KR20190114600A - 3d environment awareness system and nuclear facility having the same - Google Patents

Abstract

The present invention relates to a 3D environmental awareness system and a nuclear power facility having the same. The 3D environmental awareness system includes a plurality of environmental information obtaining parts for obtaining 3D space and radiation information for a radiated structure; a 3D matching part 1 for matching the information received from the environment information obtaining part to information on one unified coordinate system; a 3D matching part 2 for overlapping the site information of the radiated structure matched by the 3D matching part 1 and the design information of the structure held; a comparison and difference detection part for detecting a difference by comparing the site information and the design information overlapped by the 3D matching part 2; an optional update part for updating the difference detected by the comparison and difference detection part in the design information; and an information management server for storing, updating, and managing the design information. It is possible to establish a plan for the decommissioning and maintenance of the nuclear facility.

Description

3D ENVIRONMENT AWARENESS SYSTEM AND NUCLEAR FACILITY HAVING THE SAME}

The present invention relates to a three-dimensional environmental recognition system and a nuclear power plant having the same, and more particularly, to a three-dimensional environmental recognition system used for decommissioning and maintenance of the radioactive nuclear power plant and a nuclear power plant having the same.

The 3D environment recognition system is a system that acquires 3D information of an object with a sensor, renders or displays 3D information of the obtained object using 3D computer graphics, and grasps geometric or physical properties of the 3D environment. .

Conventional three-dimensional environmental recognition technology slanders such as reverse engineering of facilities / structures, acquiring data for maintenance and management, confirming the progress and quality of construction and civil construction, acquiring data for preserving cultural assets and forest resources, and verifying product production quality. It has been used for applications in the private environment.

On the other hand, even in nuclear facilities such as nuclear reactors or radioactive material processing facilities, three-dimensional environmental information is required for decommissioning and maintenance.

For example, when a manpower is put into a nuclear facility that generates radiation, the human body of an operator who collects site information may be exposed to radiation. Therefore, a robot that can be remotely controlled may be put on the site.

At this time, in the case of dismantling and maintenance of the nuclear power plant using a robot, three-dimensional environmental information about the nuclear power plant is required.

However, the conventional three-dimensional environmental awareness technology focuses on geometrical environmental awareness based on three-dimensional point cloud data and does not take into account radiation resistance. There is a problem that is not suitable for recognition.

In addition, the conventional three-dimensional environmental recognition technology is limited to simply acquire and model the environmental information of the current state, to track the change of the environment due to the dismantling and maintenance, and to efficiently update the environmental recognition data.

An object of the present invention is to provide a three-dimensional environmental recognition system having a radiation resistance function and the sensor and the environmental information acquisition unit so that it can be used in a radiated environment, and a nuclear facility equipped with the same.

In order to achieve the above object, the three-dimensional environmental recognition system according to the present invention comprises a plurality of environmental information acquisition unit for obtaining three-dimensional space and radiation information for the radiated structure; A three-dimensional matching unit 1 for matching the information received from the environment information obtaining unit into information on one unified coordinate system; A three-dimensional matching unit 2 which overlaps the site information of the radiated structure matched by the three-dimensional matching unit 1 and the design information of the structure held therein; A comparison and difference detection unit for detecting a difference by comparing the site information and the design information superimposed by the 3D matching unit 2; An optional update unit for updating the difference portion detected by the comparison and difference detection unit of the design information; And an information management server for storing, updating, and managing the design information.

According to an example related to the present disclosure, the apparatus may further include a format conversion unit for converting the information generated by the 3D matching unit 1 into a unified format so as to be compared with the design information.

According to an example related to the present disclosure, the apparatus may further include an information extracting unit which extracts a portion necessary for comparison with the design information among the field information received from the format conversion unit 1.

According to an example related to the present disclosure, the apparatus may further include two format conversion units for converting the information extracted by the information extraction unit into a unified format so as to be compared with the design information.

