JPS6012839B2 - Mobile monitoring and inspection equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a mobile monitoring and inspection device, and more particularly to a mobile monitoring and inspection device that remotely monitors and inspects plant equipment from a central control room.

Conventionally, monitoring and inspection of plant equipment and the like is mainly carried out by plant operators directly inspecting the equipment at the site.

Although some major equipment is equipped with temperature, vibration, pressure, flow, etc. detectors and can be centrally monitored, the number of such equipment is extremely small.
Therefore, in order to operate plant equipment safely, it is essential for operators and the like to conduct on-site equipment inspections. Therefore, it is difficult for operators to reduce the possibility of damage caused by hazardous substances at chemical plants and the like, or from radiation exposure at nuclear power plants and the like. As plants grow larger, the number of on-site equipment increases, and the scope of monitoring and inspection expands, making it difficult to carry out monitoring and inspection in a short period of time.
Opportunities for operators to be damaged by hazardous materials and exposed to radiation will increase.

Particularly in nuclear power plants, it is difficult to monitor and inspect them during operation. SUMMARY OF THE INVENTION An object of the present invention is to provide a mobile monitoring and inspection device that can reduce the danger to operators during inspections and prevent oversight of monitoring and inspections.

The mobile monitoring and inspection device of the present invention includes a mobile station that travels in a location where equipment to be inspected in a plant is installed, and a control device that is located in a control room of the plant that is remote from the location of the mobile station. There is. The mobile station has a traveling carriage, a television camera, a detector, means for transmitting and receiving signals, and means for controlling the mobile station. The control device also includes an operating section of the mobile station, a display means, and a computer that determines whether the output signal of the detector is normal or abnormal and displays monitoring and inspection guidance on the display means. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS. 1, 2, and 3.

As shown in FIG. 1, the apparatus of this embodiment includes a mobile station 1 having a function of remotely monitoring and inspecting plant equipment, a remote control function of the mobile station, and monitoring and inspection results at the mobile station. The mobile station 1 is composed of a central control unit 11 having a function of remotely monitoring the mobile station 1, and a fixed station 2 having a function of wirelessly communicating between the central control unit 11 and the mobile station 1. When applied to a nuclear power plant, the mobile station is located within the reactor containment vessel in a highly radioactive environment that is inaccessible to humans during operation.

The central control room is located outside the reactor building where the reactor containment vessel is housed, and the interior is air-conditioned and has extremely low radioactivity levels. As shown in FIG. 1, the central control device 11 includes a control panel 30, a control computer 7, and a typewriter 9.
Consists of.

The control panel 30 includes a monitor television 4 that monitors images captured by a television camera 22 (FIG. 2), and a detector 21 (second
an indicator 5 and a speaker 5a for transmitting information from (Fig.) to the operator, a manual operating device 6 having a plurality of operating keys 06a to 6g for manually controlling the mobile station 1, and a guide and detector 21 for monitoring and inspection work. The mobile station 1 is composed of a CRT 8 that displays information from the mobile station 8, a data input key 66, and a controller 3 that drives and controls the mobile station 1. The control computer 7 has the function of processing the output signal of the detector 21, and the monitoring and inspection guidance and the results obtained by the above processing function.
It has a function of displaying on the RT8 and a function of controlling the typewriter 9. As shown in FIGS. 2 and 3, the mobile station 1 includes a receiver 27 and a transmitter 28 for wireless communication between the fixed station 2 and the mobile station 1, and the running and steering functions of the mobile station 1. A driving machine 23, a detector 21, a television camera 22, a driving machine 24 that rotates, swings up and down, and raises and lowers the television camera, and a flexible arm (hereinafter referred to as a manipulator) 40 to which the detector 21 is attached. , the drive machine 25 of the manipulator 40, and the drive machines 23 to 25, that is,
It is composed of a four-wheeled truck 50, a television camera 22, and a controller 26 that drives and controls the manipulator 40.

