JPH02136793A - Inspecting device for abnormality of plant - Google Patents
Inspecting device for abnormality of plantInfo
- Publication number
- JPH02136793A JPH02136793A JP63290697A JP29069788A JPH02136793A JP H02136793 A JPH02136793 A JP H02136793A JP 63290697 A JP63290697 A JP 63290697A JP 29069788 A JP29069788 A JP 29069788A JP H02136793 A JPH02136793 A JP H02136793A
- Authority
- JP
- Japan
- Prior art keywords
- gas
- abnormality
- plant
- inspection
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005856 abnormality Effects 0.000 title claims abstract description 60
- 238000007689 inspection Methods 0.000 claims abstract description 67
- 238000001514 detection method Methods 0.000 claims description 5
- 230000002159 abnormal effect Effects 0.000 abstract description 7
- 238000004891 communication Methods 0.000 abstract description 5
- 239000007789 gas Substances 0.000 description 42
- 238000010586 diagram Methods 0.000 description 8
- 235000019645 odor Nutrition 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241000282465 Canis Species 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 230000002378 acidificating effect Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野１
この発明は点検用センサを搭載した点検装置を移動させ
、プラント内の巡回点検を遠隔または自動で行うプラン
ト異常点検装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field 1] The present invention relates to a plant abnormality inspection device that remotely or automatically performs patrol inspections within a plant by moving an inspection device equipped with an inspection sensor.
［従来の技術ｊ
従来、この検装置として例えば特開昭５２−５２０９１
号公報に示された第４図のようなものがあった。[Prior art j] Conventionally, as this inspection device, for example, Japanese Patent Application Laid-Open No. 52-52091
There was something like Figure 4 shown in the publication.
図の（ａ）はプラント異常点検装置を原子力発電所の巡
回点検に適用した場合の巡回ルートの側面図、図の（ｈ
）は同じく平面図、図の（ｃ）はプラント異常点検装置
の移動点検車の概略構成図、図の（ｄ）はプラント異常
点検装置の機能ブロック図を示す。Figure (a) is a side view of the patrol route when the plant abnormality inspection device is applied to patrol inspections of nuclear power plants;
) is also a plan view, (c) is a schematic configuration diagram of a mobile inspection vehicle of the plant abnormality inspection device, and (d) is a functional block diagram of the plant abnormality inspection device.
図において、＝は巡回ルート上に施設したモルレール、
（８）はテレビカメラ（９）等の点検用センサを搭載し
てモルレールに沿って走行する点検車、（１０）は点検
車の走行をコントロールして点検用センサの情報を信号
伝送路７ａを介して伝送し表示・判定する中央操作盤で
ある。In the figure, = is a mole rail installed on the patrol route.
(8) is an inspection vehicle equipped with an inspection sensor such as a television camera (9) and runs along the mole rail, and (10) is an inspection vehicle that controls the traveling of the inspection vehicle and transmits information from the inspection sensor to the signal transmission line 7a. This is a central control panel that transmits information, displays, and makes judgments.
本装置は原子炉建屋（ＡＥＩ）やタービン建屋（ＧＨ）
内の巡回点検すべきルートにあらかじめモルレール（７
）を設置しておき、必要な周期で点検車（８）を走行さ
せ、点検車に搭載した点検用センサにより異常がないか
を中央操作盤からの遠隔操作又は自動的に点検する。点
検用センサとしては、設備・機器類の外観異常や水洩れ
、蒸気洩れを検知するテレビカメラ、モータやポンプの
運転中の異常音を検知するマイクロフォン、環境内の温
度・湿度・放射線量の異常を検知する温（湿）度センサ
や放射線センサ、更に機器から放射される赤外線を捕え
ることにより異常を検知する赤外線カメラ等を備え、こ
れらの信号を信号伝送路（７ａ）を介して中央操作盤（
１０）に伝達し、各センサ別に用意した信号処理装置に
よりパネル表示したり、あらかじめセットした警報レベ
ルと自動的に比較して異常があれば警報を発する様にし
て、自動的または遠隔操作的に巡回点検を実施すること
ができる。This device is installed in nuclear reactor buildings (AEI) and turbine buildings (GH).
