JP2008122078A - Detection device of position in pipe - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a detection device of a position in a pipe capable of determining sound speed accurately even without information on transmission and reception positions of the sound in the pipe filled with water, and resultantly detecting accurately the position of an inspection device. <P>SOLUTION: The underwater sound 47 emitted from a sound wave transmitter 32 loaded on ROV 11 for inspection is propagated in the water in a PLR pipe 7, and can be received by a sound wave receiver 39 loaded on ROV 13 for support. Each route distance in the PLR pipe 7 of the ROV 11 for inspection and the ROV 13 for support, namely, a relative distance between the ROV 13 for support and the ROV 11 for inspection, is calculated from a difference of each transmission and reception timing of the underwater sound 47 and the underwater sound speed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an in-pipe position detection device that detects the position of an inspection device that inspects the inside of a pipe, and in particular, visually inspects a component part of a reactor under the surface of water in a reactor pressure vessel, so-called VT (visual). In piping suitable for testing VT inside peripheral piping such as primary coolant recirculation piping (PLR piping) and jet pumps, which are used in inspection equipment that conducts testing (Visual Testing) and constitute the nuclear reactor The present invention relates to a position detection device.

  As the position detection technology in the pipe, first, it relates to the gas leak detection method of the buried pipe, and detects the gas leak sound outside the pipe while moving the underwater microphone into the detection pipe filled with water inside. Is known (see, for example, Patent Document 1).

  Secondly, it relates to a distance measuring device, a flow velocity measuring device, and a sound velocity measuring device in a pipe, and to accurately detect the reception time from the envelope of the received waveform in order to accurately detect the reception time of the sound wave. There is known a signal processing device that calculates a distance by multiplying the difference in arrival time of sound by the speed of sound (see, for example, Patent Document 2).

JP-A-8-94481 JP 2004-28967 A

  However, in the one described in Patent Document 1, the position of the underwater microphone is detected by a distance meter such as a rotary distance meter by marking the inserted wire and visually reading the moving distance. This method cannot be applied to an inspection vehicle connected with a floating cable for navigating in a pipe. The reason is that in an inspection vehicle connected by a floating type cable, the cable is floating, so that an error occurs between the traveling distance and the cable feeding distance.

  Moreover, in the thing of patent document 2, since the sound propagation time and a sound speed are multiplied, the error by the slack of a cable does not generate | occur | produce, but when there is an error in the way of giving a sound speed, there exists a problem that it becomes an error of a detection distance as a result. . Patent Document 2 also discloses a technique for accurately configuring the sound speed from the acoustic transmission / reception position and the acoustic propagation time as another technique, but is not applicable to an environment where there is no information regarding the acoustic transmission / reception position. .

  An object of the present invention is to provide a position in a pipe that can accurately give the speed of sound and, as a result, accurately detect the position of an inspection apparatus, even in the absence of information on the transmission / reception position of the sound in the pipe filled with water. It is to provide a detection device.

(1) In order to achieve the above object, the present invention provides an acoustic vehicle generated by a sound source mounted on an inspection vehicle that inspects the inside of a pipe filled with water, and a support vehicle that supports navigation of the inspection vehicle. An in-pipe position detection device having an acoustic propagation time detection means for detecting an acoustic propagation time between the inspection vehicle and the support vehicle from a time difference between sounds received by an acoustic detector mounted on the pipe. A sound speed setting means for setting the sound speed of the vehicle, and an inter-vehicle distance detection means for calculating a distance between the two vehicles from the sound speed in the pipe set in the sound speed setting means and the acoustic propagation time. It is.
With this configuration, the position of the inspection apparatus can be accurately detected.

  (2) In the above (1), preferably, the sound speed setting means is a sound speed input means for inputting the sound speed in the pipe.

  (3) In the above (1), preferably, the sonic speed setting means is a pipe diameter input means for inputting an inner diameter of the pipe, and a straight pipe sound speed calculation means for calculating a specific sound speed in the pipe from the inner diameter of the pipe. It is comprised from.

  (4) In the above (1), preferably, the sonic speed setting means includes a pipe diameter input means for inputting an inner diameter of the pipe, a pipe curvature number input means for inputting the number of bends of the pipe, It is composed of a curved pipe sound speed calculating means for calculating a specific sound speed in the pipe from the inner diameter and the number of pipes.

  (5) In the above (1), preferably, the sound speed setting means includes an inspection vehicle reference position input means for inputting a position of the inspection vehicle, and a support vehicle reference position for inputting the position of the support vehicle. It comprises input means, calibrated sound velocity calculating means for calculating the sound velocity in the pipe from the position of the inspection vehicle and the support vehicle and the acoustic propagation time.

  According to the present invention, even if there is no information about the transmission / reception position of the sound in the pipe filled with water, the speed of sound can be accurately given, and as a result, the position of the inspection apparatus can be accurately detected.

Hereinafter, the configuration and operation of the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention will be described with reference to FIGS. The present embodiment relates to an inspection apparatus used for visual inspection inside a nuclear reactor, particularly for PLR (Primary Loop Re-circulation System) piping inspection.
First, the configuration of a nuclear reactor and its inspection method to be inspected by the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 1 is a cross-sectional view of a main part showing a configuration of a nuclear reactor to be inspected by an underwater inspection apparatus equipped with an in-pipe position detection apparatus according to a first embodiment of the present invention.

  Inside the nuclear reactor 1, there are structures such as a shroud 2, an upper lattice plate 3, a core support plate 4, a shroud support 5, and a jet pump 6, and piping such as a PLR piping 7 is connected.

