JPS6173091A - Automatic inspection system in containment vessel - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an automatic containment vessel inspection system, and particularly to improving the operability of the containment vessel automatic inspection system.

[Background of the invention]

FIG. 10 shows a schematic overall configuration of an example of an automatic inspection system inside the reactor containment vessel. An inspection vehicle 4 runs on a running rail 3 installed inside the reactor containment vessel 1 by a chain drive or the like, and monitors the state inside the containment vessel using an ITV camera, a radiation sensor, a temperature sensor, etc. One image signal and Other inspection data is sent to the control room 2 via wireless or cable communication.
The information is sent to a control device 5 and an operator console 6 installed inside the computer. The inspection vehicle 4 performs inspection operations in response to remote control from the control unit 6 by the operator.

FIG. 11 shows an outline of the configuration of the inspection vehicle, the chain drive device, and the pan head rotating device. The inspection vehicle 4 moves on the rail 3 by being pulled by a chain 15 sent back and forth by a chain drive device 9, including a camera vehicle 7 and a control vehicle 8.

The chain drive device 9 is powered by a motor 11. Gear 12. It consists of a brake 13, and an encoder 14 detects the amount of chain payout. The camera car includes a camera 7A and a pan head 10, and rotates vertically and horizontally. The rotation angles are respectively detected by the left and right side/geometers 1g and the top and bottom sides/geometers 21, and are transmitted to the control device 5 via the coaxial cable 22 together with the chain payout amount. Operation signals from the console are also sent through the coaxial cable 22. The control vehicle 8 is equipped with a temperature sensor, a radiation sensor, a power source, and the like.

The configuration of a conventional operator console is shown in FIG. The console 6 is a TV monitor screen 23. A CRT 24 displays data and provides guidance.

Three-dimensional display device 252. Operation panel 26 for manually operating the inspection vehicle. Keyboard 29, 30t-'

FIGS. 13 and 14 show display examples of a three-dimensional display. For the purpose of improving the man-machine interface in visual monitoring, an image 31 that displays the current position and line of sight direction of the inspection vehicle on a bird track map showing a panoramic view of the inside of the containment vessel, and a TV
An image 32 that simulates a wide field of view around a region 330 displayed on the monitor 23 is displayed on the three-dimensional display 25.

FIG. 15 shows a signal processing block diagram for outputting the image 319 and the image 32. Chain feed amount signal 34. The pan head swing angle signal 36 is transmitted from the process input device 40 to the control device 5.
be taken into account. The central processing unit 42 detects the three-dimensional position of the inspection vehicle 4 from the inspection route three-dimensional data file 46 and outputs it to the display control device 45 together with image display data 47 as image control data.

FIGS. 16 and 17 show three-dimensional information necessary for image control. Route 4 in the base coordinate system set inside the containment vessel
Coordinates (Xi, )'t of each point on 9.

zB) and the tangential direction (θx!, θ2) are stored in the data file 42 as a function of the chain payout amount hole. Line of sight direction of inspection vehicle in base coordinate system (θX, θ2)
is the slope of the route (01m.

θzzI) and the vertical and horizontal swing angle of the pan head (θXP).

θzp). Therefore,
The control data necessary to display the position and line of sight of the inspection vehicle on the image 31 is xllYllz8. θX and θ2. In addition, in order to display image 32, the inspection vehicle position ('
Set distance V in the line of sight direction from CI H'/凰, ZB)
The display control device 45 is instructed to calculate a retreated point (XY+)'V+Zv) 52 and create an image using this point as a viewpoint.

Incidentally, an example of this type of image recognition visual device is %KOKAI No. 58-217084.

In such a conventional system, the operator operates the inspection vehicle traveling joystick 2 on the operation panel 26 while confirming the inspection vehicle posture and inspection object using the images 319 and 32.
7. It was necessary to operate the pan head rotation joystick 28, and the operation was complicated.