FIG. 3 shows an example of the appearance of the mobile station 1. In addition, 50 is a four-wheeled truck, 70 is a microphone, and 80 is a four-wheeled truck.
is a radiation measuring device, and 100 is an antenna. Figure 4 shows
An example of the appearance of the control panel 30 is shown.

4 is a monitor TV, 5 is an indicator, 6a to 6g are operating plows,
66 is a data input key, 5a is a speaker, 10 is a CR
T screen position designator 8 is a CRT.

Next, the operation of the mobile monitoring and inspection device of this embodiment will be explained.

First, a case in which the mobile station 1 is brought closer to a target device to be inspected will be described with reference to FIGS. 1 and 2. When an operator presses the operating nail 6a provided on the manual operating device 6, that is, the start lever 6a, a travel command signal for the mobile station 1 is sent to the fixed station via the signal line SI, the controller 3, and the wired line S2. Sent to 2. The travel command signal is transmitted from the fixed station 2 to the mobile station 1 via radio S3. The driving command signal is
received by the receiver 27 of the mobile station 1 shown in FIG.
It is transmitted to the driving machine 23 via. The motor provided in the drive machine 23 is driven by a travel command signal, and rotates the vehicle provided with the four-wheeled bogie 501. This results in
Mobile station 1 starts traveling. When the moving station 1 is traveling, the moving station 1 is moved closer to equipment to be inspected in the plant by operating the steering nail 6b provided on the manual operating device 6, that is, the steering nail 6b. The operation command from the steering nail 6b is transmitted to the drive machine 23 via the signal line S1, the controller 3, the signal line S2, the fixed station 2, the receiver 27, the signal line S4, the controller 26, and the signal line S5. Communication is made between the fixed station and the receiver 27 by radio. The steering mechanism provided in the drive machine 23 is remotely controlled by the steering command signal.
On the other hand, in order to determine where the mobile station 1 is traveling, the television camera 22 mounted on the mobile station can be used to capture the situation around the mobile station 1.
This is carried out by displaying the state on a monitor television 4 shown in FIG. 4 and monitoring it by an operator. The television camera 22 is rotated, oscillated up and down, and raised and lowered by operating the drive unit 24 using an operation button 6c provided on the manual operation device 6 shown in FIG. 1, that is, a camera control button 6c. Therefore, the situation at any location near the mobile station 1 can be captured.

The camera position control signal generated by operating the camera control nail 6c is transmitted from the signal line SI to the controller 2 of the mobile station 1 through the same route as the steering command signal.
6 can be conveyed. The camera position control signal is then transmitted to the driver 24 via the signal line S6. The driver 24, which receives the camera position control signal, operates the television camera 22 as described above. Further, the image of the inspection location captured by the television camera 22 is sent to the monitor television 4 via the signal line S8, the transmitter 28, the fixed station 2, and the signal line SIO. Communication between the transmitter 28 and the fixed station 2, ie S9, is made by radio. After confirming on the monitor TV 4 that the mobile station has approached the plant equipment to be inspected in this way, press the operation button 6d provided on the manual operation device 6, that is, the stop button 6d, Mobile station 1 is stopped. The stop command signal from the stop button 6d is sent to the drive machine 23 through the same route as the travel command signal transmission route, and
Stop 3. Next, a method of monitoring and inspecting the target equipment to be inspected will be explained.

