KR102196661B1 - Scanner system and nuclear power plant dismantling system having the same - Google Patents

Abstract

An objective of the present invention is to provide a scanning system capable of stably performing functions. The scanning system comprises: a housing having a sealed accommodation space therein; a scanner which is arranged in the accommodation space, and receives light reflected from a scan target to enter the scanner to acquire shape information of the scan target; a shielding unit arranged to block at least a portion of the scanner from a radioactive material to block the action of radiation affecting the scanner; a window formed on a portion of the housing to provide a path through which the light enters the housing, and arranged to face a first direction; and a mirror which is arranged on the path of the light passing through the window to enter the mirror, and switches the path of the light to a second direction crossing the first direction. A lens of the scanner is arranged to face the second direction to receive the light reflected from the mirror to enter the lens.

Description

Scanner system and nuclear power plant dismantling system having the same {SCANNER SYSTEM AND NUCLEAR POWER PLANT DISMANTLING SYSTEM HAVING THE SAME}

The present invention relates to a scanner system used in an underwater and highly radioactive environment, and a nuclear power plant dismantling system having the same.

The general industrial 3D scanner based on the optical triangulation method is evaluated to be suitable for the field of dismantling core facilities of nuclear facilities because of its advantage of high precision at a relatively long distance. However, this 3D scanner has several disadvantages.

First, when the 3D scanner is operated underwater, there is a problem in that the scan data is distorted due to refraction that occurs when light travels from the air to the water, and becomes closer than the actual position of the object to be scanned. In addition, the imaging device provided in the camera applied to the three-dimensional scanner based on the optical triangulation method is vulnerable to radiation, and thus, there is a problem in using it for a long period of time for dismantling a highly radioactive structure. Finally, when using a cutting method that generates dust, such as laser cutting in water, when decommissioning a nuclear power plant, the generated dust adheres to the waterproof window installed in front of the camera or the light source of the 3D scanner and contaminates the transparent waterproof window. Have.

Accordingly, development of a 3D scanner system capable of stably performing its function in an underwater, highly radioactive environment, and a work environment in which dust is frequently generated can be considered.

An object of the present invention is to provide a scanner system capable of stably performing functions in an underwater, highly radioactive environment in which light refraction occurs, and in a work environment in which dust is generated.

In order to achieve such a problem of the present invention, the scanner system of the present invention comprises: a housing having an accommodation space sealed therein; A scanner disposed in the receiving space and configured to receive light reflected from the object to be scanned to obtain shape information of the object to be scanned; A shielding unit disposed to block at least a portion of the scanner from a radioactive material, and blocking an action of radiation on the scanner; A window formed in a part of the housing, providing a path for the light to enter the housing, and arranged to face a first direction; And a mirror disposed on the path of the light entering through the window and changing the path of the light in a second direction crossing the first direction, and the lens of the scanner is disposed to face the second direction. Thus, it is configured to receive the light reflected from the mirror.

The scanner system, the rear side of the window facing the inside of the housing, compared to the edge of the center portion, so as to emit the light entering the window to remove distortion caused by the refraction of the light caused by water in the path Is made to have a concave shape, and the front surface of the window exposed to the outside of the housing may be made to have a flat shape.

The scanner system further includes a control unit, the window is configured to be movable to move away from or close to the mirror in the first direction, and the control unit is based on a refractive index of a medium existing in the path of the light, The window may be moved to adjust a separation distance between the window and the mirror.

The scanner system may further include a foreign material removing unit disposed adjacent to a front surface of the window exposed to the outside of the housing, and configured to remove foreign substances present on the front surface of the window.

The foreign material removing unit may include a blade extending in one direction and rotating left and right around an axis in a state in contact with the front surface of the window, and configured to wipe off the foreign material existing on the front surface of the window; And a driving part connected to one end of the blade to rotate the blade left and right.

The shielding part may be formed outside the housing and may be disposed to block all of the housing except the window from the radioactive material.

The housing may be made of a material capable of shielding radiation.

The second direction may be directed toward a region other than the radioactive material.

In addition, in order to realize the above object, the present invention includes a housing having an accommodation space sealed therein; A scanner disposed in the receiving space and configured to receive light reflected from the object to be scanned to obtain shape information of the object to be scanned; A window formed in a part of the housing, providing a path for the light to enter the housing, and arranged to face a first direction; And a mirror disposed on the path of the light entering through the window and changing the path of the light in a second direction crossing the first direction, and the lens of the scanner is disposed to face the second direction. Thus, it proposes a scanner system, characterized in that configured to receive the light reflected from the mirror.