A mole rail (7
) is installed, and the inspection vehicle (8) is run at the necessary intervals, and inspection sensors installed in the inspection vehicle are used to check whether there are any abnormalities by remote control from the central operation panel or automatically. Inspection sensors include television cameras that detect abnormalities in the appearance of facilities and equipment, water leaks, and steam leaks, microphones that detect abnormal sounds during motor and pump operation, and abnormalities in temperature, humidity, and radiation levels in the environment. Equipped with temperature (humidity) sensors and radiation sensors that detect (
10) and display it on a panel using a signal processing device prepared for each sensor, or automatically or remotely by comparing it with a preset alarm level and issuing an alarm if there is an abnormality. Walk-around inspections can be carried out.
〔発明が解決しようとする課題１
このように従来のプラント異常点検装置は各種センサを
搭載して移動することにより、遠隔又は自動で巡回点検
を行えるので、放射線や高温下での点検も被曝すること
なく安全に行なえるなどの効果がある。しかし、人が実
際に現場に行って点検する場合は、上記以外に臭いによ
り異常を検知することが行なわれており、異常な臭いを
検知する機能を持った点検装置でなければ、人による巡
回点検を省略することができないという課題かあった。[Problem to be solved by the invention 1 As described above, conventional plant abnormality inspection equipment is equipped with various sensors and moves to perform patrol inspections remotely or automatically. It has the effect of being able to be done safely without any problems. However, when people actually go to the site to inspect, abnormalities are detected by odor in addition to the above, and unless inspection equipment has the function of detecting abnormal odors, human patrols are required. The problem was that inspections could not be omitted.
この発明は上記のような課題を解決するためになされた
もので、異常な臭いを検知する機能を持ったプラント異
常点検装置を得ることを目的とする。This invention was made to solve the above-mentioned problems, and an object thereof is to obtain a plant abnormality inspection device having a function of detecting abnormal odors.
〔課題を解決するための手段１
この発明に係るプラント異常点検装置は、プラント内の
所定の点検箇所へ移動する移動装置、この移動装置に搭
載され検知するガスの種類の異なる複数のガスセンサー
これらのガスセンサーの上記点検箇所における平常時
のガス基準値と上記ガスセンサーが上記点検箇所で検出
したガスレベルとを比較する比較器、この比較器の比較
結果の組合せにより異常の有無を判定し異常の場合に信
号を送出する判定手段を設けたものである。[Means for Solving the Problems 1] The plant abnormality inspection device according to the present invention includes a moving device that moves to a predetermined inspection point in the plant, and a plurality of gas sensors that are mounted on this moving device and detect different types of gas. A comparator that compares the normal gas standard value at the inspection location of the gas sensor with the gas level detected by the gas sensor at the inspection location, and determines whether or not there is an abnormality based on the combination of the comparison results of this comparator. The system is equipped with a determining means that sends out a signal in the case of .
〔作用１
この発明におけるプラント異常点検装置は、ブト
フン大の異常時に発生する臭いに相当するわずかなガス
を、検知するガスの種類の異なる複数のガスセンサーで
検出し、平常時のガス基準値と比較器により比較して判
定手段で異常の有無を判定し、異常の場合は信号を送出
する。[Operation 1] The plant abnormality inspection device according to the present invention detects a small amount of gas equivalent to the odor that occurs during a serious abnormality using a plurality of gas sensors that detect different types of gas, and compares it with the normal gas standard value. A comparison is made by a comparator, and a determining means determines whether or not there is an abnormality, and in the case of an abnormality, a signal is sent out.
〔発明の実施例１
以下、この発明の一実施例を図について説明する。第１
図（ａ）（ｈ）において、（１）は移動装置、（２）は
ガスセンサー （３１） （３２）は通信装置、（４）
は制御システム、（５）は表示器、（６）は操作器であ
る。[Embodiment 1 of the Invention Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1st
In figures (a) and (h), (1) is a mobile device, (2) is a gas sensor (31), (32) is a communication device, (4)
is a control system, (5) is a display, and (6) is an operating device.
本システムはオペレータ（図示せず）が操作器（６）を
操作して移動装置（１）を目的とする点検ルートに沿っ
て遠隔操縦又は自動操縦により移動させ、点検ルート上
の所定の位置でガスセンサー（２）の信号を取り込み、
これを基準値と比較して、異常があれば表示器（５）に
表示する。In this system, an operator (not shown) operates a controller (6) to move the mobile device (1) by remote control or autopilot along a target inspection route, and then moves the mobile device (1) to a predetermined position on the inspection route. Take in the signal from the gas sensor (2),
This is compared with the reference value, and if there is any abnormality, it is displayed on the display (5).
