JPH08233980A - Robot device for in-reactor work and its radiation degradation diagnosis method - Google Patents

Abstract

PURPOSE: To provide a safe robot device for in-reactor work and its radiation degradation diagnosis method of which the dividing device has good mobility in reactor and is capable of moving freely and of exactly measuring remaining life dose and remaining life time for n-core work. CONSTITUTION: In a robot device for in-reactor work which is made to measure the remaining life of a diving device body 31, a depth meter 1 is loaded on a diving device body 31, and a calculation means to predict remaining life dose of parts concerning the diving device body 31 during in-core work is provided, by which the depth information obtained with the depth meter 1 and dose rate distribution in the reactor are taken into a computer memory of a calculation device by turns, an expected radiation dose rate received until the recovery of the diving device body 31 is calculated and the remaining life time dose is added.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-reactor work robot apparatus for performing work in a nuclear reactor, and in particular, for performing work in water in a nuclear reactor and for a work robot to prevent radiation deterioration of the robot itself. The present invention relates to a nuclear reactor work robot device having a radiation deterioration diagnosis function and a radiation deterioration diagnosis method thereof.

[0002]

2. Description of the Related Art As a radiation deterioration diagnosis function as a nuclear power plant inspection device, for example, Japanese Patent Laid-Open No. 59-92397.
As disclosed in Japanese Laid-Open Patent Publication No. 61-272693 or Japanese Patent Laid-Open No. 61-272693, a radiation dosimeter is provided in a mobile inspection device or the like to constantly detect the radiation dose rate received by the mobile inspection device, and
A method is known in which the remaining life is grasped by integrating with a PU and comparing it with a preset integrated value.

[0003]

However, when this device or this method is applied to a diving device (work robot) for working in a nuclear reactor, the following problems occur.
In other words, since a complicated structure is installed in the furnace and it is underwater, diving with the function of self-propelling underwater and avoiding a complicated structure when working in this environment. It should be a device.

If the above-mentioned conventional remaining life judging technique is applied to this diving apparatus, the remaining life is judged only from the exposure dose at the diving position of the diving apparatus which has dived into the furnace. In other words, we do not estimate the exposure dose until the diving device submerged between complicated structures is recovered.
In fact, even if it is judged that it is still usable, there is a danger that it may be damaged during the recovery process, leading to a serious accident.

Furthermore, it is very difficult to install this conventional radiation dosimeter in a submersible system used in a nuclear reactor. That is, since the radiation dosimeter amplifies a weak electric signal with a high voltage and outputs the amplified signal, it is necessary to obtain dose information using a cable having a very large diameter. If this radiation dosimeter is mounted directly on the diving equipment, in addition to the electrical signals for controlling the diving equipment, a cable with this large diameter must be added.

The addition of this large-diameter cable has a diameter twice or more as compared with the case where it is not added. This increase in the diameter of the cable not only lowers the mobility of the submersible device, but also may make it impossible to move freely inside the reactor, and may damage the structure inside the reactor.

The present invention has been made in view of the above circumstances, and an object of the present invention is to make it possible for the diving device to move freely in the furnace with good maneuverability and to accurately perform the remaining remaining life in the work in the furnace. (EN) It is possible to provide a safe in-reactor work robot apparatus capable of measuring a dose and a remaining life time and a radiation deterioration diagnosis method thereof.

[0008]

That is, the present invention is to perform various works underwater in a nuclear reactor, and to provide a body of a diving device equipped with a TV camera for visual inspection of the reactor and a propulsion device, and the body of the diving device. The dive device body is provided with a control device which is coupled to the dive device body by various controls of the dive device body and a calculation device which processes a signal sent from the dive device body through the cable. In a method of diagnosing radiation deterioration of a work robot device in a reactor adapted to predict a remaining life of a submersible body from a radiation dose, a depth meter is mounted on the main body of the submersible device, and the calculation device The depth information obtained and the dose rate distribution inside the reactor are sequentially loaded into the computer memory, and the expected radiation dose value received until the body of the diving equipment is recovered, and None to provide a computing means for predicting the remaining life dose components involved adding serial likelihood dose value to diving apparatus body during the furnace operation is obtained so as to achieve the intended purpose.

