KR102638642B1 - System for monitoring decommissioning process of nuclear power plant and method for monitoring decommissioning process of nuclear power plant using the same - Google Patents

Abstract

The present invention provides a nuclear power plant decommissioning operation monitoring system. The nuclear power plant decommissioning work monitoring system includes an autonomous driving unit that moves in the dismantling work space of the nuclear power plant facility; a radiation measurement unit included in the autonomous driving unit and measuring radiation levels as it moves; a map creation unit that receives a route according to the movement of the autonomous driving unit through wireless communication with the autonomous driving unit and creates a real-time map; A radiation information processing unit that receives the measured radioactivity level from the radiation measurement unit through wireless communication, receives the real-time map created from the map creation unit, and matches the radioactivity level to the real-time map to form a radioactivity level application map. and; a facility-side server unit that receives the radiation value application map through wireless communication with the radiation information processing unit and remotely controls the operation of the autonomous driving unit and the radiation measurement unit; And, it is electrically connected to the facility-side server unit and includes a display unit that displays the radiation level application map. Additionally, the present invention provides a method for monitoring nuclear power plant decommissioning work using a nuclear power plant decommissioning work monitoring system.

Description

Nuclear power plant decommissioning work monitoring system and nuclear power plant decommissioning work monitoring method using the same {SYSTEM FOR MONITORING DECOMMISSIONING PROCESS OF NUCLEAR POWER PLANT AND METHOD FOR MONITORING DECOMMISSIONING PROCESS OF NUCLEAR POWER PLANT USING THE SAME}

The present invention relates to a nuclear power plant decommissioning work monitoring system and a method for monitoring nuclear power plant decommissioning work using the same. More specifically, the radiation level generated in the dismantling work area of nuclear power plant facilities is based on the results of the radiation level measured by workers and autonomous robots. This relates to a nuclear power plant decommissioning monitoring system that can create a map, display hazardous locations of radioactivity levels, and notify nearby areas in real time, and a method for monitoring nuclear power plant decommissioning using this system.

When exposed to ionizing radiation (commonly referred to as radiation) generated from radioactive materials, a phenomenon occurs in which biological tissue components are ionized. Although proteins, cell membranes, and DNA that make up living organisms are directly ionized, it is known that the ionization phenomenon of water occurs more frequently and causes more severe damage. Water is the most abundant molecule in the body, accounting for more than 70% of the body, and ionization of water creates peroxide, which has a strong oxidizing effect.

Due to these risks, personal dosimeters (Automated Desiometry Record: ADR), which provide real-time information on cumulative radiation exposure, are being used to ensure the safety of radiation workers such as dismantling workers. However, since the conventional personal dosimeter simply reports the radiation level at the current location while the worker is carrying it with him or her while working, it can cause an accident, such as a rapid increase in the radiation level or a building collapse that may occur during dismantling work. There is a problem in dealing with safety accidents.

Republic of Korea Patent No. 10-215877 (registration date: September 16, 2020)

The present invention was devised to solve the above-mentioned problems, and the purpose of the present invention is as follows.

The purpose of the present invention is to create a map of the radiation levels generated in the dismantling work area of nuclear power plant facilities based on the results of radiation levels measured by workers and autonomous robots, and to display the dangerous locations of radiation levels and notify nearby areas in real time. The purpose is to provide a nuclear power plant decommissioning work monitoring system and a method for monitoring nuclear power plant decommissioning work using the same.

The object of the present invention is not limited to the object mentioned above, and other objects and advantages of the present invention that are not mentioned can be understood through the following description and will be more clearly understood by the examples of the present invention. Additionally, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the patent claims.

In order to achieve the above object, the present invention provides a nuclear power plant decommissioning operation monitoring system.

The nuclear power plant decommissioning work monitoring system includes an autonomous driving unit that moves in the dismantling work space of the nuclear power plant facility; a radiation measurement unit included in the autonomous driving unit and measuring radiation levels as it moves; a map creation unit that receives a route according to the movement of the autonomous driving unit through wireless communication with the autonomous driving unit and creates a real-time map; A radiation information processing unit that receives the measured radioactivity level from the radiation measurement unit through wireless communication, receives the real-time map created from the map creation unit, and matches the radioactivity level to the real-time map to form a radioactivity level application map. and; a facility-side server unit that receives the radiation value application map through wireless communication with the radiation information processing unit and remotely controls the operation of the autonomous driving unit and the radiation measurement unit; And, it is electrically connected to the facility-side server unit and includes a display unit that displays the radiation level application map.

Here, the radiation information processing unit,

In the radioactivity level included in the radioactivity level application map and matching the real-time map,

Determine location information that exceeds a preset standard radiation level,

It includes a hazardous radiation information determination unit that transmits the location information to the facility server,

It is preferable to use an alarm device to display the location information determined through the hazardous radiation information determination unit as voice or visual information.