移動装置１ｅ（１）は駆動用のモータ（１１）と、位置
検出用のエンコーダ（１２）、駆動制御装置（１３）か
ら構成される装置
らの指令を受けて所定の点検ルートを移動する。The moving device 1e (1) moves along a predetermined inspection route in response to commands from devices including a drive motor (11), a position detection encoder (12), and a drive control device (13).
ガスセンサー（２）はそれぞれ検知するガスの種類の異
なるＮ個のセンサー（２１１）〜（２１Ｎ）から構成さ
れ、各センサーにより検知された信号は増幅器（２２１
）〜（２２Ｎ）で１［され、マルチブレフサ（２３）に
より多重化されて通信装置（３１） （３２）を介して
制御システム（４）に送られる。The gas sensor (2) is composed of N sensors (211) to (21N) each detecting a different type of gas, and the signal detected by each sensor is sent to an amplifier (221).
) to (22N), are multiplexed by the multi-blephr (23), and sent to the control system (4) via the communication devices (31) and (32).
制御システム（４）は操作器（６）よりの指令を受けて
運転制御装置（４６）により、移動装置（１）を所定の
点検ルートに沿って移動させる様に制御するとともに、
ガスセンサー（２）から通信装置（３１） （３２）を
介して送られてきた信号をデマＩレチプレクサ（４１）
でセンサ別は号に分離し、各点検箇所での判定基準を記
憶した判定基準メモ！Ｊ （４４）から、現在の位置で
の判定基準を取り出し判定基準レジスタ（４３）にセッ
トし、これと前記センサ別信号とを比較器（４２１）〜
（４２Ｎ）で比較し、判定回路（４５）により異常の何
無を判定する。これを全点検箇所について順次判定して
いくことによってプラントの異常点検を行うものであろ
う
尚、ここでガスセンサーとしては例えばセンサ実用事典
（大森豊男監修、０株）フジチクツクステム発行）で紹
介されている可燃性ガス（１２、Ｃ０１（Ｊ１４、Ｃ３
ｆｌＢ、アルコール等）検知センサ、酸化性ガス（酸素
、ハロゲンガス等）検知センサ、酸性・塩基性ガス（８
０２，８０３，８２８％ＣＯ２、口Ｃｅ、 Ｎｏ、 Ｎ
Ｏ２等）検雉」ンサをプラントで予想される異常事象に
合せて多数のセンサーを適宜選択して組合せればよへ特
に、実際のプラントでは可燃性ガスセンサーとこれによ
り検知できない不燃性ガスを検知するセンサーを組合せ
るのが効果的と考えられる。このように、複数のガスセ
ンサーの組合せにより検知し判定するようにすることで
、単一のガスセンサーでは検知できない、わずかな臭い
に相当するガヌを検知することができプラントの異常を
＠徽な段階で発見できる。The control system (4) controls the moving device (1) to move along a predetermined inspection route using the operation control device (46) in response to a command from the operating device (6), and
The signal sent from the gas sensor (2) via the communication device (31) (32) is decoded by the I retiplexer (41).
A judgment criteria memo that stores the judgment criteria for each inspection point by separating each sensor into numbers! The judgment standard at the current position is extracted from J (44) and set in the judgment standard register (43), and this and the sensor-specific signal are sent to the comparators (421) to
(42N), and a determination circuit (45) determines whether or not there is an abnormality. By sequentially determining this at all inspection points, abnormality inspections of the plant will be performed.In this case, gas sensors are introduced, for example, in the Practical Encyclopedia of Sensors (supervised by Toyoo Omori, published by Fujichiku Tsukustem Co., Ltd.). combustible gas (12, C01 (J14, C3
flB, alcohol, etc.) detection sensor, oxidizing gas (oxygen, halogen gas, etc.) detection sensor, acidic/basic gas (8
02,803,828% CO2, Mouth Ce, No, N
O2, etc.) can be detected by appropriately selecting and combining a large number of sensors according to abnormal events expected in the plant.In particular, in actual plants, combustible gas sensors and non-flammable gases that cannot be detected by flammable gas sensors can be used. It is considered effective to combine detection sensors. In this way, by detecting and making judgments using a combination of multiple gas sensors, it is possible to detect gas, which corresponds to a slight odor that cannot be detected with a single gas sensor. It can be discovered at various stages.
