JPH06148379A - Movable monitoring-inspection equipment - Google Patents

Abstract

PURPOSE:To furnish moving type monitoring-inspection equipment which enables execution of automatic monitoring and inspection of a plant through one operation cycle of the plant. CONSTITUTION:In regard to movable type monitoring-inspection equipment having the main body 1 of the monitoring-inspection equipment which has a sensor part 5 equipped with a monitoring means such as a TV camera 4 which monitors and inspects apparatuses while moving along a running track 2 laid beforehand, an operating panel 9 for a remote control operation of the main body 1 of the monitoring-inspection equipment and an illuminating device 11 for ensuring illuminance of an apparatus 10 being an object of monitoring and inspection, the present moving type monitoring-inspection equipment is provided with a light quantity control mechanism 12 which regulates the quantity of light of illumination on the basis of the level of an output of the sensor part 5 of the main body 1 of the monitoring-inspection equipment and with a test chart 13 for measurement of the luminance which is the output level of the sensor part 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile monitoring / inspecting device for monitoring and inspecting equipment, and more particularly to improvement of the monitoring function of the mobile monitoring / inspecting device.

[0002]

2. Description of the Related Art Monitoring and inspection work in a nuclear power plant is carried out by using a mobile monitoring and inspection device described below.

The mobile monitoring / inspecting apparatus comprises a monitoring / inspecting apparatus main body, an operation panel for remote control of the monitoring / inspecting apparatus and processing of sensor output, and an illuminating device for ensuring the illuminance of the monitored / inspected equipment.

The main body of the monitoring / inspecting device is a traveling carriage that moves along a traveling track previously laid in a nuclear power plant, a sensor unit equipped with a television camera for monitoring equipment in the plant, and a control signal from the outside. A control circuit unit that controls the traveling vehicle and the sensor unit, a communication circuit unit that transmits a control signal, and a power supply unit that supplies electric power to each unit are provided.

In the mobile type monitoring and inspection apparatus, a traveling carriage, which is supplied with electric power from a power supply unit, travels along a traveling track previously laid in the plant during operation of the plant, and a control circuit unit mounted on the traveling carriage is provided. Periodically monitor and inspect important equipment in the plant while controlling the traveling vehicle with the operation panel by the communication circuit and outputting the video output of the TV camera mounted on the traveling vehicle as a sensor to the monitor of the operation panel. Have been to.

Further, in the operation panel, image processing for comparing the image output of the television camera with the normal data is automatically performed, and the processing result is output to the monitor of the operation panel.

[0007]

However, in a nuclear power plant, when the lens of the television camera deteriorates due to radioactivity, the amount of light transmitted through the lens decreases, so that the image output image of the television camera gradually increases during plant operation. Get dark.
When image processing is performed to compare the output image of a darkened TV camera with normal data, there is a possibility that it will be impossible to determine or there will be an abnormality, and the monitoring and inspection capability of the plant will decline. become.

If automatic plant monitoring and inspection by image processing cannot be performed, the plant operator must constantly monitor and inspect the monitor output image on the operation panel while the mobile monitoring and inspection device is operating. It also increases the work load of the.

The present invention has been made in consideration of the above-mentioned circumstances. Even if the lens of the television camera, which is the monitoring means, deteriorates and the amount of transmitted light decreases, a sufficient image output image of the television camera is secured and stabilized. It is an object of the present invention to provide a mobile monitoring / inspecting device capable of performing the image processing described above, enabling automatic plant monitoring / inspection over one plant operation cycle, and reducing the work load on the plant operator.

[0010]

In order to solve the above-mentioned problems, a mobile monitoring / inspecting apparatus according to the present invention has the following features:
As described in 1, the monitoring and inspection device main body having a sensor unit having a monitoring unit such as a television camera for monitoring and inspecting the equipment in the nuclear power plant while moving along the pre-laid traveling track, and the monitoring and inspection device main body. In a mobile monitoring and inspection device that has a remote-controlled operation panel and a lighting device that secures the illuminance of the equipment subject to monitoring and inspection, the light amount control that adjusts the light amount of the illumination from the lighting device according to the sensor unit output level of the monitoring and inspection device body. A mechanism and a test chart for measuring the brightness which is the output level of the sensor unit are provided.

[0011]

In the present invention having the above-described structure, at the time of periodic inspection of the nuclear power plant, first, the lens of the television camera which is the sensor unit is replaced, and the illumination device for illuminating the equipment to be monitored and inspected is controlled by the light quantity control mechanism to reduce the illuminance. Adjust to

The image of the equipment subject to monitoring and inspection obtained at this time is used as normal data, and the brightness data of the test chart near the equipment subject to monitoring and inspection at this time is recorded and set.

During operation of the plant, every time a periodic monitoring and inspection using the mobile monitoring and inspection device is performed, the lens of the television camera is gradually deteriorated due to the influence of radioactivity, and the amount of transmitted light is reduced. The test chart provided in the vicinity of the target device is captured by the TV camera, the sensor output brightness is measured, and the light amount control mechanism of the lighting device is adjusted to reach the brightness set during the plant periodic inspection, and the illuminance from the lighting device is increased. Then, monitor and inspect the target equipment.