And the nuclear power plant decommissioning work monitoring system,

It is provided by a worker moving in the dismantling work space of the nuclear power plant facility, and includes a worker radiation measurement unit that measures the worker radiation level in the dismantling work space,

The worker radiation measurement unit measures worker radiation levels while the worker is moving,

Transmitting the measured radiation level of the worker to the radiation information processing unit through the facility server unit,

The radiation information processing unit,

Selecting worker radiation levels along the movement path from the transmitted worker radiation levels,

The radioactivity level and the selected worker radioactivity level are averaged to calculate an average radioactivity level,

It is desirable to form the radioactivity level application map by matching the calculated radioactivity level with the real-time map.

In addition, the radiation measurement unit,

A first radiation measurement module that measures the self-radiation level of the autonomous driving unit,

A first error calculator that calculates an error value between the self-radiation level of the autonomous driving unit and a preset first reference value;

When the error value is calculated, a first transmission module is provided to subtract the error value from the measured radioactivity value and transmit it to the map creation unit,

The worker radiation measurement unit,

A second radiation measurement module that measures the worker's own radiation level,

a second error calculator that calculates an error value between the worker's own radiation level and a preset first standard value;

When the error value is calculated, it is desirable to include a second transmission module that subtracts the error value from the measured radiation level of the worker and transmits it to the map creation unit.

In addition, the facility-side server unit establishes wireless communication with the local server unit and transmits the radiation value application map,

The local server department,

It is desirable to display the transmitted radiation level application map using a local display unit.

In addition, the local server unit,

Establish wireless communication with resident terminals of local residents within a certain radius around the nuclear power plant facility,

It is desirable to transmit the transmitted radiation level application map to the resident terminals.

In addition, the local server unit,

It is desirable to set up a regional map within a certain radius around the nuclear power plant facility.

In particular, the local server unit,

Further comprising a radioactivity risk analysis unit,

The radiation risk analysis department,

In the applied map of the transmitted radiation levels,

Establish an effective distance at which radioactivity affects the dismantling work space of the nuclear power plant facility,

Selecting an area included in the effective distance on the area map as a risk area,

Displaying the selected risk area on the regional map,

Displaying an area map showing the risk area through the area display unit,

It is transmitted to the resident terminals.

In addition, the nuclear power plant decommissioning work monitoring system,

Provided with a movement path correction unit,

The movement path correction unit,

The movement path of the autonomous driving unit is stored in real time,

The worker's movement path is stored in real time according to the position value measured through the position sensor provided by the worker,

Comparing the radiation level measured along the movement path of the autonomous driving unit and the worker radiation level measured along the worker movement path to select a final radiation level that is relatively high,

Calculating a correction path that forms the final radioactivity level,

The movement path of the autonomous driving unit is reset to the correction path.

Additionally, the autonomous driving unit has a main body and wheels that are installed on the main body and move along the ground of the dismantling work space.

An auxiliary radiation measurement unit is installed in the main body.

The auxiliary radiation measurement unit has a connecting member and an auxiliary radiation measurement sensor installed at the other end of the connecting member. One end of the connecting member is connected to the main body.

The connecting member is composed of a cylinder having an expandable axis.

The auxiliary radiation measurement sensor is installed on the axis. The cylinder can protrude its axis to a certain length under the control of a controller.

The controller receives a driving signal through the equipment-side server unit through wireless communication and controls the movement of the autonomous driving unit.

And the controller of the autonomous driving unit receives a driving signal when the radiation measurement unit is driven to measure the radiation level.

The controller is preset to a pattern of a reference driving signal through which the radiation measurement unit is normally driven to measure radiation levels.

If the received driving signal deviates from the reference driving signal pattern, the controller determines it to be a malfunction and stops driving the radiation measuring unit determined to be malfunctioning.

And the controller drives the auxiliary radiation measurement unit and controls it to measure the radiation level.

The controller drives the auxiliary radiation measurement unit and transmits radioactivity levels to the radiation information processing unit through wireless communication.

In addition, when the width of the path along which the autonomous driving unit moves through the facility server unit is changed to a variable width that increases by a certain amount,

The controller receives information about the variable width that has been increased and changed beyond a certain level,

Using the cylinder, the axis is protruded so that the auxiliary radioactivity measurement unit is located at the boundary of the variable width, which has been changed by increasing it beyond a certain level,

The auxiliary radiation measurement unit installed on the protruding shaft is driven to measure the radiation level.

Here, the cylinders having the auxiliary radiation measurement unit are configured as a pair to be disposed on both sides of the main body of the autonomous driving unit.

According to another embodiment, the present invention provides a method for monitoring nuclear power plant decommissioning work.

