JPH0540029A - Furnace interior inspecting device - Google Patents

Abstract

PURPOSE:To detect the accurate position of an ultrasonic transducer by correcting position signals from position detectors by using displacement signals from a displacement detecting means. CONSTITUTION:The mechanism section 4 of a driving device 3 which three- dimensionally drives an ultrasonic transducer 2 in liquid sodium is equipped with position detectors 5a, 5b, and 5c. The detectors 5a, 5b, and 5c can detect the positional components of the transducer 2 along X-, Y-, and Z-axes orthogonally crossing each other. A displacement detecting means 9 detects the acceleration components of the device 3 along, for example, X-, Y-, and Z-axes by means of acceleration sensors 11a, 11b, and 11c and integration circuits 12a, 12b, and 12c respectively integrate detected acceleration components and find displaced components. A position correction circuit 10 corrects position signals from the detectors 5a, 5b, and 5c by using displacement signals found by the displacement detecting means 9 and sends corrected position signals to a picture processing circuit 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reactor inspecting apparatus for inspecting a structure inside a reactor by scanning an ultrasonic transducer in a reactor vessel of a fast breeder reactor.

[0002]

2. Description of the Related Art In a fast breeder reactor, opaque liquid sodium is used as a coolant. Therefore, when inspecting the inside of a reactor vessel, use an in-reactor inspection device equipped with an ultrasonic transducer for visualization. There is.

The in-furnace inspection apparatus includes an ultrasonic transducer arranged in liquid sodium for oscillating ultrasonic waves toward the in-reactor structure and receiving reflected ultrasonic waves from the in-reactor structure. A drive device that drives an ultrasonic transducer in liquid sodium, a position detector that is provided in the mechanism part of the drive device to detect the position of the ultrasonic transducer as a position signal, and an ultrasonic oscillation command signal When the ultrasonic transducer command signal is sent to the ultrasonic transducer, the amplification circuit that amplifies the electrical conversion signal of the reflected ultrasonic wave when the ultrasonic transducer receives the reflected ultrasonic wave and the received position signal are The ultrasonic oscillation command signal is sent to the amplifier circuit each time it changes by a certain value, and the amplified electrical conversion signal is received from the amplifier circuit. This comprises amplified electrical conversion signal and the position signal and the image processing circuit for making the image data of the in-furnace structure using, and a display device for displaying the image data sent from the image processing circuit as an image.

By using this in-furnace inspection device,
The inspector can visually check the image of the furnace internal structure displayed on the display device to inspect the furnace internal structure.

[0005]

In the conventional in-core inspection device, the position of the ultrasonic transducer was detected by a position detector such as an encoder attached to the mechanism portion of the drive device.

However, if a complicated structure such as an articulated structure is used to improve the moving performance of the in-core inspection device, the drive device itself may vibrate due to changes in the flow rate of liquid sodium. .. Further, since the drive device is not firmly fixed to the in-core inspection device, the drive device may be loosened. Further, thermal deformation may occur in the drive device.

In such a case, the position detected by the above position detector does not coincide with the actual position of the ultrasonic transducer, so that the accuracy of the displayed image is deteriorated and the accurate inspection is performed. There is a risk that it will cause problems.

Further, in the conventional in-core inspection apparatus, since the absolute position of the ultrasonic transducer in the furnace could not be identified, it is difficult to scan the ultrasonic transducer while avoiding interferences in the furnace. Met.

Further, since it was not possible to compare the designed position of the reactor internal structure with the actual position obtained by the ultrasonic transducer, it was determined whether the reactor internal structure was deformed, the shape of the deformation or It was also difficult to confirm the presence or absence of loose parts in the furnace and the shape of those loose parts.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an in-core inspection apparatus capable of detecting an accurate position of an ultrasonic transducer.

Furthermore, the present invention makes it possible to smoothly scan the ultrasonic transducer by identifying the absolute position of the ultrasonic transducer in the furnace, and at the same time, to obtain the actual position obtained by the ultrasonic transducer. An object of the present invention is to provide an in-core inspection device capable of confirming the deformation of the internal structure and the shape of loose parts in the furnace by comparing the position and the design position on the screen.