According to an example related to the present invention, the selective update unit may further include a format conversion unit for converting the information updated in the unified format to be compared with the design information.

According to an example related to the present invention, the environmental information acquisition unit includes: a three-dimensional spatial information sensor for sensing three-dimensional spatial information of the radiated structure; And a radiation imaging sensor that detects radiation information of the radiated structure.

According to an example related to the present invention, the 3D spatial information sensor may be a 3D laser scanner.

According to an example related to the present invention, the radiation imaging sensor may be a Compton camera or a CZT radiation sensor.

According to an example related to the present invention, the platform unit may further include a platform unit which moves the position and position of the sensor of the environmental information acquisition unit, wherein the platform unit may include pan tilt, wheel and track type, articulated manipulator, vertical rail, and drone. One or more than one may have a combined platform.

According to an example related to the present disclosure, the information management server may control the platform unit to optimize the sensor position movement path and the posture transformation path of the environment information acquisition unit.

According to an example related to the present invention, the sensor of the environmental information acquisition unit is mounted to the articulated manipulator, and the information management server has a path for acquiring environmental information about the 3D space and the radiation information, and the joint motion of the manipulator. It is possible to check in advance whether a collision with the manipulator itself or surrounding objects occurs out of range, and the environment information acquisition unit may be driven by using a path that satisfies the constraint when acquiring the environment information.

According to an example related to a nuclear power plant equipped with a three-dimensional environmental recognition system of the present invention, the nuclear power plant comprises a radioactive reactor; A containment structure for receiving the reactor; A robot arm movably installed in the containment structure, the robot arm dismantling or maintaining the reactor; An environmental information acquisition unit installed in the containment structure to obtain three-dimensional space and radiation information of the nuclear reactor; A platform unit for moving the sensor of the environmental information acquisition unit to a preset posture and position; And a control unit controlling the platform unit and the robot arm according to a detection signal received from the environment information acquisition unit.

According to an example related to a nuclear power plant of the present invention, the control unit includes: a three-dimensional matching unit 1 for matching the information received from the environmental information acquisition unit with information on one unified coordinate system; A three-dimensional matching unit 2 which overlaps the site information of the radiated structure matched by the three-dimensional matching unit 1 and the design information of the structure held therein; A comparison and difference detection unit for detecting a difference by comparing the site information and the design information superimposed by the 3D matching unit 2; An optional update unit for updating the difference portion detected by the comparison and difference detection unit of the design information; And an information management server for storing, updating, and managing the design information.

According to an example related to the nuclear power plant of the present invention, the sensor of the environmental information acquisition unit is mounted on the articulated manipulator, and the control unit has a path for acquiring environmental information about the three-dimensional space and the radiation information is a joint of the manipulator. Determine in advance whether it is out of the range of motion or collision with the manipulator itself or surrounding objects, and convert the position movement path and attitude of the environment information acquisition unit by using a path that satisfies the constraints when acquiring the environment information. You can optimize the path.

Referring to the effect of the three-dimensional environmental recognition system according to the present invention and a nuclear power plant having the same.

First, as the environment changes due to the decommissioning and maintenance of nuclear facilities and the environmental awareness data are updated efficiently, the plan for decommissioning and maintenance of the radioactive nuclear facilities or the progress of decommissioning and maintenance operations It can be used for confirmation.

Second, as the environmental information acquisition unit with radiation protection is installed at the site of the radioactive nuclear facility, the site information can be collected, minimizing the radiation exposure of workers collecting site information (increasing safety), Work plans can be optimized based on site information, reducing work time and costs.

