lower portion of the pressure vessel 10 to the pressure vessel 10, and replaces each CRD 15. The CRD switch 20 further includes a camera 24 on the traveling carriage 22 as an image pickup unit that can image the housing side from the CRD switch 20 side.

  The coordinate database 31 is a database that holds, as nominal data, the position coordinates of the platform 21 and the traveling carriage 22 when each CRD 15 is attached to the housing on the pressure vessel 10 side. The “nominal data” is because the movement may be finely adjusted after the platform 21 and the traveling carriage 22 are controlled to move by this data (described later). For example, first, the position coordinate data corresponding to the design loading position of each CRD 15 can be used.

  The position coordinate data reading unit 32 reads the position coordinate data held in the coordinate database 31 one by one, for example, according to an instruction from the operator, and sends this to the movement route calculation unit 33. The movement route calculation unit 33 calculates the movement route of the platform 21 and the traveling carriage 22 using the sent position coordinate data. That is, in order to match the current positions of the platform 21 and the traveling carriage 22 with the target CRD housing position, the route for moving the platform 21 and the traveling carriage 22 is calculated. The calculated movement route is sent to the movement control unit 34.

  The movement control unit 34 generates a control signal and outputs the control signal to the platform 21 and the traveling carriage 22 as shown in the figure in order to control the movement of the platform 21 and the traveling carriage 22 according to the calculation result of the sent movement route. . The platform 21 and the traveling carriage 22 are driven and controlled by a drive unit (not shown) according to the sent control signal. In addition, the movement control unit 34 generates a control signal according to the direction and displacement information sent from the position error calculation unit 37 at another timing, and outputs the control signal to the platform 21 and the traveling carriage 22.

  The housing image acquisition unit 35 acquires an image captured by the camera 24 included in the CRD exchange 20. In particular, an image of the vicinity including the housing that is the target of alignment is taken. An image obtained by imaging is sent to the position error calculation unit 37. Note that the image captured by the camera 24 when the platform 21 and the traveling carriage 22 are at the reference position is sent to and held by the reference image holding unit 36 (broken line in the drawing). The “reference position” is a position where the platform 21 and the traveling carriage 22 are finally moved and controlled to attach / remove a certain CRD 15 (that is, a correct position).

  The reference image holding unit 36 is a storage area that holds in advance an image captured by the camera 24 when the platform 21 and the traveling carriage 22 are at the reference position. Since there are a maximum number of “reference positions” for each housing, there can be a maximum number of images accordingly. The position error calculation unit 37 compares the image sent from the housing image acquisition unit 35 with the reference image held in the reference image holding unit 36, and calculates the direction and displacement deviation therebetween. The calculated deviation in direction and displacement is sent to the movement control unit 34.

  Next, the time-series operation of the control device 30 of the CRD exchange 20 shown in FIG. 1 will be described with reference to the flowchart shown in FIG. FIG. 2 is a flowchart schematically showing an operation flow of the control device 30 shown in FIG.

  First, the image of the housing on the pressure vessel 10 side captured by the camera 24 on the CRD exchange 20 when the platform 21 and the traveling carriage 22 are at the reference (that is, correct) position is held in the reference image holding unit 36. (Step 101). Specifically, for example, after the completion, for example, the CRD switch 20 and the control device 30 are trial-run, and the platform 21 and the traveling carriage 22 are placed in the correct positions by manual control and held as images captured by the camera 24. Can do. Alternatively, an image captured by the camera 24 in a state after the movement control of the final platform 21 and the traveling carriage 22 by the control device 30 when the replacement work of the CRD 15 was performed last time may be used.

  The next step 102 is a substantial CRD exchange operation. First, for example, one of the position coordinate data is read from the coordinate database 31 in accordance with an operator instruction (step 102). Subsequently, the movement route calculation unit 33 calculates the movement route of the platform 21 and the traveling carriage 22 based on the read position coordinate data (step 103). Then, the platform 21 and the traveling carriage 22 are controlled by a control signal from the movement control unit 34 according to the calculated movement route (step 104). Thereby, the platform 21 and the traveling carriage 22 are moved to the nominal positions. This position is not always the correct position. One reason for this is that the CRD exchanger 20 is carried into the pedestal every time the reactor is regularly inspected, and is carried out after completion of the work. Therefore, there is a possibility that a relative displacement from the pressure vessel 10 may occur. It is.