  The flow of the primary cooling water in the primary cooling water recirculation system of the nuclear reactor returns from the inlet nozzle 8a to the nuclear reactor 1 via the outlet nozzle 8b, the PLR pump (not shown), and the PLR pipe 7. In addition, an operation floor 9 that is a work space is provided in the upper part of the nuclear reactor 1, and a fuel changer 10 is also provided in the upper part.

  In the present embodiment, for the purpose of VT inspection of the inner surface of the PLR pipe 7 of the nuclear reactor, the following equipment arrangement is taken. An inspection ROV (Remotely Operated Vehicle) 11 inserted into the pipe is connected to a support ROV 13 via a secondary cable 12. Here, the inspection ROV 11 is also referred to as an inspection vehicle, and the support ROV 13 is also referred to as a support vehicle.

  In the inspection work in the PLR pipe 7, the support ROV 13 is moved by remote control, and the upper part is positioned above the jet pump 6 from which the upper part is removed and stopped. Thereafter, the support ROV 13 started from the support ROV 13 passes through the jet pump 6 and the inlet nozzle 8a and enters the PLR pipe 7. The upper part of the jet pump 6 can be removed from the work space of the fuel changer 10 by hooking and lifting the upper part of the jet pump 6 with a crane or the like.

  The support ROV 13 is equipped with a mechanism (described later) for feeding out the secondary cable 12, supports navigation of the inspection ROV 11, and has position detection means (described later) for detecting the position of the inspection ROV 11. Yes. The support ROV 13 is connected to the control device 15 via the primary cable 14.

  The control device 15 supplies a power to cause the inspection ROV 11 and the support ROV 13 to migrate in the water and navigate, and has a signal processing function (described later) for detecting the positions of the inspection ROV 11 and the support ROV 13. It is installed. Further, a display device 16 is connected to the control device 15 to display an image of a camera (described later) mounted as an imaging means on the inspection ROV 11 and the support ROV 13, and the inspection ROV 11 detected by the control device 15 and the support ROV 11. The position of the ROV 13 is displayed. Further, a controller 17 is connected to the control device 15 and is operated by the ROV operator 18a.

  On the other hand, in order to detect the position of the support ROV 13, the underwater ITV camera 19 equipped with a stereo camera (described later) is dropped to a position where the support ROV 13 can be visually recognized. In this method, two underwater ITV camera operation cables 20 are connected to the underwater ITV camera 19 at an interval, and the underwater ITV camera 19 is suspended from above the fuel changer 10 by using the underwater ITV camera operation cable 20. The ITV camera operator 18 b drops it into the water of the reactor 1. The video of the underwater ITV camera 19 is input to the control device 15 via the underwater ITV camera cable 21.

  The underwater ITV camera 19 dropped in the water can change the depth below the surface of the water by adjusting the hanging length of the underwater ITV camera operation cable 20, and the position is supported by the underwater ITV camera operation cable 20 at that depth. Retained. The vertical and horizontal orientations of the underwater ITV camera 19 can be adjusted by individually operating the two underwater ITV camera operation cables 20 by the ROV operator 18b.

  For example, when the two underwater ITV camera operation cables 20 are simultaneously lifted upward from the top of the fuel changer 10, the position of the underwater ITV camera 19 moves upward, and conversely, when it is extended downward, the position of the underwater ITV camera 19 is Moves down. Further, of the two underwater ITV camera operation cables 20, one of the underwater ITV camera operation cables 20 is lifted up or extended downward, so that two underwater ITV cameras from the fuel changer 10 to the underwater ITV camera 19 are provided. By making the length of the operation cable 20 relatively different, the vertical direction of the underwater ITV camera 19 can be changed.

  In addition, the right and left direction of the underwater ITV camera 19 can be adjusted by rotating one of the two underwater ITV camera operation cables 20 around the other underwater ITV camera operation cable 20. .

  In addition, since the underwater ITV camera 19 is suspended and supported vertically by the underwater ITV camera operation cable 20 from the fuel changer 10, the length of the underwater ITV camera operation cable 20 from the fuel changer 10 to the underwater ITV camera 19 is set underwater. By observing the scale on the ITV camera operation cable 20 and recognizing it by the ROV operator 18a, the vertical coordinates of the underwater ITV camera 19 in the vertical direction from the suspended position on the fuel changer 10 can be determined. In addition, since the plane coordinates of the suspended position on the fuel changer 10 are known in advance, the three-dimensional coordinates relating to the position of the underwater ITV camera 19 can be found together with the previous vertical coordinates.

Next, another inspection method using the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 2 is an explanatory diagram of another inspection method by the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  In this inspection method, unlike FIG. 1, the underwater inspection apparatus is entered from the outlet nozzle 8 b side into the reactor of the primary coolant recirculation system connected to the PLR pipe 7. In this case, since the jet pump 6 is not provided, the support ROV 13 can enter the PLR pipe 7. As described above, the support ROV 13 has an external shape that can enter the PLR pipe 7, but is wider than the inspection ROV 11.

  The underwater ITV camera 19 takes the inside of the PLR pipe 7 from the outlet nozzle 8b and drops it to a position where it can be seen. The support ROV 13 advances and stops in a range that does not deviate from the field of view of the underwater ITV camera 19, for example, just before the corner of the first PLR pipe 7 as viewed from the outlet nozzle 8b. Therefore, the inspection ROV 11 is started, and a visual inspection is performed by the VT inside the PLR pipe 7 ahead.

Next, the configuration of the inspection ROV 11 constituting the underwater inspection device equipped with the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 3 is a cross-sectional view of the main part of the inspection ROV that constitutes the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  The inspection ROV 11 has a built-in inspection camera 22 and illumination 23 to enable visual inspection in front. The ROV operator 18a controls the inspection ROV 11 while viewing the video.