The method for monitoring the nuclear power plant decommissioning work is,

Using the autonomous driving unit, it is moved from the dismantling workspace of the nuclear power plant facility,

Using the radiation measurement unit included in the autonomous driving unit, the radiation level is measured as it moves,

Using a map creation unit, a real-time map is created by receiving a route according to the movement of the autonomous driving unit through a wireless communication method with the autonomous driving unit,

Using a radioactivity information processing unit, the measured radioactivity level is transmitted from the radioactivity measurement unit through a wireless communication method, and the real-time map created from the map creation unit is transmitted, and the radioactivity level is matched to the real-time map to apply the radioactivity level map. to form,

The radioactivity level application map is displayed using a display unit electrically connected to the facility server unit,

The radiation information processing unit,

In the radioactivity level included in the radioactivity level application map and matching the real-time map,

Determine location information that exceeds a preset standard radiation level,

Comprising a hazardous radiation information determination unit that transmits the location information to the facility server,

Using an alarm device, the location information determined through the hazardous radiation information determination unit is expressed as voice or visual information,

It is provided by a worker moving in the dismantling work space of the nuclear power plant facility, and includes a worker radiation measurement unit that measures the worker radiation level in the dismantling work space,

The worker radiation measurement unit measures worker radiation levels while the worker is moving,

Transmitting the measured radiation level of the worker to the radiation information processing unit through the facility server unit,

The radiation information processing unit,

Selecting worker radiation levels along the movement path from the transmitted worker radiation levels,

The radioactivity level and the selected worker radioactivity level are averaged to calculate an average radioactivity level,

Matching the calculated radioactivity level to the real-time map to form the radioactivity level application map,

The radiation measurement unit,

A first radiation measurement module that measures the self-radiation level of the autonomous driving unit,

A first error calculator that calculates an error value between the self-radiation level of the autonomous driving unit and a preset first reference value;

When the error value is calculated, a first transmission module is provided to subtract the error value from the measured radioactivity value and transmit it to the map creation unit,

The worker radiation measurement unit,

A second radiation measurement module that measures the worker's own radiation level,

a second error calculator that calculates an error value between the worker's own radiation level and a preset first standard value;

When the error value is calculated, a second transmission module is provided to subtract the error value from the measured radiation level of the worker and transmit it to the map creation unit,

The facility-side server unit establishes wireless communication with the local server unit and transmits the radiation level application map,

The local server department,

Displaying the transmitted radiation level application map using a local display unit,

The local server department,

Establish wireless communication with resident terminals of local residents within a certain radius around the nuclear power plant facility,

Transmitting the transmitted radiation level application map to the resident terminals,

The local server department,

A map of the area included within a certain radius is set around the nuclear power plant facility.

As a means of solving the above problems, the present invention creates a map based on the results of radiation levels measured by workers and autonomous robots on the radiation levels generated in the dismantling work area of nuclear power plant facilities, displays the radiation level risk locations, and It has the effect of notifying nearby areas in real time.

In addition to the above-described effects, specific effects of the present invention are described below while explaining specific details for carrying out the invention.

1 is a diagram showing the operation of the nuclear power plant decommissioning work monitoring system of the present invention.
Figure 2 is a block diagram showing an example in which the radiation information processing unit 400 includes a hazardous radiation information determination unit 290 in the nuclear power plant decommissioning operation monitoring system according to the present invention.
Figure 3 is a flow chart showing the operation of another example of the nuclear power plant decommissioning work monitoring system according to the present invention.
Figure 4 is a block diagram showing the configuration of the radiation measurement unit 200 and the worker radiation measurement unit 700 according to the present invention.
Figure 5 is a block diagram showing an example in which the local server unit 800 is included in the nuclear power plant decommissioning work monitoring system according to the present invention.
Figure 6 is a block diagram showing an example in which the radiation risk analysis unit 820 is further connected to the nuclear power plant decommissioning work monitoring system according to the present invention.
Figure 7 is a block diagram showing an example in which the autonomous driving unit 100 according to the present invention is connected to the movement path correction unit 190.
Figure 8 is a diagram showing an example of the autonomous driving unit 100 used in the nuclear power plant decommissioning work monitoring system according to the present invention.

Hereinafter, with reference to the drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention.

The present invention may be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts that are not relevant to the description are omitted, and identical or similar components are assigned the same reference numerals throughout the specification.

Hereinafter, the “top (or bottom)” of the substrate or the provision or arrangement of any component on the “top (or bottom)” of the substrate means that any component is provided or disposed in contact with the upper (or lower) surface of the substrate. means that

Additionally, it is not limited to not including other components between the substrate and any components provided or disposed on (or under) the substrate.

Next, the nuclear power plant decommissioning work monitoring system of the present invention will be described with reference to the attached drawings, and including this, the nuclear power plant decommissioning work monitoring method will be explained.