1 is a conceptual diagram showing the configuration of a three-dimensional environmental recognition system according to the present invention,
2 is a conceptual diagram illustrating an environment information acquisition unit having a radiation protection function according to the present invention;
Figure 3 is a block diagram showing the configuration of a three-dimensional environmental recognition system according to the present invention,
4 is a conceptual diagram illustrating an environment information acquisition unit installed around a light reactor reactor vessel as an example of the environment information acquisition unit of FIG. 1 installed in a nuclear power plant.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, and the same or similar components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used in consideration of ease of specification, and do not have distinct meanings or roles from each other. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, but are not limited to the technical spirit disclosed herein by the accompanying drawings, all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprises" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

1 is a conceptual diagram showing the configuration of a three-dimensional environmental recognition system according to the present invention, Figure 2 is a conceptual diagram showing an environmental information acquisition unit 10 having a radiation-resistant function according to the present invention, Figure 3 according to the present invention This is a block diagram showing the configuration of a 3D environment recognition system.

The three-dimensional environment recognition system of the present invention may include a detector 1, a controller 2, and an input / output unit 3.

The detection unit 1 may include a plurality of environmental information acquisition units 10 as indicated by 1 to N.

The environmental information acquisition unit 10 is configured to obtain environmental information about the nuclear facility including the radioactive material 14 or the radioactive structure 14 or the like.

The plurality of environmental information acquisition units 10 may be configured as environmental information acquisition unit 1 (10) to environmental information acquisition unit N (10). The environmental information acquisition unit may include a 3D spatial information sensor 11 and a radiation detection sensor 12.

The 3D spatial information sensor 11 may include a 3D laser scanner.

The radiation detection sensor 12 may include a Compton camera and a CZT (abbreviation of cadmium (Cd) -zinc (Zn)-telluride) radiation detection sensor. The CZT radiation sensor is a radiation detector using a semiconductor, which has high measurement efficiency, and can be used for radiation measurement, medical radiation imaging equipment, and satellite radiation detectors.

The environmental information acquisition unit 10 may receive information from the 3D spatial information sensor 11 and the radiation detection sensor 12 to generate 3D space and radiation information.

The environmental information acquisition unit 10 may provide a function of moving the sensor to a desired posture and position. The environmental information acquisition unit 10 is a pan tilt, wheels and orbital movement platform, articulated arm or manipulator, vertical rail to perform the position and position movement function of the sensor A platform unit 31 such as 103, a drone, or the like can be used.

Pan tilt means, for example, that it is configured to widen the monitoring range by adjusting the zoom and angle of the camera.

A manipulator means a robot having a function similar to a human arm. The manipulator can be operated by a person or automatically repeat the same operation. Manipulators can be configured to perform a variety of complex operations in accordance with computer instructions.

Drone means a drone that can be remotely controlled.

Each of the plurality of environmental information acquisition units 10 may include sensors having different specifications, for example, sensors having different measurement distances, accuracy, and precision.

Each of the plurality of environmental information acquisition units 10 may effectively provide environmental information desired by a user by placing sensors at various positions and postures.

Even if it is difficult to measure only one environmental information acquisition unit 10 due to an obstacle or the like, the environmental information acquisition unit 10 may properly measure a plurality of environmental information acquisition units 10 without missing parts. have.

The environmental information acquisition unit 10 may have a path planning function for environmental information acquisition.

Route planning refers to the function of planning which position the sensor should be located in order to effectively obtain environmental information, and which path should be followed when moving between the positions of the sensor.

'Effective' here means optimizing a specific objective function. The specific objective function may include, for example, a time required for obtaining environmental information.

When using environmental information acquisition path that is not 'effective', the environmental information may be obtained from unnecessary overlapping locations or vice versa.

The environmental information acquisition path planning is not only to generate an 'effective' path, but also to confirm whether the environmental information acquisition path satisfies the kinematic or systemic constraints of the environmental information acquisition unit 10.

For example, when acquiring environmental information by attaching a 3D spatial information sensor to the end of an articulated manipulator, does the path for acquiring the environmental information fall outside the joint motion range of the manipulator, or does it collide with the manipulator itself or surrounding objects? It is necessary to confirm whether or not in advance, and the environment information acquisition unit 10 may be driven by using a path that satisfies these constraints.