  The main body of the inspection ROV 11 has an upper and lower penetrating portion at the center in the front-rear direction, and an elevating thruster 26 is installed therein. In addition, two propulsion thrusters 24 for moving forward and backward are installed horizontally at the rear.

  The lifting thruster 26 is driven by a lifting motor 27 via a magnet coupling 29A and a gear 28. The propulsion thruster 24 is driven by the propulsion motor 25 via the magnet coupling 29B. A thruster guard 30 is provided around the thruster 24 for propulsion.

  Also in the lower back. A storage claw 31 to be hooked when storing in the support ROV 13 is attached as means for hooking the inspection ROV 11 to the support ROV 13. A method of using the storage claw 31 will be described later with reference to FIG. Furthermore, an acoustic transmitter 32 used for detecting the position of the inspection ROV is attached to the upper rear part.

Next, the configuration of the support ROV 13 that configures the underwater inspection device equipped with the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 4 is a cross-sectional view of the main part of the support ROV that constitutes the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  A camera 33 is installed in front of the support ROV 13, and the inspection ROV 11 after visual observation during the navigation and the separation is used for visual monitoring. Similarly to the inspection ROV 11, the elevating thruster 34A is driven using the thruster motor 35A, and the propulsion thrusters 34B and 34C are driven using the propulsion motors 35B and 35C.

  Further, the support ROV 13 is equipped with a winch 37a for feeding and winding the secondary cable 12 connected to the inspection ROV 11, and is driven by the winch motor 37b. A signal passing through the secondary cable 12 wound around the winch 37 a is transmitted to the control device 15 via the communication circuit 36 and the primary cable 14. The underwater sound received by the sound receiver 39 is processed by the underwater sound processing circuit 40 and then transmitted to the control device 15 via the communication circuit 36 and the primary cable 14. Further, the communication circuit 36 selects which one of the motors of the support ROV 13 or each of the motors of the inspection ROV 11 is driven, and supplies the thruster driving power from the control device 15 to each motor of the selected ROV. .

  Further, the support ROV 13 has a structure in which an inspection ROV storage rail 38 is installed and integrated with the inspection ROV 11.

Next, the storage state of the inspection ROV 11 and the support ROV 13 that constitute the underwater inspection apparatus equipped with the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 5 is an explanatory diagram of the storage state of the inspection ROV and the support ROV that constitute the underwater inspection device equipped with the in-pipe position detection device according to the first embodiment of the present invention. FIG. 5A is a perspective view, and FIG. 5B is a front view. The same reference numerals as those in FIG. 1 indicate the same parts.

  As shown in FIG. 5A, the inspection ROV 11A in the swimming state is attracted to the front portion of the support ROV 13 by the winding operation of the winch 37, and the inspection ROV storage rail is operated by the operation of the thruster of the inspection ROV 11A itself. 38 is stored in reverse from the front. The inspected ROV 11B in the retracted state is fixed to the inspecting ROV storage rail 38 by the storage pawl 31 as shown in FIG.

Next, the configuration of the underwater ITV camera 19 used in the underwater inspection apparatus equipped with the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 6 is a perspective view of the underwater ITV camera used in the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  The underwater ITV camera 19 is equipped with a stereo camera 43 and a halogen lamp 44 for ensuring visibility for the purpose of monitoring the supporting ROV 13 and detecting the position. The signal of the stereo camera 43 is transmitted to the control device 15 via the camera cable 45, the camera relay unit 46, and the underwater ITV camera cable 21. At the same time, the power of the camera 43 and the lamp 44 is supplied from the control device 15 through the same transmission path.

Next, the detection principle of the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 7 is an explanatory diagram of the detection principle of the in-pipe position detection device according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  When underwater sound is emitted from the sound wave transmitter 32 mounted on the inspection ROV 11, sound waves propagate through the water in the PLR pipe 7 as underwater sound 47 and are received by the sound wave receiver 39 mounted on the support ROV 13. It is known that the underwater acoustic 47 propagates even if there is a corner in the PLR pipe 7 by Huygens' principle. Here, the underwater acoustic 47 is incident on the PLR pipe 7 from the water in the pipe and propagates through the PLR pipe 7, but the underwater acoustic impedance is extremely small compared to the acoustic impedance of the PLR pipe 7, It does not return to the water again and can be ignored when receiving sound waves in the water. Also, the route through which the secondary cable 12 contacts the PLR pipe 7 and the sound wave propagates from there is conceivable. However, the surface of the cable is resin or rubber, and the acoustic impedance is similar to that of the PLR pipe 7 as in water. Since it is sufficiently small, it is not received by the sound wave receiver 39 and can be ignored.

  Therefore, with the configuration of this example, the sound wave receiver 39 mounted on the support ROV 13 can receive only the underwater sound 47 transmitted through the water inside the PLR pipe 7, and the inspection ROV 11 and the support ROV 13. The distance in the PLR pipe 7, that is, the relative distance between the support ROV 13 and the inspection ROV 11 can be calculated from the difference in transmission / reception timing (acoustic propagation time) of the underwater sound 47 and the underwater sound speed.

Next, the configuration of the in-pipe position detection device according to the present embodiment will be described with reference to FIG.
FIG. 8 is a block diagram showing the configuration of the in-pipe position detection device according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  The pulse signal generated by the pulse generator 51 is amplified by the power amplifier 52 and transmitted to the sound wave generator 32 in the inspection ROV 11 via the secondary cable 12. The underwater sound 47 generated by the sound wave generator 32 is received by the sound wave receiver 39 installed in the front part of the support ROV 13. The sound wave receiver 39 is connected to the underwater sound processing circuit 40, and the received underwater sound 47 is converted into an electric signal and processed. Thereafter, the signal is amplified by the signal amplifier 53 and input to the CPU 54 that performs cross-correlation processing. The CPU 54 performs a cross-correlation process with the pulse signal from the pulse generator 51, calculates a time difference, and multiplies the underwater sound speed to calculate a propagation distance. The result is input by the communication unit 55 and transmitted to the control device 15 via the primary cable 14.