Further, according to the present invention, a depth gauge is mounted on the body of the diving apparatus, and the calculating apparatus is provided with a calculating means for calculating an expected dose value to be received until the body of the diving apparatus is recovered, and the calculation is performed from the depth meter. Depth information and dose rate distribution inside the reactor are sequentially loaded into a computer memory, and the expected dose value obtained by the above calculation means is added to predict or detect the remaining life dose of the parts related to the main body of the diving equipment during working inside the reactor. It is something that is done.

[0010]

In other words, in the work robot device in the reactor constructed as described above, since a radiation dosimeter is not used, a cable with a large diameter is not added, and therefore the diving device is made to have good maneuverability in the reactor. You can move around freely.

Further, the depth information obtained from the depth gauge and the dose rate distribution in the reactor are sequentially loaded into the computer memory in the computer, and the expected radiation dose value received until the submersible body is recovered is calculated, Moreover, since the calculation means is provided to predict the remaining life dose of the parts related to the body of the diving equipment during the work in the reactor by adding the expected dose value, for example, the worker uses the diving equipment under the water in the reactor. When working, it is possible to know exactly how much work can be done at the place at the diving device position in time, and therefore accurate remaining life dose and remaining life time can be measured in the work inside the reactor. It is possible to use this type of work robot device in a nuclear reactor.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail with reference to the illustrated embodiments. FIG. 1 shows the appearance of the main body of the diving apparatus (work robot). This submersible body 31
Is equipped with a depth meter 1 for measuring the depth (m) of the body of the diving apparatus.

A camera 2 is provided in the lower part of the body of the diving apparatus, and this camera is integrated with a light 3 so that four lights 4 take in the central camera 2 and two arms extend from the buoyancy body 4. It is supported by a camera drive mechanism 6 supported by 5. This camera 2 and light 3
Are formed so as to be movable by the camera drive mechanism 6 in order to obtain a desired field of view.

The propeller 7 for raising or lowering the body of the diving device 31 is provided in the center of the upper part of the body of the diving device, and the body of the diving device can be raised or lowered by controlling the positive / negative direction of rotation of the propeller. Forward and backward
Two swiveling propellers 8 are provided in parallel at the rear part of the body of the diving device, and move forward if two propellers are simultaneously rotated in the positive rotation direction, and backward if they are simultaneously rotated in the negative rotation direction. By rotating either propeller positively or negatively, it is possible to turn left and right around the horizontal axis of the submersible body. The integrated dosimeter 9 is provided at several places in the body of the diving apparatus and is used for radiation evaluation at the end of the work.

FIG. 2 shows the arrangement of each device related to the body of the diving apparatus. The dive device body 31 is the cable 10
This cable 1 is connected to the controller 32 via
Power is supplied from the controller 32 to the main body 31 of the diving apparatus via 0. The depth information obtained from the depth meter 1 and the image information from the camera 2 are also transmitted via the cable 10 to the controller 3
Sent to 2.

The controller 32 is a remote control controller 33.
The remote control controller 33 performs various remote operations (forward / backward movement, up / down movement, turning, etc.) of the submersible device main body 31. On the other hand, in the computer 34, the depth information obtained from the depth gauge 1 of the dive device body 31 and the existing in-reactor dose distribution are loaded into the internal memory and processed to process the remaining life dose value of the dive device body 31 in the reactor, which will be described later. And the remaining life time are calculated and the TV monitor 35
Display to.

Further, since the dosimeter conventionally required for the calculation of the remaining life is not required, it is not necessary to increase the diameter of the cable 10 and the maneuverability is not deteriorated. . The TV monitor 35 can output the image obtained by the camera 2.