In this mobile monitoring / inspecting device, the illumination intensity from the illuminating device can be adjusted by the light quantity control mechanism to obtain the image data of the monitoring / inspection target device with a constant brightness, and the monitoring / inspection target device in normal condition can be obtained. Image processing can be performed in comparison with video data, and automatic monitoring and inspection of the plant can be performed over one operating cycle of the plant, reducing the work load on the plant operator.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing a system configuration of an embodiment of a mobile type monitoring and inspection apparatus according to the present invention.

The mobile monitoring / inspecting apparatus has a monitoring / inspecting apparatus main body 1 that can be installed in a nuclear power plant. The monitoring / inspecting apparatus main body 1 is a running track previously laid along a ceiling surface 18 in the nuclear power plant. It is installed in 2 so that it can be hung freely. The monitoring / inspection device body 1 is equipped with a traveling vehicle 3 traveling along the traveling track 2 and a sensor unit 5, a control circuit unit 6, a communication circuit equipped with monitoring means such as a TV camera 4 mounted on the traveling vehicle 3. Section 7 and power supply section 8
Composed of and.

In addition to the above-described monitoring / inspection device main body 1, this mobile monitoring / inspection device further includes an operation panel 9 for remotely operating the monitoring / inspection device main body 1, and a host computer 17 connected to the operation panel 9. A plant power supply 16 for supplying power to the entire apparatus is provided, and the operation panel 9, the host computer 17, the traveling carriage 3, etc. are driven by the power supplied from the plant power supply 16.

Further, this mobile type monitoring and inspection device is an illumination device 11 for ensuring the illuminance of the illumination on the device 10 to be monitored and inspected.
And a light quantity control mechanism 1 for adjusting the light quantity of the lighting device 11.
2 and a measurement test chart 13 for measuring the brightness of the sensor unit 5.

A control signal for remotely operating the monitoring / inspection apparatus main body 1 is input from the operation panel 9 through the traveling track 2 to the control circuit section 6 from the communication circuit section 7 mounted on the traveling vehicle 3.

The control circuit section 6 sends the instructed control signal to the drive motors 14 of the traveling vehicle 2 and the sensor section 5, respectively.
15, the drive of the drive motors 14 and 15 is controlled, and the operation of the traveling carriage 2 and the sensor unit 5 is given.

Further, the video signal obtained by the sensor unit 5 and the position signal of the traveling vehicle 2 are sent from the control / inspection device body 1 to the operation panel 9 via the traveling track 2 from the control circuit unit 6 and the communication circuit unit 7. Displayed on the operation panel 9.

Electric power for driving and operating each part mounted on the main body 1 of the monitoring and inspection device is received by the operation panel 9 from the plant power supply 16 and supplied to the power supply part 8 mounted on the traveling carriage 3 via the traveling track 2. Then, electric power is supplied from the power source unit 8 to the traveling vehicle 3, the sensor unit 5, the control circuit unit 6 and the communication circuit unit 7, respectively.

The power received by the operation panel 9 from the plant power supply 16 is also supplied to the lighting device 11 via the light amount control mechanism 12.

Next, the operation of this embodiment will be described.

The traveling of the monitoring / inspection device main body 1 is carried by the traveling carriage 3
This is performed by controlling the motor drive of the drive motor 14 of FIG.

Specifically, a control signal sent from the operation panel 9 via the running track 2 is sent from the communication circuit section 7 to the control circuit section 6 mounted on the running carriage 3, and the control circuit section 6 controls the operation command. This is performed by sending the operation instructed based on the signal to the drive motor 14 of the traveling vehicle 3. The position of the traveling vehicle 3 is sent from the position detecting device (not shown) mounted on the traveling vehicle 3 to the operation panel 9 via the traveling track 2 from the control circuit unit 6 and the communication circuit unit 7, and this operation is performed. The traveling position of the traveling carriage 3 according to the position signal is displayed on the monitor of the panel 9.

The swinging operation of the television camera 4 of the sensor unit 5 is performed by controlling the motor drive of the drive motor 15 of the sensor unit 5.

Specifically, a control signal sent from the operation panel 9 via the traveling track 2 is input from the communication circuit section 7 to the control circuit section 6, and the control circuit section 6 receives the control signal to perform the instructed operation. Is sent to the drive motor 15 of the sensor unit 5. The video signal from the sensor unit 5 is sent from the control circuit unit 6 and the communication circuit unit 7 to the operation panel 9 via the running track 2 and displayed on the monitor of the operation panel 9 as necessary.

The periodical monitoring and inspection of the nuclear power plant by the mobile type monitoring and inspection apparatus is performed from the operation panel 9 according to the monitoring and inspection position data recorded in advance in the host computer 17 connected to the operation panel 9. Control circuit unit 6
Drive motors 14 and 1 for traveling carriage 3 and sensor unit 5
5 is controlled by driving.