Next, a display example on the display device 16 used in the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 9 is an explanatory diagram of a display example in the display device used in the underwater inspection device equipped with the in-pipe position detection device according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  In the ROV position display section 60 of the display device 16, a simplified structure diagram 61, a support ROV position display mark 62, and an inspection ROV position display mark 63 are displayed. The ROV coordinate display unit 64 displays the absolute positions of the support ROV 13 and the inspection ROV 11. Further, an image of the camera 33 of the support ROV 13 is displayed on the support ROV video display unit 65, and an image of the camera 22 of the support ROV 13 is displayed on the inspection ROV video display unit 66. FIG. 9 shows an example in which a defect 67 is shown in the inspection ROV video display unit 66.

Next, the configuration of the controller 17 used in the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 10 is a plan view showing a configuration of a controller used in the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. The same reference numerals as those in FIG. 1 indicate the same parts.

  The controller 17 is used to control the inspection ROV 11 and the support ROV 13. The power switch 70 is turned on, energization is confirmed with the power LED 71, and the ROV to be controlled is selected with the ROV changeover switch 72. The three-dimensional operation of the selected ROV is operated by the forward / backward / left / right lever 73 and the lifting / lowering lever 74. Further, the secondary cable operation lever 75 can be operated only when the support ROV 13 is selected by the ROV changeover switch 72, and is used when the secondary cable 12 is sent out and wound. The cable 76 is connected to the control device 15 and transmits the above operations to the inspection ROV 11 and the support ROV 13.

Next, the system configuration of the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 11 is a system configuration diagram of an underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention. 3, 4, 6 and 8 to 10 indicate the same parts.

  In the figure, the operation of the controller 17, the switching operation in the support ROV 13 and the motor drive are as described above. Further, the signal of the underwater acoustic processing circuit 40 in the support ROV 13 is input to the position locating CPU 80 in the control device 15.

  The control device 15 includes a storage device 81 that stores CAD data, and transmits the data to the CPU 80. In addition, the coordinates of the underwater ITV camera 19 and the speed of sound in the pipe can be input from the keyboard 82 attached to the control device 15. Furthermore, the video of the stereo camera 43 of the underwater ITV camera 19 is input to the image processing board 83, digitized, and input to the CPU 80. The position information of the inspection ROV 11 and the support ROV 13 calculated by the CPU 80 is transmitted to the display device 16 and displayed on the ROV coordinate display unit 64. Further, the image of the inspection camera 22 of the inspection ROV 11 is displayed on the inspection ROV video display unit 66.

  The support ROV absolute position detecting means for detecting the absolute position of the support ROV 13 is an image processing using the above-mentioned underwater ITV camera 19, the stereo camera 43 incorporated therein, and an image taken by the stereo camera 43 as input. The relative position of the support ROV 13 from the underwater ITV camera 19 whose absolute position is known by the CPU 83 that receives the digital signal obtained by digitizing the information of the image by the board 83, the image processing board 83, and the CPU 80; A processing program for calculating the absolute position of the support ROV 13 from the relative position and the absolute position of the underwater ITV camera 19 and a display device 16 for displaying the position information of the support ROV 13 calculated by the calculation. .

  The inspection vehicle absolute position calculation means for detecting the absolute position of the inspection ROV 11 is the acoustic propagation time calculated by the underwater acoustic processing circuit 40 and the pipe to be inspected necessary to define the traveling direction of the inspection ROV 11. A processing program for calculating the position of the inspection ROV 11 based on the sound velocity Vw input from the storage device 81 and the keyboard 82 in which a CAD database including setting directions is stored; and a CPU 80 for executing the calculation by the processing program; The display device 16 is provided for displaying the position of the inspection ROV 11 obtained by the calculation process.

Next, the contents of the position calculation process of the inspection ROV 11 in the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIGS.
FIGS. 12-16 is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention.

  First, the overall processing content of the position calculation procedure of the inspection ROV 11 will be described with reference to FIG.

  When the process is started in step 90, it is determined in step 91 whether the inspection ROV 11 has arrived at the pipe inlet to be inspected. Whether or not the inspection ROV 11 has arrived at the pipe inlet to be inspected is determined by an image obtained by the camera 33 in front of the support ROV 13.

  When the inspection ROV 11 arrives at the pipe inlet to be inspected, in step S92, the position locating CPU 80 of the control device 15 executes an initialization process. Details of the initialization process will be described later with reference to FIG.

  When the initialization process is completed, the position locating CPU 80 performs support ROV position detection in step 93 (details are shown in FIG. 15), and performs ROV position detection for inspection in step 94 (details are shown in FIG. 16). In step 95, the result is displayed on the ROV position display unit 60 and the ROV coordinate display unit 64 of the display device 16, and steps 93 to 95 are repeated.

  Next, the contents of the initialization process (step 92 in FIG. 12) when calculating the position of the inspection ROV 11 will be described with reference to FIG. Each step of FIG. 13 is executed by the position determining CPU 80 of the control device 15.

  First, at step 100, the position (XITV, YITV, ZITV) of the underwater ITV camera 19 is input from the keyboard 82. Here, XITV, YITV, and ZITV are X, Y, and Z three-dimensional coordinates that represent the position of the underwater ITV camera 19, respectively.

  Next, in step 101, the position (XS, YS, ZS) of the support ROV 13 is detected. Here, XS, YS, ZS are three-dimensional coordinates of X, Y, Z representing the position of the support ROV 13, respectively. The processing in this step is the same as that in step 93 in FIG. 12, and details thereof will be described later with reference to FIG.