FIG. 3 shows a signal transmission route of the depth meter 1. The signal obtained from the depth meter 1 is digitized by the A / D converter 40 provided inside the controller 32, and the computer 34 is provided. Proceed to the input board 41 inside. 42
Is a well-known microcomputer, basically CPU4
3, RAM 44, ROM 45. RO
A program for controlling the CPU 43 is written in the M45, and the CPU 43 calculates according to the program while fetching the required depth gauge data from the input board 41 or exchanging data with the RAM 44. It is processed and provided to the output board 46 as needed. Depth information sequentially calculated by the microcomputer from the output board 46,
It is output and displayed on the TV monitor 35 as a result of the remaining life dose information and the remaining life time information.

FIG. 4 is a diagram showing an image of working with this apparatus in a nuclear reactor. The worker is a refueling machine 5
1 to operate the remote control controller 33,
The controller 32, the computer 34, and the TV monitor 35 are prepared here. The submersible device main body 31 is suspended from an operator through the cable 10 and dives underwater. Although the range of diving is not limited, when accessing the bottom of the furnace, pass through the upper grid plate 52 and the core support plate 53 on the way and enter between the CR guide tubes 54, which were removed as planned, to reach the bottom of the furnace. Becomes

(Calculation Conditions for Remaining Lifetime Dose Value and Remaining Lifetime) It is assumed that the following data already exists before each life calculation is performed by the computer 34. The dose rate distribution in the reactor (data with the height direction as a parameter: does not depend on the horizontal direction) is assumed to be measured by a radiation dosimeter generally used in fields such as nuclear power. Further, the data is assumed to be regularly stored in each memory address in the computer 34 as shown in Table 1 for each depth as dose rate data arbitrarily divided at equal intervals.

It is assumed that the radiation resistance allowable value of each part for which the remaining life is to be calculated has already been set by a γ-ray irradiation test or the like.

When the main body 31 of the diving apparatus has already been used in a radiation environment, it has history data (accumulated dose).

The moving speed of the submersible body 31 is forward and backward,
It is assumed that the optimum speed that is easy for the operator to operate regardless of whether it is going up or down has been checked by the pre-test.

(Calculation method of remaining life dose value and remaining life time)
FIG. 5 shows a flowchart calculated by the computer 34. First, as shown in Table 1 as an initial setting, a data map corresponding to each plant that has already been measured is read out and stored in the memory of the computer 34.

[0025]

[Table 1]

Further, the radiation tolerance value A (Sv) of the camera 2 and the like obtained in the irradiation test, the exposure dose B (Sv) of the equipment having a short remaining life such as the camera 2 and the like received during the work,
Enter the optimum stable speed (m / h) for the dive unit.

Next, at the same time when the operator suspends the body of the diving device 31 below the water surface in the reactor, the depth gauge 1 installed therein is activated to send the depth D (m) in the body of the diving device 31 to the computer 34. Here, the sampling period for data transmission is Δ
It is assumed that the data is periodically sent to the computer 34 by t (h), and it is noted that the accuracy is improved if this Δt is extremely short. D sent from the computer 34 is shown in Table 1.
ΔM3 (Sv /
h) is sorted (hereinafter, Δ indicates a minute element of M3), and the product of the sampling period Δt is calculated, and thereafter, integrated. The integrated value indicates the exposure dose E (Sv) received by the submersible device body 31 up to that point.

Next, regarding the method of calculating the remaining life dose value F (Sv), assuming that the dive device body 31 has started diving and reached a certain point, the distribution is naturally different (however, this distribution is within the furnace). It is known that it changes only in the height direction and hardly changes in the plane direction). At this time, it is necessary to calculate the remaining life expecting the dose received during the returning process. If this process is not taken into consideration, there is a risk that the submersible device main body 31 may malfunction due to incorrect estimation of the remaining life during inspection of the complicated narrow portion in the furnace, and may not be recovered.

