KR102481194B1 - An radiological characteristics detection system for performing radiological characteristics evaluation in transitional period of permanent stationary nuclear power plants - Google Patents

Abstract

The present invention relates to a radiological characteristic detection system for evaluating the radiological characteristics of a permanently shut down nuclear power plant transition period according to the present invention. The purpose is to efficiently implement radiological characteristics evaluation methods for the transition period of permanent shutdown nuclear power plants according to the selection name as it is easy to carry and it allows the detection of radiological characteristics of the target area to be performed quickly and accurately while moving the target area for radiological characteristic evaluation. The invention comprises: a radiation detection/image acquisition device which determines the central location of the target space by measuring the front, rear, left, and right distances of the space within the radiological characteristic detection target area, disposed at a specified central area to detect radiation in a target space, take an image of the target space, and transmit the radiation detection value and the acquired video image; a movable support device which is movably disposed in the corresponding space within the radiological characteristic detection target area, supports the radiation detection/image acquisition device to be movable, and rotates the radiation detection/image acquisition device to a required horizontal angle; and a main control device connected to the radiation detection/image acquisition device and the mobile support device through radio communication, respectively, aligns and records the radiation detection values and video images received from the radiation detection/image acquisition device in the corresponding target space column of the previously created field, and controls the moving support device to rotate the radiation detection/image acquisition device horizontally by the required angle.

Description

An radiological characteristics detection system for performing radiological characteristics evaluation in transitional period of permanent stationary nuclear power plants}

The present invention relates to a radiological characteristic detection system for evaluating the radiological characteristics of the transitional period of a permanently stopped nuclear power plant, and more particularly, to a radiological characteristic of the transitional period before dismantling of a nuclear power plant (hereinafter referred to as a 'nuclear power plant') determined to be permanently shut down. When detecting radiographic characteristics for each corresponding space within the target area for detection of radiological characteristics for evaluation, it is possible to accurately and quickly detect radiographic characteristics as well as acquire images in 4 directions from the 3-dimensional central position of each corresponding space. The present invention relates to a system for detecting radiological characteristics of a transitional period of a permanently shut down nuclear power plant, which enables more accurate and efficient evaluation of the radiological properties of a transitional period of a permanently shut down nuclear power plant.

As is well known, when a nuclear power plant's service life expires, a decision is made on permanent shutdown of the nuclear power plant, and for the nuclear power plant for which permanent shutdown is decided, a site history survey and radiological characteristics evaluation of radioactivity (rays) are conducted during the transitional period. decontamination and decommissioning plans are established through decontamination and decommissioning plans, and decontamination and decommissioning work for the pertinent nuclear power plant is carried out according to the established decontamination and decommissioning plans.

Therefore, in order to establish a safe and efficient decontamination and decommissioning plan, evaluation of radiological characteristics in the transition period of a permanently shut down nuclear power plant is very important, and a standardized radiographic characteristic evaluation method must be established for accurate evaluation of radiological characteristics. However, a method for evaluating the radiological characteristics of the transition period of permanently shut down nuclear power plants has not been established.

The present applicant has made various attempts to solve the above-mentioned conventional problems, and as a result, as a result, on July 07, 2021, a patent application was filed with the Korea Intellectual Property Office and filed under Patent Application No. 10-2021-0088947 (hereinafter, Developed "Radiological Characteristics Evaluation Method for Transitional Period of Permanently Shutdown Nuclear Power Plants", which was granted the 'selection name'.).