  Next, in step 102, piping installation direction data (Part, n, L, θ, φ) is read from the storage device 81 of the control device 15.

  Next, in step 103, the position (Xi, Yi, Zi) of the inspection ROV 11 is initialized. In this method, the inspection target pipe entrance coordinates are input from the keyboard 82.

  Finally, in step 104, the in-pipe underwater sound velocity Vw is input from the keyboard 82.

  Next, the contents of the piping direction database used for calculating the position of the inspection ROV 11 will be described with reference to FIG.

  This data consists of five elements (Part, n, L, θ, φ). Part is a pipe name such as PLR1, for example, and is the name of the pipe through which the inspection ROV 11 travels. n is the node number when the direction of the piping is changed, and is the number of corners passing from the start point. L is the distance between the corners, and means the distance from the corner immediately before the corresponding node number. θ and φ indicate the absolute azimuth angle and absolute elevation angle of the pipe in the corresponding section, respectively. Note that this data is only for the straight line portion, and the break of the section is the center position of the corner.

  Next, a method for detecting the position (XS, YS, ZS) of the support ROV 13 will be described with reference to FIG. When the storage claw 31 for the inspection ROV 11 is hooked on the inspection ROV storage rail 38 provided in the support ROV 13 and the support ROV 13 and the inspection ROV 11 are integrated, the support ROV 13 The position (XS, YS, ZS) is recognized as the position (Xi, Yi, Zi) of the inspection ROV 11. Each step of FIG. 15 is executed by the position locating CPU 80 in the control device 15.

  First, in step 110, the position (XL, YL) (XR, YR) of the support ROV 13 in the image captured by the stereo camera 43 mounted on the underwater ITV camera 19 is detected. Here, the positions (XL, YL) and (XR, YR) indicate the X coordinate and the Y coordinate of the support ROV 13 in the images of the left camera and the right camera, respectively. For the processing of step 110, first, in step 111, the image of the stereo camera 43 mounted on the underwater ITV camera 19 is input to the image processing board 83 in the control device 15, and then binarized in step 112. Process. The binarized image information is sent to the CPU 80, and in step 113, the positions (XL, YL) and (XR, YR) of the support ROV 13 in the image are detected.

Next, in step 114, the relative position (XSP, YSP, ZSP) of the support ROV 13 with respect to the underwater ITV camera 19 is calculated. Here, the positions XSP, YSP, and ZSP are the relative coordinates of X, Y, and Z of the support ROV 13 when the position of the underwater ITV camera 19 is the origin. For the processing of step 114, first, in step 115, the camera interval d, the number of horizontal pixels Px, and the camera horizontal angle of view α are read as camera parameters. Next, in step 116, the three-dimensional relative position is calculated by the following equation (1).

Further, in step 117, the absolute position of the support ROV 13 is calculated from the position of the underwater ITV camera 19 and the relative position calculated in step 116 by the following equation (2).

  Next, a method for detecting the position (Xi, Yi, Zi) of the inspection ROV 13 will be described with reference to FIG. Each step of FIG. 16 is executed by the position locating CPU 80 in the control device 15.

  First, in step 120, parameters that are read from the storage device 81 at the time of initialization are defined in advance. That is, in step 121, the traveling direction (θp, φp) is defined as (θp, φp) = (θpn, φpn) when Lpn <integrated traveling distance L <Lwp + 1. Here, the installation direction of the pipe when bent n times from the pipe inlet is (θpn, φpn).

  Next, in step 122, the acoustic propagation time Δt is calculated as the difference between the acoustic detection time Td and the acoustic generation time Ts.

Further, in step 123, the minute travel distance ΔL is defined as an equation (3) as a difference in travel distance from the previous accumulated travel distance L.

Here, Vw is the in-pipe underwater sound velocity input from the keyboard 82 in advance.

Finally, in step 125, based on the above information, the position of the inspection ROV 11 is updated by the equation (4).

As a result, the position (XS, YS, ZS) of the support ROV 13 is detected.

Next, an inspection procedure by the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the present embodiment will be described with reference to FIG.
FIG. 17 is a flowchart showing the contents of the inspection procedure by the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the first embodiment of the present invention.

  The work procedure for inspecting the inside of the PLR pipe 7 is different between the case of entering from the inlet nozzle 8a side and the case of entering from the outlet nozzle 8b side. This is because the jet pump 6 is on the inlet nozzle 8a side.

  When the operation is started in step 130, the following processing is branched in step 131 depending on whether the entrance is on the inlet nozzle 8a side or the outlet nozzle 8b side. Whether the inlet nozzle 8a side or the outlet nozzle 8b side is determined by the ROV operator who performs the inspection.

In the case of the inlet nozzle 8a side, the inspection is performed according to the following procedure. First, in step 132, the upper part of the jet pump 6 closest to the inlet nozzle 8a of the target PLR pipe 7 is removed. The upper part of the jet pump 6 is removed using a crane or the like.

  Thereafter, in step 133, the support ROV 13 proceeds to the upper part of the jet pump 6. At this time, the inspection ROV 11 is stored and integrated in the support ROV 13. Next, in step 134, the underwater ITV camera 19 is dropped to a position where the support ROV 13 can be visually recognized.

  Next, in step 135, the inspection ROV 11 is entered from the upper part of the jet pump 6. When the inspection ROV 11 reaches the inlet nozzle 8a, in step 136, the position calculation function is initialized by the method of step 132. In step 137, an internal inspection of the PLR pipe 7 is performed.

  After completion of the inspection, in step 138, the inspection ROV 11 returns to the support ROV 13, is stored in the support ROV 13, and returns to the operation floor 9 as a unit. Finally, in step 139, the upper part of the removed jet pump 6 is returned, and in step 140, the inspection when entering from the inlet nozzle 8a is finished.