  Therefore, next, the housing image acquisition unit 35 acquires an image of the housing on the pressure vessel 10 side captured by the camera 24 on the CRD exchange 20 (step 105). This image also includes information on the relative positional deviation. Then, the acquired image is compared with the image held in the reference image holding unit 36 by the position error calculation unit 37 to calculate the deviation in direction and displacement (step 106).

  Next, the movement control unit 34 finely controls the movement of the platform 21 and the traveling carriage 22 based on the calculated deviation (step 107). Thereby, the platform 21 and the traveling carriage 22 are moved to correct positions. In this state, the CRD 15 is removed from the housing or attached to the housing (step 108). In step 108, of course, control (explanation is omitted) such as raising / lowering control of the raising / lowering carriage 23 is also performed.

  When the removal of the CRD 15 from the housing or the attachment to the housing is completed, unless the replacement operation of the CRD 15 is completed (N in Step 109), the position coordinate data is read again in Step 102 for the next CRD 15 replacement.

  According to this embodiment, it is possible to eliminate the alignment of the CRD exchange 20 by visual manual control, and to improve the efficiency of the CRD exchange work. Moreover, it is also preferable in terms of reducing the exposure of workers.

  Next, a control device for a CRD exchange according to another embodiment of the present invention will be described with reference to FIG. FIG. 3 is a block diagram schematically showing a configuration of a control device of a CRD exchange according to another embodiment of the present invention. 3, components that are the same as or equivalent to the components shown in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.

  This embodiment is configured such that the position coordinates of the platform 21 and the traveling carriage 22 in a state after the platform 21 and the traveling carriage 22 are finely controlled are acquired, and thereby the coordinate database 31 can be updated. Yes. For this reason, the control device 30 </ b> A of this embodiment newly includes a fine adjustment control end monitoring unit 41 and a coordinate database update unit 42.

  The fine adjustment control end monitoring unit 41 detects that the platform 21 and the traveling carriage 22 are after fine adjustment control, and acquires the actual position coordinates of the platform 21 and the traveling carriage 22 at that time. . The acquired position coordinates are sent to the coordinate database update unit 42. The coordinate database update unit 42 updates the contents of the coordinate database 31 with the received position coordinates.

  FIG. 4 is a flowchart showing a particularly characteristic portion of the operation flow of control device 30A shown in FIG. That is, Step 107 to Step 107b shown in FIG. 4 are provided instead of Step 107 in FIG. 2, and the flow of the remaining part shown in FIG. 2 is the same.

  In step 107, after the platform 21 and the traveling carriage 22 are finely controlled, in this embodiment, the movement of the platform 21 and the traveling carriage 22 is monitored by the fine adjustment control end monitoring unit 41 to detect the end (step). 107a). Thereby, the fine adjustment control end monitoring unit 41 acquires the position coordinates of the platform 21 and the traveling carriage 22 in that state (the first half of Step 107b), and sends the acquired position coordinates to the coordinate database update unit 42. The coordinate database update unit 42 updates the coordinate database 31 with the sent position coordinates (the second half of step 107b).

  According to this embodiment, when the position coordinate data registered in the coordinate database 31 and the actual position coordinates are different, the data in the coordinate database 31 is mechanically updated with the actual position coordinates. . That is, it is possible to save time and labor for updating and registering manually. Efficient work can be achieved by eliminating human errors such as input errors.

  FIG. 4 has been described as an embodiment added to the operation flow shown in FIG. 2, but mechanical update of the coordinate database 31 as shown in FIG. 4 is performed by step 107 in which the platform 21 and the traveling carriage 22 are manually controlled. This is also useful for fine adjustment control (in this case, steps 105 and 106 are unnecessary).