These selections include a work area setting step of setting a work area for a target area for standardization of radiological characteristic evaluation of the transition period before dismantling of a permanently stopped nuclear power plant; a detailed design drawing step for each work area of producing a detailed work area design drawing for each work area set in the work area setting step; The radiological characteristics previously acquired during the site history investigation of nuclear power plants in operation or permanently shut down within the work zones of the detailed design drawings for each work zones produced in the detailed design drawing production step for each work zone and each subdivision space belonging to the work zones. a previously acquired radiological characteristic value entry step of entering values; Based on the detailed design of the work area produced in the design drawing production step for each work area, radiological characteristic values of radioactivity (rays) for each work area and each subdivision space belonging to each work area are actually measured at the site of each work area a step of acquiring radiological characteristic values of radioactivity (rays) obtained by doing so; The corresponding radioactivity (line) acquired by actual measurement in the radiological characteristic value acquisition step of the radioactivity (line) within each work zone of the work zone design map produced in the design drawing production step for each work zone and each subdivision space belonging to each work zone. ); By comparing the previously acquired specific radiological characteristic values entered in the step of writing the obtained radiological characteristic values and the actually measured radiological characteristic values entered in the step of entering the actually measured radiological characteristic values, reliable radiological characteristic values are obtained for the corresponding work area or Radiation that is determined as the radiological characteristic value for the corresponding subdivision space, and the radiological characteristic value for the corresponding work zone or the corresponding subdivision space belonging to each work zone is evaluated by comparing the determined radiological characteristic value with the preset reference characteristic value The step of evaluating academic characteristics; According to the evaluation results in the radiological characteristics evaluation step, each work zone and each subdivision space belonging to each work zone is displayed on the detailed design drawing of the work zone according to the preset classification criteria for each radiological characteristic evaluation to classify the zone. Consisting of zone classification stages, it is possible to accurately and systematically evaluate the radiological characteristics of the transitional phase of permanently suspended nuclear power plants, so that safe and efficient decontamination and decommissioning plans can be smoothly established for permanently suspended nuclear power plants in the future.

The purpose of the present invention is to carry out the above selection more accurately and efficiently, and in particular, it is easy to carry, so that the radiographic characteristics of the target area can be detected quickly and quickly while moving the target area for radiological characteristic evaluation. It is an object of the present invention to provide a radiological characteristic detection system for evaluating the radiological characteristics of the transitional phase of permanently shut down nuclear power plants, which can efficiently perform the radiological characteristic evaluation method of the transitional phase of permanently shut down nuclear power plants according to selection names by enabling accurate progress.

The object of the present invention is a radiographic feature detection system for evaluating radiological characteristics in a transitional period of a permanently shut down nuclear power plant, wherein the system measures the front, rear, left, and right distances of a corresponding space within a radiographic feature detection target area to determine the center position of the target space. a radiation detection/image acquisition device for specifying a radiation detection/image acquisition device disposed in a specified central region to detect radiation in a target space and take an image of the target space, and to transmit the detected radiation value and the obtained video image; A moving support device that is movably disposed in a corresponding space within a radiographic characteristic detection target area, supports the radiation detection/image acquisition device movably up and down, and rotates the radiation detection/image acquisition device at a required horizontal angle; and ; It is connected to the radiation detection / image acquisition device and the movement support device through radio communication, respectively, and the radiation detection value and the video image received from the radiation detection / image acquisition device are aligned and recorded in the corresponding target space column of the previously prepared field, A radiological characteristic detection system for conducting a radiological characteristic evaluation in a transition period of a permanently shut down nuclear power plant, characterized in that it is composed of a main control unit that controls the movement support device so that the radiation detection / image acquisition device is rotated horizontally by a required angle. is achieved by

The radiographic feature detection system for conducting the radiological feature evaluation in the transitional phase of a permanently shut down nuclear power plant according to the present invention is lightweight and simple in configuration, so it is easy to carry and move. It is possible to perform a specific scientific detection task, quickly and accurately grasp the center of the 3-dimensional space of each corresponding space, and place a radiation detector in the center to detect radioactivity in various directions. Acquire video images for the corresponding space in each direction at the same time In this way, the radiological characteristics evaluation method for conducting the radiological characteristics evaluation in the transitional period of the permanently suspended nuclear power plant can be quickly, accurately and efficiently implemented by aligning and recording in each input column of the field corresponding to each corresponding space. have an effect