  On the other hand, when the entrance is designated as the exit nozzle 8b in step 131, the following procedure is performed. First, in step 141, the underwater ITV camera 19 is dropped to a position where the inside of the outlet nozzle 8b of the target PLR pipe 7 can be visually recognized. Next, in step 142, when the support ROV 13 reaches the inlet of the outlet nozzle 8b, the position detection function is initialized. In step 143, the range that can be visually recognized by the underwater ITV camera 19 is subjected to inspection in the PLR pipe 7 with the support ROV 13.

  Next, in step 144, the support ROV 13 is stopped immediately before it is removed from the field of view of the underwater ITV camera 19, and reinitialized. In step 145, the inspection inside the PLR pipe 7 is performed using the inspection ROV11.

  After completion of the inspection, in step 146, the inspection ROV 11 returns to the support ROV and returns to the operation floor 9, and in step 140, the inspection when entering from the outlet nozzle 8b is completed.

  As described above, according to the present embodiment, even in the absence of information on the transmission / reception position of sound in a pipe filled with water, the speed of sound is accurately given, and as a result, the position of the inspection apparatus is accurately detected. can do. That is, even when the process proceeds into the PLR pipe in the furnace, the position of the inspection ROV can be grasped and the welding line can be identified during the visual inspection, so that the inspection efficiency can be improved.

  Next, the configuration and operation of the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the second embodiment of the present invention will be described with reference to FIGS. 18 and 19. In addition, the structure shown in FIGS. 1-11 in 1st Embodiment is the same also in this embodiment. The processing contents are basically the same as those shown in FIGS. 12 to 17, but the first embodiment is different from the first embodiment in the method for setting the underwater sound speed. Instead of the process of FIG. 13 in the embodiment, the process shown in FIG. 18 is executed.

  FIG. 18 is a flowchart showing the contents of the initialization process at the time of calculating the position of the inspection ROV in the position calculation process of the inspection ROV in the in-pipe position detection apparatus according to the second embodiment of the present invention. FIG. 19 is an explanatory diagram of a correspondence pattern between the inner diameter of the pipe and the underwater sound speed in the position detecting device in the pipe according to the second embodiment of the present invention.

  FIG. 18 shows the details of the position calculation process of the inspection ROV in the in-pipe position detection apparatus according to the second embodiment of the present invention, specifically, the initialization process when calculating the position of the inspection ROV (step of FIG. 12). 92). The same step numbers as those in FIG. 13 indicate the same processing contents. FIG. 19 is an explanatory diagram of a correspondence pattern between the inner diameter φp of the pipe used for the initialization process at the time of calculating the position of the inspection ROV and the underwater sound speed in the in-pipe position detection apparatus according to the second embodiment of the present invention.

  The corresponding pattern of the inner diameter φp of the pipe and the underwater sound speed will be described with reference to FIG. Usually, when the pipe diameter is large (φ1 in the figure), the sound velocity is almost the same as in the case of underwater free space. However, as the pipe inner diameter decreases, the sound speed tends to decrease. In particular, when the frequency of the underwater sound to be used is fixed, the decrease in the inner diameter of the pipe and the sound speed monotonously decrease according to a certain law. In the present embodiment, this law is numerically retained and used as a corresponding pattern relating to the frequency to be used. This correspondence pattern is stored in the storage device 81 in the control device 15.

  Next, the procedure for setting the sound speed in this embodiment will be described with reference to FIG. In the first embodiment, the underwater sound speed is set directly. In this embodiment, in step 150, the pipe inner diameter φp is input from the keyboard 82, and the underwater sound speed Vw (φp) is set using a corresponding pattern prepared in advance. Is calculated. In step 151, the calculated underwater sound speed is set.

  As described above, according to the present embodiment, even in the absence of information on the transmission / reception position of sound in a pipe filled with water, the speed of sound is accurately given, and as a result, the position of the inspection apparatus is accurately detected. can do.

  In the piping, the speed according to the inner diameter can be easily used, and the accuracy of distance calculation can be increased.

  Next, the configuration and operation of the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the third embodiment of the present invention will be described with reference to FIGS. In addition, the structure shown in FIGS. 1-11 in 1st Embodiment is the same also in this embodiment. The processing contents are basically the same as those shown in FIGS. 12 to 17, but in this embodiment, the underwater sound speed setting method is different from the first and second embodiments. 13. Instead of the processes in FIGS. 13 and 18, the process shown in FIG. 20 is executed.

  FIG. 20 is a flowchart showing the contents of the initialization process at the time of calculating the position of the inspection ROV in the position calculation process of the inspection ROV in the in-pipe position detection apparatus according to the third embodiment of the present invention. FIG. 21 is an explanatory diagram of a correspondence pattern between the number of pipes and the underwater sound speed in the in-pipe position detection device according to the third embodiment of the present invention.

  First, the sound speed setting procedure in the third embodiment will be described with reference to FIG. In the second embodiment, the pipe inner diameter φp is input from the keyboard 82, and the underwater sound speed Vw (φp) is calculated using a corresponding pattern prepared in advance. In the present embodiment, the number of pipe curves is also calculated. Enter and reflect the sound speed setting. The relationship between the number of pipes and the speed of sound is also stored in the storage device 81 in the controller 15 as a corresponding pattern together with the inner diameter of the pipe, as in the second embodiment.

  With reference to FIG. 21, the correspondence pattern between the number NB of pipes and the underwater sound speed will be described. In FIG. 19, taking the case where the inner diameter is φ2 as an example, the influence of the number of pipes on the speed of sound is illustrated. As shown in the figure, the speed of sound has a property of decreasing at a constant rate as the number of pipes increases. In this embodiment, this law and the law relating to the relationship between the inner diameter and the sound velocity shown in the second embodiment are numerically held and used as a corresponding pattern relating to the frequency to be used.