[0012]

In order to achieve the above object, the in-core inspection apparatus according to the present invention, as described in claim 1, oscillates ultrasonic waves toward the in-core structure and at the same time, the in-core structure. An ultrasonic transducer arranged in the liquid sodium to receive reflected ultrasonic waves from the robot, a driving device that drives the ultrasonic transducer in the liquid sodium, and the position of the ultrasonic transducer is detected as a position signal. In order to do so, the position detector provided in the mechanism section of the drive device and this ultrasonic oscillation command signal are sent to the ultrasonic transducer when the ultrasonic oscillation command signal is received, and the ultrasonic wave is reflected from the ultrasonic transducer. An amplification circuit that amplifies this electrical conversion signal when it receives the electrical conversion signal, and an ultrasonic oscillation command signal each time the received position signal changes by a certain value. And an image processing circuit that receives the amplified electrical conversion signal from the amplification circuit and uses the amplified electrical conversion signal and the position signal to generate image data of the reactor internal structure. In a reactor inspecting apparatus including a display device that displays the image data sent from the circuit as an image, a displacement detecting unit that detects the displacement of the driving device itself, and a position signal from the position detector are transmitted from the displacement detecting unit. A position correction circuit that corrects the displacement signal and sends the corrected position signal to the image processing circuit is provided.

Further, the in-furnace inspection device of the present invention is defined by claim 2.
As described above, the ultrasonic transducer is obtained by comparing the design information database storing the three-dimensional map information of the reactor internal structure with the corrected position signal from the position correction circuit and the three-dimensional map information from the design information database. The position identification circuit that creates the position information indicating the positional relationship between the reactor internals and the ultrasonic transducer, and the scanning path of the ultrasonic transducer are set, and the set scanning path is set. The position where the ultrasonic transducer should be scanned is calculated from the scanning guidance console sent as a scanning command and the position information from the position identification circuit and the scanning command from the scanning guidance console, and the ultrasonic transducer scans at the calculated scanning position. Guidance including a scan guidance circuit that issues a drive command to the drive device In which further comprising a stage.

[0014]

According to the structure of the present invention described in claim 1, the position of the ultrasonic transducer detected by the position detector is corrected by using the displacement signal of the drive device detected by the displacement detector, and the ultrasonic wave is detected. Since the accurate position of the transducer can be detected, the accuracy of the displayed image can be improved and a more accurate inspection can be performed.

According to the second aspect of the present invention, the absolute position of the ultrasonic transducer in the furnace can be identified, and the ultrasonic transducer can be smoothly scanned, and the internal structure of the furnace can be improved. You can check the deformation of objects and the shape of loose parts in the furnace.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the in-core inspection apparatus according to the present invention will be described below with reference to the accompanying drawings.

A first embodiment of the in-core inspection apparatus according to the present invention is shown in a block diagram in FIG.

The in-furnace inspection apparatus 1 includes an ultrasonic transducer 2 arranged in liquid sodium for oscillating ultrasonic waves toward the in-core structure and receiving reflected ultrasonic waves from the in-core structure. , A driving device 3 for driving the ultrasonic transducer 2 three-dimensionally in liquid sodium,
Position of ultrasonic transducer 2 as position signal 3
The position detectors 5a, 5b and 5c provided in the mechanism portion 4 of the driving device 3 for dimension detection, and the ultrasonic transducer 2 are sent with the ultrasonic oscillation command signal when the ultrasonic oscillation command signal is received, Ultrasonic transducer 2
The amplification circuit 6 that amplifies the electric conversion signal of the reflected ultrasonic wave when it is received from the ultrasonic wave, and sends the ultrasonic oscillation command signal to the amplification circuit 6 each time the received position signal changes by a constant value, and amplifies it. The electric conversion signal thus received is received from the amplifier circuit 6, and an image processing circuit 7 for producing image data of the reactor internal structure using the amplified electric conversion signal and the position signal described above is sent from the image processing circuit 7. And a display device 8 for displaying the image data as an image.