1 is a schematic diagram schematically showing the configuration and organic correlation of a radiographic characteristic detection system for evaluating radiological characteristics in a transitional phase of a permanently shut down nuclear power plant according to the present invention;
FIG. 2 is a cross-sectional view of an assembled state in which a moving support device and a radiation detection/image acquisition device are assembled in a radiological characteristic detection system for evaluating radiological characteristics in a transitional period of a permanently shut down nuclear power plant according to the present invention shown in FIG. is a cross section,
FIG. 3 is an enlarged view of a cross-section and enlarged view of a radiation detection/image acquisition device assembled in a moving support device among radiographic feature detection systems for evaluating radiological characteristics in a transitional period of a permanently shut down nuclear power plant according to the present invention shown in FIG. 1 is a cross section,
Figure 4a is a plan view showing the upper surface of the radiation detection / image acquisition device of the radiological characteristic detection system for evaluating the radiological characteristic of the transition period of the permanently shut down nuclear power plant according to the present invention shown in Fig. 1,
Figure 4b is a front view showing the front of the radiation detection / image acquisition device among the radiological characteristic detection system for evaluating the radiological characteristic of the transition period of the permanently shut down nuclear power plant according to the present invention shown in Fig. 1,
Figure 4c is a bottom view showing the bottom of the radiation detection / image acquisition device of the radiological characteristic detection system for evaluating the radiological characteristic of the transitional phase of the permanently shut down nuclear power plant according to the present invention shown in Fig. 1,
5 is a ceiling surface and a sea surface for a corresponding space within a target area for radiological characteristic evaluation using a radiological characteristic detection system for conducting radiological characteristic evaluation in a transitional period of a permanently shut down nuclear power plant according to the present invention shown in FIG. 1 It is a work explanatory diagram explaining the work process of setting the radiation detection / image acquisition device at the middle height between
6 is a radiation detection/image in the center of the corresponding space within a target area for radiological characteristic evaluation using the radiological characteristic detection system for evaluating the radiological characteristic of the transition period of the permanently shut down nuclear power plant according to the present invention shown in FIG. 1 It is a work explanatory diagram explaining the work process of setting the acquisition device,
Figure 7 is a component connected to each control unit of a moving support device and a radiation detection / image acquisition device among the configuration of a radiological characteristic detection system for conducting radiological characteristic evaluation in a transitional period of a permanently shut down nuclear power plant according to the present invention, and the interaction between each component. It is a block diagram illustrating the organic correlation between the moving support device, the radiation detection/image acquisition device, and the main control device while illustrating the organic correlation.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

Prior to this, the terms or words used in this specification and claims should not be construed as being limited to the usual or dictionary meaning, and the inventor appropriately uses the concept of the term in order to explain his/her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical ideas of the present invention, so at the time of this application, they can be replaced. It should be understood that there may be many equivalents and variations.

1 to 7, the radiological characteristic detection system 10 for evaluating the radiological characteristics of the transition period of a permanently shut down nuclear power plant according to the present invention includes a radiation detection/image acquisition device 20 and a moving support device 30 ) and the main control device 40.

The movable support device 30 is movably disposed in the radiation target space at the site, supports the radiation detection/image acquisition device 20 movably up and down, and requires the radiation detection/image acquisition device 20 to be moved. It is composed of a support plate 31, a vertical support bar 32, a driving means 33, a control unit 34, a communication module 35, and a power supply unit 36.

The support plate 31 is a disc having a shaft assembly hole 31a at the center, supported horizontally by three leg members 31b, and provided with a wheel member 31b-1 having a fixing function at the lower end of the leg member. do.

The vertical support bar 32 is a round bar, and includes a locking groove 32a concavely formed in an arc shape continuous along the longitudinal direction of the opposite outer surface, and a height reference plate 32b formed radially protruding along the outer circumferential surface of the lower end side. and a gear portion 32c protruding radially along the outer circumferential surface between the lower end and the height reference plate integrally, and is rotatably fitted into the shaft assembly hole 31a of the support plate 31.