If multiple sensors are used on different platforms rather than a single sensor, route planning can become even more important.

Since the environmental information acquisition unit 10 may be exposed to radiation, it may be radiation resistant.

As the radiation resistant treatment method, a method of converting the material itself into a radiation resistant device and a method of accommodating the radiation resistant treatment object inside the radiation shielding material may be considered.

In the present embodiment, the environmental information acquisition unit 10 may be accommodated inside the radiation shielding case 13, and the radiation shielding case 13 may shield the environmental information acquisition unit 10 from external radiation. .

An opening 13a is formed at one side of the radiation shielding case 13 so that a detection signal may enter the sensor through the opening 13a. In particular, a collimator may be installed in the opening 13a of the radiation shielding case 13 in which the radiation detection sensor 12 is accommodated so as to check the direction of the radiation source.

The radiation shielding case 13 may be made of a radiation shielding material such as lead.

According to this configuration, the environmental information acquisition unit 10 can prevent the performance degradation caused by the radiation to be irradiated during the operation by the radiation shield.

Other components except for the 3D spatial information sensor 11, the radiation detection sensor 12, and the environmental information acquisition unit 10 may be located where they are not exposed to radiation. In this case, a separate radiation treatment is required. You can't.

The control unit 2 is a three-dimensional matching unit 1 (21), three-dimensional matching unit 2 (22), format conversion unit 1 (23), format conversion unit 2 (24), format conversion unit 3 (25), information extraction unit 26, a comparison and difference detection unit 27, an optional update unit 28, an information management server 29 and the like.

The 3D environmental information received from the environmental information acquisition unit 10 may include only some information of the entire ROI due to the limitation of the measurement range of the sensor.

The 3D matching unit 1 21 may match and merge the information received from each environment information obtaining unit 10 into information on one unified coordinate system.

Three-dimensional registration refers to finding a relationship between two or more partially overlapped point group data obtained from a part of the surface of an object and expressing it on a common coordinate system. When the surface of the whole object is measured with a 3D spatial information acquisition sensor to obtain several overlapping point group data and then matched, the object surface information represented by the point group data can be obtained.

The format converting unit 1 (23) converts the information generated by the 3D matching unit 1 (21) into a unified format so that it can be compared with previously stored information.

For example, in the three-dimensional matching unit 1 (21) can be generated environment information in the form of a point cloud (point cloud), the CAD format (Format convenient for the design drawing creation and management rather than the point group in the information management server 29 (Format If you store and manage your information, you can also convert point cloud data into a specific CAD format.

The format conversion unit 2 (24) performs a function of converting the format of the information when necessary similarly to the format conversion unit 1 (23). Depending on the situation, one or both of the format converters 1 (23) and 2 may not be necessary.

The three-dimensional matching unit 2 (22) superimposes (matches) the site information and the retained design information with each other, compares the design information and the measured three-dimensional information in the comparison and difference detecting unit 27, and detects a difference. Do it.

The information extracting unit 26 extracts a portion necessary for comparison with the entire design information data by using the site information received from the format converting unit 1 (23). By extracting only parts necessary for comparison with all the design information, it is possible to efficiently match in the three-dimensional matching unit 2 (22).

The comparison and difference detection unit 27 detects a difference by comparing the site information matched in the 3D matching unit 2 (22) and previously stored design information.

At this time, the difference between the site information and the design information can be detected from two viewpoints.

The first is simply to see geometric differences, and the second is to see differences in semantics.

For example, a valve installed in a pipe is cut and removed during disassembly, and there is no valve in the 3D environmental information measured in the field, and a valve is attached to design information that has not been updated yet.

In this case, simply removing the point group information corresponding to the valve is an update based on a geometric difference, and if it is recognized that an object called a valve other than the point group is removed, the design model information is updated from an attribute point of view.