尚、上記実施例では判定基準は判定基準メモリ内にあら
かじめ記憶しているとしたが、平常時に実際に点検〃−
トを移動させて、各点検箇所での各ガスセンサーのレベ
ルを計測して記憶させる様にしてもよく、当然の事では
あるが、基準値が０の場合もありうる。In the above embodiment, it is assumed that the judgment criteria are stored in advance in the judgment criteria memory, but it is not possible to actually inspect them during normal times.
The level of each gas sensor at each inspection point may be measured and memorized by moving the gas sensor.Of course, the reference value may be 0 in some cases.
また、異常の判定は各センサーの信号レベルを基準値と
単純に比較し、いずれかのセンサーレベルが基準値を越
えているとき異常とする方法でもよいが、複数のセンサ
ーの計測値の組合せが、正常時と比較して有為な差異が
発生していないか検知する様にしてもよい。この場合は
、例えば各センサーの各点検箇所でのレベル変動量に応
じて重みづけを行ない、その積和値を基準値と比較する
などの方法をとればよい。Also, abnormality can be determined by simply comparing the signal level of each sensor with a reference value, and determining an abnormality when any sensor level exceeds the reference value, but it is also possible to determine an abnormality by simply comparing the signal level of each sensor with a reference value. , it may be detected whether a significant difference has occurred compared to normal times. In this case, for example, a method may be used in which weighting is performed according to the amount of level fluctuation at each inspection point of each sensor, and the product sum value is compared with a reference value.
また、各センサーレベルの計測においては一定時間の平
均値を用いたり、同一箇所で複数回あるいは近傍の複数
箇所で計測を行っていずれも異常と判定される場合のみ
警報を発生する様にすることで、ノイズによる誤警報を
防ぎ、信頼性よく点検することが可能となる。In addition, when measuring each sensor level, use the average value over a certain period of time, or make measurements at the same location multiple times or at multiple locations nearby, and issue an alarm only when all of the measurements are determined to be abnormal. This prevents false alarms due to noise and enables reliable inspection.
更に、特定の点検箇所で、異常を検知したときにその異
常成分が大きくなる方向に移動装置を移動させたり、近
傍の複数箇所での計測値からそのレベル差をもとにレベ
ルの増大する方向を演算して表示させたりすることによ
り、単に異常を検知する友けでなく、異常の発生源をオ
ペレータが判断しやすくなる。Furthermore, when an abnormality is detected at a specific inspection point, the moving device can be moved in the direction in which the abnormality component increases, or the direction in which the level increases based on the level difference from the measured values at multiple nearby points. By calculating and displaying the information, it becomes easier for the operator to determine the source of the abnormality, rather than simply detecting the abnormality.
その他、第２図のように移動装置にガスセンサー（２）
の他に方向制御可能な点検センサー、例えば工Ｔ Ｖ
（８１）を搭載し、異常を検知したとき、前記レベルの
増大する方向を演算してその方向にＩＴＶを自動的に向
ける様にすればオペレータは異常発生時にモニタテレビ
（８２）を見れば瞬時に異常の状態を把握することがで
きる。In addition, there is a gas sensor (2) on the moving device as shown in Figure 2.
In addition, directional controllable inspection sensors such as engineering TV
(81), and when an abnormality is detected, calculate the direction in which the level increases and automatically direct the ITV in that direction. When an abnormality occurs, the operator can instantly see the monitor TV (82). It is possible to understand abnormal conditions.
また、第３図のように、移動装置にマニピュレータアー
ム（９１）を搭載し、その先端にガスセンサー（２）を
取りつけ、これを制御Ｖステム（４）に設けた操作器（
９２）で遠隔操作できる様にすれば、異常検出時オペレ
ータが操作器（９２）を操作してマニピュレータアーム
（９１）を動かして、ガスセンサー（２）を異常発生箇
所の近傍で走査させることで、より正確な異常発生箇所
を推定することが可能となる。尚、マニピュレータアー
ム（９１）の制御を運転制御装置（４６）にあらかじめ
プログツムしておき、上記動作を自動的に行う様にする
こともできる。Further, as shown in Fig. 3, a manipulator arm (91) is mounted on the moving device, a gas sensor (2) is attached to the tip of the manipulator arm (91), and this is attached to the control V-stem (4).
