JPH10197680A - Controller of treating device of control rod drive device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make human work in pedestal unnecessary. SOLUTION: An ITV camera 1 outputs an image data showing a specified target location of a control rod drive device B in pedestal and a camera data containing the camera position. An edge cutout processing part 2 produces an edge cutout processed image data and a target image data file 3 preserves the image data when the treating device is exactly positioned at the target location in advance and the target camera data as target image data. A CG image processing part 4 produces a computer graphic image data. An image duplication processing part 5 controls the position of the ITV camera 1 so that the camera data becomes target camera data and duplicates the edge cutout image on the computer graphic image and outputs to an image display 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device of a control rod driving device for controlling a control rod driving device for mounting and removing a control rod driving device disposed in a nuclear reactor. .

[0002]

2. Description of the Related Art At the time of a periodic inspection of a nuclear power plant, several control rod driving devices (hereinafter referred to as CRD) are removed by a control rod driving device handling device (hereinafter referred to as CRD handling device). After disassembly and inspection, it is reinstalled. The CRD handling device can perform a CRD mounting operation or a CRD mounting operation from a remote operation room by remote manual operation or automatic control.

As shown in FIG. 13, a conventional CRD handling device includes a synchro transmitter 18 for detecting the current position of the CRD handling device A, and a converter for converting a synchro signal output from the synchro transmitter 18 into a digital signal. Unit 19, a target coordinate data file 20 for storing a target position signal used for comparison with the current position signal, and a comparison processing unit 21 for inputting a digital signal indicating the current position and target coordinate data and comparing the two signals. And a determination processing unit 22 for determining a result of the comparison, a control unit 23 for performing feedback control of the determined data, and a motor 24 for receiving a control signal from the control unit 23 and driving the CRD handling device.

[0004] The positioning operation between the CRD handling device A and the CRD housing B is performed by repeating the above operation.
The alignment operation of CRD handling device A was performed,
In the conventional CRD handling device, the final alignment (bolt hole alignment, CRD insertion) operation is performed by a worker on site,
The CRD handling device was operated by visual confirmation.

[0005]

The conventional CR
In the D handling apparatus, since the final target alignment of the CRD handling apparatus has been performed only based on the relative positional relationship between the CRD handling apparatus and the target position, it has been difficult to improve the final alignment accuracy.

[0006] Therefore, in order to perform accurate positioning, an operator actually operates the CRD handling device on site while checking the attachment / detachment state inside the pedestal. As a result, in the conventional CRD handling device, the final target alignment is manually performed by humans, which may result in exposure to radiation and poor work efficiency.

Therefore, in the present invention, the final target alignment of the CRD handling device is also performed by manual operation from a remote control room or by automatic control by a computer, and is performed accurately and without an operator entering the pedestal. It is another object of the present invention to provide a control device for a handling device of a control rod driving device which realizes safe final alignment.

[0008]

According to a first aspect of the present invention, there is provided a control device for a control rod driving device for mounting or removing a control rod driving device disposed in a nuclear reactor, the control device being installed in a pedestal. Camera means for projecting a predetermined target portion of the control rod driving device, and outputting camera data including the video data and the camera position; and edge extraction processing image data from the video data output by the camera means. An edge cutout processing unit to be created; a target image data file for storing target image data and target camera data when the handling device is accurately positioned in advance to a predetermined target position; A computer graphic image processing unit for extracting image data to create computer graphic image data; An image superimposition processing unit for comparing the image based on the tagographic image data and the image based on the edge cut-out processing image data, and comparing the target camera data with the camera data and displaying each of them on an image display unit. It was done. According to this means, video data and camera data are output from a camera which projects a predetermined target portion of the control rod driving device, and edge cut-out processed image data is created based on the video data. On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and computer graphic image data is created based on the target image data. The image is compared with the edge cutout image and displayed. First, the operator repeatedly operates the handling device so that the computer graphic image displayed while adjusting the camera position and the like so that the camera data becomes the target camera data is overlapped with the edge cutout image, and gradually the two image data are displayed. To match. As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

A second aspect of the present invention is directed to a control device for a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor. Camera means for projecting the target location of the camera, outputting camera data including the video data and the camera position, and an edge cutout processing unit for creating edge cutout image data from the image data output by the camera means, A target image data file for storing target image data and target camera data when the handling device is accurately positioned in advance to a predetermined target position, and the camera means is controlled so that the camera data becomes target camera data. And a correlation processing unit for calculating correlation data from the edge cut-out image data and the target image data And an operation control unit that drives the handling device so that the correlation is maximized based on the correlation data obtained by the correlation processing unit and aligns the handling device to the predetermined target location. It was done. According to this means, video data and camera data are output from a camera which projects a predetermined target portion of the control rod driving device, and edge cut-out processed image data is created based on the video data. On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and the camera compares the target image data with the edge cut-out processed image data. Adjust the camera so that the data is the target camera data. Then, correlation data is created from the target image data and the edge cut-out processed image data, and the handling device is operated such that the correlation between the two image data based on the correlation data is maximized. As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