Properties such as valves can be optionally updated by the operator. For example, when the operator recognizes a component called a valve, the attribute of the valve is updated, and when the attribute of the field information cannot be recognized by the operator, only geometric differences of the field information can be updated.

When updating the stored design information, the selective updating unit 28 may update only the difference detected by the comparison and difference detecting unit 27 to efficiently update the stored design information. In some cases, you may choose to renew at your discretion.

At this time, the geometric information and the attribute information may be updated together.

The format converter 3 (25) can change the format of the information as necessary in order to efficiently store the information updated by the selective update unit (28) in the information management server (29).

The information management server 29 is a server 29 that performs functions necessary for efficient storage, update and management of design information. Stores, updates, and extracts geometric and attribute information.

In addition, if there is a user request or if it is determined that further environmental information acquisition is necessary based on the result matched by the 3D matching unit 2 (22), the position and posture of the platform unit 31 of the environmental information acquisition unit 10 may be changed. You can get enough information.

The information management server 29 may control the platform unit 31 to perform a function of optimizing a position moving path and a posture converting path of the platform unit 31.

The input / output unit 3 may include a display unit 30. The display unit 30 may include a monitor. In addition, a user interface, such as a keyboard, may be included for the user to conveniently manage information. It can be connected to external systems that require design information, including network functionality.

4 is a conceptual diagram illustrating an environment information acquisition unit installed around a light-reactor reactor vessel 100 as an example showing the environment information acquisition unit 10 of FIG. 1 installed in a nuclear power facility.

This embodiment is a conceptual diagram showing the environment information acquisition unit 10 of the three-dimensional environmental recognition system installed in the nuclear power plant.

The three-dimensional environmental recognition system of the present invention can be used for dismantling the reactor vessel (100).

The robot arm 102 may be movably installed on the inner wall of the containment structure 101 in which the reactor vessel 100 is accommodated for dismantling and dismantling the reactor vessel 100. The vertical rail 103 may be installed along the inner wall surface of the containment structure 101, and the robot arm 102 may be installed to be movable along the vertical rail 103.

The plurality of environmental information acquisition units 10 may include a 3D spatial information sensor 11 and a radiation detection sensor 12.

A plurality of three-dimensional spatial information sensor and radiation imaging sensor is installed on the upper portion of the containment structure 101, it can detect the information about the three-dimensional space and radiation for the reactor vessel (100).

The plurality of environmental information acquisition units 10 may receive information from the 3D spatial information sensor and the radiation imaging sensor to generate 3D space and radiation information.

Since the plurality of environmental information acquisition units 10 may be exposed to radiation, radiation treatment may be performed by the radiation shield.

The plurality of environmental information acquisition units 10 may be moved to a desired posture and position by a platform device such as a mobile platform or a articulated manipulator.

The information management server 29 may optimize the position movement path and the posture conversion path of the platform unit 31 for moving the sensor of the environmental information acquisition unit 10.

1: detection unit 10: environmental information acquisition unit
11: 3D spatial information sensor 12: radiation detection sensor
13: radiation shielding case 13a: opening
14: radioactive structures and radioactive materials
2: control unit
21: three-dimensional matching part 1 22: three-dimensional matching part 2
23: format conversion unit 1 24: format conversion unit 2
25: format conversion unit 3 26: information extraction unit
27: comparison and difference detection unit
28: optional update unit 29: information management server
3: input / output unit 30: display unit
31 platform unit 100: reactor vessel
101: containment structure 102: robot arm
103: vertical rail

Claims (15)