Therefore, the formula given by the variable F (Sv) is a value obtained by taking an estimate of the exposure dose that is generated by the time of turning back until the body of the diving device 31 is collected, and is calculated from the current position of the body of the diving device 31. It is almost equal to the value obtained by integrating the dose distribution up to the water surface by the distance and dividing by the optimal speed of the body of the diving system. That is, the value of the remaining life dose G (Sv) is the already exposed dose B.
(Sv) and the exposure dose E (Sv) received by the diving equipment body 31 up to that point and the exposure dose F (Sv) generated when the diving equipment body 31 returns, and the radiation resistant dose allowable value A (Sv) It is estimated as the difference from.

On the other hand, the remaining life time H (h) is the remaining life dose G
It is represented by a value obtained by dividing (Sv) by the dose rate ΔM3 (Sv / h) at the current position of the submersible device main body 31, and is estimated as the remaining time in consideration of the exposure that occurs at the time of turning back. At this time, if the value of G (Sv) shows a negative value, a display such as "warning" is displayed on the TV monitor 35, and the operator is informed of the limit of the used parts and the instruction of recovery.

Further, the above two values, the remaining life dose G (S
v) and the remaining life time H (h) are displayed on the TV monitor 35, and the remaining time can be easily known by giving a numerical warning to the operator. After the above calculation processing, the depth meter 1 reads the depth D (m) of the submersible device body 31 again, and the processing is repeated at Δt (h) intervals. The termination is executed when an interrupt command is entered in this process, and the error between the integrated value calculated by this system and the integrated dosimeter 9 is confirmed and used as a reference for the next exposure dose value.

As described in detail above, by comparing the known allowable dose value of the target part with the calculated remaining life dose,
You can grasp the usage limit of the target component from the viewpoint of radiation resistance,
Since it is possible to clearly grasp the proper replacement time of parts, there is an effect that the reliability of the device can be significantly improved.

Further, when the worker is working under the water in the furnace by using the diving device, it is possible to accurately know in time how much work can be done at the place at the diving device position, so that safe work can be performed. There is an effect that can be.

Further, the accurate remaining life dose and remaining life time in the work inside the nuclear reactor can be simultaneously predicted while freely moving, so that there is an effect that safe work that does not lead to an accident can be performed.

[0035]

As described above, according to the present invention, the diving device can freely move in the furnace, and the accurate remaining life dose and remaining life time in the work inside the furnace can be measured. Therefore, it is possible to obtain a safe in-reactor work robot apparatus or a radiation deterioration diagnosing method for a in-reactor work robot apparatus.

[Brief description of drawings]

FIG. 1 is a perspective view showing an outer appearance of a diving apparatus body of a diving apparatus with a radiation deterioration diagnosing function of the present invention.

FIG. 2 is a block diagram showing a relationship among respective devices of the diving apparatus with a radiation deterioration diagnosis function of the present invention.

FIG. 3 is a block diagram showing a signal transmission route of the diving apparatus with a radiation deterioration diagnosis function of the present invention.

FIG. 4 is a vertical cross-sectional side view of essential parts of a nuclear reactor showing a working state using the diving apparatus with a radiation deterioration diagnosis function of the present invention.

FIG. 5 is a calculation flowchart of a diving apparatus with a radiation deterioration diagnosis function of the present invention.

[Explanation of symbols]

1 ... Depth meter, 2 ... Camera, 3 ... Light, 4 ... Buoyant body, 5
... arm, 6 ... camera drive mechanism, 7 ... lifting propeller,
8 ... Forward / backward / turning propeller, 9 ... Integrated dosimeter, 10 ...
Cable, 31 ... Diving device body, 32 ... Controller, 33 ...
Remote operation controller, 34 ... Calculator, 35 ... TV monitor, 40 ... A / D converter, 41 ... Input board,
42 ... Microcomputer, 43 ... CPU, 44 ... R
AM, 45 ... ROM, 46 ... Output board, 51
... Refueling machine, 52 ... Upper lattice plate, 53 ... Core support plate,
54 ... CR guide tube, 55 ... CRD housing,
56 ... Furnace bottom.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G21C 17/003 GDL G21C 17/00 GDLE