The driving means 33 is a motor having a gear meshing with the gear part 32c of the vertical support bar 32 on a rotating shaft, fixedly installed on the support plate 31, and forward and reverse rotation of the vertical support bar 32. let it

The controller 34 is connected to the driving means 33 and controls the operation of the driving means 33 .

The communication module 35 is connected to the controller 34 and transmits a control signal received through wireless communication to the controller 34 .

The power supply unit 36 is mounted on the support plate 31 and is connected to the control unit 34 to supply power.

The radioactivity detection/image acquisition device 20 measures the front, rear, left, and right distances of the radiation target space at the site to specify the center position of the target space, and is placed in the specified central area to detect radiation in the target space and to detect radiation in the target space. Taking an image and transmitting the detected radioactivity value and the acquired video image, the housing 21, the first camera module 22, the second radiation detector 23, and the first and second laser horizontal The distance measuring devices 24a and 24b, the first laser vertical distance measuring device 25a, the first radiation detector 26, the second camera module 27, and the third and fourth laser horizontal distance measuring devices 28a ) 28b, a second laser vertical distance meter 25b, a control unit 29, a communication module 29a, and a power supply unit 29b.

The housing 21 is a body having a hollow inside, and is formed through the center of the upper surface, and has a shaft assembly hole 21a that is slidably fitted and assembled with the vertical support bar 32 of the moving support device 30 And, it is supported by an elastic member and is mounted so as to protrude on the inner circumferential surface of the shaft assembly hole 21a so as to be capable of a recessed operation, and detachably from the locking groove 32a of the vertical support bar 32 of the movement support device 30 It is provided with a hooking part 21b to be hooked and assembled.

The first camera module 22 is a camera module having a wide-angle lens, is mounted on one side of the upper surface of the housing 21, and acquires a video image by photographing a three-dimensional space of a corresponding space within a radiographic characteristic detection target area. and transmits the acquired video image.

The second radiation detector 23 is mounted on the other side of the upper surface of the housing 21 opposite to the first camera module 22, and detects radioactivity for a corresponding space within a radiological characteristic detection target area, Transmit radiation detection value.

The first and second laser horizontal distance measuring devices 24a and 24b are conventional laser distance measuring devices having their own power, and are mounted horizontally on the upper surface of the housing 21 symmetrically on a straight line and mutually In opposite directions on one axis, the horizontal distances with the side walls of the corresponding space within the radiographic feature detection target area are measured, and the measured distance values are transmitted.

The first laser vertical distance measuring device 25a is a conventional laser distance measuring device having its own power source, mounted vertically on the upper surface of the housing 21, and measuring the distance between the ceiling surface and the corresponding space within the radiological characteristic detection target area. The vertical distance is measured, and the distance measurement value is transmitted.

The first radiation detector 26 is mounted at a position overlapping the first camera module 22 on the lower surface of the housing 21, and detects radioactivity for a corresponding space within a radiological characteristic detection target area, Transmit radiation detection value.

The second camera module 27 is a camera module having a wide-angle lens, mounted at a position overlapping the second radiation detector 23 on the lower surface of the housing 21, and a corresponding space within the radiological characteristic detection target area. is photographed to obtain a video image, and the acquired video image is transmitted.

The third and fourth laser horizontal distance measuring devices 28a and 28b are self-powered common laser distance measuring devices, and cross the first and second laser horizontal distance measuring devices 24a and 24b at 90°. It is mounted horizontally on the lower surface of the housing 21 symmetrically on a straight line, and measures the horizontal distance with the sidewall of the corresponding space in the radiographic characteristic detection target area in opposite directions on one axis, respectively, and measures the distance send value

The second laser vertical distance measuring device 25b is a conventional laser distance measuring device having its own power source, and is mounted vertically on the lower surface of the housing 21, and is based on the height of the vertical support bar 32 of the moving support device 30. The distance to the board 32b is measured, and the distance measurement value is transmitted.