1 is a diagram showing the operation of the nuclear power plant decommissioning work monitoring system of the present invention.

Referring to Figure 1, the nuclear power plant decommissioning work monitoring system according to the present invention includes an autonomous driving unit 100. The autonomous driving unit 100 is placed in the dismantling work space of the nuclear power plant facility. The autonomous driving unit 100 may be an autonomous driving device. The autonomous driving unit 100 may be set to have a movement path in advance. The autonomous driving unit 100 may be moved in the dismantling work space along a movement path. The autonomous driving unit 100 may be driven by power from its own battery to enable movement.

A radiation measurement unit 200 is installed in the autonomous driving unit 100. The radiation measurement unit 200 measures the radiation level and transmits the measured radiation level to the radiation information processing unit 400 below. The transmission may be accomplished through a wireless communication module that performs wireless communication. The radiation measurement unit 200 may be detached from the autonomous driving unit 100.

The nuclear power plant decommissioning work monitoring system according to the present invention includes a map creation unit 300.

The map creation unit 300 may establish wireless communication with the autonomous driving unit 100. Through this wireless communication, the autonomous driving unit 100 can transmit the moving path to the map creation unit 300.

Here, the map creation unit 300 transmits information about the preset movement path to the autonomous driving unit 100, and the autonomous driving unit 100 moves according to the preset movement path. Here, the preset movement path may be a preset path for the dismantling work space.

However, when the autonomous driving unit 100 is moved through a remote driving control device, the autonomous driving unit 100 can transmit information about the moving path to the map creation unit 300 in real time through wireless communication. .

Accordingly, the map creation unit 300 according to the present invention receives the path according to the movement of the autonomous driving unit 100 through wireless communication with the autonomous driving unit 100 and creates a real-time map.

That is, the map creation unit 300 can receive information about the movement path formed while the autonomous driving unit 100 is moving, and based on this, create a real-time map reflecting the movement path in the dismantling workspace.

The radiation information processing unit 400 according to the present invention is connected to the map creation unit 300 to enable wired or wireless communication.

The radiation information processing unit 400 may receive the real-time map created from the map creation unit 300 and match the radioactivity value to the real-time map to form a map to which the radiation value is applied.

The radiation level application map may be a map that displays the movement path of the autonomous driving unit 100 moving in the dismantling work space and displays the radiation level measured at a location along the movement path. These radiation level application maps can also be created in real time.

The facility-side server unit 500 according to the present invention receives the radiation value application map through wireless communication with the radiation information processing unit 400, and controls the autonomous driving unit 100 and the radiation measurement unit 200. The operation can be controlled remotely. Here, the driving control device of the autonomous driving unit 100 can control the driving of the autonomous driving unit 100 through the facility-side server unit 500.

And the display unit 600 according to the present invention is electrically connected to the facility-side server unit 500 and can display the radiation value application map.

Figure 2 is a block diagram showing an example in which the radiation information processing unit 400 includes a hazardous radiation information determination unit 290 in the nuclear power plant decommissioning operation monitoring system according to the present invention.

Referring to FIG. 2, the radiation information processing unit 400 according to the present invention includes a hazardous radiation information determination unit 290.

The hazardous radiation information determination unit 290 determines location information that is included in the radiation value application map and exceeds a preset reference radiation level from the radiation value matching the real-time map, and sends the location information to the facility-side server. It can be sent to .

That is, the hazardous radiation information determination unit 290 transmits location information exceeding the standard radiation level on the path along which the autonomous driving unit 100 moves to the facility-side server, thereby providing the location information on the movement path displayed on the real-time map. can be displayed separately.

And the facility-side server can use the alarm device 510 to display the location information determined through the hazardous radiation information determination unit 290 as voice or visual information.

Through this, dangerous locations that exceed the standard can be displayed vocally or visually on a real-time map, making it easy to inform workers engaged in dismantling work of the danger.

Figure 3 is a flow chart showing the operation of another example of the nuclear power plant decommissioning work monitoring system according to the present invention.

Referring to Figure 3, the nuclear power plant decommissioning work monitoring system of the present invention may include an operator radiation measurement unit 700.

The worker radiation measurement unit 700 is provided by a worker moving in the dismantling work space of a nuclear power plant facility, and can measure the worker's radiation level in the dismantling work space.

The worker radiation measurement unit 700 measures the worker radiation level while the worker is moving.

The worker radiation measurement unit 700 transmits the measured worker radiation level to the radiation information processing unit 400 through the facility-side server unit 500.

The radiation information processing unit 400 selects the worker radiation level along the movement path from the transmitted worker radiation level.

The radioactivity information processing unit 400 averages the radioactivity level and the selected worker radioactivity level to calculate an average radioactivity level, and matches the calculated radioactivity level with the real-time map to form the radioactivity level application map. do.

