JPS61296263A - Apparatus for controlling eddy current flaw detection - Google Patents

Abstract

PURPOSE:To attain to efficiently inspect a fine tube and to reduce an exposure dose to a large extent, by a method wherein one set of two probes having received moving operation by a walking robot are inserted in and removed from a heat transfer pipe by a probe pusher. CONSTITUTION:A walking robot 11 and one set of two probes 12 are arranged in the water chamber 10 for a steam generator and the robot 11 walks on the tube surface plate (a) of the steam generator to guide the probes 12 to a predetermined heat transfer pipe. The probes 12 are inserted in the heat transfer tube by a probe pusher 16 to perform flaw detection over the entire length of the heat transfer pipe. The giving and receiving of flaw detection data and the control signal of the robot 11 is performed between a housing chamber 3 and the remote control apparatus in a trailer through light transmitting apparatuses 26, 27 and an optical fiber cable 5A. Because two probes 12 can be simultaneously controlled, the shortening of a flaw detection process is attained. Further, because remote central flaw detection operation can be performed from the trailer 1 arranged out of the housing chamber 3, the reduction in an exposure dose is attained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is an eddy current flaw detection method applied to equipment equipped with a large number of thin tubes, such as a steam generator for an atomic couplant.
This invention relates to ll devices, and particularly to improvements in control means.

[Conventional technology]

Among the thin tubes of the steam generator of an atomic couplant, the integrity of the heat transfer tubes in particular is an extremely important factor for the safe operation of the plant. Therefore, it is mandatory to inspect the soundness of the heat exchanger tubes at the time of periodic inspection. Eddy current flaw detection is employed as the inspection means in this case. Conventional eddy current flaw detection control equipment using the eddy current flaw detection method uses a walking robot to guide the eddy current flaw detection probe to each heat transfer tube, and uses a pusher to guide the probe into the small diameter heat transfer tube. The probe is inserted into the probe, and deep eddy current operation is performed in response to signals from the control device, and the signals obtained by the probe are processed by the control device to collect flaw detection data, which are then recorded and displayed. In this case, the control device is usually installed near the steam generator. Each time a deep operation of one heat transfer tube is performed with one probe, the flaw detection results are recorded by hand, and then the next address is set, and after the probe is guided by the robot, A series of operations for activating the button were performed manually by the control device.

[Problem that the invention seeks to solve]

The conventional eddy current flaw detection control device having such a configuration has the following problems. In other words, the inspection of steam generators using eddy current testing has become a critical bus in periodic inspection work, and it has been desired to shorten the process. In particular, deep operation is inefficient because it relies on manual operation and eddy current flaw detection is performed using a single probe, and the inspection takes a long time. Since control operations are generally carried out in radiation-controlled areas with relatively high radiation levels, there is a risk of exposure to radiation, and there are various problems in terms of human safety and health management, and improvements to these problems have been strongly desired.

SUMMARY OF THE INVENTION Therefore, the present invention provides an eddy current flaw detection control device that can efficiently perform thin tube inspections of steam generators, etc. in a short time, significantly reduce radiation exposure, and perform deep operation safely and accurately. The purpose is to

[Means for solving problems]

In order to solve the above problems and achieve the objects, the present invention is characterized by taking the following measures. That is, the eddy current flaw detection control device of the present invention sequentially sends required operation commands in a preset order to each steam generator of the plant, into a trailer installed outside the storage room of the steam generation plant. At the same time, a plurality of remote control devices configured to analyze received data, display records 9, etc. are installed, and in response to operation commands from the remote control devices in the plant storage room, corresponding to each of these remote control devices is installed. Local controls are set up to operate accordingly.
The same number of Bv devices are installed, and an optical signal transmission means is installed so as to perform signal transmission between these local control devices and each of the remote control devices, and each of the steam generators is controlled by each of the local control devices. A plurality of eddy current deep operation sections are provided to perform eddy current deep operation of a heat exchanger tube in
A walking robot moves an eddy current flaw detection probe made up of one set to the predetermined heat transfer tube,
A plurality of probes in a set of two probes moved and operated by the walking robot are configured to be inserted into and removed from the heat transfer tube simultaneously or individually by a probe pusher. .

