KR101410766B1 - Remote dismantling method for reactor vessel - Google Patents

Abstract

 Even if the reference position of the manipulator transferred by a crane or the like changes, the cutting target is scanned in 3D to reset the reference position of the manipulator, and the cutting device is automatically transferred by calculating the cutting path automatically designated by the operator A 2D scanner initializing step of initializing a position of a 2D scanner installed in a remote cutting manipulator; A scanning step of scanning the object to be cut by the 2D scanner; A tilting step of tilting the 2D scanner; A 3D scan completion confirmation step of confirming acquisition of 3D data by repeating the scanning step and the tilting step until the scanning of all the scan areas of the 2D scanner is completed; An origin correction step of correcting the origin position of the manipulator through 3D data; An end effector position correcting step of correcting the position of the end effector of the manipulator based on the corrected origin position; A cutting object position correcting step of correcting a relative position of the object to be cut with respect to the end effector; A correction data checking step of checking whether or not correction data is supplied; A trajectory input step of determining a motion trajectory of the manipulator when there is no correction data; And a driving step of driving the manipulator according to the determined motion locus.

Description

[0001] Remote dismantling method for reactor vessel [0002]

The present invention relates to a remote reactor pressure vessel dismantling method using a remote disassembling apparatus, and more particularly, to a method of disassembling a remote reactor pressure vessel by using a remote disassembling apparatus, And more particularly, to a remote reactor pressure vessel disassembly method capable of accurately calculating a cutting path by automatically locating a position indicated by a cutting position, thereby transferring the cutting apparatus accurately.

When nuclear dismantling works, the parts with the highest radioactivity level are nuclear reactors, and when cutting to dispose of the reactor, remote work is necessary because of the risk of radiation exposure of the cutting worker. The reactor is largely cylindrical in shape, with hemispherical lids on both sides of the cylinder, and a variety of pipelines connected to form a fairly complex shape.

In order to remotely cut such a complicated shape, the operator manipulates the robot arm equipped with the cutting device on the end effector through the camera screen. In this way, it is very difficult to manipulate the cutting equipment with a precise trajectory when manipulating through the two-dimensional information or the three-dimensional information using the stereo camera according to the camera viewpoint, and it is very likely that the fatigue of the operator due to the manipulation becomes extreme and causes mistakes.

In particular, since the robot arm is mounted on the crane and is transported to a place where the cutting operation is to be performed, it is impossible to work with a preprogrammed path like a robot arm fixed at a certain place.

10-090493

SUMMARY OF THE INVENTION It is an object of the present invention, which is devised to solve the problems described above, to provide a method of automatically scanning a cutting target in 3D to reset a reference position of a manipulator even when a reference position of a manipulator transferred by a crane or the like changes, To provide a method of dismantling a remote reactor pressure vessel which can accurately calculate the cutting equipment by calculating the cutting path.

 According to an aspect of the present invention, there is provided a 2D scanner initializing step of initializing a position of a 2D scanner installed in a remote cutting manipulator. A scanning step of scanning the object to be cut by the 2D scanner; A tilting step of tilting the 2D scanner; A 3D scan completion confirmation step of confirming acquisition of 3D data by repeating the scanning step and the tilting step until the scanning of all the scan areas of the 2D scanner is completed; An origin correction step of correcting the origin position of the manipulator through 3D data; An end effector position correcting step of correcting the position of the end effector of the manipulator based on the corrected origin position; A cutting object position correcting step of correcting a relative position of the object to be cut with respect to the end effector; A correction data checking step of checking whether or not correction data is supplied; A trajectory input step of determining a motion trajectory of the manipulator when there is no correction data; And a driving step of driving the manipulator in accordance with the determined motion locus.

And a correction transfer step of correcting the origin position, the end effector position, and the relative position of the object to be cut by the correction data when the correction data is supplied in the correction data checking step, and transmitting the correction data to the host controller .

The 2D scanner initializing step is repeatedly started at every reference time.

When this device is applied to the nuclear dismantling site, it is possible to prevent the worker's exposure and dramatically improve the efficiency of the remote dismantling work. The most important factor that lowers the efficiency of remote dismantling work is high level of worker skill level and problems of equipment failure due to operator error. According to this apparatus and method, when remote operation is performed, many operations are automated, the skill of the operator is low, and the fatigue is small, so that the mistake is reduced.

The device consists of a 3D shape measuring device, a six-degree-of-freedom robot arm and a waterjet. The 3D shape measuring device is constructed by combining a 2D laser scanner with a tilting device. The 6 DOF robotic arm is able to cope with any path shape generation algorithm. Conversely, if the degree of freedom of the robot arm is low, some cutting paths may not be able to be followed, so 6 degrees of freedom may be the minimum requirement in this task. The waterjet can cut along any cutting path and also cut thick steel plates such as reactor pressure vessels. It has higher energy efficiency than laser and less harmful material than plasma arc.

The most important algorithm in the algorithm used in this cutting process is to obtain the reference position of the robot with the data obtained from the 3D shape measuring device and to model the cutting process in real time. At this time, an estimation algorithm that compares measured data with pre-existing shape data and calibrates the position is required, and particle filter is used here. The particle filter is an estimation algorithm that can be stably estimated even if the external conditions have very large noise, and is suitable for environments with large disturbance factors such as cutting sites.