92), when an abnormality is detected, the operator operates the controller (92) to move the manipulator arm (91) and scan the gas sensor (2) in the vicinity of the abnormality location. , it becomes possible to more accurately estimate the location of the abnormality occurrence. Incidentally, the control of the manipulator arm (91) may be programmed in the operation control device (46) in advance so that the above operations are performed automatically.
〔発明の効果１
以上のように、この発明によればプラント異常点検装置
を、プラント内の所定の点検箇所へ移動する移動装置、
この移動装置に搭載され検知するガスの種類の異なる複
数のガスセンサー これらのガスセンサーの上記点検箇
所における平常時のガス基準値と上記ガスセンサーが上
記点検箇所で検出したガスレベルとを比較する比較器、
この比較器の比較結果の組合せにより異常の有無を判定
し異常の場合に信号を送出する判定手段を備えるように
構成したので、１フントの異常時に発生するわずかな臭
いに相当するガスを検知することができ、プラントの異
常を軽微な段階で発見できるものが得られる効果がある
。[Effects of the Invention 1 As described above, according to the present invention, a moving device for moving a plant abnormality inspection device to a predetermined inspection location in a plant;
A plurality of gas sensors mounted on this mobile device detecting different types of gas. Comparison comparing the normal gas standard value of these gas sensors at the above-mentioned inspection points with the gas level detected by the above-mentioned gas sensor at the above-mentioned inspection points. vessel,
The structure is equipped with a determination means that determines the presence or absence of an abnormality based on a combination of the comparison results of this comparator and sends a signal in the event of an abnormality, so that the gas corresponding to the slight odor that occurs when an abnormality of 1 hund is detected. This has the effect of being able to detect plant abnormalities at a minor stage.
また、この発明の他の発明によればマニピュレータの先
端部にガスセンサーを取り付けたので。According to another aspect of the present invention, a gas sensor is attached to the tip of the manipulator.
異常発生箇所の近傍でガスを検出することができるもの
が得られる効果があるっ
また、この発明のさらに他の発明によれば、異常と判定
されたとき周囲の複数箇所でガス検出し異常の発生して
いる方向を求めるように構成したので、異常箇所を容易
に発見できるものが得られる効果がある。This has the effect of being able to detect gas in the vicinity of the location where the abnormality occurs.Furthermore, according to another aspect of the present invention, when an abnormality is determined, gas is detected at multiple locations around the abnormality. Since the configuration is configured to find the direction in which the occurrence occurs, there is an effect that an abnormality can be easily found.
、第１図はこの発明の一実施例による１ラント異常点検
装置を示すもので、（ａ）はシステム構成図、（ｂ）は
制御系統図である。第２図はこの発明の他の実施例によ
るプラント異常点検装置を示すシステム構成図、第３図
はこの発明のさらに他の実施例によるプラント異常点検
装置を示すシステム構成図、第４図は従来のフ”ラント
異常点検装置を示すもので、（ａ）は移動点検車の巡回
ルートの側面図、（ｂ）は移動点検車の巡回ルートの平
面図、（Ｃ）は移動点検車の概略構成図、（ｄ）はプラ
ント異常点検装置の機能ブロック図である。
図において、（１）は移動装置、（２１はガスセンサー
（３１） （３２）は通信装置、（４）は制御システム
であり、 （４２１）〜（４２Ｎ ）は比較器、（４４
）は判定基準メモリ、（４５）は判定回路である。（５
）は表示器である。
なお、図中同一符号は同一、又は相当部分を示すＯ1 shows a one-runt abnormality inspection device according to an embodiment of the present invention, in which (a) is a system configuration diagram and (b) is a control system diagram. FIG. 2 is a system configuration diagram showing a plant abnormality inspection device according to another embodiment of the present invention, FIG. 3 is a system configuration diagram showing a plant abnormality inspection device according to still another embodiment of the invention, and FIG. 4 is a conventional system configuration diagram. (a) is a side view of the patrol route of the mobile inspection vehicle, (b) is a plan view of the patrol route of the mobile inspection vehicle, and (C) is a schematic configuration of the mobile inspection vehicle. Figure, (d) is a functional block diagram of the plant abnormality inspection device. In the figure, (1) is a mobile device, (21 is a gas sensor (31), (32) is a communication device, and (4) is a control system. , (421) to (42N) are comparators, (44
) is a judgment reference memory, and (45) is a judgment circuit. (5
) is an indicator. In addition, the same symbols in the figures indicate the same or corresponding parts.
