JP2023086490A - Decontamination device and decontamination method - Google Patents

Abstract

To provide a decontamination device and decontamination method, which enable safer decontamination with high accuracy.SOLUTION: A decontamination device for decontaminating a decontamination target object arising from nuclear power facilities is provided, the decontamination device comprising a cutting unit for cutting a contaminated portion generated on a surface layer of the decontamination target object, a collection unit for collecting chips produced by cutting done by the cutting unit, and an operation device having an arm section provided with the cutting unit and the collection unit at a tip end thereof and configured to be remotely controllable.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a decontamination device and a decontamination method.

In nuclear facilities such as nuclear power plants, it is necessary to dismantle and decontaminate each device along with the decommissioning work. In particular, since the steam generator through which the primary cooling water and the secondary cooling water flow and the associated pipes have a high radiation dose, it is necessary to perform reliable decontamination. For example, Patent Literature 1 below describes a method in which a steam generator is dismantled in advance, and then each member (object to be decontaminated) generated by the dismantling is appropriately decontaminated. Conventionally, decontamination work is often performed manually by workers.

Japanese Patent Application Laid-Open No. 2005-292063

However, when decontamination is performed manually, variations occur in the work accuracy of workers. There is also the problem that workers are exposed to radiation.

The present disclosure has been made to solve the above problems, and an object thereof is to provide a decontamination device and a decontamination method that can perform decontamination more safely with high accuracy. .

In order to solve the above problems, a decontamination apparatus according to the present disclosure is a decontamination apparatus for decontaminating an object to be decontaminated generated from a nuclear facility, wherein contamination generated on the surface of the object to be decontaminated It has a cutting part that cuts a region, a recovery part that recovers chips generated by cutting by the cutting part, and an arm part that is provided with the cutting part and the recovery part at the tip and can be operated by remote control. and a working device.

A decontamination method according to the present disclosure is a decontamination method for decontaminating the object to be decontaminated using the decontamination device described above, wherein the contaminated region is cut using the decontamination device, and the a step of collecting chips; a step of detecting a remaining area of the contaminated area by measuring a radiation dose on the surface of the object to be decontaminated; and performing decontamination.

According to the decontamination device and decontamination method of the present disclosure, decontamination can be performed more safely with high accuracy.

1 is a cross-sectional view showing the configuration of a steam generator according to an embodiment of the present disclosure; FIG. 1 is an overall view showing the configuration of a decontamination device according to an embodiment of the present disclosure; FIG. FIG. 4 is an explanatory diagram showing a state of cutting work by the cutting section according to the embodiment of the present disclosure; 1 is a functional block diagram showing the configuration of a cutting control device according to an embodiment of the present disclosure; FIG. 4 is a flow chart showing an example of processing of the cutting control device according to the embodiment of the present disclosure; 4 is a flow chart showing each step of a decontamination method according to an embodiment of the present disclosure; FIG. 4 is a schematic diagram showing an example of a reference path for cutting by the cutting unit according to the embodiment of the present disclosure; FIG. 5 is a schematic diagram showing another example of a reference path for cutting by the cutting unit according to the embodiment of the present disclosure; 1 is a hardware configuration diagram showing the configuration of a cutting control device according to an embodiment of the present disclosure; FIG.

A decontamination device 2 and a decontamination method according to an embodiment of the present disclosure will be described below with reference to FIGS. 1 to 9. FIG.

(Steam generator configuration)
First, the structures of the decontamination apparatus 2 according to the present embodiment and the steam generator 1 to which the decontamination method is applied (decontamination target object 43) will be described. As shown in FIG. 1 , the steam generator 1 includes a body portion 10 , a water chamber 20 , a tube plate 30 , a plurality of heat transfer tubes 40 and a partition plate 50 .

The trunk portion 10 has a tubular shape centered on an axis O extending in the vertical direction. A steam port 11 for discharging steam is formed in the upper end portion of the body portion 10 . A secondary cooling water introduction port 12 is formed in the side surface of the body portion 10 to guide the secondary cooling water into the body portion 10 . The water chamber 20 is integrally connected to the lower end of the trunk portion 10 . The water chamber 20 has a hemispherical shape centered on the axis O, and the lower portion of the trunk portion 10 is closed by the water chamber 20 . The water chamber 20 is formed with a primary cooling water inlet 21 and a primary cooling water outlet 22 for circulating the primary cooling water inside and outside the water chamber 20 . A space is formed inside the body portion 10 and the water chamber 20 .

The tube sheet 30 is arranged between the body portion 10 and the water chamber 20 in the above space. The tube sheet 30 is arranged along a plane (horizontal plane) perpendicular to the axis O direction. As a result, inside the steam generator 1, there are a primary cooling water chamber 23 (primary area) below the tube sheet 30, a secondary cooling water chamber 24 (secondary area) above the tube sheet 30, is formed. The partition plate 50 partitions the primary cooling water chamber 23 into an inlet-side water chamber 25 and an outlet-side water chamber 26 .