As mentioned above, the appearance of the equipment to be inspected, the readings of the indicator needles such as pressure gauges and flow meters installed on the equipment to be inspected, leakage from piping, etc., and the open/closed status of valves, etc. A television camera 22 is remotely controlled and monitored on a monitor television 4. In addition, among the detectors 21 installed in the mobile station 1, there is a thermistor thermometer that measures the temperature of the equipment to be inspected, a piezoelectric vibrometer that measures the vibration of the equipment to be inspected, and a radiation dose on the surface of the equipment to be inspected and the object to be inspected. The output signal of the radiation measuring device that measures the radiation dose around the device is transmitted through the signal line SI1 and the transmitter 28.
, the fixed station 2 and the indicator 5 via the signal line 12. The acoustic signals output from the remaining detectors 21, that is, the microphones that measure the noise around the equipment to be inspected, and the auscultation rod that detects abnormal noises from the bearings of the equipment to be inspected, are transmitted to the transmitter 28 and the fixed station 2.
is transmitted to the speaker 5a via. Of the respective detectors 21 described above, the thermistor element of the thermistor thermometer, the piezoelectric element of the piezoelectric vibrometer, the auscultation bar, and the spatial radiation dose measuring device are equipped with a manipulator equipped with a drive machine 25 that can be freely driven in any direction. 40 (Fig. 3), and has a structure that allows it to be selected and operated as desired. Further, among the detectors 21, a radiation measuring device 80 for measuring the radiation dose at a fixed point and a microphone 70 for measuring noise shown in FIG. It moves along with step 1 and measures radiation levels and noise at the target location. The manipulator 40 is a manual operating device 6
Remote control is possible using an operating nail 6e, ie, a manipulator control button 6e, provided at the.

The manipulator control command signal generated by operating the manipulator control anchor 6e is transmitted from the signal line SI to the controller 26 in the same way as the travel command signal and the steering command signal.
from there to the manipulator via signal line S7.
The signal is transmitted to the drive machine 25 that drives the motor 40. At this time,
The movement of the manipulator 40 is monitored on the television monitor 4 by operating the television camera 22 as described above. Therefore, as described above, while monitoring the monitor television 4, the detector 21 attached to the manipulator 4 can be brought closer to the equipment to be inspected or brought into direct contact with the equipment to be inspected to measure respective data. can. The data measured by the detector 21 is sent to the speaker 5a and displayed or output without the indicator 5, as described above. This allows remote monitoring of the status of the equipment to be inspected. The measurement data sent to the indicator 5 is sent to the signal line S15.
The data is input to the control computer 7, and the data editing function built into the control computer 7 determines whether the measured data is normal or abnormal, and edits the inspection results to output the signal line S.
It is printed out as a checklist on a typewriter 9 via the I6. On the other hand, for items to be monitored using the monitor TV 4 and speakers 5a, the operator watches the video and listens to the sound to judge whether the items are normal or abnormal, and input the results using the data input key 6.
6, the information is input to the control computer 7 via the signal line S17, edited as described above, and printed out on the typewriter 9 as a checklist. In addition, the above checklist is for manual operation device 6.
The operation button 6f provided on the CRT display command nail 6
By pressing f, a CRT display command signal is input to the control computer 7 via the signal line SI3, and the CRT control function built into the control computer 7 causes the CRT display command signal to be input to the signal line S.
It can be displayed on the CRT 8 via 18. CRT
8 further displays a guide for monitoring and inspecting equipment to be inspected in the plant described above, that is, monitoring and inspection guidance. That is, the operation button 6 provided on the manual operation device 6
g, that is, by pressing the guide bar 6g, a guide command signal is input to the control computer 7 via the signal line SI3. By the subsequent operation of the function that controls the CRT 8 built into the control computer 7, the CR
The name of the device to be monitored and inspected will be displayed on the T screen, and if you specify any device name on the CRT8 screen using the light ben (not shown), the monitoring and inspection items for the specified device will be displayed. Displayed on CRT8. That is,
The control computer 7 can cause the CRT 8 to display the name of the device to be inspected and the monitoring inspection items, that is, the monitoring inspection guidance. Therefore, the operator can prevent oversight of monitoring and inspection using the above-mentioned guide function. According to this embodiment, an operator can remotely inspect plant equipment in the central line work room.