Claims (3)
、この移動装置に搭載され検知するガスの種類の異なる
複数のガスセンサー、これらのガスセンサーの上記点検
箇所における平常時のガス基準値と上記ガスセンサーが
上記点検箇所で検出したガスレベルとを比較する比較器
、この比較器の比較結果の組合せにより異常の有無を判
定し異常の場合に信号を送出する判定手段を備えたプラ
ント異常点検装置。(1) A mobile device that moves to a predetermined inspection point in the plant, multiple gas sensors mounted on this mobile device that detect different types of gas, and the normal gas standard values of these gas sensors at the above inspection points. A plant abnormality inspection comprising a comparator that compares the gas level detected by the gas sensor at the inspection point, and a determination means that determines the presence or absence of an abnormality based on a combination of the comparison results of the comparator and sends a signal in the case of an abnormality. Device.
、この移動装置に搭載されたマニピユレータアーム、こ
のマニピユレータアームの先端部に取り付けられたガス
センサー、このガスセンサーの上記点検箇所における平
常時のガス基準値と上記ガスセンサーが上記点検箇所で
検出したガスレベルとを比較する比較器、この比較器の
比較結果により異常の有無を判定し異常の場合に信号を
送出する判定手段、および上記マニピユレータアームの
操作の制御を行なう操作制御手段を備えたプラント異常
点検装置。(2) A moving device that moves to a predetermined inspection point within the plant, a manipulator arm mounted on this moving device, a gas sensor attached to the tip of this manipulator arm, and the above-mentioned inspection point of this gas sensor a comparator that compares the normal gas reference value with the gas level detected by the gas sensor at the inspection location; a determination means that determines whether there is an abnormality based on the comparison result of the comparator and sends a signal in the case of an abnormality; and an operation control means for controlling the operation of the manipulator arm.
、この移動装置に搭載されたガスセンサー、このガスセ
ンサーの上記点検箇所における平常時のガス基準値と上
記ガスセンサーが上記点検箇所で検出したガスレベルと
を比較する比較器、この比較器の比較結果により異常の
有無を判定する判定手段、この判定手段が異常有と判定
したとき該点検箇所の周囲の複数箇所で上記ガスセンサ
ーによる検出を行ない異常の発生している方向を求める
制御手段を備えたプラント異常点検装置。(3) A mobile device that moves to a predetermined inspection point in the plant, a gas sensor installed in this mobile device, a normal gas standard value of this gas sensor at the above inspection point, and a gas sensor detected at the above inspection point. a comparator for comparing the gas level with the detected gas level; a determining means for determining the presence or absence of an abnormality based on the comparison result of the comparator; and when the determining means determines that there is an abnormality, detection by the gas sensor at multiple locations around the inspection point; A plant abnormality inspection device equipped with a control means for determining the direction in which an abnormality is occurring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63290697A JPH0658307B2 (en) | 1988-11-16 | 1988-11-16 | Plant abnormality inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63290697A JPH0658307B2 (en) | 1988-11-16 | 1988-11-16 | Plant abnormality inspection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02136793A true JPH02136793A (en) | 1990-05-25 |
| JPH0658307B2 JPH0658307B2 (en) | 1994-08-03 |
Family
ID=17759340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63290697A Expired - Lifetime JPH0658307B2 (en) | 1988-11-16 | 1988-11-16 | Plant abnormality inspection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0658307B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05281104A (en) * | 1992-03-30 | 1993-10-29 | Mitsubishi Electric Corp | Inspection apparatus of abnormality of plant |
| JPH1049788A (en) * | 1996-07-08 | 1998-02-20 | Samsung Electron Co Ltd | Gas pressure and gas leakage sensing system |
| JP2009053910A (en) * | 2007-08-27 | 2009-03-12 | Hochiki Corp | Gas alarm |
| JP2012002507A (en) * | 2010-06-14 | 2012-01-05 | Kubota Corp | Defect checking apparatus and checking method for pipes |
| JP2012168683A (en) * | 2011-02-14 | 2012-09-06 | Nec Corp | On-site operation support system, device, method and program |
| CN102968878A (en) * | 2012-11-07 | 2013-03-13 | 中科华核电技术研究院有限公司 | Method, system and device for warning routing inspection of nuclear power station field device |