1 is a flow chart of a remote reactor pressure vessel disassembly method according to the present invention.
2 is a front view of a remote cut manipulator used in the remote reactor pressure vessel disassembly method of the present invention.
Figure 3 is a schematic perspective view of a remote cut of a reactor pressure vessel using the remote cut manipulator of Figure 2;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

First, the remote cut manipulator 100 used in the present invention will be described with reference to FIGS. 2 and 2. FIG. The manipulator 100 can be transported close to the reactor pressure vessel 10 by means of a transport device (not shown). A well-known technique such as a crane can be used as the conveying device.

The manipulator 100 is configured such that the first actuating rod 106, the second actuating rod 108 and the end effector 102 are coupled to the first joint 112 with reference to a reference base 108 attached to the conveying device, The second joint 114, and the third joint 116, respectively. Thus, the end effector 102 may have six degrees of freedom. 2, reference numeral 110 denotes an arm body to which various driving mechanisms and controls of the manipulator 100 are mounted.

As the end effector 102, a known device such as a water jet or a laser cutter may be mounted.

A 3D shape measuring apparatus 120 is installed in the manipulator 100 to obtain an image of the reactor pressure vessel 10 and obtain 3D data. At this time, the 3D shape measuring apparatus 120 is installed on the first operating rod 106 so as to stably measure the reactor pressure vessel 10 without disturbing the operation of the end effector 102 desirable.

The 3D shape measuring apparatus 120 includes a 2D scanner (not shown) capable of scanning a 2D image, and a tilting device capable of tilting the 2D scanner. Therefore, it is possible to obtain 3D shape data independently of the operation of the robot arm. The rotation direction of the tilting can be rotated with respect to the reference base 108 in Fig. 2 with reference to a directional axis (arrow direction in Fig. 2) which is the same as the directional axis of the first operating rod 106 in the rotational direction. Of course, the tilting direction may be selected in a different direction.

Accordingly, 3D shape data can be obtained by tilting the tilting device while acquiring an image with a 2D scanner.

Next, a remote reactor pressure vessel disassembly method according to the present invention will be described.

First, the 2D scanner position is initialized (S100). Here, the initialization of the 2D scanner position means that the 2D scanner is positioned at one of both end points selected in each range in which the 2D scanner can rotate by the tilting device.

Then, the 2D scanner scans one area (S110). When the scanning is completed, the 2D scanner rotates by the tilting device (S120) and scans the next area. When the confirmation is completed, the relative position of the reactor pressure vessel 10 is determined by the 3D data and the origin position of the manipulator 100 is corrected (S140) . Where the origin position is located in the reference base 108.

Then, the position of the end effector 102 is corrected based on the origin position. That is, the origin position and the cutting position are confirmed by correcting the position of the reactor pressure vessel 10 as the object to be cut (S160). This state is the start preparation state of the cutting operation of the end effector 102. [

If there is no additional correction data (S170), data on the cutting locus is input to the manipulator 100, and the manipulator 100 starts cutting accordingly.

If there is additional correction data (S170), the correction data is updated and the correction data is provided to the host controller (S200). Then, the operation is performed according to the control information (for example, movement of the transportation apparatus or resumption of 3D scanning) supplied from the host controller (S210).

Also, while the manipulator 100 proceeds, the manipulator 100 periodically acquires the 3D data periodically to repeatedly check the desired cutting trajectory and the error on the actual working cutting trajectory. When there is an error, the error magnitude is calculated, And provides new correction data to the host controller. The host controller can move the conveying device when the size of the error is large and direct the 3D data to be reacquired when the size of the error is small.

The present invention relates to a remote cutting manipulator equipped with a 3D shape measuring device. Even when the reference position of a manipulator transferred by a transfer device such as a crane is changed each time, the object to be cut is scanned by a 3D shape measuring device, The present invention is to develop a device and a method for precisely transferring the cutting equipment along the cutting path without disturbing the operator, and maintaining a proper gap in the cutting equipment when the cutting equipment is transported along the cutting path.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It can be understood that

10: reactor pressure vessel 100: remote cutting manipulator
102: end effector 104: second operating rod
106: first working rod 108: reference base
110: arm body 112: first joint
114: second joint 116: third joint
120: 3D shape measuring device

Claims (3)

A 2D scanner initialization step of initializing the position of the 2D scanner installed in the remote cut manipulator;
A scanning step of scanning the object to be cut by the 2D scanner;
A tilting step of tilting the 2D scanner;
A 3D scan completion confirmation step of confirming acquisition of 3D data by repeating the scanning step and the tilting step until the scanning of all the scan areas of the 2D scanner is completed;
An origin correction step of correcting the origin position of the manipulator through 3D data;
An end effector position correcting step of correcting the position of the end effector of the manipulator based on the corrected origin position;
A cutting object position correcting step of correcting a relative position of the object to be cut with respect to the end effector;
A correction data checking step of checking whether or not correction data is supplied;
A trajectory input step of determining a motion trajectory of the manipulator when there is no correction data; And
And driving the manipulator according to the determined motion locus.
2. The image processing apparatus according to claim 1, wherein, when the correction data is supplied in the correction data checking step, the origin position, the end effector position, and the relative position of the cut object are corrected by the correction data, ≪ / RTI > further comprising the steps of:
2. The method of claim 1, wherein the 2D scanner initialization step is repeatedly initiated at every reference time.

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