In particular, equipment inspections can also be carried out during operation of the nuclear power plant. This makes it possible to reliably detect abnormal phenomena that disappear when the nuclear power plant is shut down and that occur only during the operation of the nuclear power plant.
Therefore, depending on the scale of the abnormal phenomenon, it can be determined during operation whether the plant operation should be repaired immediately or should be repaired during a periodic inspection of the plant, so the safety of the nuclear power plant is significantly improved. Since the inspection can be carried out during plant operation, the location where an abnormal phenomenon is occurring can be reliably determined during plant operation. As a result, it is possible to immediately repair the location where an abnormal phenomenon occurs after the plant is stopped, so that the repair time can be shortened and the operating rate of the plant can be improved. That is, it is possible to save a lot of effort and time required to search for the location where an abnormal phenomenon occurs after the plant is shut down. Since the operator does not need to patrol the plant, the risk of radiation exposure for the operator can be eliminated, and the burden on the operator can be reduced. In particular, the guide function provided by the control computer 7 can completely prevent inspections of plant equipment from being overlooked.

This significantly improves plant safety. Further, by providing the manipulator four-way detector 21, the temperature, vibration, etc. of the inspection target device can be directly detected by bringing the detector 21 into contact with the surface of the inspection target device by operating the manipulator 40.

The manipulator 40 is operated while monitoring the image captured by the television camera 22 on the monitor television 4. By providing the fixed station 2 which is a relay station, the exchange of signals between the mobile station 1 and the central controller 11 is facilitated, and the mobile station 1
Become more agile.

The manual operation of the mobile monitoring and inspection device of this embodiment has been described above.
It is also possible to implement monitoring and inspection of the above-mentioned plant equipment etc. by the function of remotely controlling the , the function of editing information from the detector 21, and the function of controlling the CRT 8 and typewriter 9. That is, the mobile station 1, the television camera 22, and the manipulator 40 can be automatically controlled by operating procedure instructions that are pre-installed in the control computer 7. In addition, the operations described above can be performed using any one
Although the monitoring and inspection was performed on a single device, it is also possible to monitor and inspect a plurality of devices by repeating the same operations as described above. Further, although the case where there is one fixed station and one mobile station has been described, it goes without saying that a plurality of stations may be arranged. According to the present invention, an operator can remotely inspect plant equipment, and the danger to the operator associated with inspection can be eliminated.

Inspection work can be carried out even while the plant is in operation, and it is possible to determine the timing of repair at the location where an abnormal phenomenon occurs and to grasp the location where the abnormal phenomenon occurs quickly and reliably.
In particular, the guide function provided by the control computer makes it possible to completely prevent inspections of plant equipment, thereby increasing the safety of the plant.

[Brief explanation of the drawing]

FIGS. 1 and 2 illustrate the mobile monitoring and inspection system of the present invention. 1...Mobile station, 2...Fixed station, 4...Monitor television, 6...Manual operation device, 7...Control computer, 8... ...C
RT, 11...Central control unit, 21...Detector, 22...TV camera, 27...Receiver, 28...Transmitter, 30 ...Control panel, 40...Flexible arm, 50...Four-wheeled trolley, 80...Radiation measuring device. Diagram 4: Multi-bacterial Z box

Claims (1)

[Scope of Claims] 1. A traveling truck, a television camera installed on the traveling truck, a manipulator installed on the traveling truck, a plurality of detectors installed on the traveling truck and the manipulator,
Transmitting means installed on the traveling truck to transmit output signals of the television camera and each of the detectors; and means installed in the traveling truck to receive a traveling truck control signal, a television camera control signal, and a manipulator control signal. and a mobile station having control means for inputting each of the received control signals to control the traveling trolley, the television camera, and the manipulator, and traveling in a location where equipment to be inspected in the plant is installed. , an operation unit that outputs each of the control signals, a monitor device that displays images that are output from the television camera, and a display unit that performs processing to determine whether the output signal of each of the detectors is normal or abnormal, and displays monitoring and inspection guidance. 1. A mobile monitoring and inspection device comprising a computer for displaying images, and a control device located in a control room of a plant remote from the location where the mobile station moves. 2. The mobile monitoring and inspection device according to claim 1, further comprising a relay station that relays signals transmitted between the mobile station and the control device.