| WO2013038703A1 (en) * | 2011-09-16 | 2013-03-21 | パナソニック株式会社 | Air conditioner |
| KR101894458B1 (en) * | 2017-08-24 | 2018-09-04 | 삼성중공업 주식회사 | Gas or Smoke Detection Device considering Wind Direction and Wind Speed |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6012839A (en) * | 1983-07-01 | 1985-01-23 | S R D Kk | Signal demodulator |
| JPS61110678A (en) * | 1984-11-01 | 1986-05-28 | Hitachi Ltd | Traveling robot in dangerous ambience |
| JPS63126857U (en) * | 1987-02-12 | 1988-08-18 |
-
1988
- 1988-11-16 JP JP63290697A patent/JPH0658307B2/en not_active Expired - Lifetime
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6012839A (en) * | 1983-07-01 | 1985-01-23 | S R D Kk | Signal demodulator |
| JPS61110678A (en) * | 1984-11-01 | 1986-05-28 | Hitachi Ltd | Traveling robot in dangerous ambience |
| JPS63126857U (en) * | 1987-02-12 | 1988-08-18 |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05281104A (en) * | 1992-03-30 | 1993-10-29 | Mitsubishi Electric Corp | Inspection apparatus of abnormality of plant |
| JPH1049788A (en) * | 1996-07-08 | 1998-02-20 | Samsung Electron Co Ltd | Gas pressure and gas leakage sensing system |
| JP2009053910A (en) * | 2007-08-27 | 2009-03-12 | Hochiki Corp | Gas alarm |
| JP2012002507A (en) * | 2010-06-14 | 2012-01-05 | Kubota Corp | Defect checking apparatus and checking method for pipes |
| JP2012168683A (en) * | 2011-02-14 | 2012-09-06 | Nec Corp | On-site operation support system, device, method and program |
| WO2013038703A1 (en) * | 2011-09-16 | 2013-03-21 | パナソニック株式会社 | Air conditioner |
| CN102968878A (en) * | 2012-11-07 | 2013-03-13 | 中科华核电技术研究院有限公司 | Method, system and device for warning routing inspection of nuclear power station field device |
| KR101894458B1 (en) * | 2017-08-24 | 2018-09-04 | 삼성중공업 주식회사 | Gas or Smoke Detection Device considering Wind Direction and Wind Speed |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0658307B2 (en) | 1994-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6288650B2 (en) | Device and method for monitoring the operation of an industrial installation | |
| JP2644844B2 (en) | Distributed image recognition system | |
| US6385558B1 (en) | Process and devices for monitoring facilities in the chemical industry | |
| US20050264251A1 (en) | Method and device for operating a machine, such as a multiaxial industrial robot | |
| US7231808B2 (en) | Method and apparatus for measuring oxygen content | |
| JPH10508712A (en) | Analyzing process data of technical equipment | |
| JP6082597B2 (en) | Damage status notification system and earthquake disaster prevention system | |
| US5339339A (en) | Process for carrying out an inspection round of nuclear installations | |
| JPH02136793A (en) | Inspecting device for abnormality of plant | |
| EP1281167B1 (en) | A system and an arrangement to determine the position in a hazardous situation | |
| JP2008213056A (en) | Robot system | |
| KR102272780B1 (en) | Facilities diagnosis robot and active avoidance method thereof | |
| JP3025041B2 (en) | Tunnel fire detection system | |
| KR100196345B1 (en) | Process for carrying out an inspection round of nuclear installations | |
| JPH11125694A (en) | Integral monitoring system of nuclear power plant room | |
| US6867700B2 (en) | System and an arrangement to determine the level of hazard in a hazardous situation | |
| KR100191643B1 (en) | Control method and its apparatus of communication hole | |
| CN112017391A (en) | Flame fire extinguishing detection method for blast furnace gas diffusion chimney | |
| CN113963503A (en) | Fire early warning method and system | |
| JP2000293217A (en) | Plant diagnosis system | |
| JPH01213540A (en) | Leakage detecting system | |
| JPH07281736A (en) | Facility diagnostic device | |
| JPH0298692A (en) | Method of selecting procedure and procedure execution monitor | |
| JPS61271418A (en) | Measuring instrument verification system in process control computer system | |
| KR910005297B1 (en) | Method and device which senses gas in the center |