The controller 29 is embedded in the hollow of the housing 21, and the first to fourth laser horizontal distance meters 24a, 24b, 28a, 28b, the first and second laser vertical distance meters ( 25a) (25b), the first and second camera modules 22 and 27, and the first and second radiation detectors 26 and 23 are respectively connected to control operation, receive measured values and acquired video images send

The communication module 29a is connected to the control unit 29, transmits measurement values and video images received from the control unit through wireless communication, and transmits control signals received through wireless communication to the control unit 29.

The power supply unit 29b is embedded in the hollow of the housing 21 and is connected to the control unit to supply power.

In addition, in order for the operator to position the radioactivity detection/image acquisition device 20 in the three-dimensional center of the corresponding space within the radiological characteristic detection target area, the radiation detection/image acquisition device 20 is It further includes a first horizontal distance equilibrium display means 29c, a second horizontal distance equilibrium display means 29d, and a vertical distance equilibrium display means 29e.

The first horizontal distance balance display means 29c is arranged at regular intervals on a straight line symmetrically with respect to the reference point and the reference point emitting a unique color and emits a color contrasting with the reference point, so that the first and second laser horizontal distance meters ( An LED displaying the size of the measured distances of 24a) and 24b in real time or an LCD displaying the measured distance values of the first and second laser horizontal distance meters 24a and 24b in real time, respectively, and the control unit 29 ) is connected to and mounted on the outer surface of the housing 21, and the distance measurement values by the first and second laser horizontal distance meters 24a and 24b indicate different states and the same state.

The second horizontal distance balance display means 29d is arranged at regular intervals on a straight line symmetrically with respect to the reference point and the reference point emitting a unique color and emits a color contrasting with the reference point, so that the third and fourth laser horizontal distance meters ( An LED displaying the size of the measured distances 28a) 28b in real time or an LCD displaying the measured distance values of the third and fourth laser horizontal distance meters 28a and 28b in real time, respectively, and the control unit 29 ) and is mounted on the outer surface of the housing 21, and the distance measurement values by the third and fourth laser horizontal distance meters 28a and 28b indicate different states and the same state.

The vertical distance balance display means 29e is arranged symmetrically on a straight line at regular intervals with respect to the reference point emitting a unique color and emitting a color contrasting with the reference point, so that the first and second laser vertical distance meters 25a (25b) is an LED displaying the size of the measured distance in real time or an LCD displaying the measured distance values of the first and second laser vertical distance meters 25a and 25b in real time, respectively, and the control unit 29 and It is connected and mounted on the outer surface of the housing 21, and the distance measurement values by the first and second laser vertical distance meters 25a and 25b indicate different states and the same state,

The main control device 40 is a portable computer loaded with a related program, and is connected to the radiation detection/image acquisition device 20 and the movement support device 30 through radio communication (short-range wireless communication), respectively, and detects the radiation. / Arrange and record the radiation detection value and the video image received from the image acquisition device 20 in the corresponding target space column of the previously created field, and rotate the radiation detection / image acquisition device 20 horizontally by a required angle The movement support device 30 is remotely controlled.

The operation of detecting the radiographic characteristics of the corresponding space within the radiological characteristics detection target area using the radiographic characteristics detection system for evaluating the radiological characteristics of the transitional phase of the permanently shut down nuclear power plant according to the present invention having the above configuration is 1) A device setting step of setting the device in the corresponding space so that the radiation detection/image acquisition device 20 is located at the 3D central position of the corresponding space, and 2) obtaining a video image of the opposite sidewall direction of the corresponding space and detecting radioactivity. It consists of a primary image acquisition and radioactivity detection step for detecting, and a secondary image acquisition and radioactivity detection step for acquiring a video image for another opposite sidewall direction of the space and detecting radioactivity.