The scanner system is configured such that the rear side of the window facing the inside of the housing has a concave shape compared to the edge so as to emit the light entering the window to remove distortion due to the refraction of the light occurring underwater. It is made, and the front surface of the window exposed to the outside of the housing may be formed to have a flat shape.

On the other hand, in order to realize the above problems, the present invention is a nuclear power plant; And when the nuclear power plant is dismantled, it is disposed at a location separated by a predetermined distance from the scan object to be dismantled of the nuclear power plant to obtain shape information of the scan object, and the It proposes a nuclear power plant dismantling system, characterized in that it includes the following scanner system.

According to the present invention, the scanner is disposed to be covered by a shield that blocks the action of radiation, so that it is securely protected from a high-radiation environment, and high-quality scan data can be obtained without distortion through the light path provided by windows and mirrors. I can. In addition, foreign matter such as dust existing in the front of the window having a flat shape can be easily removed by the foreign matter removing unit. As a result, even in a high-radiation underwater work environment where dust is frequently generated, scanning of the object through the scanner can be performed more stably.

In addition, the window is configured such that the rear surface is concave in the center portion compared to the edge, so that distortion of the scan data due to the refraction of light occurring due to water in the light path can be removed.

1 is a conceptual diagram showing a scanner system according to an embodiment of the present invention.
2 is a conceptual diagram showing an enlarged portion of the window shown in FIG. 1.
3A, 3B, and 3C are diagrams for comparing and explaining features in which distortion caused by refraction of light occurring due to water in the light path is eliminated by the window shown in FIG. 1.

Hereinafter, a scanner system according to the present invention and a nuclear power plant dismantling system having the same will be described in more detail with reference to the drawings. In the present specification, the same or similar reference numerals are assigned to the same and similar configurations even in different embodiments, and the description is replaced with the first description. Singular expressions used in the present specification include plural expressions unless the context clearly indicates otherwise.

1 is a conceptual diagram showing a scanner system according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram showing an enlarged view of a window portion shown in FIG. 1.

1 and 2, the scanner system 100 includes a housing 110, a scanner 120, a shield 130, a window 140, and a mirror 150.

The housing 110 is made to have an accommodation space 111 sealed therein. The accommodation space 111 may have a waterproof function. In addition, a scanner 120 to be described later may be disposed in the accommodation space 111. In addition, the housing 110 may be formed to include a material capable of shielding radiation. The shielding material may be, for example, concrete, lead, iron, or paraffin.

The scanner 120 is disposed in the receiving space 111 and is configured to receive light reflected from the object 10 to be scanned to obtain shape information of the object 10 to be scanned. The scanner 120 may be formed of a 3D laser scanner based on optical trigonometry. The optical trigonometry-based 3D laser scanner may perform scanning in a manner that irradiates a laser to the scan target 10 and receives light reflected from the scan target 10 and returned. To this end, the scanner 120 may include a light source unit 180 that irradiates a laser onto the scan object 10. The optical trigonometry-based 3D laser scanner includes a distance and an angle between the scanner 120 and the light source unit 180, and a photographic device (CCD) in which a received light beam is provided in the scanner 120 within the angle of view of the scanner 120 The difference in depth can be calculated according to the relative position of.

Meanwhile, the scanner 120 includes a case 121 forming an exterior, a lens 122 for passing light reflected from a mirror 150 to be described later into the case 121, and the scanner system 100 ) May be provided with a connector 123 that electrically connects the controller 160 and the scanner 120 to each other. A photographing device (CCD, not shown) may be disposed inside the case 121. The image pickup device refers to a sensor that converts light into electric charges to create an image. In addition, the case 121 may be made of a material capable of shielding radiation. The shielding material may be, for example, concrete, lead, iron, or paraffin.

The shielding part 130 is disposed to block at least a part of the scanner 120 from a radioactive material, and is configured to block an action of the radiation R on the scanner 120. The radioactive material may be, for example, the scan object 10. The shielding part 130 may be formed to include, for example, concrete, lead, iron, and paraffin. In addition, the shielding part 130 may be formed outside the housing 110 and disposed to block all of the housing 110 except for the window 140 from the radioactive material. Meanwhile, although not shown in the drawings of the present invention, the shielding part 130 may be disposed inside the housing 110 rather than outside the housing 110.

