KR102580055B1 - Containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system - Google Patents

Abstract

A manipulator and a system for controlling the manipulator are provided for performing remote visual inspection of a containment vessel liner plate. A containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system according to an embodiment of the present invention includes a manipulator including a driving part that provides driving force for the manipulator to travel and a sensor part that acquires data about the surrounding situation while driving; and a remote control device that controls the driving unit so that the manipulator performs autonomous driving, and measures the thickness of the CLP (Containment Liner Plate) surface and acquires surface image data. As a result, it is possible to promote stable driving of the manipulator by detecting in advance obstacles that may interfere with the manipulator's driving path or cause a risk of falling, and by adsorbing to the CLP wall, the desired inspection area can be inspected through a high-definition camera mounted on the manipulator. High-quality visual inspection can be performed up close.

Description

Containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system

The present invention relates to a manipulator and a system for controlling the manipulator, and more particularly, to a manipulator and a system for controlling the manipulator for performing remote visual inspection of a containment vessel liner plate.

A manipulator is a device that controls radioactive materials or nuclear reactors from a distance across a thick wall to avoid danger when handling them. It uses a handle with a long handle to mechanically direct hand movements to the manipulator on the other side of the wall. You can use the delivery method.

Meanwhile, the CLP (Containment Liner Plate) of a nuclear power plant is a wide high-altitude area. The length of each CLP is 12.5m, the height is 3m, the thickness is 6mm, and a total of 12 CLPs of C/S material are horizontal and cylindrical. It is connected in the form of 13 vertical steps and the total height can be 40m.

The inner wall of this CLP is painted to prevent corrosion, and the outer wall is poured with about 1.2m of concrete to protect the main equipment of the nuclear power plant.

CLP is welded at each stage, and there is a CJ (Concrete Joint) at the bottom of the welded part of each stage. Ultrasonic thickness measurements are performed at intervals of 50 mm up and down and 300 m left and right from the center including the CJ boundary area, but accidents occur due to work at heights. There is a risk.

The present invention was created to solve the above problems, and the purpose of the present invention is to adsorb to the wall of the CLP (Containment Liner Plate) and approach the desired inspection area through a high-definition camera mounted on the manipulator. High-quality visual inspection can be performed.

In addition, another object of the present invention is to provide remote visual inspection of the containment vessel liner plate and manipulator that can promote stable driving of the CLP remote autonomous driving manipulator by detecting in advance obstacles that interfere with the driving path of the manipulator or cause a risk of falling. To provide a driving obstacle detection system.

In order to achieve the above object, the containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system according to an embodiment of the present invention includes data on the driving part that provides driving force for the manipulator to travel and the surrounding situation during driving. A manipulator including a sensor unit to acquire; and a remote control device that controls the driving unit so that the manipulator performs autonomous driving, and measures the thickness of the CLP (Containment Liner Plate) surface and acquires surface image data.

And the sensor unit includes a thickness measurement ultrasonic sensor for measuring the thickness of the CLP surface; And it may include a front camera and a rear camera for acquiring image data of the CLP surface.

In addition, the sensor unit includes a 3-axis gyro sensor that acquires location information, posture information, and acceleration information during remote autonomous driving of the manipulator; A track distance measuring unit that measures the track distance for remote autonomous driving of the manipulator; and an ultrasonic proximity sensor for detecting obstacles during remote autonomous driving of the manipulator.

Additionally, the remote control device may control the manipulator to stop traveling when an obstacle is detected within a preset distance in the direction of the travel path through an ultrasonic proximity sensor installed in the front during remote autonomous driving of the manipulator.

In addition, the remote control device remotely controls the zoom in/out ratio of the front or rear camera when acquiring image data of the CLP surface, and detects defects on the CLP surface in the image data of the CLP surface acquired through the front or rear camera. Once detected, the size of the detected defect can be estimated and displayed on the screen, taking into account the zoom in/out ratio of the front or rear camera.

Additionally, the manipulator and the remote control device may be connected to each other via an optical cable.

Meanwhile, according to another embodiment of the present invention, a manipulator includes a traveling unit that provides driving force for the manipulator to travel; It includes a sensor unit that acquires data on the surrounding situation while driving. At this time, the sensor unit can measure the thickness of the surface of a CLP (Containment Liner Plate) and acquire surface image data.

As described above, according to embodiments of the present invention, a high-quality visual inspection can be performed close to the desired inspection area through a high-definition camera attached to the CLP wall and mounted on the manipulator.