[Purpose of the invention]

An object of the present invention is to provide an automatic containment vessel inspection system equipped with suitable instruction means for intuitively and easily operating an inspection vehicle in order to efficiently monitor and inspect the inside of the reactor containment vessel. It is.

[Summary of the invention]

The present invention focused on the fact that in conventional systems, instructions for inspection positions and directions were made using a joystick, which complicated monitoring and inspection operations inside the reactor containment vessel. The inspection vehicle can be operated intuitively and easily.

[Embodiments of the invention]

FIG. 1 is a block diagram of the hardware configuration of the present invention.

Coordinate signals 57 from the touchscreen are captured by central processing unit 42 via touchscreen interface device 56 . For image 31, the central processing unit:
As shown in the process shown in FIG. 2, the image element displayed at the specified coordinates on the screen is fetched from the display control device 45, and after confirming that the image element displays the route, the inspection vehicle position is determined. Accept specifications.

The three-dimensional display coordinates of the image element displayed at the designated position are stored by the display control device 45 as image control data. Based on the coordinates (Xi+, Yfeng, 2^) on this route, the chain payout amount R corresponding to the coordinates is detected from the route three-dimensional data file 46 and output to the chain drive control device 38 via the process output device 41. .

FIG. 3 shows the three-dimensional display coordinate system and the inspection route 49.

The coordinates (Xtor Yao, Zio) 58 are the position of the inspection vehicle before movement, and the coordinates (Xm, Yi+, Za
) 59 is the position after movement. Currently the coordinates (XIO.

Ya o , Zm o ) are displayed in the center of the image.

In order to place the inspection vehicle displayed at the coordinates (Xm, Ym, Zm) in the center of the screen, if the central angle of the two points with respect to the two axes is Δφ, then the current image of my child must be moved around the two axes. It is sufficient to display an image rotated by 1Δφ.

Next, with reference to FIGS. 4 and 5, a method of aligning the viewing direction of the camera to a designated position on the screen 32 will be explained.

Display angle θI from the viewpoint (Xv, Yv, Zv) of image 32! v is determined by the flying magnification of the image. The points indicated on the screen (LP, Hp) are
It has an angle of θh in the L-axis direction and θE in the H-axis direction with respect to the center (0,0) of the screen. θ12. θHF can be calculated from Lp, Hp, Hv, and θmy.

The camera is positioned closer to the image than the viewpoint (Xv, Yv, Zv) by a set distance V. The swing angle θ2 of the camera in the vertical direction is calculated from HP HV r θxp.

The vertical swing angle θ of the camera and the horizontal swing angle θ are as follows.
Output to 9.

Furthermore, new viewpoints (Xv, Yv, Zv) are calculated, and an image 32 is created and displayed.

According to the present invention, using FIGS. 6, 7, and 8.

This section provides an overview of how to operate the inspection vehicle.

An image 31 is output to the three-dimensional display device 25 in FIG. 6 so that the inspection vehicle is displayed in the center of the screen. Touch screen 53. The present invention uses a detection device such as a light pen 54 to indicate the location to which the inspection vehicle is to be moved on the route 49 on the screen and causes the inspection vehicle to travel. The inspection vehicle is always displayed at the center of the screen by rotating around the central axis 55 of the containment vessel.

FIG. 7 shows a state in which an image 32 is displayed.

Indicate the position to be imaged with the camera in the same manner as shown in FIG. 6, and operate the rotation of the pan head 10. After the designated object is captured by the camera, the image @32 displays a simulated image of the surrounding area centering on the object on the monitor 3z as before.

FIG. 8 is a flowchart showing the operating procedure.

With this method, the inspection vehicle can be operated intuitively with a few actions without having to perform complicated operations using the conventional joystick 27 or 28.

In addition, in accordance with the utilization of the three-dimensional display device according to the present invention, CRT screen selection, lens zooming, and
It is desirable that operations such as orcasing and lighting can also be performed using a CRT and touch screen. FIG. 9 shows an example of the display. Displaying the current setting values in different colors or flickering them makes it easier to recognize them.