The window 140 may be formed in a part of the housing 110 to provide a path for the light to enter the housing 110 and may be disposed to face the first direction W1. The first direction W1 may be, for example, a direction toward the scan object 10.

The mirror 150 may be disposed on the path of the light entering through the window 140 and may be configured to change the path of the light in a second direction W2 crossing the first direction W1. In FIG. 1, the first direction W1 and the second direction W2 are illustrated as being orthogonal to each other, but this shows an example in which the first and second directions W1 and W2 cross each other. The first and second directions W1 and W2 may not be orthogonal to each other and may be configured to form an angle that can cross each other.

Here, the lens 122 of the scanner 120 is disposed to face the second direction W2, and is configured to receive the light reflected from the mirror 150 and received. In addition, the second direction W2 is made to face other areas excluding the radioactive material (for example, the scan object 10), and the component on the path through which light is received from the scanner 120 Can be protected from the direct influence of the radiation R emitted from the radioactive material.

On the other hand, the scanner system 100 is directed to the inside of the housing 110 so as to emit the light entering the window 140 to remove the distortion caused by the refraction of the light caused by water in the path of the light. The rear surface 140b of the window 140 may have a concave shape in a center portion compared to an edge, and a front surface of the window 140 exposed to the outside of the housing 110 may have a flat shape. The effect due to the structural characteristics of the window 140 will be described below with reference to FIGS. 3A to 3C.

Meanwhile, the window 140 is configured to be movable to move away from or close to the mirror 150 in the first direction W1, as shown in FIG. 2, and the control unit 160 Based on the refractive index of the medium existing on the path of, the window 140 may be moved to adjust the separation distance D between the window 140 and the mirror 150. For the refractive index of the medium, measurement data for various media input to the control unit 160 may be used. In addition, the scanner system 100 may additionally include a refractive index measurement sensor 190. Accordingly, the refractive index data measured in real time through the refractive flow measurement sensor 190 and input to the control unit 160 may be used.

Meanwhile, the scanner system 100 may further include a foreign material removing unit 170.

The foreign material removing unit 170 is disposed adjacent to the front surface of the window 140 exposed to the outside of the housing 110, and is configured to remove foreign substances present on the front surface 140a of the window 140.

For example, the foreign material removing unit 170 may include a blade 171 and a driving unit 172.

The blade 171 is formed to extend in one direction, and rotates left and right about one axis in a state in contact with the front surface 140a of the window 140, so as to wipe off foreign substances present on the front surface 140a of the window 140 Can be done. Here, the front surface 140a of the window 140 may be formed in a flat shape, and thus, foreign matter can be easily removed using the blade 171.

However, the foreign material removing unit 171 may be configured as a compressor that transmits high pressure gas to the front surface of the window 140 rather than a mechanism through driving the blade 171.

Hereinafter, a characteristic of eliminating distortion due to refraction of light occurring due to water in the light path by the window 140 shown in FIG. 1 will be described with reference to FIGS. 3A to 3C.

3A, 3B, and 3C are diagrams for comparing and explaining features in which distortion caused by refraction of light occurring due to water in the light path is eliminated by the window 140 shown in FIG. 1.

Specifically, FIGS. 3A and 3B are conceptual diagrams showing light paths P1 and P2 in air and water, respectively, for comparison with the scanner system 100 of the present invention, and FIG. 3B is the window 140 It is a conceptual diagram showing a path P3 of light in the scanner system 100 of the present invention.

First, referring to FIG. 3A, in the case of a general industrial 3D scanner operating in air, an optical path P1 as shown in FIG. 3A is shown. In this case, left-right symmetry occurs in the measured data, but there is no big problem in data processing.

Next, in the case of FIG. 3B, it can be seen that when the 3D scanner is operated underwater, refraction occurs at the surface passing through the water W, thereby narrowing the angle of view. Referring to FIG. 3B, looking at the path P2 of the light at the top at 800 mm, it passes through about 300 mm when there is no water W as in FIG. 3A, but when there is water W, FIG. Pass through the 230 mm point as in. In FIG. 3B, the light enters the leftmost element of the imaging device (CCD), and it can be interpreted that the visible area is reduced by about 70 mm at 800 mm compared to the operation in the air, and the angle of view to be photographed becomes narrow.