1) In the device setting step, the upper end of the vertical support bar 32 of the mobile support device 30 is inserted into the shaft assembly hole 21a of the radiation detection/image acquisition device 20 to detect radiation and image After assembling the acquisition device 20 and arranging the movement support device 30 on the floor of the corresponding space, the first and second laser vertical distance measuring devices 25a and 25b of the movement support device 30 are operated. to measure the distance between the ceiling and the floor of the space, and at the same time, the operator moves the radiation detection / image acquisition device 20 in the vertical direction along the vertical support rod 32 of the moving support device 30 to detect radiation / image The acquisition device 20 is placed at an intermediate position of the vertical distance in the corresponding space.

As described above, when the radiation detection/image acquisition device 20 is disposed at an intermediate position of the vertical distance of the corresponding space, the first and second laser horizontal distance measuring devices 24a and 24b and the third and fourth laser horizontal distance measuring devices (28a) and (28b) are operated respectively to measure the horizontal distance between the side walls of the four rooms of the space, and at the same time, the operator moves the moving support device 30 to place the moving support device 30 at an intermediate position between the corresponding side walls. By fixing it, the radioactivity detection/image acquisition device 20 is located at the center of the three-dimensional space.

2) In the first video image acquisition and radiation detection step, when the radiation detection/image acquisition device 20 is positioned and fixed at the 3D central position of the space as described above, the first and second camera modules 22 (27) to acquire video images for two corresponding directions by photographing each corresponding direction, and detecting radioactivity in two corresponding directions by the first and second radiation detectors 26 and 23 at the same time, The acquired video image and radiation detection value are transmitted, and the main controller 40 sorts and inputs the received acquired video image and radiation detection value into corresponding input columns in each direction of the field in the corresponding space.

3) In the second primary video image acquisition and radiation detection step, after input of the acquired video images and radiation detection values in two directions is completed as described above, the driving means 33 of the moving support device 30 is operated After setting the vertical support rod 32 by 90 ° and rotating the radiation detection / image acquisition device 20 horizontally by 90 °, the first and second camera modules 22 and 27 respectively The direction is photographed to acquire video images for the other two corresponding directions, and at the same time, radioactivity for the other two corresponding directions is detected by the first and second radiation detectors 26 and 23, and the acquired video images and The radioactivity detection value is transmitted, and the main controller 40 sorts and inputs the received acquired video image and radioactivity detection value to corresponding input fields in different directions of the field of the corresponding space.

The radiographic characteristics detection system for evaluating the radiological characteristics of the transitional phase of a permanently shut down nuclear power plant according to the present invention having the above configuration is lightweight and has a simple configuration, so that it is easy to carry and move. It is possible to carry out specific radiological detection work while moving quickly in space, quickly and accurately identify the central part of the 3-dimensional space of each corresponding space, and place a radiation detector in the central part to detect radioactivity in various directions and at the same time detect radiation in each space in each direction. By acquiring video images of the target area, arranging them in the field corresponding to each target area, and recording them, a radiological characteristic evaluation method for the transition period radiological characteristic evaluation of a permanently suspended nuclear power plant with a selection name is quickly, accurately and efficiently implemented. There are advantages to doing so.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but these are provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , Those skilled in the art in the field to which the present invention belongs can make various modifications and variations from these descriptions.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and it will be said that not only the claims to be described later, but also all modifications equivalent or equivalent to these claims belong to the scope of the present invention. .

10: Radiological characteristic detection system 20: Radiation detection / image acquisition device
21: housing 21a: shaft assembly hole
21b: hook 22: first camera module
23: second radiation detector 24a: first laser horizontal range finder
24b: second laser horizontal distance meter 25a: first laser vertical distance meter
25b: second laser vertical distance meter 26: first radiation detector
27: second camera module 28a: third laser horizontal distance meter
28b: fourth laser horizontal distance meter 29, 34: control unit
29a, 35: communication module 29b, 36: power unit
29c: first horizontal distance equilibrium display means 29d: second horizontal distance equilibrium display means
29e: vertical distance equilibrium display means 30: movement support device
31: support plate 31a: shaft assembly hole
31b: leg member 31b-1: wheel member
32: vertical support bar 32a: locking groove
32b: height reference plate 32c: gear unit
33: drive means 40: main controller 40