The position detectors 5a, 5b and 5c can detect the position components of the ultrasonic transducer 2 along three different directions, for example, X-axis, Y-axis and Z-axis which are orthogonal to each other. There is.

The in-core inspection apparatus 1 of the present invention further includes the displacement detecting means 9 for detecting the displacement of the drive device 3 and the position signals from the above-mentioned position detectors 5a, 5b and 5c from the displacement detecting means 9. The position correction circuit 10 which corrects the position signal using the displacement signal and sends the corrected position signal to the image processing circuit 7.
With.

As shown in FIG. 1, the displacement detecting means 9 includes, for example, acceleration sensors 11a, 11b and 11c for detecting the acceleration components of the drive unit 3 along the X, Y and Z axes, and the acceleration sensor. 11a, 11b and 1
It is composed of integrating circuits 12a, 12b and 12c for integrating the acceleration components detected in 1c to obtain respective displacement components.

In this embodiment, the position detector 5, the acceleration sensor 11 and the integrating circuit 12 are provided on the assumption that the ultrasonic transducer 2 is three-dimensionally driven.
Three are provided for each.

However, when the driving range of the ultrasonic transducer 2 is limited to a predetermined plane, it is sufficient to have two of each, and further, the driving range of the ultrasonic transducer 2 is a predetermined straight line. When limited to the above, one each of these is sufficient.

Next, the procedure for inspecting the in-core structure using the in-core inspection apparatus 1 according to this embodiment will be described.

After positioning the ultrasonic transducer 2 at a predetermined scanning start position, the ultrasonic transducer 2 is driven by the driving device 3 to scan the ultrasonic transducer 2.

The position detectors 5a, 5b and 5c provided in the mechanism section 4 of the drive unit 3 detect the position of the ultrasonic transducer 2 with respect to the drive unit 3 as a position signal and correct the detected position signal. Send to circuit 10.

On the other hand, the acceleration sensor 1 of the displacement detecting means 9
1a, 11b and 11c detect, for example, an acceleration component of the drive unit 3 along the X axis, the Y axis and the Z axis, and the detected acceleration signal is integrated by the integration circuit 12a of the displacement detecting means 9.
Send to 12b and 12c. The integrating circuits 12a, 12b and 12c integrate the received acceleration component and then send it to the position correcting circuit 10 as a displacement signal.

The position correction circuit 10 includes position detectors 5a and 5a.
The position signals received from b and 5c are added to the integration circuit 12
The displacement signals received from a, 12b and 12c are added to form a corrected position signal, and this corrected position signal is sent to the image processing circuit 7.

Here, when the driving device 3 is stationary, the position of the ultrasonic transducer 2 is determined by the driving device 3
Of the position detectors 5a, 5b and 5 provided in the mechanical section 4 of the
Since it suffices to detect c and send it as a position signal to the image processing circuit 7, the displacement detecting means 9 is unnecessary.

However, the values detected by the position detectors 5a, 5b and 5c are values measured on the basis of the movement of the mechanism portion 4 of the drive unit 3, and are the same as those of the drive unit 3 and the ultrasonic transducer 2. However, when the flow rate of liquid sodium fluctuates and the drive device 3 itself vibrates, the position detectors 5a, 5b and 5c
The value detected at does not indicate the exact position of the ultrasonic transducer 2.

In such a case, the displacement detecting means 9 of the present invention detects the acceleration of the driving device 3 which oscillates.
1a, 11b and 11c detect the acceleration, and integration circuits 12a, 12b and 12c integrate the detected acceleration to obtain a displacement, and the position detector 5 uses the obtained displacement signal.
By correcting the position signals from a, 5b, and 5c, it is possible to detect the accurate position of the ultrasonic transducer 2 in consideration of the vibration of the driving device 3 itself, and the corrected position signal is used as the image processing device. 7 to improve the display accuracy.