Finally, as shown in FIG. 3C, the window 140 presented in the present invention has a lens shape having a concave central portion and an outer surface 140a having a flat shape. Here, the concave surface of the inner surface 140b of the window 140 compensates for the reduction in the angle of view caused by the refraction, and the outer surface 140a of the window 140 is flat to facilitate removal of contaminants such as dust. Can be done. In addition, as shown in FIG. 3C, when the window 140 is applied to the scanner system 100 of the present invention, the light path P3 is the light path of the 3D scanner operating in the air shown in FIG. 3A. It can be seen that the route is similar to (P1).

Hereinafter, a nuclear power plant dismantling system according to another embodiment of the present invention will be described with reference to FIGS. 1 and 2.

1 and 2, the nuclear power plant dismantling system is disposed at a location distant from a nuclear power plant and a scan object 10 to be dismantled of the nuclear power plant by a predetermined distance when the nuclear power plant is dismantled, and the scan object 10 ), and a scanner system 100 configured to obtain shape information for), and the scanner system 100 includes a housing 110 having an accommodation space 111 sealed therein, and the accommodation space 111 A scanner 120 disposed within and configured to receive light reflected from the scan target 10 to obtain shape information of the scan target 10, and a part of the housing 110 so that the light is formed in the housing (110) A window 140 that provides an incoming path and is arranged to face the first direction (W1), and is arranged on the path of the light that passes through the window 140, the first direction (W1) ) And a mirror 150 for converting the path of the light in a second direction W2 intersecting with each other, and the lens 122 of the scanner 120 is disposed to face the second direction W2 so that the mirror It may be configured to receive the light reflected from the incoming 150.

In addition, the nuclear power plant dismantling system may further include a shielding unit 130 disposed to block at least a portion of the scanner 120 from radioactive materials to block an action of radiation on the scanner 120. The radioactive material may be, for example, the scan object 10.

The above description is merely exemplary, and various modifications may be made by those of ordinary skill in the technical field to which the present invention pertains, without departing from the scope and technical spirit of the described embodiments. The above-described embodiments may be implemented individually or in any combination.

100: scanner system 110: housing
120: scanner 130: shield
140: window 150: mirror
160: control unit 170: foreign matter removal unit
180: light source unit 190: refractive index measurement sensor

Claims (11)

A housing having an accommodation space sealed therein;
A scanner disposed in the receiving space and configured to receive light reflected from the object to be scanned to obtain shape information of the object to be scanned;
A window formed in a part of the housing, providing a path for the light to enter the housing, and arranged to face a first direction; And
And a mirror disposed on the path of the light entering through the window, and converting the path of the light in a second direction crossing the first direction,
The lens of the scanner is disposed to face the second direction, and is configured to receive the light reflected from the mirror,
The rear surface of the window facing the inside of the housing has a concave shape compared to the edge to emit the light entering the window to remove distortion due to the refraction of the light caused by water in the light path. A scanner system, characterized in that the front surface of the window exposed to the outside of the housing is formed to have a flat shape. The method of claim 1,
The scanner system further comprises a shielding unit disposed to block at least a portion of the scanner from radioactive materials, and blocking an action of radiation on the scanner. The method of claim 1,
Further comprising a control unit,
The window is configured to be movable so as to move away from or close to the mirror in the first direction,
And the controller is configured to adjust a separation distance between the window and the mirror by moving the window based on a refractive index of a medium existing in the light path. The method of claim 1,
And a foreign material removing unit disposed adjacent to a front surface of the window exposed to the outside of the housing, and configured to remove foreign substances present on the front surface of the window. The method of claim 4,
The foreign material removing unit,
A blade extending in one direction and rotated left and right around an axis in a state in contact with the front surface of the window, and configured to wipe off foreign substances present on the front surface of the window; And
And a driving unit connected to one end of the blade to rotate the blade left and right. The method of claim 2,
The shielding part is formed on the outside of the housing, and is disposed to block all of the housing except the window from the radioactive material. The method of claim 1,
The housing is a scanner system, characterized in that made to contain a material capable of shielding (shielding) radiation. The method of claim 2,
The second direction is a scanner system, characterized in that made to face other areas other than the radioactive material. delete delete Nuclear power plant; And
When the nuclear power plant is dismantled, it is disposed at a location distant from the scan object to be dismantled of the nuclear power plant by a predetermined distance to obtain shape information on the scan object, and according to any one of claims 1 to 8 above. A nuclear power dismantling system comprising a scanner system.

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