Claims (5)

[Claims] 1. A diving apparatus main body equipped with a TV camera for visual inspection inside the reactor and a propulsion device and coupled to the diving apparatus main body through a cable while performing various operations in water in the reactor. The diving device body is provided with a control device for performing various controls of the diving device body, and a computing device for processing a signal sent from the diving device body through the cable. In the radiation deterioration diagnosing method for a work robot device in a nuclear reactor, which is adapted to predict, a depth meter is mounted on the body of the diving device, and the expected dose value received until the body of the diving device is collected by the computer. A calculation means for calculating is provided, and the depth information obtained from the depth gauge and the dose rate distribution in the reactor are sequentially loaded into a computer memory, and the estimated value obtained by the calculation means is calculated. Radiation degradation diagnosis method of reactor working robot apparatus is characterized in that so as to detect the remaining life of parts by adding a dose value related to diving apparatus main body in the furnace during operation. 2. A diving apparatus main body equipped with a TV camera for visual inspection inside the reactor and a propulsion device, and connected to the diving apparatus main body through a cable while performing various operations underwater in the reactor. The diving device body is provided with a control device for performing various controls of the diving device body, and a computing device for processing a signal sent from the diving device body through the cable. In a radiation deterioration diagnosing method for a work robot in a nuclear reactor, the depth gauge is mounted on the body of the submersible device, and the depth information obtained from the depth gauge and the dose rate distribution in the reactor are sequentially calculated. During the work in the reactor, the remaining life dose obtained by the expected dose value received until the submersible body is collected in the memory is calculated as the quotient at the depth of the place. Radiation degradation diagnosis method of reactor working robot apparatus is characterized in that so as to predict the remaining life dose of parts involved in definitive diving apparatus main body. 3. A diving apparatus main body equipped with a TV camera for visual inspection inside the reactor and a propulsion device and coupled to the diving apparatus main body through a cable while performing various operations underwater in the nuclear reactor. The diving device body is provided with a control device for performing various controls of the diving device body, and a computing device for processing a signal sent from the diving device body through the cable. In the radiation deterioration diagnosing method for a work robot device in a nuclear reactor, which is designed to predict the depth of the reactor and the depth information obtained from the depth meter mounted on the body of the diving device, The dose rate distribution of the above is sequentially stored in the computer memory, and the remaining life dose value calculated by the expected dose value received until the submersible body is recovered and the remaining life dose value are displayed on the spot. Radiation deterioration diagnosis of a work robot system in a nuclear reactor characterized in that it is possible to predict the remaining life dose and remaining life time of parts related to the submersible body during work inside the reactor by taking a quotient at the depth Method. 4. The operator is warned by a television monitor when the remaining life dose of the part relating to the body of the diving device predicted by the calculating means is negative. Radiation Degradation Diagnosis Method for Work Robot Equipment in Nuclear Reactor 5. A diving apparatus main body equipped with a TV camera for visual inspection inside the reactor and a propulsion device and coupled to the diving apparatus main body through a cable while performing various operations underwater in the nuclear reactor. The diving device body is provided with a control device for performing various controls of the diving device body, and a computing device for processing a signal sent from the diving device body through the cable. In the method for diagnosing radiation deterioration of a work robot device in a nuclear reactor adapted to predict, a depth gauge is mounted on the body of the submersible device, and the computing device includes depth information obtained from the depth gauge and the inside of the reactor. The dose rate distribution of the above is sequentially stored in the computer memory, and the expected radiation dose value received until the body of the diving equipment is recovered is calculated, and the estimated dose value is added to work in the reactor. Diving apparatus reactor working robot apparatus characterized in that a calculation means for predicting the remaining life dose of parts involved in the body in.