Through this, the present invention achieves a double radiation measurement in which radiation is measured while the autonomous driving unit 100 moves in the dismantling work space, and radiation is measured while the worker moves along a random path.

Also, when applying radiation levels according to the movement path on a real-time map, only the values according to the movement path are selected from the double radioactivity values, averaged, and reflected on the real-time map, so that the radiation levels measured along the movement path in the dismantling work space are reflected in the real-time map. The accuracy of radioactivity levels can be improved.

Figure 4 is a block diagram showing the configuration of the radiation measurement unit 200 and the worker radiation measurement unit 700 according to the present invention.

Referring to FIG. 4, the radiation measurement unit 200 according to the present invention includes a first radiation measurement module 210 that measures the self-radiation level of the autonomous driving unit 100, and a self-radiation measurement module 210 that measures the self-radiation level of the autonomous driving unit 100. A first error calculator 220 that calculates an error value between a value and a preset first reference value, and when the error value is calculated, the map creation unit (220) subtracts the error value from the measured radioactivity value It may include a first transmission module 230 that transmits to 300).

And the worker radiation measurement unit 700 includes a second radiation measurement module 710 that measures the worker's own radiation level, and a second radiation measurement module 710 that calculates an error value between the worker's self-radiation level and a preset first reference value. It may include an error calculator 720 and a second transmission module 730 that, when the error value is calculated, subtracts the error value from the measured radiation level of the worker and transmits it to the radiation information processing unit 400. .

Through this, the present invention can solve the problem that the autonomous driving unit 100 and the worker itself are contaminated with radiation, causing the actually measured radiation level to become inaccurate. In other words, the accuracy of the measured radioactivity level can be improved by removing the previously contaminated radioactivity level and transmitting the actually transmitted radioactivity level.

Figure 5 is a block diagram showing an example in which the local server unit 800 is included in the nuclear power plant decommissioning work monitoring system according to the present invention.

Referring to Figure 5, the facility-side server unit 500 according to the present invention can establish wireless communication with the local server unit 800 and transmit the radiation level application map.

The local server unit 800 may display the transmitted radiation level application map using the local display unit 810 (600).

Additionally, the local server unit 800 can establish wireless communication with resident terminals 10 of local residents within a certain radius around the nuclear power plant.

The transmitted radiation level application map can be transmitted to the resident terminals 10.

In addition, the local server unit 800 sets a map of the area included within a certain radius around the nuclear power plant facility.

Figure 6 is a block diagram showing an example in which the radiation risk analysis unit 820 is further connected to the nuclear power plant decommissioning work monitoring system according to the present invention.

Referring to FIG. 6, the local server unit 800 according to the present invention may further include a radiation risk analysis unit 820.

The radiation risk analysis unit 820 may set an effective distance at which radiation affects the dismantling work space of the nuclear power plant facility in the transmitted radiation value application map.

Next, the radiation risk analysis unit 820 selects an area included in the effective distance on the area map as a risk area.

And the radiation risk analysis unit 820 displays the selected risk area on the area map, displays the area map with the risk area displayed through the area display unit 810, and displays the resident terminals 10. It can be sent to .

Through this, when dismantling a nuclear power plant facility, the impact of radioactivity generated at a certain location in the dismantling work space on a certain distance can be analyzed and local residents can be notified of this in real time.

Figure 7 is a block diagram showing an example in which the autonomous driving unit 100 according to the present invention is connected to the movement path correction unit 190.

Referring to Figure 7, the nuclear power plant decommissioning work monitoring system according to the present invention may include a movement path correction unit 190.

Here, the movement path of the autonomous driving unit 100 is stored in the movement path correction unit 190 in real time.

And the movement path correction unit 190 stores the worker's movement path in real time according to the position value measured through a position sensor provided by the worker.

Through this, the movement path correction unit 190 compares the radiation level measured along the movement path of the autonomous driving unit 100 with the worker radiation level measured along the worker movement path to determine a relatively high value. The final radioactivity level achieved is selected.

Then, a correction path forming the final radiation level is calculated, and the movement path of the autonomous driving unit 100 is reset to the correction path.

Accordingly, the present invention, when measuring radiation twice through the autonomous driving unit 100 and the operator, selects locations with relatively high radiation levels and corrects the movement path of the autonomous driving unit 100 in real time to determine the correction path. By resetting it, it has the effect of providing more accurate radioactivity levels when actual dismantling work is carried out.

Figure 8 is a diagram showing an example of the autonomous driving unit 100 used in the nuclear power plant decommissioning work monitoring system according to the present invention.

Referring to FIG. 8, the autonomous driving unit 100 according to the present invention has a main body 110 and wheels 120 that are installed on the main body 110 and move along the ground of the dismantling work space. The wheels 120 may be rotated by driving a driving device such as a motor.