A plurality of environmental information acquisition unit for obtaining three-dimensional space and radiation information for the radiated structure;
A three-dimensional matching unit 1 for matching the information received from the environment information obtaining unit into information on one unified coordinate system;
A three-dimensional matching unit 2 which overlaps the site information of the radiated structure matched by the three-dimensional matching unit 1 and the design information of the structure held therein;
A comparison and difference detection unit for detecting a difference by comparing the site information and the design information superimposed by the 3D matching unit 2;
An optional update unit for updating the difference portion detected by the comparison and difference detection unit of the design information; And
3D environment recognition system including an information management server for storing, updating and managing the design information. The method of claim 1,
And a format conversion unit 1 for converting the information generated by the 3D matching unit 1 into a unified format to be compared with the design information. The method of claim 2,
Three-dimensional environment recognition system further comprises an information extraction unit for extracting a portion necessary for comparison with the design information of the field information received from the format conversion unit 1. The method of claim 3,
And a format conversion unit 2 for converting the information extracted by the information extraction unit into a unified format so as to be compared with the design information. The method of claim 1,
And a format conversion unit 3 for converting the information updated by the selective update unit into a unified format so as to be compared with the design information. The method of claim 1,
The environmental information acquisition unit,
A three-dimensional spatial information sensor for sensing three-dimensional spatial information of the radiated structure; And
3D environment recognition system comprising a radiation imaging sensor for sensing the radiation information of the radiated structure. The method of claim 6,
The three-dimensional spatial information sensor is a three-dimensional environmental recognition system, characterized in that the three-dimensional laser scanner. The method of claim 6,
Wherein said radiation imaging sensor is a Compton camera or a CZT radiation sensor. The method of claim 6,
Further comprising a platform unit for moving the posture and position of the sensor of the environmental information acquisition unit,
The platform unit,
A three-dimensional environmental awareness system comprising a platform in which one or more of pan tilt, wheel and track, articulated manipulator, vertical rail and drone are combined. The method of claim 1,
The selective update unit,
A three-dimensional environment recognition system comprising both geometric information update and attribute information update. The method of claim 9,
And the information management server controls the platform unit to optimize the sensor position movement path and the posture transformation path of the environment information acquisition unit. The method of claim 11,
The sensor of the environmental information acquisition unit is mounted to the articulated manipulator,
The information management server,
When the path for acquiring the environmental information about the three-dimensional space and the radiation information is out of the range of the joint motion of the manipulator or whether the collision with the manipulator itself or the surrounding object occurs, the environment information is obtained in advance. 3D environment recognition system characterized by driving the environment information acquisition unit using a path satisfying the constraint. Radioactive reactors;
A containment structure for receiving the reactor;
A robot arm movably installed in the containment structure, the robot arm dismantling or maintaining the reactor;
An environmental information acquisition unit installed in the containment structure to obtain three-dimensional space and radiation information of the nuclear reactor;
A platform unit for moving the sensor of the environmental information acquisition unit to a preset posture and position; And
A nuclear power plant having a three-dimensional environmental recognition system including a control unit for controlling the platform unit and the robot arm in accordance with the detection signal received from the environmental information acquisition unit. The method of claim 13,
The control unit,
A three-dimensional matching unit 1 for matching the information received from the environment information obtaining unit into information on one unified coordinate system;
A three-dimensional matching unit 2 which overlaps the site information of the radiated structure matched by the three-dimensional matching unit 1 with the design information of the nuclear reactor;
A comparison and difference detection unit for detecting a difference by comparing the site information and the design information superimposed by the 3D matching unit 2;
An optional update unit for updating the difference portion detected by the comparison and difference detection unit of the design information; And
A nuclear power plant having a three-dimensional environmental recognition system including an information management server for storing, updating and managing the design information. The method of claim 13,
The sensor of the environmental information acquisition unit is mounted to the articulated manipulator,
The control unit,
When the path for acquiring the environmental information about the three-dimensional space and the radiation information is out of the range of the joint motion of the manipulator or whether the collision with the manipulator itself or the surrounding object occurs, the environment information is obtained in advance. A nuclear power plant having a three-dimensional environmental recognition system, characterized in that for optimizing the position movement path and the attitude conversion path of the environmental information acquisition unit by using the path satisfying the constraint.

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