  As described above, according to the present embodiment, even in the absence of information on the transmission / reception position of sound in a pipe filled with water, the speed of sound is accurately given, and as a result, the position of the inspection apparatus is accurately detected. can do.

  Further, even in a curved pipe, the speed corresponding to the inner diameter and the number of the curves can be used simply, and the accuracy of distance calculation can be further increased.

  Next, the configuration and operation of the underwater inspection apparatus equipped with the in-pipe position detection apparatus according to the fourth embodiment of the present invention will be described with reference to FIGS. 22 and 23. In addition, the structure shown in FIGS. 1-11 in 1st Embodiment is the same also in this embodiment. Also, the processing content in this embodiment is different from the first to third embodiments in the underwater sound speed setting method, and therefore the processing shown in FIG. 22 is executed.

  FIG. 22 is a flowchart showing the contents of the position calculation processing of the inspection ROV in the in-pipe position detection device according to the fourth embodiment of the present invention. FIG. 23 is a flowchart showing the contents of the speed calibration process in the in-pipe position detection apparatus according to the fourth embodiment of the present invention.

  The sound speed setting procedure in the fourth embodiment will be described with reference to FIG. In the second embodiment and the third embodiment, information on the shape of the pipe is input and the underwater sound speed is calculated using a corresponding pattern prepared in advance. However, in a complicated-shaped pipe, an accurate sound speed is set. It is difficult. In this embodiment, speed calibration is performed, that is, the speed is detected by calibration when the position of the inspection ROV is known, and the speed is used.

  In FIG. 22, Step 90 to Step 93 are the same as the processing of FIG. Next, in step 154, it is determined whether the position of the inspection ROV is known. The known position refers to, for example, the start point and end point of the pipe, the bent part of the pipe, and the welded part whose position can be specified. If the inspection ROV is present at a known position, the speed is calibrated at step 155, the position of the inspection ROV is displayed at step 95, and the process returns to the normal procedure.

Here, the speed calibration procedure in step 155 will be described with reference to FIG. First, in step 156, the position of the ROV such as assistance is read. In step 57, the position of the inspection ROV is input from the keyboard 82. In addition, in step 158, the piping direction data is also read. Based on these pieces of information, in step 159, the propagation distance Lt in the pipe is calculated. This is realized by developing the positions of the support ROV and the inspection ROV on the CAD data of the pipe and calculating the path along the pipe. Next, the acoustic propagation time is measured in step 160 in the same manner as in the first to third embodiments, and the underwater sound speed Vwc is set in step 161 by the following equation (5).

  As described above, according to the present embodiment, even in the absence of information on the transmission / reception position of sound in a pipe filled with water, the speed of sound is accurately given, and as a result, the position of the inspection apparatus is accurately detected. can do.

  In addition, the speed of sound can be set accurately even in a complicatedly shaped pipe, and the accuracy of distance calculation can be further increased.

  Since each embodiment of the present invention is as described above, each embodiment of the present invention includes an embodiment of the invention having the following features. In other words, the first invention has a sound source mounted on an inspection vehicle that inspects the inside of a pipe filled with water, and an acoustic detector is mounted on a support vehicle that supports navigation of the inspection vehicle. In the pipe position detection device, the sound propagation time detection means for detecting the sound propagation time between the two vehicles from the time difference between the sound received and the sound received by the receiver, a unique sound speed in the pipe is set. Sound speed setting means, and inter-vehicle distance detection means for calculating the distance between the two vehicles from the sound speed in the pipe set by the sound speed setting means and the acoustic propagation time.

  The second invention is characterized in that the sound speed setting means of the first invention is sound speed input means for inputting the sound speed in the pipe.

  According to a third aspect of the present invention, the sonic speed setting means according to the first aspect includes a pipe diameter input means for inputting an inner diameter of the pipe, a straight pipe sonic speed calculation means for calculating a specific sound speed within the pipe from the inner diameter of the pipe, It is comprised from these.

  According to a fourth aspect of the present invention, in the first aspect, the sonic speed setting means includes a pipe diameter input means for inputting an inner diameter of the pipe, a pipe curvature input means for inputting the number of bends of the pipe, an inner diameter of the pipe, and a pipe. And a curved pipe sound speed calculating means for calculating a specific sound speed in the pipe from the number of music pieces.

  According to a fifth aspect of the present invention, in the first aspect, the sound speed setting means includes an inspection vehicle reference position input means for inputting a position of the inspection vehicle, and a support vehicle reference position for inputting the position of the support vehicle. It is comprised from an input means and the calibration sound speed calculation means which calculates the sound speed in piping from the position of these two vehicles, and the said acoustic propagation time.

  Each invention having such characteristics exhibits the following effects. That is, according to the first invention, it is possible to grasp the position of the inspection vehicle entering the pipe.

  According to the second invention, it is possible to accurately grasp the position of the inspection vehicle entering the inside of the thin pipe.

  According to the third aspect of the invention, it is possible to accurately grasp the position of the inspection vehicle that enters the inside of a pipe that is thin and curved.

According to the fourth aspect of the invention, it is possible to accurately grasp the position of the inspection vehicle that enters the inside of a pipe having a thin shape and a complicated shape.