[Effect]

By taking the above measures, deep operation is automatically performed, and eddy current flaw detection using two probes is performed simultaneously. Additionally, control operations can be performed remotely from a trailer located outside the containment room, an area with relatively low radiation levels.

〔Example〕

1 and 2 are diagrams showing one embodiment of the present invention, FIG. 1 is a schematic block diagram showing the overall configuration, and FIG.
It is a detailed block diagram which extracts and shows only one system of the figure.

In FIG. 1, 1 is a trailer, which is installed outside the steam generation plant storage room 3. Inside trailer 1,
A plurality of (four in this embodiment) A-D loop remote control devices 1A to 1 correspond to each steam generator of the plant.
D is installed. These remote control devices 1A to 1D
operates by being supplied with power from the trailer distribution board 2,
Sequentially sends out the required operation commands according to a preset order and analyzes the received data.

It is configured to display record 1, etc. In the plant storage room 3, the same number of local control devices 4A to 4D are installed so as to correspond to each of the remote control devices 1A to 1D, and are activated in response to operation commands from the remote control devices 1A to 1D. It is supposed to be done. These local control devices 4A-4D and each of the remote control devices 1A-
It is connected to 1D by optical fiber cables 5A to 5D, and signals are transmitted between both control devices, respectively. Each of the local control devices 4A to 4
Power is supplied to D from distribution boards 6A to 6D. In the loop chamber 7 in the storage chamber 3, each of the local control devices 4A to 4 is installed.
A plurality of eddy current deep operation units 8A to 8D are provided so as to perform eddy current deep operation of the heat transfer tubes in each of the steam generators. Each of the eddy current deep operation parts 8A to 8D is a eddy current composed of a set of two. The probes for flow flaw detection are each moved to the predetermined heat transfer tube by a walking robot, and the multiple probes in a set of two probes moved by the walking robot are moved to the predetermined heat transfer tube by a probe pusher. They are configured to be inserted into and removed from the heat exchanger tubes simultaneously or individually. Note that the first
In the figure, 8x is an air source as a driving source for the eddy current deep operation units 8A to 8D.

Thus 4! ! The four control systems operate as independent systems for each of the four steam generators, making it possible to perform deep operations on the four steam generators simultaneously or separately, and to share them with each other. .

In FIG. 2, reference numeral 10 shown at the left end of the figure is an ice chamber for a steam generator, and a walking robot 11 and a probe 12 are disposed within this ice chamber 10.

The walking robot 11 is a robot that walks on the tube plate surface of the steam generator and guides the probe 12 to a predetermined heat transfer tube.

As already explained, the probes 12 are in pairs, and each probe inserted into the heat exchanger tube performs flaw detection over the entire length of the heat exchanger tube and generates a flaw detection signal. There is. A camera 13 is installed inside the ice chamber 10 for the steam generator. This camera 13 is a camera with zoom, iris, pan, tilt, and illumination functions, and monitors the positions and operating states of the walking robot 11 and the probe 12.

A robot pneumatic panel 14 installed outside the water supply 10 for the steam generator is a device that drives and controls the walking robot 11 using pneumatic pressure. The pusher pneumatic disk 15 is a device that performs auxiliary drive control of the probe pusher 16 in order to feed the probe of the probe 12 over the entire length of the U-shaped heat exchanger tube. The probe pusher 16 is a device that inserts the probes of the two probes 12 into the heat transfer tube or operates the probe pusher 16 at a later time. and a clutch for selectively driving the. The camera 17 is a camera with the same functions as the camera 13, and includes each device outside the ice chamber 10 for the steam generator, that is, the robot pneumatic WA 14 to the probe pusher 1.
Monitor the operating status of 6 etc. The communication device 18 is in the loop room 7
This is a device that communicates work between inside and outside the company.