An auxiliary radiation measurement unit 900 is installed in the main body 110.

The auxiliary radiation measurement unit 900 has a connecting member 910 and an auxiliary radiation measurement sensor 920 installed at the other end of the connecting member 910. One end of the connecting member 910 is connected to the main body 110.

The connecting member 910 is composed of a cylinder 911 having an expandable axis 911a.

The auxiliary radiation measurement sensor 920 is installed on the axis 911a. The cylinder 911 can protrude the shaft 911a to a certain length under the control of the controller 1000.

The controller 1000 receives a driving signal through the facility-side server unit 500 through wireless communication and controls the movement of the autonomous driving unit 100.

And the controller 1000 of the autonomous driving unit 100 receives a driving signal when the radiation measurement unit 200 is driven to measure the radiation level.

The controller 1000 is preset to a pattern of a reference driving signal through which the radiation measurement unit 200 is normally driven to measure radiation levels.

If the received driving signal deviates from the reference driving signal pattern, the controller 1000 determines it to be a malfunction and stops driving the radiation measurement unit 200 determined to be malfunctioning.

And the controller 1000 drives the auxiliary radiation measurement unit 900 and controls it to measure the radiation level.

The controller 1000 may drive the auxiliary radiation measurement unit 900 and transmit radiation levels to the radiation information processing unit 400 through wireless communication.

In addition, when the width of the path along which the autonomous driving unit 100 moves through the facility-side server unit 500 is changed to a variable width that is increased by a certain amount or more, the controller 1000 controls the variable width that is increased by a certain amount or more. Information about the width is transmitted.

And the controller 1000 uses the cylinder 911 to protrude the axis 911a so that the auxiliary radiation measurement sensor 920 is located at the boundary of the variable width that has been changed by increasing it above a certain level, and the protruding The auxiliary radiation measurement module 920 installed on the axis 911a is driven to measure the radiation level.

Here, the cylinders 911 on which the auxiliary radiation measurement module 920 is installed on the shaft 911a are preferably configured as a pair so that they are disposed on both sides of the main body of the autonomous driving unit 100.

Through this, when the autonomous driving unit 100 measures radiation levels while moving along a movement path, the radiation measurement area corresponding to the width of the movement path can be varied.

When the width of the movement path widens beyond a certain level, the measurement error can be significantly reduced by measuring the radioactivity level at a location corresponding to the widened width.

The present invention is not limited to the specific preferred embodiments described above, and various modifications can be made by anyone skilled in the art without departing from the gist of the invention as claimed in the claims. Of course, such changes are within the scope of the claims.

10: Resident terminal
100: autonomous driving unit
200: Radiation measurement unit
300: Map creation unit
400: Radiation information processing unit
500: Equipment side server unit
600: Display unit
700: Worker radiation measurement unit
800: Local server unit
810: Local display unit

Claims (8)