A third aspect of the present invention is a control device for a control rod driving device handling device for mounting or removing a control rod driving device disposed in a nuclear reactor, wherein the control rod driving device is mounted in a pedestal. A first camera and a second camera for outputting video data showing the detached state from a different angle and camera data including the position of the camera, and a first edge cut-out image from the video data output by the first camera A first edge cutout processing unit for creating data,
A second edge cut-out processing unit that creates second edge cut-out processing image data from the video data output by the second camera unit, and a second edge cut-out processing unit that accurately positions the handling device to a predetermined target location in advance; A target image data file for storing respective target image data corresponding to the first camera and the second camera means; first computer graphic image data corresponding to the first camera means according to the target image data; and the second camera A computer graphic image creating unit for creating second computer graphic image data corresponding to the means, and comparing the first edge cut-out processed image data with the first computer graphic image data, The first target camera data and the first camera data are compared and displayed on the first image display unit. A first image polymerization processing unit that, the second
While comparing the edge cut-out processed image data with the second computer graphic image data, the second target camera data and the second camera data of the second camera unit are compared and displayed on the second image display unit. And a two-image polymerization processing section. According to this means, video data and camera data are output from two cameras that project a predetermined target portion of the control rod driving device from different positions, and two edge cut-out image data are generated based on the video data. Created. On the other hand, two target image data including target camera data obtained from another position when the handling device is accurately positioned to a predetermined target portion are prepared in advance, and two target image data are prepared based on the target image data. Graphic image data is created, and the computer graphic image is compared with the edge cutout image and displayed. The operator first adjusts the camera position and the like so that the respective camera data becomes the respective target camera data, and repeats the operation so that the two computer graphic images to be displayed overlap the corresponding edge cut-out images. Is operated to gradually combine the two images. Thereby, the position of the predetermined portion of the handling device can be finally adjusted to the predetermined target portion based on the data obtained from the two different positions. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to a fourth aspect of the present invention, there is provided a control device for a control rod driving device for mounting or removing a control rod driving device disposed in a nuclear reactor, wherein the control rod driving device is mounted on a pedestal. Camera means for projecting a predetermined target portion of the apparatus and outputting camera data including the video data and the camera position; and edge cutting processing for creating image data from the video data output by the camera means. Unit, a target image data file for storing target image data and target camera data when the handling device is accurately positioned in advance to a predetermined target location, and the camera so that the camera data becomes the target camera data. A camera control unit for controlling means, and calculating correlation data from the edge cutout processed image data and the target image data An operation control unit that drives the handling device so that the correlation is maximized based on the correlation data obtained by the correlation processing unit and aligns the handling device to the predetermined target location. Is provided. According to this means, video data and camera data are output from a camera provided in a handling device for projecting a predetermined target portion of the control rod driving device, and edge cut-out image data is created based on the video data. On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and the camera data is compared with the target image data and the edge cut-out image data. Adjust the camera so that is the target camera data. Then, correlation data is created from the target image data and the edge cut-out image data, and the handling device is operated so that the correlation between the two image data based on the correlation data is maximized. As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to a fifth aspect of the present invention, there is provided a control device for a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor, wherein the control rod is provided in the pedestal. A radio wave transmitter for transmitting a radio wave to a predetermined portion of the drive device, a radio wave receiver for receiving a reflected wave from the target transmitted from the radio wave transmitter, and a radio wave receiver for transmitting the radio wave. An arithmetic unit for calculating the distance to the target based on a plurality of times of reception, and an operation control unit for driving the handling device according to the distance obtained by the arithmetic unit are provided. According to this means, the distance is calculated by the time of transmission and reception of a plurality of radio waves reflected from a predetermined target portion of the control rod driving device, the handling device is operated according to the obtained distance, and the remote control device is operated. By the repetition of the operation, finally, the predetermined position and the predetermined position of the handling device can be aligned. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to a sixth aspect of the present invention, there is provided a control device for a control rod driving device for mounting or removing a control rod driving device disposed in a nuclear reactor, wherein the control rod is provided in the pedestal. An ultrasonic transmitter for transmitting a radio wave to a predetermined portion of the driving device as a target, a plurality of ultrasonic receivers for transmitting a reflected wave from the target transmitted from the ultrasonic transmitter, and transmitting and receiving the radio wave And a motion control unit for driving the distance in accordance with the distance obtained by the calculation unit. According to this means, the distance is calculated by the time of transmission and reception of the plurality of ultrasonic waves reflected from the predetermined target portion of the control rod driving device, and the handling device is operated according to the obtained distance, By the repetition by remote control, finally, the predetermined position and the predetermined position of the handling device can be aligned. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