The monitoring / inspection apparatus main body 1 moves the traveling vehicle 3 along the traveling track 2 to the monitoring / inspection position in accordance with the monitoring / inspection position data recorded in advance in the host computer 17, and the TV camera 4 monitors and inspects the equipment. 10
To monitor.

Before monitoring the inspection / inspection target device 10,
The television camera 4 is aimed at the test chart 13 for measuring the luminance of the sensor unit 5, the luminance of the video output level of the sensor unit 5 is measured, and the luminance is compared with the preset luminance value recorded in advance in the host computer 17 of the operation panel 9.

As a result of comparing these, when the brightness of the image output level of the sensor unit 5 is lower than the preset brightness value recorded in the host computer 17, the light amount control mechanism 12 is operated by the operation panel 9 to increase the light amount of the illuminating device 11. The light amount control mechanism 12 that sends the control signal and receives the control signal is the lighting device 11
The power supply amount is increased in order to raise the illuminance of (1) until it becomes equal to the set luminance value.

On the other hand, when the brightness of the video output level measured by the sensor unit 5 is compared with the set brightness value, and if the brightness of the video output level is higher than the recorded set brightness value, the light quantity control mechanism 12 causes the illumination device to operate. By performing an operation of reducing the power supply amount to 11, the illuminance of the illumination device 11 is adjusted so that the set brightness value and the brightness of the video output level of the sensor unit 5 are the same value.

After the illuminance of the illuminating device 11 is adjusted by the operation panel 9 and the light amount control mechanism 12, the TV camera 4 monitors the device 10 to be monitored and inspected, and the video output data of the sensor part 5 and the host computer 17 are recorded. The presence / absence of abnormality in the monitoring / inspection target device 10 is determined by comparing the obtained normal time data.

In the above embodiment, the traveling track 2
Is installed on the ceiling 18 surface of the nuclear power plant, and the illuminating device 11 and the light amount control mechanism 12 are installed near the monitoring and inspection target device 10 as an example.

FIG. 2 shows a lighting device 21 and a light quantity control mechanism 22.
An example in which is directly attached to the traveling carriage 3 of the monitoring and inspection device body 1 is shown.

In this case, since it is not necessary to install the lighting device 11 and the light amount control mechanism 12 in the vicinity of the equipment 10 to be monitored and inspected, the number of the installed lighting devices 11 and the light amount control mechanism 12 can be reduced. The installation cost can be reduced.

Further, FIG. 3 shows an example in which the running track 20 is installed on the surface of the plant floor 19, whereby the running track 2
0 installation work is easy and construction costs are low, so installation costs can be reduced.

Further, by using the examples of FIGS. 2 and 3 together, the installation cost can be further reduced.

In this embodiment, the inside of the nuclear power plant is shown as an example, but the same effect can be obtained even in the case of being installed in an environment such as a chemical plant where the lens of the television camera is corroded. .

[0042]

As described above, a monitoring / inspection apparatus main body having a sensor unit having a monitoring means such as a television camera for monitoring and inspecting the device according to the present invention while moving along a traveling track previously laid, In a mobile monitoring / inspecting device having an operation panel for remotely operating the monitoring / inspecting device main body and a lighting device for ensuring the illuminance of the device under monitoring / inspection, the light quantity of illumination from the lighting device is output by the sensor unit of the monitoring / inspection device main body. By providing a light amount control mechanism that adjusts according to the level and a test chart for measuring the brightness that is the sensor unit output level, even if the transmitted light amount decreases due to deterioration of the lens of the TV camera that is the monitoring means, Sufficient image output images can be secured for stable image processing, and automatic plant monitoring and inspection can be performed over the entire plant operation cycle. It is possible to reduce the work load of the operator.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a system of an embodiment of a mobile monitoring and inspection device according to the present invention.

FIG. 2 is a schematic configuration diagram of a system showing another embodiment of the present invention.

FIG. 3 is a schematic configuration diagram of a system showing a third embodiment of the present invention.

[Explanation of symbols]

 1 Monitoring / Inspection Device Main Body 2, 20 Running Trajectory 3 Running Carriage 4 TV Camera 5 Sensor Section 6 Control Circuit Section 7 Communication Circuit Section 8 Power Supply Section 9 Control Panel 10 Monitoring / Inspection Target Equipment 11, 21 Lighting System 12, 22 Light Control Mechanism 13 Measurement test chart 14 Traveling vehicle drive motor 15 Sensor drive motor 16 Plant power supply 17 Host computer 18 Plant ceiling 19 Plant floor

Claims (1)

[Claims] 1. A monitoring / inspection apparatus main body having a sensor unit having a monitoring unit such as a television camera for monitoring and inspecting the apparatus while moving the apparatus along a preliminarily laid running track, and an operation for remotely operating the monitoring / inspection apparatus main body. In a mobile monitoring and inspection device having a panel and a lighting device that secures the illuminance of a device subject to monitoring and inspection, a light amount control mechanism that adjusts the light amount of illumination from the lighting device according to the output level of the sensor section of the monitoring and inspection device body, and a sensor A mobile monitoring and inspecting device, which is provided with a test chart for measuring the brightness which is a partial output level.