In addition, another object of the present invention is to promote stable driving of the CLP remote autonomous driving manipulator by detecting in advance obstacles that may interfere with the driving path of the manipulator or cause a risk of falling.

1 is a diagram provided to explain a containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system according to an embodiment of the present invention;
Figure 2 is a diagram illustrating a driving test by adsorbing the manipulator to the wall of a CLP sample according to an embodiment of the present invention;
Figure 3 is a diagram illustrating the manipulator being tested in Figure 2, and
FIG. 4 is a diagram provided to explain the configuration of a containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system according to an embodiment of the present invention.

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

Figure 1 is a diagram provided to explain a containment vessel liner plate remote visual inspection and manipulator travel obstacle detection system (hereinafter collectively referred to as 'system') according to an embodiment of the present invention, and Figure 2 is a diagram provided to explain the system of the present invention. This is a diagram illustrating the manipulator 100 according to one embodiment being tested by adsorbing to the wall of a CLP sample, and FIG. 3 is a diagram illustrating the manipulator 100 undergoing a driving test in FIG. 2 .

The system according to this embodiment is capable of performing a high-quality visual inspection close to the desired inspection area through a high-definition camera mounted on the manipulator 100 by adsorbing to the wall of the CLP, and classifying the discovered defects by type, shape, size, etc. Highly reliable defect evaluation can be performed through preliminary defect analysis using defect big data.

Additionally, the system according to this embodiment can promote stable driving of the manipulator 100 by detecting in advance obstacles that may interfere with the driving path of the manipulator 100 or cause a risk of falling.

To this end, the system according to this embodiment may include a manipulator 100 and a remote control device 200. At this time, the manipulator 100 and the remote control device 200 may be connected to each other through an optical cable.

The manipulator 100 may include a driving unit 110 that provides driving force for driving and a sensor unit 120 that acquires data about the surrounding situation while driving.

The sensor unit 120 includes a thickness measurement ultrasonic sensor 121, an orbital distance measurement unit 122, a 3-axis gyro sensor 123, an ultrasonic proximity sensor 124, and an image camera 125 provided at the front and rear. It can be included.

The thickness measurement ultrasonic sensor 121 is provided in the front part of the manipulator 100 and can measure the thickness of the CLP surface.

The orbital distance measuring unit 122 can measure the orbital distance for remote autonomous driving of the manipulator 100.

The 3-axis gyro sensor 123 can acquire location information, posture information, and acceleration information during remote autonomous driving of the manipulator 100.

The ultrasonic proximity sensor 124 is provided on both sides of the front part of the manipulator 100 and can detect obstacles during remote autonomous driving of the manipulator 100.

The video camera 125 is provided at the front and rear of the manipulator 100, respectively, and can acquire image data of the CLP surface.

The remote control device 200 controls the driving unit 110 so that the manipulator 100 performs autonomous driving, and controls the sensor unit 120 to measure the thickness of the CLP surface and obtain surface image data. .

In addition, when an obstacle is detected within a preset distance in the direction of the travel path through the ultrasonic proximity sensor 124 installed at the front during remote autonomous driving of the manipulator 100, the remote control device 200 stops the manipulator 100 from running. You can control it to stop.

And the remote control device 200 can control the Pan/Tilt, Zoom In/Out, IRIS, Focus functions, etc. of the front or rear video camera 125 when acquiring image data of the CLP surface.

For example, when acquiring image data of the CLP surface, the remote control device 200 remotely controls the zoom in/out ratio of the front or rear image camera 125 and uses the front or rear image camera 125. If a defect on the CLP surface is detected in the image data of the CLP surface acquired through You can remotely measure length, width, height, etc. from the camera monitor without direct access.

FIG. 4 is a diagram provided to explain the configuration of a containment vessel liner plate remote visual inspection and manipulator driving obstacle detection system according to an embodiment of the present invention.

Referring to FIG. 4, the remote control device 200 may include a UT controller 210, a motor controller 220, a camera controller 230, a data interface 240, and a processor 250.

The UT controller 210 is provided to control the thickness measurement ultrasonic sensor 121 (UT sensor) connected through an optical converter and an optical cable.

The motor controller 220 is provided to control the drive motor 111 of the traveling unit 110 connected through a power cable.

The camera controller 230 is provided to control the front and rear video cameras 125 connected through an optical converter and an optical cable.