In the nuclear power plant decommissioning work monitoring system,
The nuclear power plant decommissioning work monitoring system is,
An autonomous driving unit that moves in the dismantling workspace of the nuclear power plant and sets a movement path;
a radiation measurement unit included in the autonomous driving unit and measuring radiation levels as it moves;
a map creation unit that receives a route according to the movement of the autonomous driving unit through wireless communication with the autonomous driving unit and creates a real-time map;
A radiation information processing unit that receives the measured radioactivity level from the radiation measurement unit through wireless communication, receives the real-time map created from the map creation unit, and matches the radioactivity level to the real-time map to form a radioactivity level application map. ;
a facility-side server unit that receives the radiation value application map through wireless communication with the radiation information processing unit and remotely controls the operation of the autonomous driving unit and the radiation measurement unit; and,
It is electrically connected to the facility-side server unit and includes a display unit that displays the radiation level application map,
The radiation information processing unit,
In the radioactivity level included in the radioactivity level application map and matching the real-time map,
Determine location information that exceeds a preset standard radiation level,
It includes a hazardous radiation information determination unit that transmits the location information to the facility server,
Using an alarm device, the location information determined through the hazardous radiation information determination unit is expressed as voice or visual information,
The nuclear power plant decommissioning work monitoring system is,
It is provided by a worker moving in the dismantling work space of the nuclear power plant facility, and includes a worker radiation measurement unit that measures the worker radiation level in the dismantling work space,
The worker radiation measurement unit measures worker radiation levels while the worker is moving,
Transmitting the measured radiation level of the worker to the radiation information processing unit through the facility server unit,
The radiation information processing unit,
Selecting worker radiation levels along the movement path from the transmitted worker radiation levels,
The radioactivity level and the selected worker radioactivity level are averaged to calculate an average radioactivity level,
Matching the calculated radioactivity level to the real-time map to form the radioactivity level application map,
The radiation measurement unit,
A first radiation measurement module that measures the self-radiation level of the autonomous driving unit,
A first error calculator that calculates an error value between the self-radiation value of the autonomous driving unit and a preset first reference value;
When the error value is calculated, a first transmission module is provided to subtract the error value from the measured radioactivity value and transmit it to the map creation unit,
The worker radiation measurement unit,
A second radiation measurement module that measures the worker's own radiation level,
a second error calculator that calculates an error value between the worker's own radiation level and a preset first standard value;
When the error value is calculated, a second transmission module is provided to subtract the error value from the measured worker radiation level and transmit it to the map creation unit,
The facility-side server unit establishes wireless communication with the local server unit and transmits the radiation level application map,
The local server department,
Displaying the transmitted radiation level application map using a local display unit,
The local server department,
Establish wireless communication with resident terminals of local residents within a certain radius around the nuclear power plant facility,
Transmitting the transmitted radiation level application map to the resident terminals,
The local server department,
A regional map is set within a certain radius centered on the nuclear power plant facility,
The local server unit further includes a radiation risk analysis unit,
The radiation risk analysis unit, in the applied map of the transmitted radiation levels,
Establish an effective distance at which radioactivity affects the dismantling work space of the nuclear power plant facility,
Selecting an area included in the effective distance on the area map as a risk area,
Displaying the selected risk area on the regional map,
Displaying an area map showing the risk area through the area display unit,
Transmit to the resident terminals,
The nuclear power plant decommissioning work monitoring system includes a movement path correction unit,
The movement path correction unit,
The movement path of the autonomous driving unit is stored in real time,
The worker's movement path is stored in real time according to the position value measured through the position sensor provided by the worker,
Comparing the radiation level measured along the movement path of the autonomous driving unit and the worker radiation level measured along the worker movement path to select a final radiation level that is relatively high,
Calculating a correction path that forms the final radioactivity level,
Resetting the movement path of the autonomous driving unit to the correction path,
The autonomous driving unit has a main body and wheels installed on the main body and moving along the ground of the dismantling work space,
An auxiliary radiation measurement unit is installed in the main body,
The auxiliary radiation measurement unit has a connecting member and an auxiliary radiation measurement sensor installed on the other end of the connecting member, and one end of the connecting member is connected to the main body,
The connecting member is composed of a cylinder having an expandable axis,
The auxiliary radiation measurement sensor is installed on the axis, and the cylinder can protrude the axis to a certain length under the control of a controller,
The controller receives a driving signal through the equipment-side server unit through wireless communication and controls the movement of the autonomous driving unit,
The controller of the autonomous driving unit receives a driving signal when the radiation measurement unit is driven to measure the radiation level,
The controller is preset with a pattern of a reference driving signal through which the radiation measurement unit is normally driven to measure the radiation level,
If the received driving signal deviates from the reference driving signal pattern, the controller determines a malfunction and stops driving the radiation measurement unit determined to be malfunctioning,
The controller controls the auxiliary radiation measurement unit to measure radiation levels by driving the auxiliary radiation measurement unit,
A nuclear power plant decommissioning work monitoring system, characterized in that the controller drives the auxiliary radiation measurement unit and transmits radioactivity levels to the radiation information processing unit through wireless communication. According to clause 1,
When the width of the path along which the autonomous driving unit moves through the facility-side server unit is changed to a variable width that increases by a certain amount,
The controller receives information about the variable width that has been increased and changed beyond a certain level,
Using the cylinder, the axis is protruded so that the auxiliary radioactivity measurement unit is located at the boundary of the variable width, which has been changed by increasing it beyond a certain level,
Driving the auxiliary radioactivity measurement unit installed on the protruding axis to measure radioactivity levels,