A plurality of heat transfer tubes 40 are arranged in the body portion 10 . Each of the heat transfer tubes 40 has a pair of straight tube portions 41 and a curved portion 42 . A pair of straight tube portions 41 are formed at both ends of each heat transfer tube 40 . Each straight pipe portion 41 extends from the primary area side to the secondary area side. A curved portion 42 is formed in an intermediate portion of each heat transfer tube 40 . The curved portion 42 has a U shape that protrudes upward. Both ends of each heat transfer tube 40 (ends of each straight tube portion 41 ) are inserted through holes formed in the tube sheet 30 .

Primary cooling water heated in a nuclear reactor (not shown) is introduced through a primary cooling water inlet 21 into an inlet-side water chamber 25 of the primary cooling water chamber 23 . The primary cooling water introduced into the inlet-side water chamber 25 passes through a plurality of heat transfer tubes 40 exposed in the secondary cooling water chamber 24 and flows to the outlet-side water chamber 26 of the primary cooling water chamber 23 .

Secondary cooling water is introduced into the secondary cooling water chamber 24 from the outside through the secondary cooling water inlet 12 . The secondary cooling water exchanges heat with the primary cooling water flowing inside the heat transfer tubes 40 in the secondary cooling water chamber 24 and is heated to become steam. The steam generated within the secondary cooling water chamber 24 is sent through the steam port 11 to a turbine (not shown) installed outside the steam generator 1 . Also, the primary cooling water cooled by heat exchange with the secondary cooling water is sent to the reactor through the primary cooling water discharge port 22 .

(Configuration of decontamination equipment)
In the decommissioning work of a pressurized water nuclear power plant, it is necessary to dismantle and decontaminate the steam generator 1 exposed to radiation generated from the primary cooling water. Prior to decontamination, the steam generator 1 is mainly dismantled so as to be divided into the body section 10, the water chamber 20, the tube plate 30, and the heat transfer tubes 40 described above. Cutting tools such as engine cutters and grinders are appropriately used for the dismantling work.

The decontamination apparatus 2 according to this embodiment is used to decontaminate each member (decontamination target object 43) generated in the dismantling work as described above. In particular, a contaminated region called a clad is formed on the surface layer of the decontamination object 43 . The decontamination device 2 is a device for removing this contaminated area. In addition, in the following description, among the members of the steam generator 1, the case where the water chamber 20 is representatively decontaminated will be described.

As shown in FIG. 2 , the decontamination device 2 includes a working device 51 , a cutting section 52 , a collecting section 53 , an imaging device 54 and a cutting control device 55 .

The work device 51 is, for example, a work vehicle 151 that can move on the floor surface 90 of the work area. The work vehicle 151 has a lower traveling body 61 , an upper revolving body 62 and an arm portion 63 . The undercarriage 61 has a chassis 64 , a plurality of wheels 65 and fixed legs 66 . The chassis 64 is equipped with a power unit (engine) and a transmission (not shown), and can run on the floor surface 90 by rotating the wheels 65 . The fixing leg 66 is provided to fix the lower traveling body 61 at a predetermined position on the floor surface 90 so that it cannot move. The work vehicle 151 as a whole is supported by the fixed legs 66 while being spaced upward from the floor surface 90 .

The upper revolving body 62 is provided above the lower traveling body 61 . The upper rotating body 62 is capable of rotating about a vertically extending rotating shaft with respect to the lower traveling body 61 . The arm portion 63 is supported by the upper rotating body 62 so as to be freely rotatable within a three-dimensional space. The arm portion 63 is composed of a plurality of columnar members connected via joints.

A cutting section 52 , a recovery section 53 , and an imaging device 54 are provided at the tip of the arm section 63 . The cutting part 52 is a tool for cutting the surface of the water chamber 20 as the object to be contaminated, which is fixed to the fixing table 91 in advance. The cutting part 52 is, for example, an end mill or a lollipop mill, and is configured so that the cutting edge can be selected and appropriately replaced according to the characteristics of the work and the shape of the object 43 to be decontaminated.

The recovery unit 53 is provided to capture and recover chips (chips) as secondary waste generated in the cutting operation by the cutting unit 52 . The recovery unit 53 includes a nozzle 72 fixed to the tip of the arm unit 63 and arranged to face the machining area of the cutting unit 52, a suction device 71 for creating a negative pressure inside the nozzle 72, have. The nozzle 72 is made of a flexible material such as resin that can be freely deformed following the movement of the arm portion 63 . The suction device 71 is desirably arranged on the floor 90 of the work area.

Here, the cutting work by the decontamination device 2 will be described with reference to FIG. A thin film layer called an overlay 44 containing stainless steel is formed on the surface of the base material 45 of the object 43 to be decontaminated. A radiation-contaminated region is formed in the surface layer at a depth of several millimeters from the surface of the overlay 44 . The cutting portion 52 removes this contaminated region by scraping it over a depth of 0.1 mm to 2.0 mm. Chips containing radioactive substances are generated during cutting.