[0014]

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

FIGS. 1 and 2 are block diagrams of a control device of a handling device of a control rod driving device according to a first embodiment of the present invention. The same reference numerals as in FIG. FIG. 13 shows an IT part according to the first embodiment.
A V-camera 1, an edge cutout processing unit 2, a target image data file 3, a CG image creation unit 4, an image superimposition processing unit 5, and an image display unit 6 are additionally provided, and a target image when accurately aligned. It is characterized in that computer graphic images are created from the data, superimposed on the edge cut-out image data created from the actual video, and the handling device of the control rod drive is operated by remote manual operation to perform the predetermined alignment. doing.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted by the converter 19 into a digital signal as a current position signal. Next, the comparison processing unit 21 compares the current position signal data with the target coordinate data from the target coordinate data file 20. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed.

The final positioning of the CRD handling device A is performed by the means shown in FIGS. First, the tip of the target CRD housing B is projected by the ITV camera 1 installed on the wall inside the pedestal. The video from the ITV camera 1 is input to the edge extraction processing unit 2. The angle, direction, focus, etc. of the ITV camera 1 at this time are input to the image superimposition processing unit 5 as camera data.

The edge cutout processing unit 2 creates edge cutout processed image data in which the contour of the target is clarified from the pixel values of the input image and the first and second derivatives of the pixel values.

On the other hand, the target image data file 3 contains the image data of the ITV camera 1 when the CRD housing B has been accurately aligned in advance, and the ITV data at this time.
The angle, direction, focus, and the like of the camera 1 are stored as target camera data.

The image data of the target CRD housing B is input from the target image data file 3 to the CG image creating section 4. The CG image creation unit 4 creates a three-dimensional computer graphics (CG) image from the input image data. In addition, target camera data including the angle, direction, and focus of the ITV camera at this time is input to the image superimposition processing unit 5.

In the image superimposition processing section 5, the CG image creation section 4
Is superimposed on the CG image created by the above and the edge cutout image created by the edge cutout processing unit 2 and displayed on the image display unit 6. Further, the image superimposition processing unit 5 causes the image display unit 6 to display the current angle, direction, and focus of the ITV camera 1 and the angle, direction, and focus of the ITV camera 1 when accurately aligned.

Next, the operator of the remote control room looks at the image display section 6 while accurately aligning the current angle, direction and focus of the ITV camera 1 with the angle, direction and focus of the ITV camera 1. To match. After that, CR
While viewing the image display unit 6, the D handling device A is operated so that the CG image and the edge cutout image match. This gives C
Positioning of the RD handling device can be performed.

As described above, according to the first embodiment, video data and camera data are output from a camera that projects a predetermined target portion of the control rod driving device, and edge cut-out image processing data is output based on the video data. Is created. On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and computer graphic image data is created based on the target image data. The image is compared with the edge cutout image and displayed. First, the operator repeatedly operates the handling device so that the computer graphic image displayed while adjusting the camera position and the like so that the camera data becomes the target camera data is overlapped with the edge cutout image, and gradually the two image data are displayed. To match.
As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

FIGS. 3 and 4 are block diagrams of a control device of a control rod driving device handling device according to a second embodiment of the present invention. The same reference numerals as in FIG. FIG. 13 shows an IT part according to the second embodiment.
A V-camera 1, an edge cutout processing unit 2, a target image data file 3, a correlation processing unit 7, an operation direction determination unit 8, an operation control unit 9, and an ITV camera control unit 25 are additionally provided for accurate alignment. The feature is that the predetermined alignment is performed so that the correlation between the target image data and the edge cut-out image data of the actual image from the camera data is maximized.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted into a digital signal by the converter 19 as a current position signal. Next, the target coordinate data file 20
The comparison processing unit 21 compares the current coordinate signal data with the target coordinate data. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed.

The final positioning of the CRD handling device A is performed by the following means.

The tip of the target CRD housing B is projected by the automatically controllable ITV camera 1 installed on the wall inside the pedestal. The video from the ITV camera 1 is input to the edge extraction processing unit 2. At this time, camera data such as the angle, direction, and focus of the ITV camera 1 is input to the ITV camera control unit 25.

The edge cutout processing section 2 clarifies the outline of the target from the pixel values of the input video and the first and second derivatives of the pixel values, and creates edge cutout image data. The edge cut-out image data is input to the correlation processing unit 7.

On the other hand, the target image data file 3 contains the image data of the ITV camera 1 when accurately aligned with each CRD housing B, and the camera such as the angle, direction and focus of the ITV camera 1 at this time. The data is stored as target image data and target camera data.