The first flaw detector 19 is a device that amplifies the flaw detection signal from the probe 12 obtained via the probe pusher 16 and obtains the amount of change in probe coil impedance, that is, flaw detection data. The robot controller 20 is the walking robot 1
It is a device that performs operation control of 1, and can be manually operated at any time by operating the panel. Butsusha controller 2
Reference numeral 1 denotes a device for controlling the operation of the probe pusher 1716, and like the robot controller 20, it can be manually operated at any time by operating the panel. The pusher power supply unit 22 is a unit that drives the feed motor of the probe pusher 16. The supervisory call controller 23 controls the camera 13 by operating the panel. Controls the camera 17, that is, adjusts and controls various functions such as zoom, iris, pan, tilt, and lighting, and controls the camera 13. The image information obtained by the camera 17 is supplied to the TV monitor 25, and a telephone communication device 24 is enabled to make a telephone call. The communication device 24 is connected to the supervisory call controller 23 and is a device for communicating between the inside of the loop room 7 and the trailer 1. TV monitor 2
Reference numeral 5 denotes a device for displaying image information supplied from the supervisory call controller 23. Optical transmission equipment! 26 and the optical transmission device 27 constitute the optical signal transmission means of the present invention together with the optical fiber cable 5A, and the first flaw detector 19 in the storage chamber 3, the robot controller 20. Butsusha controller 21. Monitoring call controller 23 etc. and trailer 1
control signals including operation commands, flaw detection data, and image signals between the remote control device 1A in the

It is used to send and receive various signals such as audio signals.

The portion surrounded by the two-dot chain line in the trailer 1, that is, the printing mechanism 28 and the trailer distribution board 2 are devices common to each system. The printing mechanism 28 includes a printer switch 28a# and a printer 28b, and is a device that prints out information from the sub-CPLI 32 of each system, as will be described later. In addition, as already explained, the trailer distribution board 2 is
This is a device that supplies power to each device inside the trailer 1.
As shown in the figure, a power distribution device 29a and an automatic voltage regulator 29
It consists of b.

System controller 3 installed in trailer 1
0 is the startup control of this system, the setting control of the operation mode, the current address display control of the probe 12 by the walking robot 11 and the probe pusher 16, the field of view adjustment control of the camera 13 and the camera 17, and the inside of the storage room 3 or the loop. It has functions such as controlling communication with the room 7. Main CP
U31 is a device that operates based on a control command from the system controller 30 and performs remote automatic control from the trailer 1. That is, it operates so as to sequentially send out necessary operation commands in accordance with a preset order, and perform analysis of received data, record 2 display, etc.

The specific operations include automatic control of the walking robot 11 and probe pusher 1716 according to the flaw detection order, and automatic control of the first data recorder 3, which will be described later, according to the control state.
4. The automatic start and automatic stop commands of the second data recorder 35, the count value of the recording tape of the first data recorder 34 and the second data recorder 35, the management of the remaining amount, the device status at the completion of deep operation, and the flaw detection recorded data will be described later. This includes transmission to the sub CPU 32, etc. The sub CPU 32 creates flaw detection order data and sends it to the main CPU 3.
1, and also performs automatic erasure of detected tube sheets based on the flaw detection record data sent from the main CPU 31 and record management of the flaw detection results list, and displays these results graphically on a CRT and prints them out. The mechanism 28 prints out the feed list and drawings. The sub CPU 32 has a console function that displays the details of the abnormality on the CRT when each device exhibits an abnormality. The second flaw detector 33 has a function of adjusting the sensitivity and signal balance of the first flaw detector 19 by operating the panel. The first data recorder 34 and the second
The data recorders 35 are two data recorders installed corresponding to the two probes 12, and record flaw detection data on magnetic tape. Note that the first data recorder 34 and the second data recorder 35 are the main CP
The tape feed is controlled by commands from the LJ 31, and the tape 1-value and remaining amount of tape are checked. The storage oscilloscope 36 is a storage type oscilloscope for monitoring flaw detection data, is connected to the second deep flaw instrument 33, and displays the flaw detection data as a Lissajous waveform. The communication device 37 is connected to the system controller 30 and is a device for communicating with the communication device 18 and the communication device 24. The TV monitor 38 displays images obtained by the cameras 13 and 17, and displays the images obtained by the walking robots 11. This is a device that monitors the position of the probe 12, the operating status of each device, and the working status within the loop v7.