The chips are collected by the collection unit 53 . By driving the suction device 71 , the air around the machining area is sucked through the nozzle 72 , and chips are collected into the nozzle 72 along with the flow of the air. Chips that reach the suction device 71 through the nozzle 72 are captured by a filter (not shown) and subsequently treated as secondary waste.

The imaging device 54 is arranged so as to face the processing area of the cutting section 52 from the tip of the arm section 63 . The imaging device 54 records the state of the machining area as continuous moving images or intermittent still images, and transmits them as electric signals to the cutting control device 55, which will be described later. The moving images and images acquired by the imaging device 54 may be used, for example, by a remote worker to visually confirm the situation at the site.

(Configuration of cutting control device)
The cutting control device 55 is provided to autonomously perform cutting work by the cutting section 52 by controlling the operation of the arm section 63 described above. The cutting control device 55 may be mounted, for example, on the terminal 92 shown in FIG. 2, or may be mounted on the working device 51 itself. Moreover, each functional block of the cutting control device 55 may be distributed and mounted on the terminal 92 and the work device 51 .

As shown in FIG. 4, the cutting control device 55 includes a range acquisition unit 81, a depth acquisition unit 82, a route acquisition unit 83, a drive unit 84, a position information acquisition unit 85, a route determination unit 86, It has a range determination unit 87 and a storage unit 88 .

The range acquisition unit 81 acquires a cutting target range, which is a range in which the cutting unit 52 cuts on the surface of the decontamination target object 43 . Data called inventory in which contamination distribution information is recorded in advance is prepared for the main members of the steam generator 1 including the water chamber 20 described above. The range acquisition unit 81 determines the range that requires cutting based on this inventory. In other words, depending on the state of contamination, the cutting target range can be the entire surface of the decontamination target 43, or it can be only a part of the surface.

The depth acquisition unit 82 acquires the depth (dimension in the thickness direction) at which the cutting unit 52 should cut. Since the surface of the main member such as the water chamber 20 is formed with the above-described layer called overlay, the surface roughness is relatively high. Also, the distribution of surface roughness may be biased depending on the part. Such shape information is acquired and stored in advance as part of the design information when the steam generator 1 is constructed. The depth acquisition unit 82 determines the cutting depth required for cutting based on this shape information.

A standard value (reference cutting depth) is set in advance for the above cutting depth. As the reference cutting depth, a value appropriately selected within the range of 0.1 mm to 2.0 mm, which is the depth to which the contaminated area easily penetrates, is set. The depth acquisition unit 82 determines the final cutting depth by setting an increase/decrease amount for this reference cutting depth based on the shape information described above. In other words, the depth acquisition unit 82 adjusts the cutting depth based on the shape information as described above at locations where the surface shape (surface roughness) cannot be covered by the cutting depth based on the standard value. In addition, the range of the standard value mentioned above is an example, and a standard value may be selected from the range of a maximum depth of 5.0 mm.

The path acquisition unit 83 acquires a path (reference path R) that serves as a reference for the cutting part 52 to move on the surface of the decontamination target 43 based on the above-described cutting target range and cutting depth. For example, as shown in FIG. 7, the reference path R is a path that spirals around the center point on the inner surface of the hemispherical water chamber 20 . As another example, as shown in FIG. 8, the reference path R may be a plurality of lines that linearly scan the inner surface of the hemispherical water chamber 20 . Note that the mode of the reference route R is not limited to these, and a route that allows the cutting part 52 to efficiently scan the contaminated area is appropriately set as the reference route R according to the shape of the decontamination target 43. preferably

The drive section 84 generates a drive signal for driving the arm section 63 so that the cutting section 52 moves along the reference path R described above. This drive signal is sent to the working device 51 . The cutting portion 52 attached to the tip of the arm portion 63 and the recovering portion 53 operate to trace the reference path R based on the drive signal.

The positional information acquisition unit 85 acquires the actual positional information of the cutting part 52 on the surface of the decontamination object 43 . A moving image or an image including the cutting portion 52 is input from the imaging device 54 described above to the position information acquiring portion 85 . The position information acquisition unit 85 performs image analysis based on these moving images or images to detect and specify the actual position of the cutting unit 52 . The positional information of the cutting portion 52 acquired by the positional information acquisition portion 85 is input to the route determination portion 86 via the storage portion 88 .

The route determination unit 86 collates the position information of the cutting unit 52 acquired by the position information acquisition unit 85 with the reference route R described above, and determines whether the position of the cutting unit 52 deviates from the reference route R. judge. If it is determined that the cutting portion 52 deviates from the reference path R, the path determining portion 86 sends a signal to the driving portion 84 . Based on this signal, the drive section 84 generates a drive signal for correcting the position of the cutting section 52 so that the cutting section 52 returns to the reference path R, and transmits the drive signal to the work vehicle 151 .