It is principal part sectional drawing which shows the structure of the nuclear reactor test | inspected by the underwater inspection apparatus which mounts the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is explanatory drawing of the other test | inspection method by the underwater test | inspection apparatus which mounts the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is principal part sectional drawing of ROV for a test | inspection which comprises the underwater test | inspection apparatus carrying the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is principal part sectional drawing of ROV for assistance which comprises the underwater inspection apparatus carrying the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is explanatory drawing of the storage state of ROV for test | inspection and ROV for support which comprise the underwater test | inspection apparatus which mounts the position detection apparatus in piping by the 1st Embodiment of this invention. It is a perspective view of the underwater ITV camera used for the underwater inspection apparatus carrying the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is explanatory drawing of the detection principle of the position detection apparatus in piping by the 1st Embodiment of this invention. It is a block diagram which shows the structure of the position detection apparatus in piping by the 1st Embodiment of this invention. It is explanatory drawing of the example of a display in the display apparatus used for the underwater inspection apparatus carrying the in-pipe position detection apparatus by the 1st Embodiment of this invention. It is a top view which shows the structure of the controller used for the underwater test | inspection apparatus which mounts the in-pipe position detection apparatus by the 1st Embodiment of this invention. 1 is a system configuration diagram of an underwater inspection apparatus equipped with an in-pipe position detection apparatus according to a first embodiment of the present invention. It is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the position calculation process of ROV11 for test | inspection in the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the test | inspection procedure by the underwater test | inspection apparatus which mounts the position detection apparatus in piping by the 1st Embodiment of this invention. It is a flowchart which shows the content of the initialization process at the time of position calculation of inspection ROV among the position calculation processing of inspection ROV in the position detection apparatus in piping by the 2nd Embodiment of this invention. It is explanatory drawing of the corresponding pattern of the internal diameter of piping, and the underwater sound speed in the position detection apparatus in piping by the 2nd Embodiment of this invention. It is a flowchart which shows the content of the initialization process at the time of position calculation of inspection ROV among the position calculation processing of inspection ROV in the position detection apparatus in piping by the 3rd Embodiment of this invention. It is explanatory drawing of the corresponding | compatible pattern of the number of music of piping, and the underwater sound speed in the position detection apparatus in piping by the 3rd Embodiment of this invention. It is a flowchart which shows the content of the position calculation process of ROV for test | inspection in the position detection apparatus in piping by the 4th Embodiment of this invention. It is a flowchart which shows the content of the speed calibration process in the position detection apparatus in piping by the 4th Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Reactor 2 ... Shroud 3 ... Upper lattice board 4 ... Core support plate 5 ... Shroud support 6 ... Jet pump 7 ... PLR piping 8a ... Inlet nozzle 8b ... Outlet nozzle 9 ... Operation floor 10 ... Fuel changer 11 ... For inspection ROV
12 ... Secondary cable 13 ... Support ROV
14 ... Primary cable 15 ... Control device 16 ... Display device 17 ... Controller 18a ... ROV operator 18b ... Underwater ITV camera operator 19 ... Underwater ITV camera 20 ... Underwater ITV camera operation cable 21 ... Underwater ITV camera cable 22 ... For inspection Camera 23 ... Light 24 ... Propulsion thruster 25 ... Propulsion motor 26 ... Elevating thruster 27 ... Elevating motor 28 ... Gear 29 ... Magnetic coupling 30 ... Thruster guard 31 ... Storage claw 32 ... Acoustic transmitter 33 ... Camera 34 ... thruster 35 ... thruster motor 36 ... communication circuit 37a ... winch 37b ... winch motor 38 ... storage rail 39 ... acoustic receiver 40 ... underwater acoustic processing circuit 41 ... ROV for inspection of swimming state
42 ... ROV for inspection of stored state
43 ... Stereo camera 44 ... Halogen lamp 45 ... Camera cable 46 ... Camera relay unit 47 ... Underwater sound 60 ... ROV position display unit 61 ... Simplified structure 62 ... Support ROV position display mark 63 ... Inspection ROV position display Mark 64 ... ROV coordinate display section 65 ... Support ROV video display section 66 ... Inspection ROV video display section 67 ... Defect example 70 ... Power switch 71 ... Power supply LED
72 ... ROV changeover switch 73 ... forward / backward / left / right lever 74 ... lift lever 75 ... secondary cable operation lever 76 ... cable

Claims (5)

The inspection is based on the time difference between the sound generated from the sound source mounted on the inspection vehicle that inspects the inside of the pipe filled with water and the sound received by the acoustic detector mounted on the support vehicle that supports the navigation of the inspection vehicle. In-pipe position detection device having acoustic propagation time detection means for detecting the acoustic propagation time between the vehicle for support and the vehicle for support,
A sound speed setting means for setting a sound speed in the pipe;
An in-pipe position detecting device comprising: an inter-vehicle distance detecting means for calculating a distance between two vehicles from the sound speed in the pipe set by the sound speed setting means and the acoustic propagation time. In the piping position detection device according to claim 1,
The in-pipe position detection device, wherein the sonic speed setting means is a sonic speed input means for inputting a sonic speed in the pipe. In the piping position detection device according to claim 1,
The sound speed setting means includes
A pipe diameter input means for inputting the inner diameter of the pipe;
An in-pipe position detection device comprising straight pipe sound speed calculating means for calculating a specific sound speed in the pipe from the inner diameter of the pipe. In the piping position detection device according to claim 1,
The sound speed setting means includes a pipe diameter input means for inputting an inner diameter of the pipe,
Piping number input means for inputting the number of bending of the piping;
An in-pipe position detection device comprising: a bent pipe sound speed calculating means for calculating a specific sound speed in the pipe from the inner diameter of the pipe and the number of pipes. In the piping position detection device according to claim 1,
The sound speed setting means includes
Inspection vehicle reference position input means for inputting the position of the inspection vehicle;
Support vehicle reference position input means for inputting the position of the support vehicle;
An in-pipe position detecting device comprising calibration sound speed calculating means for calculating a sound speed in the pipe from the position of the inspection vehicle and the support vehicle and the acoustic propagation time.

Images