The target image data of the target CRD housing B is input to the correlation processing section 7 from the target image data file 3. In addition, target camera data, which is the angle, direction, and focus of the ITV camera 1 when accurately aligned, is stored in the IT
This is input to the V camera control unit 25.

The ITV camera controller 25 controls the current IT
The ITV camera 1 is operated so that the angle, direction, and focus of the V camera 1 are adjusted to the angle, direction, and focus of the target camera data when accurately aligned.

When the angle, direction, and focus of the ITV camera 1 match the angle, direction, and focus of the target camera data, the correlation processing unit 7 calculates a correlation function G between the target image data and the edge cut-out image data. .

Now, assume that the maximum resolution in the x direction of the edge cut-out processed image data and the target coordinate data is M, and the maximum resolution in the y direction is N, two-dimensional data. I is an arbitrary coordinate in the x direction, and takes 0 to M. J is an arbitrary coordinate in the y direction, and takes 0 to N. f (i, j) indicates the pixel value of the edge cutout image data at the coordinates (i, j). F (i, j) indicates the pixel value of the target coordinate data of the coordinates (i, j). Here, if the difference between the two data is taken as a means for obtaining the correlation according to the present embodiment, the following equation (1) is obtained.

G (i, j) = f (i, j) -F (i, j) (1)

Therefore, the correlation function G of the entire screen data is
It is expressed by the following equation (2).

[0036]

(Equation 1)

The correlation processing section 7 inputs the above calculation result to the operation direction determination section 8. The motion direction determination unit 8 compares the correlation function G input this time with the correlation function G ′ input last time,
The operation direction and operation command time of the RD handling device A are determined. The operation direction and the operation time command are input to the operation control unit 9, and upon receiving the operation command from the operation control unit 9, the motor 24 of the CRD handling device A is operated.

The above operation is repeated, and the CRD handling device A is operated so that the correlation function G = 0, thereby performing the alignment.

As described above, according to the second embodiment, video data and camera data are output from a camera projecting a predetermined target portion of the control rod driving device, and edge cut-out image data is output based on the video data. Is created. On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and the camera data is compared with the target image data and the edge cut-out image data. Adjust the camera so that is the target camera data. Then, target image data and edge cut-out image data are created, and the handling device is operated so that the correlation between the two image data based on the correlation data is maximized. As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

FIGS. 5 and 6 are block diagrams of a control device of a control rod driving device handling device according to a third embodiment of the present invention, in which the same reference numerals as in FIG. In the third embodiment, an ITV camera 1-1, an ITV camera 1-2, an edge cutout processing unit 2-
1, an edge cutout processing section 2-2, a target image data file 3, a CG image creation section 4, an image overlap processing section 5-1, an image overlap processing section 5-2, an image display section 6-1 and an image display section 6. -2
In addition, computer graphic image data based on target image data from two directions and edge cutout image data obtained by two cameras when accurate alignment is performed, and a predetermined image is obtained based on images from two directions. The feature is that the position is adjusted.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted into a digital signal by the converter 19 as a current position signal. Next, the target coordinate data file 20
The comparison processing unit 21 compares the current coordinate signal data with the target coordinate data. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed. The final positioning of the CRD handling device A is performed by the following method.

The tip of the target CRD housing B is projected by the ITV camera 1-1 installed on the wall inside the pedestal and the ITV camera 1-2 installed on the wall inside the pedestal at a different angle.

The video from the ITV camera 1-1 is input to the edge extraction processing unit 2-1. Also, IT at this time
The angle, direction, and focus of the V camera 1-1 are input to the image superimposition processing unit 5-1. Similarly, an image from the ITV camera 1-2 is input to the edge extraction processing unit 2-1. The angle, direction, and focus of the ITV camera 1-2 at this time are input to the image superimposition processing unit 5-2.

The edge extraction processing units 2-1 and 2-2
The contours of the target are clarified from the pixel values of the input video and the first and second derivatives of the pixel values, and edge cutout image data is created.

On the other hand, the target image data file 3 contains the image data of the ITV camera 1-1 and the ITV camera 1-2 when accurately aligned with each CRD housing B, and the ITV camera at this time. 1-1 and I
The angle, direction, and focus of the TV camera 1-2 are stored.

The image data of the target CRD housing B is input from the target image data file 3 to the CG image creating section 4. The CG image creation unit 4 determines the ITV camera 1-1 and the ITV camera from the input image data and the angle, direction, and focus of the ITV camera 1-1 and the ITV camera 1-2.
A three-dimensional computer graphics (CG) image corresponding to the camera 1-2 is created.