  Next, a control device for a CRD exchange according to still another embodiment of the present invention will be described with reference to FIG. FIG. 5 is a block diagram schematically showing a configuration of a control device of a CRD exchange according to still another embodiment of the present invention. In FIG. 5, the same or equivalent components as those shown in FIG. 3 are denoted by the same reference numerals, and the description thereof is omitted.

  In this embodiment, when a part of the position coordinate data in the coordinate database 31 is updated by the coordinate database update unit 42, correction calculation is performed on the position coordinate data that has not been updated using the updated data. The coordinate database 31 can be further updated based on the calculated result. Therefore, the control device 30B of this embodiment newly includes a correction calculation unit 51 and a coordinate database update unit 52 in addition to the configuration shown in FIG.

  The correction calculation unit 51 performs correction calculation on data that has not been updated by the coordinate database update unit 42 among the position coordinate data in the coordinate database 31 using a part or all of the data updated by the coordinate database update unit 42. To do. The result of the correction calculation is sent to the coordinate database update unit 52. The coordinate database update unit 52 updates the contents of the coordinate database 31 with the corrected result sent thereto.

  FIG. 6 is a flowchart showing a particularly characteristic portion of the operation flow of the control device 30B shown in FIG. That is, Step 107 to Step 107d shown in FIG. 6 are provided instead of Step 107 in FIG. 2, and the remaining part of the flow shown in FIG. 2 is the same. Steps 107a and 107b shown in FIG. 6 are the same as those shown in FIG. The flow shown in FIG. 6 is not always provided in place of step 107 in FIG. 2, but step 107 in FIG. 2 is replaced by the flow shown in FIG. 4 in a part of the loop created by step 109. This is to wait until the update performed by the coordinate database update unit 42 is completed to some extent.

  In step 107b, after the coordinate database update unit 42 updates the coordinate database 31 with the current position coordinates of the platform 21 and the traveling carriage 22, in this embodiment, the data in the coordinate database 31 updated so far is used. The correction calculation unit 51 performs correction calculation on the data that has not been updated (step 107c). The result of the correction calculation is sent to the coordinate database update unit 52, whereby the coordinate database 31 is further updated (step 107d).

  The specific content of the correction calculation is, for example, that the coordinate database 31 is updated for some of the outermost housings of the CRD 15, and the position coordinate data is corrected by interpolation for other housings. It is possible. Further, assuming that some coordinate databases 31 have been updated for the ones that are not the outermost ones, it is conceivable to correct the position coordinate data by interpolation or extrapolation for other housings.

  According to this embodiment, the appropriate update of the coordinate database 31 is completed in a shorter time. Further, since the update is performed mechanically, it is possible to eliminate human errors such as input mistakes and improve work efficiency. This embodiment is also useful when step 107 is fine adjustment control of the platform 21 and the traveling carriage 22 by manual control.

  Next, a control device for a CRD exchange according to still another embodiment of the present invention will be described with reference to FIG. FIG. 7 is a block diagram schematically showing a configuration of a control device of a CRD exchange according to still another embodiment of the present invention. In FIG. 7, the same or equivalent parts as those shown in the already described figures are designated by the same reference numerals, and the description thereof is omitted.

  This embodiment is configured such that the rotational direction of the bolt demounter 25 included in the CRD exchanger 20 can be adjusted in advance to the position of the bolt for removing the bolt on the housing side when the CRD 15 is detached from the housing. ing. For this reason, in addition to the components shown in FIG. 1, the control device 30C of this embodiment newly includes a bolt image partial extraction processing unit 61, a bolt image holding unit 62, an angle difference calculation unit 63, and a turning control unit 64. Have.

  The bolt image partial extraction processing unit 61 uses an image acquired by the housing image acquisition unit 35 from the camera 24 when the platform 21 and the traveling carriage 22 are in a correct position (for example, after fine adjustment control as described above). The bolt portion is extracted from the image by image processing, for example. The extracted image of the bolt part is sent to the angle difference calculation unit 63. The bolt image holding unit 62 holds a reference bolt image. This reference image is held, for example, as the position of a bolt that fits the wrench of the bolt detacher 25 when the bolt detacher 25 is at an initial position in the rotational direction.