Image processing circuit 7 which has received the corrected position signal
Sends an ultrasonic oscillation command signal to the amplifying circuit 6 each time the corrected position signal changes by a constant value, and the amplifying circuit 6 which receives the ultrasonic oscillation command signal causes the ultrasonic transducer 2 to transmit an ultrasonic wave toward the subject. Electric power is supplied to the ultrasonic transducer 2 so as to oscillate a sound wave.

The ultrasonic transducer 2 which oscillates ultrasonic waves receives the reflected ultrasonic waves reflected from the subject, and sends an electric conversion signal obtained by converting the received ultrasonic waves into an electric signal to the amplifier circuit 6.

The amplifier circuit 6 amplifies this electric conversion signal and sends it to the image processing circuit 7.

The image processing circuit 7 image-processes the corrected position signal received from the position correction circuit 10 and the electrical conversion signal received from the amplification circuit 6 to create image data, and outputs this image data to the display device 8.

In this image processing, for example, the display coordinates on the display device are determined from the corrected position signal, the intensity of the ultrasonic wave is detected from the electric conversion signal and the brightness is converted, or the time delay is detected. This is converted into a distance and the display coordinates are further determined.

The display device 8 receiving the image data displays the image data as an image.

This procedure is repeated while the driving device 3 is driving the ultrasonic transducer 2.

Next, a second embodiment of the in-core inspection apparatus according to the present invention is shown in a block diagram in FIG.

This embodiment is substantially the same as the first embodiment except that the construction of the displacement detecting means 15 is different from that of the displacement detecting means 9 of the first embodiment. Only the matters related to the means 15 will be described, and other explanations will be omitted. Further, the same components as those of the first embodiment are designated by the same reference numerals and described.

As shown in FIG. 2, the displacement detecting means 15 of the present embodiment oscillates an ultrasonic wave toward three different reference points (not shown) of the internal structure of the reactor and from these three reference points. Displacement detecting ultrasonic transducers 1 provided in the driving device 3 for receiving the reflected ultrasonic waves
6a, 16b and 16c, and the time delay of the reflected ultrasonic waves is detected from the electric conversion signals of the reflected ultrasonic waves received from the three displacement detecting ultrasonic transducers 16a, 16b and 16c, respectively, and the detected time delay is detected. Is converted into a distance in the oscillation direction of ultrasonic waves, and the displacement detection circuit 1 for detecting the displacement of the drive device 3 from the converted distance is calculated.
7a, 17b and 17c.

When the drive range of the ultrasonic transducer 2 is limited to a predetermined plane, the ultrasonic transducer 16 for displacement detection and the displacement detection circuit 17 are provided.
Is sufficient for each two, and when the drive range of the ultrasonic transducer 2 is limited to a predetermined straight line, one for each is sufficient.

According to the structure of this embodiment, the three displacement detecting ultrasonic transducers 16 provided in the driving device 3 are arranged.
Ultrasonic waves are oscillated from a, 16b, and 16c in three different directions, for example, directions orthogonal to each other.

Next, the oscillated ultrasonic waves are reflected at three different reference points of the internal structure of the furnace and return to the displacement detecting ultrasonic transducers 16a, 16b and 16c.

Displacement detection circuits 17a, 17b and 17c
Is a time delay indicating how much the returned time is behind the oscillated time, converts the time delay into a distance, detects the displacement of the drive device 4, and detects the displacement. It is sent to the correction circuit 10.

It is preferable to provide reflectors for reflecting ultrasonic waves at the three reference points of the internal structure of the furnace. Especially, if the reference points of the internal structure of the furnace are made of a material that reflects ultrasonic waves, it is possible to reflect them. There is no need to provide a plate.

Displacement detection circuits 17a, 17b and 17c
The procedure of correcting the position signals from the position detectors 5a, 5b and 5c by the position correction circuit 10 using the displacement of the driving device 3 detected by the above to improve the display accuracy of the image is the above-described first embodiment. As in the example.

Next, FIG. 3 is a block diagram showing a third embodiment of the in-furnace inspection apparatus according to the present invention.