In the image superimposition processing unit 5-1, the ITV camera 1-1 is adjusted by remote control so that the camera data of the ITV camera 1-1 becomes the target camera data, and the camera data of the ITV camera 1-2 is set to the target data. After adjusting the ITV camera 1-2 so that it becomes camera data, the ITV camera 1
The three-dimensional computer graphics (CG) image corresponding to -I and the edge cutout image created by the edge cutout processing unit 2-1 are superimposed and displayed on the image display unit 6-1. Similarly, the image superimposition processing unit 5-2 superimposes the three-dimensional computer graphics (CG) image corresponding to the ITV camera 1-2 and the edge cutout image created by the edge cutout processing unit 2-2, The image is displayed on the image display unit 6-2.

The operator in the remote control room has an image display unit 6-1.
While viewing the image display unit 6-2, the user operates the CG image so that the edge cutout image matches. As a result, the positioning of the CRD handling device A can be performed more accurately.

As described above, according to the third embodiment, video data and camera data are output from two cameras that project a predetermined target portion of the control rod driving device from different positions, and are based on the video data. Thus, two edge cutout image data are created. On the other hand, two target image data including target camera data obtained from another position when the handling device is accurately positioned to a predetermined target portion are prepared in advance, and two target image data are prepared based on the target image data. Graphic image data is created, and these are compared with a computer graphic image and an edge cutout image and displayed. The worker first adjusts the camera position and the like so that each camera data becomes each target camera data, and repeatedly operates the handling apparatus so that the two computer graphic images displayed overlap the corresponding edge cut-out images. Activate and gradually match the two images. Thereby, the position of the predetermined portion of the handling device can be finally adjusted to the predetermined target portion based on the data obtained from the two different positions. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

FIGS. 7 and 8 are block diagrams of a control device of a control rod driving device handling device according to a fourth embodiment of the present invention. The same reference numerals as in FIG. In the fourth embodiment, the edge extraction processing unit 2, the correlation processing unit 7, the operation direction determination unit 8, the operation control unit 9, the ITV camera 10 with a built-in CRD handling device, the target image data file 11, The ITV camera control unit 25 is additionally provided so that the correlation between the target image data and the edge cut-out image data by the camera installed in the CRD handling device main body when the positioning is accurately performed in advance is maximized. The feature is that a predetermined alignment is performed.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted into a digital signal by the converter 19 as a current position signal. Next, the comparison processing unit 21 compares the current position signal data with the target coordinate data from the target coordinate data file 20. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed.

Next, the final positioning of the CRD handling device A is performed by the following method.

The tip of the CRD handling device (bolt detacher)
CRD of target by ITV camera 10 built in
The front end of the housing B is projected and video data and camera data are output. Video data from the ITV camera 10 is input to the edge cutout processing unit 2.

The edge cutout processing section 2 clarifies the outline of the target from the pixel values of the input image and the first and second derivatives of the pixel values, and creates edge cutout image data. The edge extraction processing image data is input to the correlation processing unit 7.

On the other hand, the target image data file 11 contains
The image data of the ITV camera 10 and the target camera data when correctly aligned with each CRD housing B are stored. Target image data of the target CRD housing B is input to the correlation processing unit 7 from the target image data file 11. The ITV camera control unit 25 operates the ITV camera 10 so that the camera data becomes the target camera data.

The correlation processing section 7 calculates a correlation function G between the target image data and the edge cut-out image data. Now, assume that the maximum resolution in the x direction of the edge cutout image data and the target coordinate data is M, and the maximum resolution in the y direction is N, two-dimensional data. I is an arbitrary coordinate in the x direction, and 0
Take ~ M. Also, j is an arbitrary coordinate in the y direction, and 0
Take ~ N. f (i, j) indicates the pixel value of the edge cutout image data at the coordinates (i, j). Also, F (i, j)
Indicates the pixel value of the target coordinate data of the coordinates (i, j). Here, as means for obtaining the correlation of the present embodiment, 2
The difference between the two data is determined by the following equation (3).

G (i, j) = f (i, j) -F (i, j) (3)

Therefore, the correlation function G of the entire screen data is
It is expressed by the following equation (4).

[0059]

(Equation 2)

The correlation processing unit 7 inputs the above calculation result to the operation direction determination unit 8. The motion direction determination unit 8 compares the correlation function G input this time with the correlation function G ′ input last time,
The operation direction and operation command time of the RD handling device A are determined. The operation direction and the operation time command are input to the operation control unit 9, and upon receiving the operation command from the operation control unit 9, the motor 24 of the CRD handling device A is operated. By repeating the above operation and operating the CRD handling device A so that the correlation function G = 0, the alignment is performed.