Claims (5)

In the radiological characteristic detection system for evaluating the radiological characteristic of the transitional phase of a permanently stopped nuclear power plant,
The system,
The center position of the target space is specified by measuring the front, rear, left, and right distances of the corresponding space within the radiological characteristic detection target area, and it is placed in the specified central area to detect radiation in the target space and take an image of the target space, and the radioactivity A radiation detection/image acquisition device 20 for transmitting detection values and acquired video images, and a radioactivity detection/image acquisition device 20 that are movably arranged in a corresponding space within a radiographic characteristic detection target area, and move the radiation detection/image acquisition device 20 up and down. A movement support device 30 capable of supporting and rotating the radiation detection/image acquisition device 20 at a required horizontal angle, the radiation detection/image acquisition device 20 and the movement support device 30, respectively It is connected by radio communication, and the radiation detection value and the video image received from the radiation detection / image acquisition device 20 are aligned and recorded in the corresponding target space column of the previously created field, and the radiation detection / image acquisition device 20 It consists of a main control device 40 for controlling the movement support device 30 so that it is rotated horizontally by a required angle;

The radiation detection / image acquisition device 20,
As an enclosure having a hollow inside, it is formed through the center of the upper surface, and is supported by a shaft assembly hole 21a that is slidably fitted and assembled with the vertical support bar of the moving support device, and an elastic member so that the recess operation is possible. A housing having a locking member 21b mounted to protrude from the inner circumferential surface of the shaft assembly hole 21a and detachably engaged with the locking groove 32a of the vertical support rod 32 of the movement support device 30 ( 21) and,
A first camera module 22 mounted on one side of the upper surface of the housing 21, acquiring a video image by capturing a three-dimensional space of a corresponding space within a radiographic characteristic detection target area, and transmitting the acquired video image;
A second radioactivity that is mounted on the other side of the upper surface of the housing 21 opposite to the first camera module 22, detects radioactivity for a corresponding space within a radiological characteristic detection target area, and transmits the radioactivity detection value. a detector 23;
It is mounted horizontally on the upper surface of the housing 21 symmetrically on a straight line, and measures the horizontal distance with the sidewall of the corresponding space in the radiological characteristic detection target area in opposite directions on one axis, respectively, and measures the distance first and second laser horizontal distance meters (24a) (24b) for transmitting values;
A first laser vertical distance meter 25a mounted vertically on the upper surface of the housing 21, measuring the vertical distance from the ceiling surface of the corresponding space in the radiological characteristic detection target area, and transmitting the distance measurement value; ,
A first radioactivity that is mounted at a position overlapping the first camera module 22 on the lower surface of the housing 21, detects radioactivity for a corresponding space within a radiological characteristic detection target area, and transmits the radioactivity detection value. a detector 26;
A second device installed at a position overlapping the second radiation detector 23 on the lower surface of the housing 21, acquiring a video image by photographing a corresponding space within a radiological characteristic detection target area, and transmitting the acquired video image. a camera module 27;
The first and second laser horizontal distance meters 24a and 24b are horizontally mounted on the lower surface of the housing 21 symmetrically on a straight line so as to intersect at 90 °, and in opposite directions on one axis. Third and fourth laser horizontal distance measuring devices 28a and 28b respectively measuring horizontal distances with sidewalls of the corresponding space within the target area for detecting radiographic characteristics and transmitting the measured distance values;
A second laser beam vertically mounted on the lower surface of the housing 21, measuring the distance with the height reference plate 32b of the vertical support bar 32 of the moving support device 30, and transmitting the distance measurement value. a distance measuring device 25b;
Embedded in the hollow of the housing 21, the first to fourth laser horizontal distance meters 24a, 24b, 28a, 28b, the first and second laser vertical distance meters 25a, 25b, A control unit 29 that is connected to the first and second camera modules 22 and 27 and the first and second radiation detectors 26 and 23 to control operations and transmits received measured values and acquired video images. )Wow,
A communication module (29a) connected to the control unit 29, transmitting the measured values and video images received from the control unit 29 through wireless communication, and transmitting control signals received through wireless communication to the control unit 29 class,
It is embedded in the hollow of the housing 21 and is composed of a power supply unit 29b connected to the control unit 29 to supply power;