A nuclear power plant decommissioning work monitoring system, characterized in that the cylinders having the auxiliary radiation measurement unit are arranged in pairs so as to be disposed on both sides of the main body of the autonomous driving unit. delete delete delete delete delete In the method of monitoring nuclear power plant decommissioning work using a nuclear power plant decommissioning work monitoring system,
The method for monitoring the nuclear power plant decommissioning work is,
It is moved in the dismantling workspace of the nuclear power plant facility using an autonomous driving unit that sets the movement path,
Using the radiation measurement unit included in the autonomous driving unit, the radiation level is measured as it moves,
Using a map creation unit, a real-time map is created by receiving a route according to the movement of the autonomous driving unit through a wireless communication method with the autonomous driving unit,
Using a radioactivity information processing unit, the measured radioactivity level is transmitted from the radioactivity measurement unit through a wireless communication method, and the real-time map created from the map creation unit is transmitted, and the radioactivity level is matched to the real-time map to apply the radioactivity level map. to form,
The radioactivity level application map is displayed using a display unit electrically connected to the facility server unit,
The radiation information processing unit,
In the radioactivity level included in the radioactivity level application map and matching the real-time map,
Determine location information that exceeds a preset standard radiation level,
It includes a hazardous radiation information determination unit that transmits the location information to the facility server,
Using an alarm device, the location information determined through the hazardous radiation information determination unit is expressed as voice or visual information,
It is provided by a worker moving in the dismantling work space of the nuclear power plant facility, and includes a worker radiation measurement unit that measures the worker radiation level in the dismantling work space,
The worker radiation measurement unit measures worker radiation levels while the worker is moving,
Transmitting the measured radiation level of the worker to the radiation information processing unit through the facility server unit,
The radiation information processing unit,
Selecting worker radiation levels along the movement path from the transmitted worker radiation levels,
The radioactivity level and the selected worker radioactivity level are averaged to calculate an average radioactivity level,
Matching the calculated radioactivity level to the real-time map to form the radioactivity level application map,
The radiation measurement unit,
A first radiation measurement module that measures the self-radiation level of the autonomous driving unit,
A first error calculator that calculates an error value between the self-radiation level of the autonomous driving unit and a preset first reference value;
When the error value is calculated, a first transmission module is provided to subtract the error value from the measured radioactivity value and transmit it to the map creation unit,
The worker radiation measurement unit,
A second radiation measurement module that measures the worker's own radiation level,
a second error calculator that calculates an error value between the worker's own radiation level and a preset first standard value;
When the error value is calculated, a second transmission module is provided to subtract the error value from the measured radiation level of the worker and transmit it to the map creation unit,
The facility-side server unit establishes wireless communication with the local server unit and transmits the radiation level application map,
The local server department,
Displaying the transmitted radiation level application map using a local display unit,
The local server department,
Establish wireless communication with resident terminals of local residents within a certain radius around the nuclear power plant facility,
Transmitting the transmitted radiation level application map to the resident terminals,
The local server department,
A map of the area included within a certain radius is set around the nuclear power plant facility,
The local server unit further includes a radiation risk analysis unit,
The radiation risk analysis unit, in the applied map of the transmitted radiation levels,
Establish an effective distance at which radioactivity affects the dismantling work space of the nuclear power plant facility,
Selecting an area included in the effective distance on the area map as a risk area,
Displaying the selected risk area on the regional map,
Displaying an area map showing the risk area through the area display unit,
Transmit to the resident terminals,
The nuclear power plant decommissioning work monitoring system includes a movement path correction unit,
The movement path correction unit,
The movement path of the autonomous driving unit is stored in real time,
The worker's movement path is stored in real time according to the position value measured through the position sensor provided by the worker,
Comparing the radiation level measured along the movement path of the autonomous driving unit and the worker radiation level measured along the worker movement path to select a final radiation level that is relatively high,
Calculating a correction path that forms the final radioactivity level,
Resetting the movement path of the autonomous driving unit to the correction path,
The autonomous driving unit has a main body and wheels installed on the main body and moving along the ground of the dismantling work space,
An auxiliary radiation measurement unit is installed in the main body,
The auxiliary radiation measurement unit has a connecting member and an auxiliary radiation measurement sensor installed on the other end of the connecting member, and one end of the connecting member is connected to the main body,
The connecting member is composed of a cylinder having an expandable axis,
The auxiliary radiation measurement sensor is installed on the axis, and the cylinder can protrude the axis to a certain length under the control of a controller,
The controller receives a driving signal through the equipment-side server unit through wireless communication and controls the movement of the autonomous driving unit,
The controller of the autonomous driving unit receives a driving signal when the radiation measurement unit is driven to measure the radiation level,
The controller is preset with a pattern of a reference driving signal through which the radiation measurement unit is normally driven to measure the radiation level,
If the received driving signal deviates from the reference driving signal pattern, the controller determines a malfunction and stops driving the radiation measurement unit determined to be malfunctioning,
The controller controls the auxiliary radiation measurement unit to measure radiation levels by driving the auxiliary radiation measurement unit,
The controller drives the auxiliary radiation measurement unit and transmits radioactivity levels to the radiation information processing unit through wireless communication,
When the width of the path along which the autonomous driving unit moves through the facility-side server unit is changed to a variable width that increases by a certain amount,
The controller receives information about the variable width that has been increased and changed beyond a certain level,
Using the cylinder, the axis is protruded so that the auxiliary radioactivity measurement unit is located at the boundary of the variable width, which has been changed by increasing it beyond a certain level,
Driving the auxiliary radioactivity measurement unit installed on the protruding axis to measure radioactivity levels,
A method for monitoring nuclear power plant decommissioning work using a nuclear power plant decommissioning work monitoring system, wherein the cylinders having the auxiliary radiation measurement unit are configured as a pair to be disposed on both sides of the main body of the autonomous driving unit.