The range determination unit 87 determines whether or not the cutting by the cutting unit 52 has been completed over the entire range to be cut. This determination is made, for example, based on whether or not the cutting portion 52 has completely moved the total path length of the set reference path R.

(Processing by cutting control device 55)
Next, the processing of the cutting control device 55 will be described with reference to FIG. First, in step S101, the range acquisition unit 81 acquires the aforementioned cutting target range. Next, the depth acquisition unit 82 acquires the above-described cutting depth (step S102). Note that the order of these steps S101 and S102 may be changed, and these steps may be performed in parallel.

After that, the route acquisition unit 83 acquires the above-described reference route R (step S103). Subsequently, the range determination unit 87 determines whether or not cutting has been completed in the cutting target range (step S104). It should be noted that the determination result in step S104 automatically becomes No at the start of work. After the determination in step S104 is No, the driving section 84 operates the arm section 63 of the work device 51 (step S105). At this time, the arm portion 63 moves along the reference path R described above. As a result, the cutting section 52 cuts the contaminated area along the reference route R.

Next, the path determination unit 86 collates the actual position of the cutting part 52 during cutting with the reference path R (step S106). The positional information of the cutting portion 52 is obtained by the positional information obtaining portion 85 described above. Next, based on the result of comparing the position information of the cutting portion 52 and the reference route R, the route determination unit 86 determines whether the position of the cutting portion 52 deviates from the reference route R ( step S107). If it is determined in step S106 that there is a deviation from the reference route R (step S106: Yes), the route determination unit 86 sends a signal to the driving unit 84 in subsequent step S108. Based on this signal, the drive section 84 generates a drive signal for correcting the position of the cutting section 52 so that the cutting section 52 returns to the reference path R. FIG.

If it is determined in step S107 that there is no deviation from the reference route R (step S107: No), the process returns to step S104. Steps S104 to S108 are repeated until cutting along the reference path R is completed over the entire cutting target range, that is, until it is determined Yes in step S104. When it is determined in step S104 that the cutting has been completed, the processing of the cutting control device 55 is completed.

(Decontamination method)
Next, a decontamination method according to this embodiment will be described with reference to FIG. As shown in the figure, this decontamination method comprises a step S1 of fixing the decontamination target 43, a step S2 of preparing the decontamination device 2, a step S3 of performing decontamination by the decontamination device 2, Step S4 of collecting powder, Step S5 of measuring the dose, Step S6 of determining whether or not the contaminated area remains, Step S7 of decontaminating the remaining contaminated area, and Step S8 of collecting secondary waste. and including.

In step S1, the object 43 to be decontaminated is fixed to the fixing table 91 described above. In step S2, the decontamination device 2 is fixed on the floor surface 90 by the fixing legs 66 so that it cannot move. In the following step S3, decontamination is performed by cutting the surface of the decontamination object 43 with the decontamination device 2. FIG. In parallel with the decontamination in step S3, or afterward, chips generated by cutting are collected by the collection unit 53 (step S4). After that, when decontamination (cutting) is completed over the entire cutting target range, the radiation dose emitted from the decontamination target 43 is measured (step S5). Note that step S5 may be performed by a worker approaching the decontamination object 43, or may be performed remotely by providing a dosimeter on the arm portion 63 of the work device 51 described above.

Subsequently, based on the measurement result of step S5, it is determined whether or not the contaminated area remains (step S6). That is, it is determined whether or not there remains a region where the dose is equal to or greater than a predetermined reference value.

If it is determined in step S6 that the contaminated area remains, the remaining area is decontaminated (step S7). For example, the decontamination work in step S7 may be performed manually by a worker approaching the decontamination target 43, or may be performed using the decontamination device 2 described above. Since the decontamination by the decontamination device 2 has already been completed in step S3, safety is ensured even if the worker approaches the decontamination object 43.

Finally, the secondary waste (chips, etc.) generated in the decontamination in step S7 is collected (step S8). All steps of the decontamination method according to the present embodiment are completed as described above.

(Effect)
Conventionally, there is no choice but to rely on manual labor for decontamination of the object 43 to be decontaminated including the water chamber 20 of the steam generator 1 described above. However, when decontamination is performed manually, workers have to approach the object 43 to be decontaminated, so there is a problem that the worker is exposed to the radiation emitted from the object 43 to be decontaminated. . Furthermore, the work accuracy of decontamination may vary depending on the characteristics of each worker. As a result, there is a risk that the work will be performed excessively beyond the range that originally requires decontamination. For example, when removing a contaminated region by cutting, there may be an example in which cutting is performed to an excessive depth beyond the depth at which the contaminated region exists. Conversely, there may be cases where the necessary decontamination is not performed even though decontamination is required. As a result, there was also the problem that the number of man-hours and work period for the decontamination work increased, and the efficiency of the decontamination work decreased. Therefore, in this embodiment, the decontamination work by the above-described decontamination device 2 and the decontamination method using the decontamination device 2 are adopted.