The movement support device 30,
It is a disc having a shaft assembly hole 31a in the center, supported horizontally by three leg members 31b, and a support plate 31 having a wheel member 31b-1 having a fixing function at the lower end of the leg member, and ,
As a round bar, a locking groove (32a) concavely formed in an arc shape continuous along the longitudinal direction of the opposite outer surface, a height reference plate (32b) formed radially protruding along the outer circumferential surface of the lower end, and a lower end and a height reference plate A vertical support rod 32 integrally having a gear portion 32c protruding radially along the outer circumferential surface between the support plates 31 and rotatably fitted into the shaft assembly hole 31a of the support plate 31;
A motor having a gear meshed with the gear part 32c of the vertical support rod 32 on a rotating shaft, fixedly installed on the support plate 31, and a driving means 33 for forward and reverse rotation of the vertical support rod 32 and ,
A controller 34 connected to the driving means 33 to control the operation of the driving means 33;
A communication module 35 connected to the control unit 34 and transmitting a control signal received through wireless communication to the control unit 34;
A radiological characteristic detection system for conducting radiological characteristic evaluation in the transition period of a permanently shut down nuclear power plant, characterized in that it is composed of a power supply unit 36 mounted on the support plate 31 and connected to the control unit 34 to supply power. .
delete delete According to claim 1,
The radiation detection / image acquisition device 20,
A first connected to the control unit 29 and mounted on the outer surface of the housing 21 and displaying a state in which distance measurement values by the first and second laser horizontal distance meters 24a and 24b are different and the same. a horizontal distance equilibrium display means 29c;
A second device that is connected to the control unit 29 and mounted on the outer surface of the housing 21 and displays a state in which distance measurement values by the third and fourth laser horizontal distance meters 28a and 28b are different and the same. a horizontal distance equilibrium display means 29d;
It is connected to the control unit 29 and is mounted on the outer surface of the housing 21, and the vertical distance displaying a state in which the distance measurement values by the first and second laser vertical distance meters 25a and 25b are different and the same A radiological characteristic detection system for performing radiological characteristic evaluation in a transition period of a permanently shut down nuclear power plant, characterized in that it includes a balance display means (29e).
According to claim 4,
The first horizontal distance equilibrium display means 29c,
A reference point that emits a unique color and is symmetrically arranged on a straight line with respect to the reference point at regular intervals and emits a color contrasting with the reference point to measure the measurement distance size of the first and second laser horizontal distance meters 24a and 24b, respectively. An LED displaying a period or an LCD displaying the measured distance values of the first and second laser horizontal distance meters 24a and 24b in real time, respectively;

The second horizontal distance equilibrium display means 29d,
A reference point that emits a unique color and is symmetrically arranged on a straight line with respect to the reference point at regular intervals and emits a color contrasting with the reference point to measure the measurement distance size of the third and fourth laser horizontal distance meters 28a and 28b, respectively. an LED displaying a period or an LCD displaying the measured distance values of the third and fourth laser horizontal distance meters 28a and 28b in real time, respectively;

The vertical distance equilibrium display means 29e,
A reference point emitting a unique color and a reference point are symmetrically arranged on a straight line at regular intervals based on the reference point, and a color contrasting with the reference point is emitted to measure the measurement distance size of the first and second laser vertical distance meters 25a and 25b, respectively. Radiation for evaluating the radiological characteristics of the transitional phase of a permanently shut down nuclear power plant, characterized in that it is an LED displaying the period or an LCD displaying the measured distance values of the first and second laser vertical distance meters (25a) (25b) in real time, respectively. A biological property detection system.

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