As described above, according to the fourth embodiment, video data and camera data are output from a camera provided in a handling device that projects a predetermined target portion of a control rod driving device, and edge cutting is performed based on the video data. Outgoing image data is created.
On the other hand, target image data including target camera data when the handling device is accurately positioned to a predetermined target location is prepared in advance, and the camera data is compared with the target image data and the edge cut-out image data. Adjust the camera so that is the target camera data. Then, target image data and edge cut-out image data are created, and the handling device is operated such that the correlation between the two image data based on the correlation data is maximized. As a result, the predetermined position of the handling device can be finally aligned with the predetermined target position. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

FIGS. 9 and 10 are block diagrams of a control device of a control rod driving device handling device according to a fifth embodiment of the present invention. The same reference numerals as in FIG. In the fifth embodiment, the operation direction determination unit 8, the operation control unit 9, the radio radar wave transmitter 12, the radio radar wave receiver 13, and the radio radar wave distance calculation unit 1 are shown.
4 is additionally provided, a distance between a predetermined target of the CRD and the CRD handling device is calculated, and a predetermined alignment is performed based on the result.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted into a digital signal by the converter 19 as a current position signal. Next, the comparison processing unit 21 compares the current position signal data with the target coordinate data from the target coordinate data file 20. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed.

The final positioning of the CRD handling device A is performed by the following method.

The tip of the CRD handling device (bolt detacher)
From the radar radar wave transmitter 12 installed in
A radio radar wave is emitted toward the D housing B. The irradiated radar wave generates a reflected wave that rebounds at the CRD housing B. The reflected waves from the CRD housing B are received by a plurality of radio wave radar receivers 13 installed at the tip (bolt detacher) of the CRD handling device A.

The radio radar wave distance calculator 14 calculates the radio radar wave emitted from the radio radar wave transmitter 12
The time until the light is reflected by the RD housing B and returns to the plurality of radio radar wave receivers 14 is measured. The distance between the CRD handling device A and the CRD housing B is measured (time difference measurement method). In addition, the radio radar wave distance calculation unit 1
4 calculates the three-dimensional shape of the CRD housing B from the measurement results of the plurality of radio radar wave receivers 13.

The operating direction determination unit 8 receives the accurate distance between the CRD handling device A and the CRD housing B and the three-dimensional shape of the CRD housing B from the radio radar wave distance calculating unit 14 and Next direction of movement,
Determine the operating distance, operating speed, and operating angle.

The operation control unit 9 determines that the operation direction
The command of the operation direction, the operation distance, the operation speed, and the operation angle of the RD handling device A is received, and the motor 24 of the CRD handling device A is received.
Activate The positioning of the CRD handling device A is realized by repeating the above contents.

As described above, according to the fifth embodiment, the distance is calculated based on the transmission / reception time of the radio wave reflected from a predetermined target portion of the control rod driving device, and the distance is calculated in accordance with the obtained distance. The handling device is operated, and the position of the predetermined portion and the predetermined portion of the handling device can be finally adjusted by repetition by remote control. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

FIGS. 11 and 12 are block diagrams of a control device of a control rod driving device handling device according to a sixth embodiment of the present invention. The same reference numerals as in FIG. In the sixth embodiment, an operation direction determination unit 8, an operation control unit 9, an ultrasonic transmitter 15, an ultrasonic receiver 16, and an ultrasonic distance calculation unit 17 are additionally provided. The distance is calculated by the time difference between the irradiation wave and the reflected wave of
It is characterized in that predetermined positioning is performed based on this result.

First, the current position of the CRD handling device A is detected by the synchro transmitter 18, and the detected synchro signal is converted into a digital signal by the converter 19 as a current position signal. Next, the comparison processing unit 21 compares the current position signal data with the target coordinate data from the target coordinate data file 20. The determination processing unit 22 outputs the determination result to the control unit 23, and the control command calculated and controlled by the control unit 23 is output to the electric motor 24. As a result, rough alignment between the CRD housing B and the CRD handling device A in the initial stage is performed.

Next, the final positioning of the CRD handling device A is performed by the following method.

The tip of the CRD handling device (bolt detacher)
An ultrasonic wave is emitted from the ultrasonic transmitter 15 installed at the target CRD housing B. The irradiated radar wave generates a reflected wave that rebounds at the CRD housing B. The reflected waves from the CRD housing B are received by a plurality of ultrasonic receivers 16 installed at the tip (bolt detacher) of the CRD handling device A.

The ultrasonic distance calculating section 17 is provided with the ultrasonic transmitter 1
The CRD handling device A and the CRD housing B are measured by measuring the time from when the ultrasonic wave emitted from 5 is reflected by the CRD housing B and returns to the plurality of ultrasonic receivers 14.
The distance to is measured (time difference measurement method). Further, the ultrasonic distance calculating unit 17 calculates a three-dimensional shape of the CRD housing B from the measurement results of the plural ultrasonic receivers 16.