With this apparatus configured in this manner, flaw detection operations can be performed in the following three operation modes.

(1) “Local flaw detection mode” This is a mode used when attaching or detaching the walking robot 11 from the tube plate, and is performed by operating the respective panels of the eddy current deep operation units 8A to 8D in the storage chamber 3. .

(2) "Remote flaw detection mode"t# This mode is used when performing close and deep operations, and is performed by operating the system controller 30 inside the trailer 1 with some manual operations.

(3) [Fully automatic flaw detection mode J This is a mode in which deep operation is performed fully automatically according to a predetermined flaw detection order.

The operation and effect of the "fully automatic flaw detection mode" (3) will be explained below. The inspection points for each steam generator are determined in advance by a regular plant inspection special call, so first sub-C
Input the flaw detection order data to the PU32. Sub C
Based on the input data, the PU 32 calculates and stores a robot posture that allows the walking robot 11 to access the ice room 10 without interfering with the walls, etc., and an optimal flaw detection procedure that allows for efficient walking. . At the start of the flaw detection work, the flaw detection procedure data stored in the sub CPU 32 is transferred to the main CPU 31 according to a command from the console within the sub CPU 32 . The main CP is the fully automatic flaw detection mode command from the system controller 3o.
When given to U3i, the main CPU 31 issues a flaw detection operation command for each step in accordance with the transferred flaw detection procedure data. This flaw detection operation command is transmitted to the optical transmission device 27. Fiber optic cable 5A.

The signal is sent to the robot controller 20 and the button controller 21 via the optical transmission device 26. As a result, the robot controller 20 and the pusher controller 21 drive and control the walking robot 11 and the probe 12. When the walking robot 11 operates, the robot address updated as it walks is sent back to the system controller 30 and main CPLI 31 in the trailer 1 via a route opposite to the above-mentioned route. Walking robot 11
When the target address is reached, the main CPU 31 sends an operation command to the button controller 21, the tape count value of the first data recorder 34 is read and stored, and the tape is rotated to start recording. Preparations are made. When the activation command is given to the busher controller 21, the probe pusher 16 is activated and sends the probe of the probe 12 into a predetermined heat transfer tube. When the amount of feeding reaches a predetermined amount, the bushing controller 21 stops controlling the feeding operation, and conversely controls the withdrawal of the probe 12. During this time, the signal from the probe 12 is transmitted to the first deep wound device 19. Optical transmission device 26. Optical fiber cable 5A, optical transmission device 2
7. The first data recorder 34 via the second deep wound device 33
．． The data is continuously recorded on the second data recorder 35. At the same time, the selected signal waveform is displayed on the storage oscilloscope 36. When the button controller 21 finishes the button control operation, an end signal is sent to the main CPU 31.

When this end signal arrives at the main CPLI 31, the first data recorder 3
The recording operation of step 4 is stopped. Further, a flaw detection completion signal for the corresponding heat exchanger tube is transmitted to the sub CPU 32 along with data such as the probe address and tape count value. Then, the sub CPU 32 updates the flaw detection result data and erases the flaw detection result map on the CRT.

By repeating the above operations, a fully automatic flaw detection operation is executed. When the flaw detection work for one day is completed in this way, a command to create a flaw detection test and diagram is issued from the console of the sub CPU 32. Therefore, a performance list table and a diagram are created based on the data sequentially stored up to that point, and printed out by the printer 28b.

Thus, the present device provides the following effects.

Since two probes 12 can be controlled simultaneously, the flaw detection process can be shortened. Trailer 1 installed outside storage room 3
Since remote and concentrated deep operation can be performed on all steam generators at the same time, the effect of reducing radiation exposure is significant. A series of tasks such as moving the walking robot 11, controlling the drive of the probe pusher 16, displaying a record of flaw detection data, and creating a list of flaw detection results are automatically executed according to a predetermined order, resulting in efficient deep operation. I can do it. In addition, since the signal transmission between the trailer 1 and the storage room 3 is carried out by optical signal transmission means, there is no deterioration in data quality even though remote control is performed.Furthermore, the small diameter and light weight make installation work easy. It has the advantage that the construction cost is minimal.