  The angle difference calculation unit 63 compares the bolt image portion sent from the bolt image portion extraction processing unit 61 with the reference image of the bolt image holding unit 62, and calculates the difference between the rotation direction positions as an angle. The calculated angle difference is sent to the turning control unit 64. The turning control unit 64 outputs a control signal for controlling the rotational direction position of the bolt demounter 25 of the CRD exchanger 20 based on the sent angle difference. The output control signal is sent to the bolt remover 25 as shown in the figure. The bolt detacher 25 is driven and controlled by a drive unit (not shown) according to the sent control signal.

  FIG. 8 is a configuration diagram schematically showing an enlarged housing of the bolt detaching machine 25 and the CRD 15 shown in FIG. As illustrated, a plurality of bolts 15b of the housing 15a are provided on the same circumference. On the other hand, the bolt detaching machine 25 has a wrench 25a corresponding to each bolt 15b. When the rotational direction position of the bolt detacher 25 is an appropriate position, the position of the wrench 25a of the bolt detacher 25 is aligned with the position of each bolt 15b on the housing 15a side.

  FIG. 9 is a flowchart showing a particularly characteristic part of the operation flow of the control device 30C shown in FIG. That is, steps 108a to 108 shown in FIG. 9 are provided instead of step 108 in FIG. The rest of the flow shown in FIG. 2 can be the same.

  After the platform 21 and the traveling carriage 22 are fine-tuned and controlled in step 107, the housing image acquisition unit 35 acquires a housing image captured by the camera 24 on the CRD exchange 20 (step 108a). Next, the bolt image portion extraction processing unit 61 extracts a bolt portion from the acquired image of the housing (step 108b). Then, the extracted bolt image portion is compared with the reference bolt image, and the difference in rotational direction is calculated as an angle difference by the angle difference calculation unit 63 (step 108c).

  Next, the turning control unit 64 outputs a control signal based on the calculated angle difference, whereby the turning of the bolt demounter 25 is controlled in advance (step 108d). After this turning control, step 108 is performed. Step 108 can be both removal of the CRD 15 from the housing and attachment to the housing. In either case, the present embodiment is useful for tightening / removing the bolt 15b.

  According to this embodiment, the rotational direction movement of the bolt detacher 25 is mechanically performed according to the position of the bolt 15b on the housing 15a side. Therefore, it is not necessary to align the bolt demounter 25 by manual control, and the CRD replacement work can be made more efficient. Although this embodiment has been described as being added to the flow shown in FIG. 2, it is also useful as a single form in which only the characteristic part is realized. Further, the functions shown in FIGS. 4 and 6 can be added to further enhance the functionality.

The block diagram which shows schematic structure of the control apparatus of the CRD exchange which concerns on one Embodiment of this invention. The flowchart which shows roughly the operation | movement flow of the control apparatus shown in FIG. The block diagram which shows schematically the structure of the control apparatus of the CRD exchange which concerns on another embodiment of this invention. 4 is a flowchart showing a particularly characteristic part of the operation flow of the control device shown in FIG. 3. The block diagram which shows schematically the structure of the control apparatus of the CRD exchange which concerns on another embodiment of this invention. 6 is a flowchart showing a particularly characteristic part of the operation flow of the control device shown in FIG. 5. The block diagram which shows schematically the structure of the control apparatus of the CRD exchange which concerns on another embodiment of this invention. The block diagram which expands and schematically shows the housing of the bolt detaching machine and the CRD shown in FIG. 8 is a flowchart showing a particularly characteristic part of the operation flow of the control device shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Pressure vessel, 15 ... CRD, 15a ... Housing, 15b ... Bolt, 20 ... CRD exchange machine, 21 ... Platform, 22 ... Running cart, 23 ... Lifting cart, 24 ... Camera, 25 ... Bolt remover, 25a ... Wrench, 30, 30A, 30B, 30C ... control device, 31 ... coordinate database, 32 ... position coordinate data reading unit, 33 ... movement path calculation unit, 34 ... movement control unit, 35 ... housing image acquisition unit, 36 ... reference image holding unit 37 ... Position error calculation unit 41 ... Fine adjustment control end monitoring unit 42 ... Coordinate database update unit 51 ... Correction calculation unit 52 ... Coordinate database update unit 61 ... Volt image partial extraction processing unit 62 ... Volt image Holding unit, 63 ... angle difference calculation unit, 64 ... turning control unit.