The operation direction judging section 8 includes the ultrasonic distance calculating section 1
From 7, the exact distance between the CRD handling device A and the CRD housing B and the three-dimensional shape of the CRD housing B are received, and the next operating direction, operating distance, operating speed and operating angle of the CRD handling device A are determined. .

The operation control unit 9 determines that the operation direction
The command of the operation direction, the operation distance, the operation speed, and the operation angle of the RD handling device A is received, and the motor 24 of the CRD handling device A is received.
Activate The positioning of the CRD handling device A is realized by repeating the above contents.

As described above, according to the sixth embodiment, the distance is calculated based on the transmission and reception time of the ultrasonic wave reflected from the predetermined target portion of the control rod driving device, and the distance is calculated according to the obtained distance. Thus, the handling device is operated, and the position of the predetermined portion and the predetermined portion of the handling device can be finally adjusted by repetition by remote control. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

[0078]

As described above, according to the first aspect of the invention, the computer graphic image displayed while adjusting the camera position and the like so that the camera data becomes the target camera data overlaps with the edge cut-out image. As described above, by repeatedly operating the handling device and gradually adjusting the two images, it is possible to finally position the predetermined portion of the handling device at a predetermined target location. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to the second aspect of the present invention, the camera is adjusted so that the camera data becomes the target camera data, and the correlation data between the target image data and the edge cut-out image data is created. By operating the handling device so that the correlation between the image data is maximized, the predetermined position of the handling device can be finally aligned with the predetermined target location. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to the third aspect of the present invention, two computer graphic images to be displayed overlap the corresponding edge cut-out images while adjusting the camera position and the like so that each camera data becomes each target camera data. By repeatedly operating the handling device and gradually aligning the two images as described above, the data obtained from two different positions can be used to finally position the predetermined portion of the handling device at a predetermined target location. . Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to the fourth aspect of the present invention, the camera is adjusted so that the camera data becomes the target camera data, and correlation data is created from the target image data and the edge cut-out image data. By operating the handling device such that the correlation of the image data is maximized, the predetermined position of the handling device can be finally aligned with the predetermined target location. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

According to the fifth aspect of the present invention, the distance is calculated based on the transmission and reception times of a plurality of radio waves reflected from a predetermined target portion of the control rod driving device, and the distance is calculated according to the obtained distance. By operating the apparatus and repeating it by remote control, finally, a predetermined position and a predetermined position of the handling device can be aligned. Therefore, it is not necessary for the worker to enter the site for alignment and to operate the handling device by visual check as in the conventional case, and the burden on the worker and the exposure can be reduced.
Work efficiency and reliability are improved.

According to the sixth aspect of the present invention, the distance is calculated based on the time of transmission and reception of a plurality of ultrasonic waves reflected from a predetermined target portion of the control rod driving device, and the distance is calculated in accordance with the obtained distance. By operating the handling device and repeating the process by remote control, the position of the predetermined portion and the predetermined portion of the handling device can be finally adjusted. Therefore, it is no longer necessary for an operator to enter the work site for position adjustment and operate the handling device by visual confirmation as in the past, reducing the burden on the operator and reducing the exposure, improving the efficiency and reliability of work. improves.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a control device of a handling device of a control rod driving device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram showing a specific example of a control device of a handling device of the control rod driving device of FIG. 1;

FIG. 3 is a configuration diagram of a control device of a handling device of a control rod driving device according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram showing a specific example of a control device of a handling device of the control rod driving device of FIG. 3;

FIG. 5 is a control device configuration diagram of a control rod driving device handling device according to a third embodiment of the present invention.

6 is a configuration diagram showing a specific example of a control device of a handling device of the control rod driving device of FIG. 5;

FIG. 7 is a configuration diagram of a control device of a control device of a control rod driving device according to a fourth embodiment of the present invention.

8 is a configuration diagram showing a specific example of a control device of a handling device of the control rod driving device of FIG. 7;

FIG. 9 is a configuration diagram of a control device of a handling device of a control rod driving device according to a fifth embodiment of the present invention.

FIG. 10 is a configuration diagram showing a specific example of a control device of a handling device of the control rod drive device of FIG. 9;

FIG. 11 is a configuration diagram of a control device of a control device of a control rod driving device according to a sixth embodiment of the present invention.