Moreover, although a system for automatically inspecting the inside of a nuclear reactor containment vessel has been described here, it is clear that the present invention can be applied not only to containment vessels but also to chemical plants and the like.

〔Effect of the invention〕

According to the present invention, accurate operation that matches the perception of the inspection vehicle can be performed, which is efficient. Further, since there is no need for mounting panel space for mounting lamps, switches, joysticks, etc., the operator console can be made smaller and simpler, and an economical system configuration can be realized.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of the hardware configuration of the automatic containment vessel inspection system of the present invention, Fig. 2 is a flowchart showing its processing procedure, Fig. 3 is a diagram showing a three-dimensional coordinate system and inspection route, Fig. 4, FIG. 5 is an explanatory diagram of a method of adjusting the direction of camera line of sight, and FIGS. 6 and 7. Fig. 8 is a diagram illustrating an overview of the operation method of the inspection vehicle, Fig. 9 is a diagram showing an example of the display on the dart screen, Fig. 10 is a diagram illustrating the outline of the inspection system of the present invention, and Fig. 11 is a diagram illustrating the outline of the inspection vehicle. FIG. 12 is a front view schematically showing the operator console; FIG. 13 is a diagram showing an example of an image displaying the inspection object, inspection unit, and inspection vehicle posture;
Figure 4 is a diagram showing an example of a simulated image of the 72-tap screen and its surroundings, Figure 15 is a block diagram of a conventional system for creating and displaying the image of Figure 13 or Figure 14, and Figures 16 and 17 are FIG. 3 is a diagram showing the relationship between three-dimensional data necessary for creating those images. l...Reactor containment vessel, 2...Control room, 3...Traveling rail, 4...Inspection vehicle, 5...Control device, 6...
・Operator console, 7...Camera L 7A
-... Camera, 8... Control vehicle, 9... Chain drive device, 10... Pan head, 11... Chain drive motor, 15... Chain, 22... Coaxial cable, 23... ...TV monitor screen, 24...CRT, 25
...Three-dimensional display device, 26...Operation panel, 27...Inspection vehicle running joystick, 28...
Head rotation joystick, 29...keyboard, 3
0...Keyboard, 31...Full view image inside the containment vessel,
32... Wide field of view simulated image, 33... Simulated image area of TV monitor image, 3i... Chain drive control device, 3
9... Pan head rotation control device, 40... Process input device, 41... Process output device, 42... Central processing unit, 43... Three-dimensional display interface device, 44... Operation Panel interface device, 45... Three-dimensional display control device, 46...
Inspection route 3D data file, 47... Image display 3D data file, 48... Bus, 49... Inspection route, 5o... Route tangential direction, 51... Inspection vehicle line of sight direction, 52.・・Wide field of view simulated image viewpoint, 53・・
・Touch screen, 54... Light Ben, 55...
・Containment vessel center axis, 56...Touch screen interface device, 58...Pre-movement inspection vehicle position, 59
...Inspection vehicle position after movement.

Claims (1)

[Scope of Claims] 1. In a system for inspecting the inside of a building by installing a traveling route such as a rail in a building such as a nuclear reactor containment vessel and moving a device such as an inspection vehicle along the traveling route, a device that displays the position of the device and a simulated image of the object to be inspected; a device that detects a position indicated by a light pen or the like on the displayed route image; and a device that creates the simulated image centered on that position. An automatic containment vessel inspection system is characterized in that the inspection position and direction are directly instructed from an image display device. 2. In claim 1, when a device such as an inspection vehicle is moved to a designated position and its posture is set,
An automatic containment vessel inspection system characterized by presenting the posture of a device such as an inspection vehicle on the simulated image. 3. In claim 1 or 2, an inspection vehicle or the like is equipped with a directional device such as a camera, and the image display device detects the intersection of the optical axis of the camera or the like and the object to be inspected. An automatic containment vessel inspection system that displays a central simulated image and provides instructions on the image regarding the orientation and posture of cameras, etc.