Note that the present invention is not limited to the above embodiment,
Of course, various modifications can be made without departing from the spirit of the invention.

〔Effect of the invention〕

The eddy current flaw detection control device of the present invention sequentially sends required operation commands in a preset order to each steam generator of the plant, into a trailer installed outside the storage room of the steam generation plant. At the same time, a plurality of remote control devices configured to analyze received data, display records, etc. are installed, and operation commands from the remote control device are placed in the plant storage room corresponding to each of these remote control devices. The local υ is set up to operate according to the
The same number of N11 devices are installed, and an optical signal transmission means is installed so as to perform signal transmission between these local control devices and each of the remote control devices, and each of the steam generators is controlled by each of the local control devices. A plurality of eddy current deep operation sections are provided to perform eddy current deep operation of a heat exchanger tube, and each of the eddy current deep operation sections includes:
The eddy current deep wound probes, each consisting of a set of two probes, are each moved to the predetermined heat transfer tube by a walking robot. It is characterized in that a plurality of probes are configured to be inserted into and removed from the heat exchanger tube simultaneously or individually by a probe pusher.

Therefore, according to the present invention, deep operation is performed automatically, and eddy current flaw detection using two probes is performed simultaneously. Additionally, control operations can be performed remotely from a trailer located outside the containment room, an area with relatively low radiation levels. As a result, it is possible to provide an eddy current flaw detection control device that can efficiently perform thin tube inspections of steam generators, etc. in a short time, significantly reduce the amount of radiation exposure, and safely and accurately perform deep operation.

[Brief explanation of drawings]

1 and 2 are diagrams showing one embodiment of the present invention, FIG. 1 is a schematic block diagram showing the overall configuration, and FIG.
It is a detailed block diagram which extracts and shows only one system of the figure. 1...Trailer, 1A-1D...Remote control device, 2
...Trailer distribution board, 3...Storage room, 4A to 4D
... Local control tIl device, 5A to 5D... Optical fiber cable, 6A to 6D... Distribution board, 7... Loop room, 8A to 8D... Eddy current deep operation unit, 9A to 9
D...Cable, 10...Water chamber for steam generator, 11
... Walking robots 1~. 12... probe, 13...
Camera, 14... Robot pneumatic panel, 15... Pusher pneumatic panel, 16... Probe pusher, 17...
Camera, 18...Communication device, 19...First deep wound device,
20... Robot controller, 21... Butsusha controller, butsusha power supply unit, 23... Supervisory call controller, 24... Call device, 25... T
V monitor, 26... Optical transmission device, 27... Optical transmission device, 28... Printing mechanism, 28a... Printer switch, 28b... Printer, 29... Trailer distribution board, 29a...Distributor, 29b...Automatic voltage regulator,
30...System controller, 31...Main C
PU, 32...Sub CPU, 33...Second flaw detector,
34...First data recorder, 35...Second data recorder, 36...Storage oscilloscope, 37...Telephone device, 38...T, V monitor.

Claims (1)

[Claims] A trailer installed outside the steam generation plant storage room, and a trailer installed in the trailer corresponding to each steam generator of the plant, which sequentially sends out necessary operation commands according to a preset order and analyzes received data. , a plurality of remote control devices configured to perform recording, display, etc., and the same number of remote control devices are installed in the plant storage room corresponding to each of these remote control devices, and each operates in response to an operation command from the remote control device. a local control device provided as shown in FIG. It is equipped with a plurality of eddy current flaw detection operation units that perform deep eddy current operation of heat transfer tubes in each steam generator, and each of the eddy current flaw detection operation units is equipped with a probe for eddy current flaw detection consisting of a set of two. a walking robot that moves each of the probes to the predetermined heat transfer tube; and a walking robot that moves each probe in a set of two probes that are moved and operated by the walking robot into the heat transfer tube at the same time. Alternatively, an eddy current flaw detection control device comprising a probe pusher that can be inserted and removed individually.