12 is a configuration diagram showing a specific example of a control device of a handling device of the control rod driving device of FIG. 11;

FIG. 13 is a configuration diagram showing a control device of a conventional handling device of a control rod driving device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ITV camera 2 Edge extraction processing part 3 Target image data file 4 CG image creation part 5 Image superposition processing part 6 Image display part 7 Correlation processing part 8 Operation direction judgment part 9 Operation control part 10 CRD handling device built-in ITV 11 Target image Data file 12 Radio radar wave transmitter 13 Radio radar wave receiver 14 Radio radar wave distance calculator 15 Ultrasonic transmitter 16 Ultrasonic receiver 17 Ultrasonic distance calculator 18 Synchro transmitter 19 Transformer 20 Target coordinate data file 21 Comparison processing unit 22 Judgment processing unit 23 Control unit 24 Electric motor 25 ITV camera control unit

Claims (6)

[Claims] 1. A control device for a handling device of a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor, wherein a predetermined target of the control rod drive device installed in a pedestal is provided. A camera means for projecting a part and outputting camera data including the video data and the camera position; an edge cut processing section for creating edge cut processing image data from the video data output by the camera means; A target image data file for storing target image data and target camera data when the handling device is positioned at a predetermined target location; and extracting target image data from the target image data file to create computer graphic image data. A computer graphic image processing unit, A control rod for comparing an image with an image based on the edge cut-out processing image data, and an image superimposition processing unit that compares the target camera data and the camera data and displays each of the images on an image display unit. Control device for handling device of drive device. 2. A control device for a handling device of a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor, wherein a predetermined target position of the control rod drive device in a pedestal is determined. A camera means for projecting and outputting camera data including the video data and the camera position; an edge cut-out processing unit for creating edge cut-out processing image data from the image data output by the camera means; A target image data file for storing target image data and target camera data when the apparatus is aligned with a predetermined target location, and a camera control unit for controlling the camera means so that the camera data becomes target camera data. A correlation processing unit for calculating correlation data from the edge cut-out processing image data and the target image data; A control rod for driving the handling device so that the correlation is maximized based on the correlation data obtained by the control device and aligning the handling device to the predetermined target location. Control device for handling device of drive device. 3. A control device for a handling device of a control rod drive device for mounting or removing a control rod drive device arranged in a nuclear reactor, wherein the control rod drive device in a pedestal is attached or detached separately. A first camera and a second camera for outputting camera data including video data projected from an angle and a camera position, and a first edge cut-out processing image data created from the video data output by the first camera. A first edge cutout processing unit, a second edge cutout processing unit that creates second edge cutout processed image data from the video data output by the second camera means, A target image data file for storing each target image data corresponding to the first camera and the second camera means when the target image data is aligned with the position; A computer graphic image creating unit for creating first computer graphic image data corresponding to the first camera means and second computer graphic image data corresponding to the second camera means by the data processing unit; A first image superimposition processing unit for comparing data and the first computer graphic image data, and comparing and displaying the first target camera data and the first camera data of the first camera means on the first image display unit The second edge cutout image data and the second
The second target camera data of the second camera means and the second target camera data are compared with the computer graphic image data.
A control device for a handling device of a control rod driving device, comprising: a second image superimposition processing unit for displaying on a second image display unit in comparison with camera data. 4. A control device for a handling device of a control rod drive device for mounting or dismounting a control rod drive device disposed in a nuclear reactor, wherein a predetermined target of the control rod drive device is provided to a handling device in a pedestal. A camera means for projecting a part and outputting camera data including the video data and the camera position; an edge cut processing section for creating edge cut processing image data from the video data output by the camera means; A target image data file for storing target image data and target camera data when the handling device is positioned at a predetermined target location; and a camera for controlling the camera means so that the camera data becomes target camera data. A control unit; and a correlation processing unit that calculates correlation data from the edge cut-out processed image data and the target image data. An operation control unit that drives the handling device so that the correlation is maximized based on the correlation data obtained by the correlation processing unit and aligns the handling device with the predetermined target location. The control device of the handling device of the control rod drive device. 5. A control device for a handling device of a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor, wherein the handling device in a pedestal includes a predetermined portion of the control rod drive device. A radio wave transmitter for transmitting a radio wave to a target location, a radio wave receiver for receiving a reflected wave from the target transmitted from the radio wave transmitter, and a plurality of times of transmission and reception of the radio wave A calculation unit for calculating a distance to the target based on the control unit, and an operation control unit for driving the handling device according to the distance obtained by the calculation unit. Control device. 6. A control device for a handling device of a control rod drive device for mounting or removing a control rod drive device disposed in a nuclear reactor, wherein the handling device in a pedestal includes a predetermined portion of the control rod drive device. An ultrasonic transmitter that transmits a radio wave to a target place, a plurality of ultrasonic receivers that receive a reflected wave transmitted from the ultrasonic transmitter and the target, and a plurality of times of transmission and reception of the radio wave A control device for a handling device of a control rod drive device, comprising: a calculation unit for calculating a distance to a target based on the calculation unit; and an operation control unit for driving the control rod according to the distance obtained by the calculation unit.