According to the above configuration, the arm portion 63 of the work device 51 can be remotely operated. By operating the arm portion 63 remotely, the positions of the cutting portion 52 attached to the tip of the arm portion 63 and the collecting portion 53 are changed. Cutting by the cutting section 52 is performed according to the operation of the arm section 63 . Thereby, the contaminated area formed on the surface layer of the decontamination object 43 can be cut and removed. Therefore, the safety of the decontamination work can be enhanced, for example, as compared with the case where the worker performs the decontamination while being close to the decontamination target object 43 .

In addition to the cutting portion 52 , a recovery portion 53 is attached to the tip of the arm portion 63 . Since chips generated by cutting by the cutting part 52 are radioactively contaminated, they need to be collected as secondary waste and treated appropriately. According to the above configuration, the chips are collected by the collecting unit 53 . Specifically, by driving the suction device 71 of the collecting unit 53 , the air around the machining area is sucked through the nozzle 72 , and chips are collected into the nozzle 72 along with the flow of the air. Chips that reach the suction device 71 through the nozzle 72 are captured by a filter (not shown) and subsequently treated as secondary waste. As a result, it is possible to reduce the possibility that the secondary waste will be scattered around, and it is possible to proceed with the decontamination work more efficiently and safely.

Furthermore, according to the above configuration, the range acquisition unit 81 and the depth acquisition unit 82 of the cutting control device 55 determine the cutting target range and the cutting depth, respectively. These values are determined, for example, based on the contamination distribution information called inventory and the surface shape (shape information) of the decontamination object 43 as described above. As a result, the range and depth required for cutting can be set just right. Therefore, it is possible to perform the minimum required cutting with high accuracy, compared with, for example, manual cutting. As a result, the amount of chips generated as secondary waste can also be reduced.

Further, the path acquisition unit 83 acquires the reference path R based on the cutting target range and the cutting depth. As the reference path R, a path that allows the cutting section 52 to efficiently scan the entire cutting target range is set. Since the drive unit 84 autonomously moves the cutting unit 52 along the reference path R, the cutting operation can be performed with higher accuracy. On the other hand, when the operator operates the arm portion 63, it is difficult to precisely move the cutting portion 52 along the reference path R as described above, resulting in reduced work accuracy. As a result, chips (secondary waste) may be newly generated due to useless cutting. On the other hand, there is a possibility that the parts that should be cut are not sufficiently cut, resulting in an increase in the man-hours and construction period of the decontamination work. According to the above configuration, these possibilities can be reduced. That is, it is possible to efficiently separate the contaminated area and the non-contaminated area in the decontamination object 43 with high accuracy.

Furthermore, according to the above configuration, when the cutting portion 52 deviates from the reference route R due to a disturbance factor such as vibration, the position information acquiring portion 85 acquires the actual position of the cutting portion 52, and the route determining portion 86 compares the location information with the reference route R; When it is determined that the cutting portion 52 deviates from the reference path R as a result of the comparison by the path determining portion 86, the path determining portion 86 instructs the driving portion 84 to drive the cutting portion 52 so as to correct the position of the cutting portion 52. Send a command to generate a signal. The cutting portion 52 can be returned to the reference path R by this drive signal. Therefore, even if a disturbance factor such as the one described above occurs, its influence can be minimized, and the cutting work can be continued autonomously with high accuracy.

In addition, according to the above configuration, the position information acquisition unit 85 determines the position of the cutting unit 52 based on a moving image or a still image of the processing region acquired by the imaging device 54 provided at the tip of the arm unit 63 . Get information. As a result, the position of the cutting portion 52 can be obtained with higher accuracy than when the operator identifies the position of the cutting portion 52 only by visual observation or when the position is identified by another sensor or the like. It becomes possible. Therefore, it is possible to further improve the accuracy of the cutting work.

Furthermore, according to the above configuration, the range acquisition unit 81 acquires the cutting target range based on the inventory, which is the contamination distribution information. Thereby, the cutting part 52 can cut only a necessary and sufficient range based on the actual distribution information. Therefore, the range to be cut is the minimum necessary range compared to, for example, the case where cutting is performed manually. As a result, the amount of secondary waste containing chips can be reduced.

Moreover, according to the above configuration, the depth acquisition unit 82 acquires the cutting depth based on the surface shape information of the decontamination target 43 . Therefore, even if the surface of the object 43 to be decontaminated is uneven or wavy, it is possible to determine the optimum cutting depth by considering the influence of the change in shape. As a result, the contaminated area can be completely cut according to the shape of the surface.