At this time, the image signals received from the front and rear video cameras 125 are transmitted to the camera controller 230 through an optical converter and an optical cable, and are connected to an image output means provided in the remote control device 200 or a remote control device ( 200) and a network communication network (Internet communication network) can be output as an image through an image output means (ex. monitor) of an information processing device (ex. computer).

The data interface 240 is connected to the processor 250 and a separate information processing device (not shown), and transmits information obtained from the sensor unit 120 of the manipulator 100 to the processor 250 and the information processing device (not shown). The defect can be forwarded to the city to conduct a preliminary defect analysis using defect big data by type, shape, size, etc. on the discovered defects.

The processor 250 is provided to process all matters of the remote control device 200.

For example, the processor 250 controls the driving unit 110 so that the manipulator 100 performs autonomous driving, and controls the sensor unit 120 to measure the thickness of the CLP surface and obtain surface image data. You can.

In addition, the processor 250 stops the manipulator 100 from running when an obstacle is detected within a preset distance in the direction of the travel path through the ultrasonic proximity sensor 124 installed at the front during remote autonomous driving of the manipulator 100. You can control it.

And, when acquiring image data of the CLP surface, the processor 250 remotely controls the zoom in/out ratio of the front or rear image camera 125 and the CLP surface acquired through the front or rear image camera 125. If a defect on the CLP surface is detected in the image data, the size of the detected defect can be estimated and displayed on the screen by considering the zoom in/out ratio of the front or rear camera, so the inspector can use the camera without directly accessing the measurement object. You can remotely measure length, width, height, etc. from the monitor.

In addition, when a defect on the CLP surface is detected, the processor 250 analyzes the type, shape, and degree of damage of the defect in conjunction with a separate information processing device that utilizes Big Data through the data interface 240. can do.

Through this, it is possible to promote stable driving of the manipulator (100) by detecting in advance obstacles that interfere with the driving path of the manipulator (100) or cause a risk of falling, and are attached to the manipulator (100) by adsorbing to the wall of the CLP. High-quality visual inspection can be performed close to the desired inspection area using a high-definition camera.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and may be used in the technical field to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be understood individually from the technical idea or perspective of the present invention.

100: Manipulator
110: running part
111: driving motor
120: sensor unit
121: Thickness measurement ultrasonic sensor (UT sensor)
122: Track distance measurement unit (encoder)
123: 3-axis gyro sensor
124: Ultrasonic proximity sensor
125: Video camera (front camera and rear camera)
200: remote control device
210: UT controller
220: motor controller
230: camera controller
240: data interface
250: processor

Claims (7)

A manipulator including a driving unit that provides driving force for the manipulator to travel, and a sensor unit that acquires data on surrounding situations while driving; and
It includes a remote control device that controls the driving unit so that the manipulator performs autonomous driving, and measures the thickness of the CLP (Containment Liner Plate) surface and acquires surface image data,
The sensor part,
Thickness measurement ultrasonic sensor for measuring the thickness of the CLP surface; and
It includes a front camera and a rear camera for acquiring image data of the CLP surface,
The sensor part,
3-axis gyro sensor that acquires location information, posture information, and acceleration information during remote autonomous driving of the manipulator;
A track distance measuring unit that measures the track distance for remote autonomous driving of the manipulator; and
It further includes an ultrasonic proximity sensor for detecting obstacles during remote autonomous driving of the manipulator,
The remote control device is,
If an obstacle is detected within a preset distance in the direction of the driving path through the ultrasonic proximity sensor installed in the front during remote autonomous driving of the manipulator, the manipulator is controlled to stop driving.
The remote control device is,
When acquiring image data of the CLP surface, remotely control the zoom in/out ratio of the front or rear camera,
If a defect on the CLP surface is detected in the image data of the CLP surface acquired through the front or rear camera, the size of the detected defect is estimated and displayed on the screen, taking into account the zoom in/out ratio of the front or rear camera.
The manipulator and remote control device are:
They are connected to each other with optical cables,
The video signals received from the front camera and rear camera are:
It is transmitted to the camera controller of the remote control device through an optical converter and an optical cable, and is output as an image through the video output means provided in the remote control device.
The remote control device is,
It further includes a data interface for linking with a separate information processing device that utilizes big data,
When a defect on the CLP surface is detected, remote visual inspection of the containment vessel liner plate and manipulator running obstacle detection are characterized by analyzing the type, shape, and degree of damage of the detected defect in conjunction with the information processing device through a data interface. system. delete delete delete delete delete delete