This embodiment is substantially the same as the first embodiment except that the construction of the displacement detecting means 18 is different from that of the displacement detecting means 9 of the first embodiment. Only the matters related to the means 18 will be described, and other explanations will be omitted. Further, the same components as those of the first embodiment are designated by the same reference numerals and described.

The displacement detecting means 18 of this embodiment directs the ultrasonic transducer 19 for displacement detection, which is provided in the drive unit 3 and is dedicated to reception, and ultrasonic waves of different frequencies, to the ultrasonic transducer 19 for displacement detection. Three ultrasonic oscillators 21a, 21b, and 21c that oscillate, and a filter circuit 20 that extracts the electrical conversion signal of the ultrasonic waves received from the ultrasonic transducer 19 for each frequency component described above.
And sending the timing of oscillating ultrasonic waves to each of the three ultrasonic oscillators 21a, 21b and 21c as a control signal, and determining the time delay of the electrical conversion signal from the filter circuit for this control signal for each frequency component. The ultrasonic wave oscillators 21a, 21b and 21c and a displacement detection circuit 22 for determining the displacement of the drive device 3 by converting the distance between the ultrasonic transducers 19 are configured.

Ultrasonic transducer 19 for displacement detection
Since it receives ultrasonic waves coming from different directions at different frequencies and converts the ultrasonic waves into an electric signal, it is preferable that the directivity is weak and the frequency characteristic is wide band.

On the other hand, since the ultrasonic transmitters 21a, 21b and 21c oscillate toward the ultrasonic transducer 19, it is preferable that the ultrasonic transmitters have a strong directivity and which ultrasonic transmitter 21a, 21b and 21c transmits. It is preferable that the frequency characteristic is a narrow band so that the filter circuit 20 can distinguish between the generated ultrasonic waves.

When the drive range of the ultrasonic transducer 2 is limited to a predetermined plane, two ultrasonic oscillators 21 are sufficient, and the drive range of the ultrasonic transducer 2 is predetermined. When it is limited to the straight line, it is sufficient to have one ultrasonic oscillator 21 each.

According to the configuration of this embodiment, when the ultrasonic oscillators 21a, 21b and 21c receive the control signal from the displacement detection circuit 22, for example, at the same time, the ultrasonic transducers generate ultrasonic waves of different frequencies. It oscillates toward 19.

Next, the displacement detecting ultrasonic transducer 19 which has received the ultrasonic wave converts the received ultrasonic wave into an electric signal and sends it to the filter circuit 20.

The filter circuit 20 takes out this electric signal for each frequency component of the oscillating ultrasonic wave to detect the displacement detecting circuit 2.
Send to 2.

The displacement detection circuit 22 finds the time delay of the electric signal from the filter circuit 20 with respect to the control signal for each frequency component, and this time delay is determined by the ultrasonic oscillator 21a,
The displacement of the driving device 3 is detected by converting it into the distance between the ultrasonic transducer 19 and 21b and 21c.

The procedure for correcting the position signals from the position detectors 5a, 5b and 5c by the position correction circuit 10 using the displacement of the drive unit 3 detected by the displacement detection circuit 22 is the first embodiment described above. As in the example.

Next, FIG. 4 is a block diagram showing a fourth embodiment of the in-core inspection apparatus according to the present invention.

Since this embodiment is substantially the same as the third embodiment except that the scanning guiding means 23 is added,
Hereinafter, only matters related to the scanning guide means 23 will be described, and other explanations will be omitted. Further, the same components as those in the third embodiment are designated by the same reference numerals for description.

The scanning guide means 23 of this embodiment is the design information database 2 storing the three-dimensional map information of the reactor internals.
4 and the corrected position signal from the position correction circuit 10 and the three-dimensional map information from the design information database 24 are compared to identify the position of the ultrasonic transducer 2, and the reactor internal structure and the ultrasonic transducer 2 are identified. A position identification circuit 25 that creates position information indicating a positional relationship with the position of the ultrasonic transducer 2, a scanning guide console 26 that sets a scanning path of the ultrasonic transducer 2, and sends the set scanning path as a scan command, and a position identification circuit 25. The position to be scanned by the ultrasonic transducer 2 is calculated from the position information from the scanning guidance console 26 and the scanning command from the scanning guide console 26, and the driving device 3 is driven so that the ultrasonic transducer 2 is scanned at the calculated scanning position. It is composed of a scanning guide circuit 27 which issues a command.