Claims (6)

A control device used to control a CRD exchange having a platform, a traveling carriage and an imaging means,
A coordinate database that holds, as nominal data, position coordinates data of the platform and the traveling carriage when the CRD is mounted in the housing on the reactor pressure vessel side;
A position coordinate data reading unit for reading the held position coordinate data;
A movement route calculation unit for calculating a movement route of the platform and the traveling carriage based on the read position coordinate data;
A movement control unit for controlling movement of the platform and the traveling carriage according to the calculated movement route;
A housing image acquisition unit for acquiring an image of the housing imaged by the imaging means provided on the CRD exchange at the position of the platform and the traveling carriage after the movement control by the movement control unit;
A reference image holding unit for holding, as a reference image, an image of the housing previously captured by the imaging unit provided on the CRD exchange when the platform and the traveling carriage are at a reference position;
A position error calculator that compares the acquired image with the held reference image to calculate a deviation in direction and displacement;
The control apparatus for a CRD exchange, wherein the movement control unit further has a function of finely adjusting movement of the platform and the traveling carriage based on the calculated direction and displacement. A fine adjustment control end monitoring unit that monitors that fine adjustment control of movement of the platform and the traveling carriage by the movement control unit is completed;
And further comprising: a first coordinate database updating unit that obtains position coordinates of the platform and the traveling carriage when the fine adjustment control is completed and updates the nominal data of the coordinate database. Item 4. A control device for a CRD exchange according to Item 1. Using a part or all of the updated data, a correction calculation unit that performs correction calculation for the remaining data in the coordinate database;
The control apparatus for a CRD exchange according to claim 2, further comprising: a second coordinate database update unit that updates the remaining data of the coordinate database according to a result of the correction calculation. A control device used for controlling a CRD exchange having a platform, a traveling carriage, a bolt detacher, and an imaging means,
A housing image acquisition unit for acquiring an image of the housing on the reactor pressure vessel side captured by the imaging means provided on the CRD exchange when the platform and the traveling carriage are at a reference position;
A bolt image part extraction processing unit for extracting a bolt part from the acquired image;
An angle difference calculation unit that compares the extracted bolt image portion with a reference bolt image and calculates a difference in rotational direction position as an angle difference; and
A control device for a CRD exchange, comprising: a turning control unit that performs turning control of the bolt demounter in advance based on the calculated angle difference. A method for controlling a CRD switch having a platform, a traveling carriage and an imaging means,
The position coordinate data of the platform and the traveling carriage when the CRD is mounted in the reactor pressure vessel side housing is held as nominal data,
Read the held position coordinate data,
Calculate the movement path of the platform and the traveling carriage based on the read position coordinate data,
Movement control of the platform and the traveling carriage according to the calculated movement route;
Obtaining an image of the housing imaged by the imaging means provided on the CRD exchange at the position of the platform and the traveling carriage after the movement control;
When the platform and the traveling carriage are at a reference position, the image pickup unit provided on the CRD exchange holds an image of the housing imaged in advance as a reference image.
Comparing the acquired image with the held reference image to calculate a deviation in direction and displacement,
A control method for a CRD exchange, wherein fine movement control of movement of the platform and the traveling carriage is performed based on the calculated direction and displacement deviation. A method for controlling a CRD switch having a platform, a traveling carriage, a bolt detacher, and an imaging means,
When the platform and the traveling carriage are at a reference position, obtain an image of the reactor pressure vessel side image taken by the imaging means provided on the CRD exchange,
Extracting a bolt part from the acquired image;
Comparing the extracted bolt image portion with a reference bolt image to calculate a difference in rotational direction position as an angular difference,
A control method for a CRD exchange, wherein the bolt demounter is swiveled in advance based on the calculated angle difference.

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