Furthermore, according to the above configuration, a standard value (reference cutting depth) is preset in the depth acquisition unit 82 . The depth acquisition unit 82 determines the final cutting depth by setting an increase/decrease amount for this reference cutting depth based on the shape information described above. In other words, the depth acquisition unit 82 adjusts the cutting depth based on the shape information as described above at locations where the surface shape (surface roughness) cannot be covered by the cutting depth based on the standard value. In other words, in a standard region where the surface has no unevenness or waviness, cutting is performed based on a predetermined reference cutting depth, while in a portion where the shape is particularly changed, cutting is performed according to the shape. Cutting depth is increased or decreased. As a result, the contaminated area can be cut without omission according to the shape of the surface.

In addition, according to the above configuration, the arm portion 63 is arranged on the work vehicle 151 as the work device 51 . Since the work vehicle 151 has the lower traveling body 61, it can freely move on the floor surface 90 (work area). Therefore, it is possible to move the decontamination device 2 to various places and perform decontamination at any place. Thereby, the versatility of the decontamination device 2 can be enhanced.

Furthermore, according to the above configuration, the cutting portion 52 is configured such that the cutting edge can be replaced according to the shape of the object 43 to be decontaminated. According to this configuration, it is possible to select a cutting edge capable of cutting most efficiently according to the shape of the object 43 to be decontaminated. As a result, the cutting work can proceed more smoothly and efficiently.

Further, according to the decontamination method described above, after first decontaminating the main part of the contaminated area by the decontamination device 2, the remaining contaminated area is detected in the subsequent steps. Further decontamination is performed in subsequent steps if there are remaining contaminated areas. As a result, the entire contaminated area can be thoroughly decontaminated.

Further, according to the above method, secondary waste is collected after final decontamination is completed. If secondary waste removal is not completed, the radiation dose in the work area will be affected. By collecting secondary waste, the radiation dose in the work area can be kept small, making it possible to further improve work safety.

(Other embodiments)
As described above, the embodiments of the present disclosure have been described in detail with reference to the drawings, but the specific configuration is not limited to these embodiments, and design changes and the like are included within the scope of the present disclosure.

In the above-described embodiment, an example in which the position information acquisition unit 85 acquires the position information of the cutting unit 52 based on the moving image or still image captured by the imaging device 54 has been described. However, the position information acquisition section 85 may be configured to acquire the actual position of the cutting section 52 by a position sensor provided at the tip of the arm section 63 or GPS (Global Positioning System).

Further, in the above-described embodiment, an example in which the depth acquisition unit 82 acquires the cutting depth based on design information has been described. However, the depth acquisition unit 82 may acquire the cutting depth based on the inventory described above.

Furthermore, in the above embodiment, an example in which the water chamber 20 is applied as an example of the object 43 to be decontaminated has been described. However, the object 43 to be decontaminated is not limited to the water chamber 20, and may be the body 10, the heat transfer tube 40, or other piping (MCP: piping through which primary cooling water flows), or the reactor containment vessel. Other nuclear facilities may be used.

Moreover, the working vehicle 151 as the working device 51 is an example, and a device having crawlers instead of the wheels 65 can be used. Furthermore, it is also possible to apply a working robot having only the arm portion 63 as the working device 51 .

It should be noted that the order of the processes in the embodiment of the present disclosure may be changed as long as appropriate processes are performed.

Each of the storage unit 88 and other storage devices in the embodiment of the present disclosure may be provided anywhere as long as appropriate information is transmitted and received. Further, each of the storage unit 88 and the other storage devices may have a plurality of devices and store data in a distributed manner within a range where appropriate information transmission/reception is performed.

The process of the processing by the cutting control device 55 described above is stored in a recording medium readable by the computer 200 in the form of a program, and the computer 200 reads and executes the program to perform the above processing. A specific example of the computer 200 is shown below.

As shown in FIG. 9, computer 200 includes CPU 101 , main memory 102 , storage 103 and interface 104 .
For example, the cutting control device 55 described above is implemented in the computer 200 . The operation of each processing unit described above is stored in the storage 103 in the form of a program. The CPU 101 reads out a program from the storage 103, develops it in the main memory 102, and executes the above processing according to the program. Further, the CPU 101 secures storage areas corresponding to the storage units 88 described above in the main memory 102 according to the program.

Examples of the storage 103 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory). , semiconductor memory, and the like. The storage 103 may be an internal medium directly connected to the bus of the computer 200, or an external medium connected to the computer 200 via the interface 104 or communication line. Moreover, when this program is delivered to the computer 200 via a communication line, the computer 200 receiving the delivery may develop the program in the main memory 102 and execute the above process. Note that the storage 103 is a non-temporary tangible storage medium.

Further, the program may implement part of the functions described above. Furthermore, the program may be a file capable of realizing the above functions in combination with a program already recorded in the computer system, that is, a so-called difference file (difference program).

In addition to the above configuration or instead of the above configuration, custom LSI (Large Scale Integrated Circuit) such as PLD (Programmable Logic Device), ASIC (Application Specific Integrated Circuit), GPU (Graphics Processing Unit), and similar A processor may be provided. Examples of PLD include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by the processor may be implemented by the integrated circuit.

<Appendix>
The decontamination device 2 and the decontamination method described in each embodiment are understood, for example, as follows.