The position identifying circuit 25 described above sends the created position information to the image processing circuit 7.

According to the configuration of this embodiment, the position identification circuit 2
5 receives the corrected position signal from the position correction circuit 10. This corrected position signal is transmitted to the ultrasonic transducer 2
Is a signal indicating the exact position of the.

The position identifying circuit 25 also receives the three-dimensional map information of the inside of the furnace from the design information database 24, and compares this three-dimensional map information with the above-mentioned corrected position signal, so that the furnace of the ultrasonic transducer 2 can be obtained. Identify the position within. Further, position information indicating the positional relationship between the reactor internal structure and the ultrasonic transducer 2 is created, and this position information is sent to the scanning guidance circuit 27.

Since the positional information includes the relationship between the current position of the ultrasonic transducer 2 and the reactor internal structure, the reactor internal structure exists as an interfering substance in the scanning direction of the ultrasonic transducer 2. Whether or not to do this can be determined from this position information.

In the scanning guidance console 26, the position where the ultrasonic transducer 2 is to be scanned is set in advance as a scanning command, and this scanning command is issued by the scanning guidance circuit 2.
Sent to 7.

The scan guidance circuit 27 sends a drive command to the drive device 3 based on the position information and the scan command described above.

In this way, the ultrasonic transducer 2 can be scanned along the preset scanning path while avoiding an interfering object.

Further, the position information from the position identification circuit 25 is sent to the image processing circuit 7 as well as the scanning guide circuit 27, so that the display device 8 receives the reflected ultrasonic waves received by the ultrasonic transducer 2. In addition to the image of the actual in-core structure analyzed from, the image of the designed in-core structure obtained from the design information database 24 is also displayed in an overlapping manner.

From these two superposed images, it is possible to know the presence or absence of the deformation of the furnace internal structure and the degree thereof, or the presence or absence of the loose parts and the shape thereof.

As a modified example of this embodiment, although not shown in the drawing, the optimum scanning path of the ultrasonic transducer 2 is received by receiving the position information from the position identification circuit 25 and the scanning command from the scanning guidance console 26. The optimum scanning path determining means for determining may be provided in the scan guiding circuit 27.

In determining the optimum scanning path, A
It is better to use the I technology.

With the configuration of this modification, the scanning induction circuit 2
7, the ultrasonic transducer 2 can send a drive command to the drive device 3 so that the ultrasonic transducer 2 is scanned along the optimum path, so that the ultrasonic transducer 2 can be prevented from interfering with the inside of the furnace. And it is possible to scan along the optimum path.

[0074]

As described above, in the in-core inspection apparatus according to the present invention, liquid sodium is used to oscillate ultrasonic waves toward the reactor internal structure and receive reflected ultrasonic waves from the reactor internal structure. An ultrasonic transducer arranged inside, a driving device for driving the ultrasonic transducer in liquid sodium, and a mechanism provided for the driving device to detect the position of the ultrasonic transducer as a position signal. When the position detector and the ultrasonic oscillation command signal are received, the ultrasonic transducer command signal is sent to the ultrasonic transducer, and when the reflected ultrasonic wave electrical conversion signal is received from the ultrasonic transducer, this electrical conversion signal is transmitted. The amplification circuit that amplifies, and sends an ultrasonic oscillation command signal to the amplification circuit each time the received position signal changes by a certain value, and It receives the converted signal from the amplifier circuit,
A furnace including an image processing circuit that creates image data of the furnace internal structure using the amplified electric conversion signal and the position signal, and a display device that displays the image data sent from the image processing circuit as an image In the inspection device, the displacement detection means for detecting the displacement of the drive device and the position signal from the position detector are corrected using the displacement signal from the displacement detection means, and the corrected position signal is processed by the image processing circuit. Since it is equipped with a position correction circuit for sending to the device, the accurate position of the ultrasonic transducer can be detected even if the drive device itself is vibrating, and the display is not affected by changes in the flow rate of liquid sodium, etc. The accuracy of the image can be improved and more accurate inspection can be performed.