(1) The decontamination device 2 according to the first aspect is a decontamination device 2 for decontaminating an object 43 to be decontaminated generated from a nuclear facility, and A cutting part 52 for cutting a contaminated area, a recovery part 53 for recovering chips generated by cutting by the cutting part 52, and the cutting part 52 and the recovery part 53 at the tip are provided, and can be operated by remote control. and a working device 51 having a flexible arm portion 63 .

According to the above configuration, the contaminated area is cut by the cutting section 52 by remotely operating the arm section 63 . Thereby, the safety of decontamination work can be improved.

(2) The decontamination device 2 according to the second aspect is the decontamination device 2 of (1), further comprising a cutting control device 55 that controls the operation of the arm portion 63, and the cutting control device 55 , a range acquisition unit 81 for acquiring the cutting target range in the decontamination target 43, a depth acquisition unit 82 for acquiring the cutting depth in the decontamination target 43, the cutting target range, and the cutting depth A route acquisition unit 83 that acquires a reference route R along which the cutting unit 52 moves on the surface of the decontamination object 43 based on, and the arm so that the cutting unit 52 moves along the reference route R and a drive unit 84 that drives the unit 63 .

According to the above configuration, by moving the cutting portion 52 along the reference path R, the cutting work can be performed with high precision.

(3) The decontamination device 2 according to the third aspect is the decontamination device 2 of (2), wherein the cutting control device 55 controls the position of the cutting portion 52 on the surface of the decontamination target 43. A positional information acquisition unit 85 that acquires information, and a route determination unit 86 that determines whether or not the cutting unit 52 deviates from the reference route R by comparing the positional information with the reference route R. and when the route determination unit 86 determines that there is a deviation from the reference route R, the driving unit 84 adjusts the position of the cutting unit 52 so that the cutting unit 52 returns to the reference route R. fix it.

According to the above configuration, even if the cutting portion 52 deviates from the reference path R, the position of the cutting portion 52 can be corrected and returned to the reference path R. As a result, the cutting work can be performed with even higher accuracy.

(4) A decontamination device 2 according to a fourth aspect is the decontamination device 2 of (3), in which the arm portion 63 is provided with the cutting portion 52 on the surface of the decontamination target 43. An imaging device 54 that acquires a position as an image is further provided, and the position information acquisition unit 85 acquires the position information based on the image input from the imaging device 54 .

According to the above configuration, the positional information of the cutting portion 52 is acquired based on the actual image. As a result, the position of the cutting portion 52 can be obtained with even higher accuracy.

(5) The decontamination device 2 according to the fifth aspect is the decontamination device 2 according to any one of (2) to (4), and the range acquisition unit 81 obtains the previously obtained decontamination The cutting target range is obtained based on the contamination distribution information of the target object 43 .

According to the above configuration, the cutting target range is acquired based on the contamination distribution information. As a result, only a necessary and sufficient range can be cut, so the amount of secondary waste containing chips can be reduced.

(6) The decontamination device 2 according to the sixth aspect is the decontamination device 2 according to any one of (2) to (5), wherein the depth acquisition unit 82 obtains the previously obtained decontamination The cutting depth is acquired based on the shape information of the surface of the object 43 to be dyed.

According to the above configuration, the cutting depth is acquired based on the shape information of the surface of the decontamination target 43 . As a result, the contaminated area can be cut without omission according to the shape of the surface.

(7) The decontamination device 2 according to the seventh aspect is the decontamination device 2 of (6), wherein the depth acquisition unit 82 obtains the shape with respect to a predetermined reference cutting depth. The amount of increase or decrease from the reference cutting depth is obtained based on the information, and the cutting depth is determined.

According to the above configuration, while cutting is performed based on a predetermined reference cutting depth, the cutting depth is increased or decreased according to the shape at a portion where the shape is particularly changed, so that the shape of the surface can be obtained. Contaminated areas can be cut without omission depending on the

(8) A decontamination device 2 according to an eighth aspect is the decontamination device 2 according to any one of (1) to (7), wherein the work device 51 is configured such that the arm portion 63 is rotatable. The work vehicle 151 has an upper revolving body 62 that supports the upper revolving body 62 and a lower traveling body 61 that supports the upper revolving body 62 so as to be able to revolve around a revolving shaft extending in the vertical direction and that is movable on a floor surface 90. .

According to the above configuration, since the arm portion 63 is arranged on the work vehicle 151, it can freely move on the floor surface 90 (work area). Thereby, the versatility of the decontamination device 2 can be enhanced.

(9) A decontamination device 2 according to a ninth aspect is the decontamination device 2 according to any one of (1) to (8), wherein the cutting part 52 is shaped like the object 43 to be decontaminated. The cutting edge is configured to be replaceable accordingly.

According to the above configuration, the cutting work can be smoothly performed using an appropriate cutting edge according to the shape of the object 43 to be decontaminated.

(10) A decontamination method according to a tenth aspect is a decontamination method for decontaminating the object 43 to be decontaminated using the decontamination device 2 according to any one of (1) to (9), , while cutting the contaminated region using the decontamination device 2, recovering the chips, and measuring the radiation dose on the surface of the decontamination target 43, by measuring the radiation dose of the contaminated region detecting a remaining area; and decontaminating the remaining area.

According to the above method, after decontaminating most of the contaminated areas by means of the decontamination device 2, the remaining contaminated areas are detected and decontaminated in subsequent steps. As a result, the contaminated area can be thoroughly decontaminated.

(11) The decontamination apparatus 2 according to the eleventh aspect is the decontamination method of (10), in which, after completing the step of decontaminating the remaining area, Further comprising collecting the next waste.

According to the above method, it is possible to reduce the possibility that the secondary waste will spread around.

DESCRIPTION OF SYMBOLS 1...Steam generator 2...Decontamination apparatus 10...Body part 11...Steam port 12...Secondary cooling water inlet 20...Water chamber 21...Primary cooling water inlet 22...Primary cooling water outlet 23...Primary cooling water chamber 24 Secondary cooling water chamber 25 Inlet side water chamber 26 Outlet side water chamber 30 Tube plate 40 Heat transfer tube 41 Straight tube portion 42 Curved portion 43 Object to be decontaminated 44 Overlay 45 Base material 50 Partition plate 51 Working device 52 Cutting part 53 Collecting part 54 Imaging device 55 Cutting control device 61 Lower traveling body 62 Upper revolving body 63 Arm part 64 Chassis 65 Wheel 66 Fixed leg 71 Suction device 72 nozzle 81 range acquisition unit 82 depth acquisition unit 83 route acquisition unit 84 drive unit 85 position information acquisition unit 86 route determination unit 87 range determination unit 88 storage unit 90 floor surface 91 ... fixed base 92 ... terminal 151 ... work vehicle 101 ... CPU
102 Main memory 103 Storage 104 Interface 200 Computer O Axis R Reference path

Claims (11)

A decontamination device for decontaminating an object to be decontaminated generated from a nuclear facility,
a cutting unit that cuts a contaminated area generated on the surface of the object to be decontaminated;
a collection unit that collects chips generated by cutting by the cutting unit;
a working device having an arm portion provided with the cutting portion and the recovery portion at a distal end thereof and capable of being operated by remote control;
decontamination equipment. Further comprising a cutting control device for controlling the operation of the arm,
The cutting control device
a range acquisition unit that acquires a cutting target range in the decontamination target;
a depth acquisition unit that acquires a cutting depth in the decontamination target;
a path acquisition unit that acquires a reference path along which the cutting unit moves on the surface of the object to be decontaminated based on the cutting target range and the cutting depth;
a drive unit that drives the arm unit so that the cutting unit moves along the reference path;
The decontamination device according to claim 1, comprising: The cutting control device is
a position information acquiring unit that acquires position information of the cutting portion on the surface of the decontamination target;
a path determination unit that determines whether or not the cutting section deviates from the reference path by comparing the position information with the reference path;
further having
3. The removal according to claim 2, wherein when the path determining unit determines that there is a deviation from the reference path, the driving unit corrects the position of the cutting part so that the cutting part returns to the reference path. dyeing equipment. Further comprising an imaging device that is provided on the arm and acquires an image of the position of the cutting portion on the surface of the object to be decontaminated,
The decontamination apparatus according to claim 3, wherein the position information acquisition unit acquires the position information based on the image input from the imaging device. The decontamination apparatus according to any one of claims 2 to 4, wherein the range acquisition unit acquires the cutting target range based on previously obtained contamination distribution information of the decontamination target. The decontamination apparatus according to any one of claims 2 to 5, wherein the depth acquisition unit acquires the cutting depth based on shape information of the surface of the decontamination target obtained in advance. 7. The depth acquisition unit acquires an amount of increase or decrease from a predetermined reference cutting depth based on the shape information to determine the cutting depth. Decontamination equipment as described. The working device includes an upper revolving body that rotatably supports the arm portion, and a lower traveling body that supports the upper revolving body to be rotatable around a vertically extending revolving shaft and is movable on a floor surface. The decontamination apparatus according to any one of claims 1 to 7, which is a work vehicle having and. 9. The decontamination apparatus according to any one of claims 1 to 8, wherein the cutting portion is configured such that the cutting edge can be replaced according to the shape of the object to be decontaminated. A decontamination method for decontaminating the object to be decontaminated using the decontamination device according to any one of claims 1 to 9,
a step of collecting the chips while cutting the contaminated area using the decontamination device;
a step of detecting a remaining area of the contaminated area by measuring the radiation dose on the surface of the decontamination target;
decontaminating the remaining area;
decontamination methods, including 11. The decontamination method of claim 10, further comprising, after completing the step of decontaminating the remaining area, recovering secondary waste generated in said step.

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