Further, the above-mentioned in-core inspection apparatus compares the design information database storing the three-dimensional map information of the in-core structure with the corrected position signal from the position correction circuit and the three-dimensional map information from the design information database. By identifying the position of the ultrasonic transducer by doing the position identification circuit that creates the positional information indicating the positional relationship between the reactor internals and the ultrasonic transducer, and set the scanning path of the ultrasonic transducer , A scanning guide console that sends the set scanning path as a scan command, and the position to scan the ultrasonic transducer from the position information from the position identification circuit and the scan command from the scan guide console, and the calculated scan position The scanning induction circuit that issues a drive command to the drive device so that the ultrasonic transducer is scanned In by further comprising a scanning induction means constituted, to identify the absolute position in the furnace of the ultrasonic transducer, it is possible to scan the ultrasonic transducer smoothly and,
It is possible to check the deformation of the furnace internals and the shape of loose parts in the furnace.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of an in-core inspection device according to the present invention.

FIG. 2 is a block diagram showing a second embodiment of the in-core inspection device according to the present invention.

FIG. 3 is a block diagram showing a third embodiment of the in-core inspection device according to the present invention.

FIG. 4 is a block diagram showing a fourth embodiment of the in-core inspection device according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 In-furnace inspection device 2 Ultrasonic transducer 3 Driving device 4 Mechanism part 5 Position detector 6 Amplifying circuit 7 Image processing circuit 8 Display device 9 Displacement detecting means 10 Position correcting circuit 15 Displacement detecting means 18 Displacement detecting means 23 Scanning guiding means

Claims (2)

[Claims] 1. An ultrasonic transducer arranged in liquid sodium for oscillating an ultrasonic wave toward a furnace internal structure and receiving a reflected ultrasonic wave from the furnace internal structure, and the ultrasonic transducer. Driving device in liquid sodium, a position detector provided in the mechanism part of the driving device to detect the position of the ultrasonic transducer as a position signal, and an ultrasonic wave when the ultrasonic oscillation command signal is received. This ultrasonic wave transmission command signal is sent to the ultrasonic transducer, and the amplification circuit that amplifies this electrical conversion signal when the electrical conversion signal of the reflected ultrasonic wave is received from the ultrasonic transducer, and the received position signal changes by a certain value Each time the ultrasonic oscillation command signal is sent to the amplifier circuit, the amplified electrical conversion signal is received from the amplifier circuit, and this amplified signal is received. In an in-reactor inspection device including an image processing circuit that creates image data of an in-core structure using an electrical conversion signal and the position signal, and a display device that displays the image data sent from the image processing circuit as an image, Displacement detecting means for detecting displacement of the drive device, and a position signal from the position detector are corrected by using the displacement signal from the displacement detecting means, and the corrected position signal is sent to the image processing circuit. An in-furnace inspection apparatus comprising: a circuit. 2. An ultrasonic transducer by comparing a design information database storing three-dimensional map information of reactor internals with a corrected position signal from a position correction circuit and three-dimensional map information from the design information database. A position identification circuit that identifies the position and creates position information indicating the positional relationship between the reactor internals and the ultrasonic transducer, and sets the scanning path of the ultrasonic transducer and scans the set scanning path. The position where the ultrasonic transducer should be scanned is calculated from the scanning guidance console sent as a command and the position information from the position identification circuit and the scanning command from the scanning guidance console, and the ultrasonic transducer is scanned at the calculated scanning position. So as to drive the drive device, a scan guide circuit configured to output a drive command to the drive device. The in-furnace inspection device according to claim 1, further comprising: