WO2018195663A1 - Outil et procédé d'inspection pour assemblage de canal de carburant de réacteur nucléaire - Google Patents

Outil et procédé d'inspection pour assemblage de canal de carburant de réacteur nucléaire Download PDF

Info

Publication number
WO2018195663A1
WO2018195663A1 PCT/CA2018/050490 CA2018050490W WO2018195663A1 WO 2018195663 A1 WO2018195663 A1 WO 2018195663A1 CA 2018050490 W CA2018050490 W CA 2018050490W WO 2018195663 A1 WO2018195663 A1 WO 2018195663A1
Authority
WO
WIPO (PCT)
Prior art keywords
reflector
view
imaging device
assembly
subject area
Prior art date
Application number
PCT/CA2018/050490
Other languages
English (en)
Inventor
Kevin DI CARLO
Rob JAMIESON
Jason DEADMAN
Original Assignee
Candu Energy Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Candu Energy Inc. filed Critical Candu Energy Inc.
Priority to ROA201900667A priority Critical patent/RO134274A2/ro
Priority to CA3061072A priority patent/CA3061072A1/fr
Priority to KR1020197034743A priority patent/KR102592631B1/ko
Priority to CN201880043247.8A priority patent/CN111052261B/zh
Publication of WO2018195663A1 publication Critical patent/WO2018195663A1/fr

Links

Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C1/00—Reactor types
    • G21C1/04—Thermal reactors ; Epithermal reactors
    • G21C1/06—Heterogeneous reactors, i.e. in which fuel and moderator are separated
    • G21C1/14—Heterogeneous reactors, i.e. in which fuel and moderator are separated moderator being substantially not pressurised, e.g. swimming-pool reactor
    • G21C1/16—Heterogeneous reactors, i.e. in which fuel and moderator are separated moderator being substantially not pressurised, e.g. swimming-pool reactor moderator and coolant being different or separated, e.g. sodium-graphite reactor, sodium-heavy water reactor or organic coolant-heavy water reactor
    • G21C1/18—Heterogeneous reactors, i.e. in which fuel and moderator are separated moderator being substantially not pressurised, e.g. swimming-pool reactor moderator and coolant being different or separated, e.g. sodium-graphite reactor, sodium-heavy water reactor or organic coolant-heavy water reactor coolant being pressurised
    • G21C1/20—Heterogeneous reactors, i.e. in which fuel and moderator are separated moderator being substantially not pressurised, e.g. swimming-pool reactor moderator and coolant being different or separated, e.g. sodium-graphite reactor, sodium-heavy water reactor or organic coolant-heavy water reactor coolant being pressurised moderator being liquid, e.g. pressure-tube reactor
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • G02B23/2492—Arrangements for use in a hostile environment, e.g. a very hot, cold or radioactive environment
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the present disclosure relates to methods and systems for inspecting a nuclear reactor, in particular, for inspecting a component of a nuclear reactor fuel channel assembly.
  • a nuclear reactor has a limited life of operation.
  • second generation CANDUTM-type reactors (“CANada Deuterium Uranium”) are designed to operate for approximately 25 to 30 years. After this time, the existing fuel channels can be removed and new fuel channels can be installed. Performing this "re-tubing" process can extend the life of a reactor significantly, as an alternative to decommissioning the reactor.
  • Nuclear reactor re-tubing processes include removal of a number of reactor components, and include various other activities, such as shutting down the reactor, preparing the vault, and installing material handling equipment and various platforms and equipment supports.
  • the removal process can also include removing closure plugs and positioning hardware assemblies, disconnecting feeder assemblies, severing bellows, removing end fittings, releasing and removing calandria tube inserts, and severing and removing pressure tubes and calandria tubes. After the removal process is complete, an inspection and installation process is typically performed.
  • bellows that allow the fuel channel assemblies of the reactor to move axially can be removed and replaced with new bellows that are pre-installed on end fittings, or may instead be left intact for re-use in the event they have not been subject to damage or deterioration.
  • inspection of the bellows of all of the fuel channels which is desirable when trying to minimize the replacement of acceptable bellows, presents challenges, and can be time consuming such that it may become more efficient to replace all the bellows to avoid the complications of inspection.
  • an apparatus for inspecting at least one of an interior surface and an exterior surface of an element of a fuel channel assembly within a nuclear reactor, when the element is in a subject area of the apparatus comprising: an imaging device positioned to capture image data of a field of view of the imaging device; and a reflector assembly comprising at least one of: a first reflector having a reflective surface and oriented at a first angle and positioned relative to the subject area to reflect a first portion of the subject area representative of a radially inward view of a first portion of the exterior surface of the element to be in the field of view of the imaging device; and a second reflector having a reflective surface and oriented at a second angle and positioned relative to the subject area to reflect a second portion of the subject area representative of a radially outward view of a first portion of the interior surface of the element to be in the field of view of the imaging device.
  • a method of inspecting at least one of an interior surface and an exterior surface of an element of a fuel channel assembly within a nuclear reactor comprising: reflecting at least one of: a radially inward view of a first portion of the exterior surface of the element to be in a field of view of an imaging device; and a radially outward view of a first portion of the interior surface of the element to be in the field of view of the imaging device; and capturing image data by the imaging device of the field of view of the imaging device.
  • a reflector assembly for reflecting at least one of an interior surface and an exterior surface of an element of a fuel channel assembly within a nuclear reactor to be in a field of view of an imaging device, when the element is in a subject area of the assembly, the assembly comprising at least one of: a first reflector having a reflective surface and oriented at a first angle and positioned relative to the subject area to reflect a first portion of the subject area representative of a radially inward view of a first portion of the exterior surface of the element to be in the field of view of the imaging device; and a second reflector having a reflective surface oriented at a second angle and positioned relative to the subject area to reflect a second portion of the subject area representative of a radially outward view of a first portion of the interior surface of the element to be in the field of view of the imaging device.
  • Figure 1 is a perspective view of a CANDUTM-type reactor.
  • Figure 2 is a cutaway view of a CANDUTM-type nuclear reactor fuel channel assembly.
  • Figure 3 is a cross-sectional side view of an inspection tool, including an imaging device, a lens, a lighting assembly, and a reflector assembly.
  • Figure 4 is a cross-sectional detail view of a reflector assembly of the inspection tool of Figure 3.
  • Figures 5-7 are partial exploded assembly views of portions of the inspection tool of Figure 3.
  • Figure 8 illustrates is a schematic of image data collected by the imaging device.
  • Figure 9 illustrates the image data from the imaging device after transposition to straighten illustrated bellows rings into parallel lines.
  • Figure 10 is a perspective view of an inner reflector support.
  • Figure 11 is a cross-sectional view of the reflector assembly of the inspection tool of Figure 3.
  • Figure 12 is a schematic of a reflector of the reflector assembly having a flat profile.
  • Figure 13 is a schematic of a reflector of the reflector assembly having a concave profile.
  • Figure 14 is a schematic of a reflector of the reflector assembly having a convex profile.
  • Figure 15 is a schematic of the inspection tool of Figure 3.
  • Figure 16 is a schematic of the inspection tool of Figure 3.
  • Figure 17 is a schematic of a controller of an inspection system having the inspection tool of Figure 3.
  • the inspection tool is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the accompanying drawings.
  • the inspection tool is capable of other embodiments and of being practiced or of being carried out in various ways.
  • proximal refers to a position or direction in closer proximity to the imaging device of the tool and farther from the subject area.
  • distal refers to a position or direction in closer proximity to the subject area of the tool and farther from the imaging device.
  • a reflector assembly of the apparatus reflects the subject area or a portion of the subject area to be in a field of view of an imaging device, which captures image data of its field of view.
  • the reflector assembly has reflectors to reflect the element to be in the field of view of the imaging device.
  • the reflector has a first reflector that reflects the outer surface of the element to be in the field of view of the imaging device.
  • the reflector assembly has a second reflector that reflects the inner surface of the element to be in the field of view of the imaging device.
  • the reflector assembly has both the first and second reflectors.
  • the captured image data representative of the exterior or interior surface of the element may be analyzed to inspect the element.
  • the tool may be positioned at a first position to capture image data at a first portion of the element, and then re-positioned to a second position to capture image data at a second portion of the element.
  • the tool may be able to capture image data representative of a full view around the element (e.g. 360 degree view) or a portion thereof.
  • FIG 1 is a perspective of a reactor core of a CA DUTM-type reactor 6.
  • the reactor core is typically contained within a vault that is sealed with an air lock for radiation control and shielding.
  • an air lock for radiation control and shielding.
  • aspects of the inspection tool are described with particular reference to the CA DUTM-type reactor 6 for convenience, the inspection tool is not limited to CA DUTM-type reactors, and may be useful outside this particular field.
  • a generally cylindrical vessel, known as the calandria 10 of the CA DUTM-type reactor 6 contains a heavy- water moderator.
  • the calandria 10 has an annular shell 14 and a tube sheet 18 at a first end 22 and a second end 24.
  • the tube sheets 18 include a plurality of apertures (referred to herein as "bores") that each accept a fuel channel assembly 28. As shown in Figure 1, a number of fuel channel assemblies 28 pass through the tube sheets 18 of calandria 10 from the first end 22 to the second end 24.
  • the reactor core is provided with two walls at each end 22, 24 of the reactor core: an inner wall defined by the tube sheet 18 at each end 22, 24 of the reactor core, and an outer wall 64 (often referred to as a "end shield”) located a distance outboard from the tube sheet 18 at each end 22, 24 of the reactor core.
  • a lattice tube 65 spans the distance between the tube sheet 18 and the end shield 64 at each pair of bores (i.e., in the tube sheet 18 and the end shield 64, respectively).
  • FIG. 2 is a cutaway view of one fuel channel assembly 28 of the reactor core illustrated in Figure 1.
  • each fuel channel assembly 28 includes a calandria tube (“CT”) 32 surrounding other components of the fuel channel assembly 28.
  • CTs 32 each span the distance between the tube sheets 18.
  • the opposite ends of each CT 32 are received within and sealed to respective apertures in the tube sheets 18.
  • a CT rolled joint insert 34 is used to secure the CT 32 to the tube sheet 18 within the bores.
  • a pressure tube (“PT") 36 forms an inner wall of the fuel channel assembly 28.
  • the PT 36 provides a conduit for reactor coolant and fuel bundles or assemblies 40.
  • the PT 36 generally holds two or more fuel assemblies 40, and acts as a conduit for reactor coolant that passes through each fuel assembly 40.
  • An annulus space 44 is defined by a gap between each PT 36 and its corresponding CT 32.
  • the annulus space 44 is normally filled with a circulating gas, such as dry carbon dioxide, helium, nitrogen, air, or mixtures thereof.
  • One or more annulus spacers or garter springs 48 are disposed between the CT 32 and PT 36. The annulus spacers 48 maintain the gap between the PT 36 and the corresponding CT 32, while allowing passage of annulus gas through and around the annulus spacers 48.
  • each end of each fuel channel assembly 28 is provided with an end fitting 50 located outside of the corresponding tube sheet 18. At the terminal end of each end fitting 50 is a closure plug 52. Each end fitting 50 also includes a feeder assembly 54.
  • the feeder assemblies 54 feed reactor coolant into or remove reactor coolant from the PTs 36 via feeder tubes 59 ( Figure 1).
  • the feeder assembly 54 on one end of the fuel channel assembly 28 acts as an inlet feeder
  • the feeder assembly 54 on the opposite end of the fuel channel assembly 28 acts as an outlet feeder.
  • the feeder assemblies 54 may be attached to the end fittings 50 using a coupling assembly 56 including a number of screws, washers, seals, and/or other types of connectors.
  • the lattice tube 65 (described above) encases the connection between the end fitting 50 and the PT 36 containing the fuel assemblies 40. Shielding ball bearings 66 and cooling water surround the exterior of the lattice tubes 65, which provides additional radiation shielding.
  • a positioning hardware assembly 60 and bellows 62 are also coupled to each end fitting 50.
  • the bellows 62 allows the fuel channel assemblies 28 to move axially - a capability that may be important where fuel channel assemblies 28 experience changes in length over time, which is common in many reactors.
  • the positioning hardware assemblies 60 may be used to set an end of a fuel channel assembly 28 in either a locked configuration that fixes the axial position or an unlocked configuration.
  • the positioning hardware assemblies 60 are also coupled to the end shield 64.
  • the illustrated positioning hardware assemblies 60 each include a rod having an end that is received in a bore of the respective end shield 64. In some embodiments, the rod end and the bore in the end shield 64 are threaded.
  • Figure 3 illustrates an embodiment of the inspection tool or apparatus 100.
  • the tool 100 is for inspecting at least one of an interior surface and an exterior surface of an element of a fuel channel assembly within a nuclear reactor, when the element is in a subject area of the tool 100.
  • the inspection tool 100 may include a mount 102 having a support clamp or other interface for installation adjacent the calandria 10 of the nuclear reactor, such as on a mobile platform or mobile work table.
  • the work table or other support surface supporting the inspection tool 100 may carry and support the inspection tool 100 from lattice site to lattice site (i.e., those positions on each side of the reactor 6 defined by the locations of the fuel channel assemblies 28 described above) across the face of the calandria 10.
  • the work table is laterally movable in an x direction (e.g., upon rails, on a cart, and the like) at a common elevation across the face of the calandria 10, whereas in other
  • the work table is also or instead vertically movable in a y direction, or is movable toward and away from the reactor face in a z direction.
  • the x, y, and z directions are labeled in Figure 1.
  • the platform may move in the y direction
  • the work table may move in the x and y direction
  • the tool 100 comprises a linear drive assembly 300 to move the tool 100 in the z direction.
  • the tools and methods for inspection may be used as part of the normal nuclear reactor re-tubing procedure, and may be used to inspect the bellows 62, the lattice tube 65, or other sections (e.g. annular sections) of the fuel channel assembly 28.
  • the inspected component may be removed and replaced as part of a re-tubing procedure that also replaces other portions of the fuel channel assembly 28.
  • the portion(s) of the fuel channel assembly 28 inspected may be inspected at another time when the reactor is not in service, regardless of whether re-tubing is being commenced.
  • the tool 100 may be used to inspect the bellows 62, as depicted, for example, in Figures 3, 4, 8, and 9, aspects of the tool 100 and method of its use are not limited to the bellows 62.
  • the end fitting 50 (not shown) may be removed from the bellows 62 to provide access to the bellows 62 for inspection by the inspection tool 100. In some embodiments, access is needed radially within and radially outside the bellows 62 along its length.
  • the bellows 62 may then be inspected to determine if the bellows 62 may be re-used or must be replaced. This may involve the collection of image data representing or representative of the interior surface of the bellows 62 and the exterior surface of the bellows 62 by the inspection tool 100 for the purpose of identifying any surface flaws.
  • the tool 100 comprises an imaging device 104 positioned to capture image data.
  • the imaging device 104 has a field of view, and the imaging device 104 is positioned to capture image data of its field of view.
  • the imaging device 104 may be a digital camera, video camera, optical sensor, lens, and the like, that is operable to collect data of either or both of still images and continuous video for storage to an electronic data storage device (e.g., removable memory card, internal memory of a connected computer, networked server, etc.).
  • an electronic data storage device e.g., removable memory card, internal memory of a connected computer, networked server, etc.
  • the imaging device 104 is provided at a first axial end of the inspection tool 100.
  • the imaging device 104 is positioned along an axis A of the inspection tool 100, and is aimed or directed along the axis A toward a second opposite axial end of the inspection tool 100 that is placed directly at an axial position of the bellows 62.
  • one or more reflective surfaces of the reflector assembly 120 is not positioned in the field of view of the imaging device 104 (e.g.
  • the imaging device 104 is positioned offset from the axis A, or positioned axially or radially away from the axis A, or there are one or more impediments between the imaging device 104 and the one or more reflective surfaces of the reflector assembly 120), and the subject area or a portion of the subject area is directed to be in the field of view of the imaging device 104, such as by reflecting the subject area or a portion of the subject area using one or more reflective surfaces, to be in the field of view of the imaging device 104.
  • the tool 100 defines one or more subject areas.
  • the imaging device 104 captures image data of objects or contents that are in the subject area.
  • the subject area of the tool 100 is a space that is directed to be in the field of view of the imaging device 104 to capture image data representative of the subject area.
  • the subject area, or a portion thereof, is directed to be in the field of view of the imaging device 104, such that when the imaging device 104 captures image data of its field of view, the imaging device 104 captures image data of the subject area of the portion thereof.
  • the tool 100 comprises a reflector assembly 120 that reflects, such as with one or more reflective surfaces or reflectors (e.g.
  • the subject area or a portion of the subject area to direct the subject area of the portion of the subject area to be in the field of view of the imaging device 104, such that when the imaging device 104 captures image data of its field of view, the imaging device 104 captures image data of the subject area or the portion of the subject area.
  • Figure 11 is a cross-sectional view of a reflector assembly 120 of the inspection tool 100 with a portion of the bellows 62 proximate to the reflectors 122 and 124 removed for clarity.
  • the location of the subject area of the tool 100 may be a function of, in part, the position of the imaging device 104, the position of the reflector assembly 120, and the configuration of the reflective surfaces or reflectors (e.g. mirrors) of the reflector assembly 120.
  • the imaging device 104 is in general axial alignment with the reflector assembly 120, with the reflectors 122 and 124 of the reflector assembly angled at approximately 45 degrees relative to the axis A.
  • a subject area 222 with respect to the reflector 122 and the imaging device 104 is the space that is radially inward of the reflector 122 with respect to axis A and that is reflected to be in the field of view of the imaging device 120
  • the subject area 224 with respect to reflector 124 and the imaging device 104 is the space that is radially outward of the reflector 124 with respect to axis A and that is reflected to be in the field of view of the imaging device 120.
  • the location of the subject area may change if the position of the imaging device 104, the position of the reflector assembly 120, or the configuration of the reflectors (e.g. mirrors) of the reflector assembly 120 is changed.
  • the subject area 222 or 224 (e.g. their location) is changed, as a different subject area 222 or 224 will be directed to be in the field of view of the imaging device 104.
  • the apparatus comprises a lens 106 interposed between the imaging device 104 and the subject area of the tool 100.
  • the imaging device 104 is directed towards a lens 106, and views through a lens 106 in the illustrated embodiment.
  • the lens 106 is a telecentric lens in some constructions, which is operable to provide magnification that is not dependent on distance from the imaging device 104 or position within the imaging device's field of view such that perspective error is avoided. In other embodiments, other types of lenses may be employed.
  • the tool 100 comprises a lighting assembly to illuminate the subject area.
  • a lighting assembly to illuminate the subject area.
  • forward of the lens 106 in a direction away from the imaging device 104 is the lighting assembly 108.
  • the lighting assembly 108 is operable to provide illumination to the second end of the inspection tool 100, and particularly to the bellows 62, which is located at the second end or distal end, for inspection.
  • Part or all of the lighting assembly 108 may be positioned within a housing or shroud 116.
  • the lighting assembly 108 includes a reflector 110 and at least one light source 112 (e.g., a collimated light source, bulb(s), light emitting diodes, etc.) operable to emit visible light, or other types of electromagnetic radiation in other embodiments.
  • the light source 112 is configured to direct illumination towards the reflector 110, and the reflector 110 is configured to reflect the illumination towards the subject area. As illustrated in Figure 3, the light source 112 is oriented to emit light radially inward relative to the axis A, such as toward the axis A.
  • the reflector 110 includes a reflective surface 110A arranged to receive light emitted from the light source 112 and to reflect the light towards the second end of the inspection tool 100.
  • the reflective surface 11 OA is oriented at an angle of 45 degrees with respect to the axis A.
  • the reflector 110 and the light source 112 may be positioned with other orientations with respect to the axis A to reflect the light (e.g. in an axial direction) toward the subject area of the inspection tool 100.
  • the reflector 110 has the shape of a flat plate, as depicted in Figure 3.
  • the reflective surface 110A may form one flat side of the flat plate forming the reflector 110.
  • opposite the reflective surface 110A is a non- reflective surface HOB, and may be generally directed towards or generally faces towards the imaging device 104.
  • the non-reflective surface 110B is arranged at the angle 3 ⁇ 4 of 45 degrees with respect to the axis A, although other orientations with respect to the axis A are possible.
  • the reflector 110, the reflective surface 110A, or the non-reflective surface HOB have a non-flat shape, such as a curved shape, waved shape, or an irregular shape.
  • the reflector 110 is reflective from the side of the reflective surface 110A, the reflector 110 does not obstruct the view of the imaging device 104 from the side of the non- reflective surface HOB (e.g., the reflector 110 may be substantially transparent from the side of the non-reflective surface HOB).
  • the reflector 110 allows visibility through both surfaces 110A, HOB.
  • the reflector assembly 120 may reflect the subject area or a portion of the subject area through the reflector 110 to be in the field of view of the imaging device 104.
  • the illumination directed by the light source 112 towards the reflector 110 is reflected by the reflector 110 towards the subject area.
  • the illumination reflected by the reflector 110 towards the subject area is directed to the element, and is reflected off the element.
  • the illumination reflected off the element is reflected by the reflector assembly 120 to be in the field of view of the imaging device 104.
  • the reflector 110 of the lighting assembly 108 is configured such that the illumination reflected from an element in the subject area or a portion of the element may be directed to be in the field of view of the imaging device 104.
  • the illumination reflected from the subject area or a portion of the subject area may pass through the reflector 110 to be in the field of view of the imaging device 104.
  • the tool 100 comprises a reflector assembly 120.
  • the reflector assembly 120 comprises at least one of a first reflector 122 and a second reflector 124.
  • the reflector assembly 120 comprises the first reflector 122, the second reflector 124, or both the first reflector 122 and the second reflector 124.
  • the first reflector 122 has a reflective surface that is oriented at a first angle and positioned relative to the subject area to reflect a first portion of the subject area.
  • the first reflector 122 reflects a first portion of the subject area that is representative of a radially inward view of a first portion of the exterior surface of the bellows to be in the field of view of the imaging device 104.
  • the second reflector 124 has a reflective surface and is oriented at a second angle and positioned relative to the subject area to reflect a second portion of the subject area.
  • the second reflector 124 reflects a second portion of the subject area that is representative of a radially outward view of a first portion of the interior surface of the bellows to be in the field of view of the imaging device 104.
  • the first reflector 122 defines a central axis (e.g. a first central axis), and the second reflector 124 defines a central axis (e.g. a second central axis).
  • the first reflector 122 and the second reflector 124 are configured, positioned, and oriented such the central axis of the first reflector 122 and the second reflector 124 are substantially parallel or substantially coincident.
  • the first reflector 122 and the second reflector 124 reflect the subject area or a portion of the subject area to the field of view of one imaging device or the same imaging device. This may reduce the amount of components (e.g. the number of imaging devices), related connectors (e.g. electrical connectors, fasteners, etc.), and the number of components of the tool 100.
  • the tool 100 may comprise one imaging device 104 that captures image data based on reflections from all mirrors, reflectors, or reflecting surfaces of the reflector assembly 120. In other embodiments, there may be one imaging device corresponding to each of the mirrors, reflectors, or reflecting surfaces of the reflector assembly 120 to capture image data from the reflection of that particular mirror, reflector, or reflecting surface.
  • the reflector assembly 120 comprises the first reflector 122 and the second reflector 124
  • the first reflector 122 and the second reflector 124 are configured, positioned, and oriented to define an opening therebetween to receive the element to be inspected.
  • the first reflector 122 and the second reflector 124 are configured, positioned, and oriented to define an opening therebetween to receive the element 62 as depicted in Figure 15.
  • the first reflector 122 and the second reflector 124 may be relatively positioned such that they reflect a common portion of an element in the subject area of the tool 100.
  • the first reflector 122 and the second reflector 124 may be relatively positioned such that, when a bellows 62 is received in the subject area, the first reflector 122 and the second reflector 124 reflect the same circumferential segment of the bellows 62, with the first reflector 122 reflecting an outer surface of that circumferential segment of the bellows 62, and with the second reflector 124 reflecting an inner surface of that circumferential segment of the bellows 62.
  • the first reflector 122 and the second reflector 124 reflect the outer surface and the inner surface of the same circumferential segment of the bellows 62 to be in the field of view of the imaging device 104, such that the imaging device 104 may capture image data corresponding to the outer surface and the inner surface of the same circumferential segment of the bellows 62. Accordingly, conducting analysis of such image data may be representative of conducting analysis of the particular circumferential segment of the bellows 62.
  • the reflector assembly 120 comprises the first reflector 122 and the second reflector 124.
  • the first reflector 122 and the second reflector 124 may be configured, positioned, and oriented such that, when an element such as a bellows 62 is in the subject area, the first reflector 122 and second reflector 124 reflect portions of the subject area that is representative of the radially inward and radially outward views of a common portion of the element.
  • the image data captured by the imaging device 104 is representative of the radially inward and radially outward views of a common portion of the element.
  • the interior or exterior of the element may be illuminated and image data captured by the imaging device 104 representative of the radially inward and radially outward views of the common portion of the element may be processed to determine if there is light leakage or light illuminating through the element, which may be indicative of damage to the element (e.g. a hole or a crack extending through the element, or thinness of material at a certain portion of the element).
  • image data captured by the imaging device 104 representative of the radially inward and radially outward views of the common portion of the element may be processed to determine if there is light leakage or light illuminating through the element, which may be indicative of damage to the element (e.g. a hole or a crack extending through the element, or thinness of material at a certain portion of the element).
  • the reflector assembly 120 comprises the first reflector 122 and the second reflector 124.
  • the first reflector 122 and the second reflector 124 may be configured, positioned, and oriented such that, when an element such as a bellows 62 is in the subject area, the first reflector 122 and second reflector 124 reflect portions of the subject area that is representative of the radially inward and radially outward views of different portion of the element.
  • the image data captured by the imaging device 104 is representative of the radially inward and radially outward views of different portions of the element.
  • the reflector assembly 120 comprises the first reflector 122 and the second reflector 124.
  • the first reflector 122 and the second reflector 124 may be configured, positioned, and oriented such that, when a first element (e.g. a bellows 62) and a second element (e.g. a lattice tube 65) is in the subject area, the first reflector 122 and second reflector 124 reflect portions of the subject area that is representative of a view of the first element and a view of the second element.
  • the image data captured by the imaging device 104 is representative of a view of the first element and a view of the second element.
  • the view of the first element may be a radially inward view or a radially outward view
  • the view of the second element is the other of the radially inward view or the radially outward view.
  • the first reflector 122 and the second reflector 124 may be positioned offset from each other.
  • the first reflector 122 and the second reflector 124 are positioned axially offset from each other.
  • the first reflector 122 may be positioned axially distal relative to the second reflector 124, or the second reflector 124 may be positioned axially distal relative to the first reflector 122.
  • the image data captured by the imaging device 104 in such embodiments may be representative of two different portions an element (e.g. a first portion of a bellows 62 and a second portion of the bellows 62 that is axially offset from the first portion), or may be representative of two different elements (e.g. a bellows 62 and a lattice tube 65). Accordingly, the tool 100 may inspect two elements at the same time, without the need for a first tool to inspect a first element and a second tool to inspect a second element.
  • an element e.g. a first portion of a bellows 62 and a second portion of the bellows 62 that is axially offset from the first portion
  • two different elements e.g. a bellows 62 and a lattice tube 65
  • the second reflector 124 may reflect a portion of an interior surface of a bellows 62, and when the tool 100 is extended into the fuel channel, the second reflector 124 may reflect a portion of an interior surface of a lattice tube 65, and the first reflector 122 may reflect a portion of an exterior surface of the bellows 62.
  • the second reflector 124 may be axially distal relative to the first reflector 122.
  • the second reflector 124 may be mechanically connected to a linear drive assembly of the reflector assembly 120 to axially move the second reflector 124.
  • the first reflector 122 and the second reflector 124 are generally aligned, and in a second configuration, the second reflector 124 may be moved distally away from the first reflector 122.
  • the second reflector 124 may be extendible or retractable using the linear drive assembly of the reflector assembly 120.
  • a reflector assembly 120 forward of the lighting assembly 108 in a direction away from the imaging device 104 and the lens 106 is a reflector assembly 120.
  • the reflector assembly 120 as depicted in Figure 3 is configured to radially envelop the bellows 62.
  • the reflector assembly 120 has the first reflector 122
  • the reflector assembly 120 radially envelops the bellows 62 from a radially inward direction (e.g. envelops from the outside).
  • the reflector assembly 120 has the second reflector 124
  • the reflector assembly 120 radially envelops the bellows 62 from a radially outward direction (i.e. received in the bellows 62).
  • the reflector assembly 120 has the first reflector 122 and the second reflector 124
  • the reflector assembly 120 radially envelops the bellows 62 from a radially inward direction and a radially outward direction.
  • the illustrated reflector assembly 120 includes a first or outer reflector 122 provided in an annular ring shape and having a reflective surface oriented at an angle a 2 of 45 degrees with respect to the axis A, although other angular positions with respect to axis A are possible.
  • the reflective surface of the outer reflector 122 is positioned in a field of view of the imaging device 104 such that image data captured by the imaging device 104 includes a portion provided as a radially inward view from outside the bellows 62.
  • the reflective surface of the first reflector 122 is positioned in the field of view of the imaging device 104 such that the image data captured by the imaging device 104 is representative of a radially inward view of an outside surface of the bellows 62.
  • the first reflector 122 reflects the subject area or a portion of the subject area to be in the field of view of the imaging device 104.
  • the reflective surface of the outer reflector 122 is conical (i.e., shaped as an interior portion of a cone that, in some embodiments, is truncated, such that the cone does not include the vertex).
  • a second or inner reflector 124 of the reflector assembly 120 is provided in a cone shape, and, as depicted in Figure 3 and Figure 4, maybe positioned closer to the axis A than the outer reflector 122.
  • the inner reflector 124 has a reflective surface oriented at an angle a 3 of 45 degrees with respect to the axis A, although other angular positions with respect to axis A are possible.
  • the reflective surface of the inner reflector 124 is positioned in the field of view of the imaging device 104 such that the image data captured by the imaging device 104 includes a portion provided as a radially outward view from inside the bellows 62.
  • the reflective surface of the second reflector 124 is positioned in the field of view of the imaging device 104 such that the image data captured by the imaging device 104 is representative of a radially outward view of an inside surface of the bellows 62.
  • the second reflector 124 reflects the subject area or a portion of the subject area to be in the field of view of the imaging device 104.
  • the reflective surface of the inner reflector 124 is conical or has a shape corresponding to a surface of a cone (i.e., shaped as an exterior portion of cone that, in some embodiments, is truncated, such that the cone does not include the vertex).
  • the angles a 2 , a 3 of the two reflectors 122 and 124 are equal in magnitude (i.e. 45 degrees) the illustrated embodiment, the reflective surfaces of the two reflectors 122, 124 are perpendicular to one another. In some embodiments, the angles a 2 or a 3 may be equal or different in magnitude, and the reflective surfaces of the two reflectors 122, 124 may define an angle therebetween that is not 90 degrees. [0057] As depicted in Figure 3 and Figure 4, the first reflector 122 and the second reflector 124 is angled with respect to axis A.
  • the first reflector 122 and the second reflector 124 define an axial component and a radial component.
  • the axial component of the reflector is the axial length of the reflector that is generally parallel to the axis A (i.e. the length of the reflector transposed generally parallel to the axis A), and the radial component of the reflector is the radial length of the reflector that is generally perpendicular to the axis A (i.e. the length of the reflector transposed generally parallel to an axis that is perpendicular to the axis A).
  • the axial component and the radial component of the reflectors 122 and 124 are generally similar, such that the size and shape, orientation, and configuration of the reflection of the subject area by the reflectors 122 and 124 are generally similar. In some embodiments, the axial component and the radial component of the reflectors 122 and 124 are different.
  • the reflector assembly 120 of the inspection tool 100 includes one or the other of the first and second reflectors 122, 124.
  • the inspection tool 100 is reconfigurable for different inspection tasks, e.g., a first configuration having both the first and second reflectors 122, 124, a second configuration having just the first reflector 122, and a third configuration having just the second reflector 124.
  • the image reflected from only one of the reflectors 122, 124 is used in an inspection method, though both reflectors 122, 124 are provided.
  • the second or inner reflector 124 may be mounted or may be exclusively used for inspection.
  • only the first or outer reflector 122 may be mounted or may be exclusively used for inspection.
  • the profiles of the first reflector 122 or the second reflector 124 may be configured to reflect a portion of the element in the subject area.
  • At least a portion of the reflective surface of the first reflector 122 or the second reflector 124 has a flat profile.
  • the first reflector 122 or the second reflector 124 may reflect a flat section 1202 of an element in the subject area 222 or 224.
  • the reflectors 122 or 124 may reflect a radially inward view of a flat section 1202 of the exterior surface of the element or reflecting a radially outward view of a flat section 1202 of the interior surface of the element to be in the field of view of the imaging device 104.
  • the first reflector 122 or the second reflector 124 has a flat profile.
  • the first reflector 122 or the second reflector 124 has a flat profile, but may have an incomplete or segmented circular shape (e.g. an arcuate shape, a segmented conical shape, e.g. a shape corresponding to a portion of a surface of a cone).
  • an incomplete or segmented circular shape e.g. an arcuate shape, a segmented conical shape, e.g. a shape corresponding to a portion of a surface of a cone.
  • At least a portion of the reflective surface of the first reflector 122 or the second reflector 124 has a concave profile.
  • the first reflector 122 or the second reflector 124 may reflect a vertical section 1302 of an element in the subject area 222 or 224.
  • the reflectors 122 or 124 may reflect a radially inward view of a vertical section 1302 of the exterior surface of the element or reflecting a radially outward view of a vertical section 1302 of the interior surface of the element to be in the field of view of the imaging device 104.
  • the surface convolutions of a bellows 62 may be reflected by the reflectors 122 or 124 to be in the field of view of the imaging device 104.
  • At least a portion of the reflective surface of the first reflector 122 or the second reflector 124 has a convex profile to reflect a vertical section 1302 of an element in the subject area 222 or 224.
  • the first reflector 122 or the second reflector 124 may have a generally circular shape, such that the first reflector 122 or the second reflector 124 reflect a radially inward circumferential view (e.g. 360 degrees) of a first portion of the exterior surface of the element to be in the field of view of the imaging device 104, or a radially outward
  • the reflective surface of the first reflector 122 has an annular ring shape
  • the reflective surface of the second reflector 124 has a conical shape.
  • the image captured by the imaging device 104 may be representative of the entire circumference of the element.
  • the first reflector 122 or the second reflector 124 may have an incomplete or segmented circular shape (e.g. a shape corresponding to a portion of a surface of a circular shape), such that the first reflector 122 or the second reflector 124 reflect a radially inward non-circumferential (e.g. a quarter circumference, a half circumference, less than an entire circumference, etc.) view of a first portion of the exterior surface of the element to be in the field of view of the imaging device 104, or a radially outward non-circumferential (e.g.
  • the image captured by the imaging device 104 may be representative of a portion of the circumference of the element.
  • the reflective surface of the first reflector 122 has an arcuate shape.
  • the arcuate shape reflector 122 may reflect a portion of the circumference of the exterior surface of the element to be in the field of view of the imaging device 104.
  • the first reflector 122 having an arcuate shape may, for example, be representative of one quarter of an annular ring, or one half of an annular ring, and the like.
  • the reflective surface of the second reflector 124 has a segmented conical shape, or a shape corresponding to a portion of a surface of a cone.
  • the reflector 124 having a shape corresponding to a portion of a surface of a cone may reflect a portion of the circumference of the interior surface of the element to be in the field of view of the imaging device 104.
  • the second reflector 124 having the shape corresponding to a portion of a surface of a cone may, for example, be representative of one quarter of a conical shape, or one half of a conical shape, and the like.
  • first reflector 122 or the second reflector 124 may have an incomplete or segmented circular shape (e.g. an arcuate shape, or a a shape
  • the tool 100 may comprise a drive mechanism for rotating the first reflector 122 or the second reflector 124 about an axis.
  • the first reflector 122 or the second reflector 124 may be rotated about axis A.
  • the imaging device 104 may capture image data from the first reflector 122 or the second reflector 124 being rotated by the drive mechanism representative of a portion of the circumference of the interior or exterior surface of the element.
  • the captured image data may be compiled by a controller 500, and the compiled image data may be representative of the circumference of the interior surface of the element.
  • the tool 100 having the first reflector 122 or the second reflector 124 with an incomplete or segmented circular shape may allow for simpler inspection, as features of the reactor may pass by the reflector assembly 120 as the reflector assembly 120 is inserted into or extending into the reactor, such as structural components, routing cables/mechanisms, etc.
  • the tool 100 comprises an end frame 130.
  • the end frame 130 may be secured, mounted, fastened, or otherwise connected to the housing 116 of the lighting assembly 108.
  • the end frame 130 may be secured, mounted, fastened, or otherwise connected (e.g., with a plurality of fasteners) to an axial end of the housing 116 of the lighting assembly 108.
  • the end frame 130 is a separate component that is connected to the housing 116 of the lighting assembly 108.
  • the end frame 130 is integrally formed with the housing 116 or part of the housing 116.
  • the structural supports or support components of the reflector assembly 120 may be connected to the end frame 130, such that when the end frame 130 is connected to the reflector assembly 120, the reflector assembly 120 and the end frame 130 are connected together.
  • the outer reflector 122 is supported at the distal end of an outer shell member 128.
  • the outer shell member 128 is configured to position the first reflector to be around the element (e.g. the bellows 62) when the element is in the subject area of the tool 100 when the tool 100 is used to inspect the element.
  • the outer shell member 128 extends around the outside of the bellows 62, as depicted in Figure 3 and Figure 4.
  • a proximal end of the outer shell member 128 may be secured to the end frame 130 reflector assembly.
  • the tool 100 may comprise one or more proximity sensors 150.
  • the one or more proximity sensors 150 may be mounted on a distal end of the outer shell member 128.
  • the tool 100 may comprise four proximity sensor 150, generally evenly distributed around the outer shell member 128.
  • the proximity sensor 150 may be in data communication with a controller 500.
  • the proximity sensor 150 may determine the distance between the tool 100 and another object (e.g. a bellows 62).
  • the proximity sensor 150 may send a signal to the controller 500 representative of the distance between the tool 100 and the other object.
  • the controller 500 may determine the distance between the tool 100 and the other object. If the distance between the tool 100 and the other object is smaller than a threshold distance, then the controller 500 may determine that the tool 100 and the other object are too close together, and may stop movement of the tool 100. For example, during inspection of the bellows 62, as the reflector assembly 120 is moving over the bellows 62, if the bellows 62 is angled or not properly aligned, then there may be impact between the tool 100 and the bellows 62.
  • the tool 100 may comprise one or more proximity sensors 150 (e.g. three or more sensors) on the front or distal portion of the tool 100 to detect the distance between the tool 100 and convolutions of the bellows 62.
  • the proximity sensor 150 may reduce or prevent collision between the tool 100 and elements in the fuel channel.
  • the controller 500 processing the signals from the proximity sensor 150, may determine the alignment of the tool 100 when inside the fuel channel, and based on such a determination, may correct the position of the tool 100 to ensure alignment of the tool 100 while the tool 100 is inside the fuel channel.
  • the tool 100 may comprise ultrasonic sensors in data communication with the controller 500. Based on the signals from the ultrasonic sensors, the controller 500 may align the tool 100 relative to the nuclear fuel channel.
  • the tool 100 comprises a support assembly 132 to support the inner reflector 124.
  • the support assembly 132 is configured to position the inner reflector 124 to be inside the element (e.g. bellows 62) when the element is in the subject area of the tool 100 when the tool 100 is used to inspect the element.
  • the inner reflector 124 of the illustrated embodiment is supported in cantilever fashion by a support assembly 132, which includes a central rod 136 extending along the axis A from the end frame 130. Also with reference to the illustrated embodiment, a proximal end of the central rod 136 is coupled to the end frame 130 with a plurality of radial supports 140, each of which extends from an outer rim 142 to an inner block 144.
  • the central rod 136 may be provided with additional support, such as the plurality of struts 146 extending from the inner block 144 to the central rod 136 as best shown in Figures 3, 4, 6 and 7.
  • the struts 146 extend radially between the central rod 136 to the outer rim 142, or are positioned to span radially across the outer and inner reflectors 122, 124. The position of the struts 146 may create interruptions or impede the reflection of the subject area or a portion of the subject area by the first reflector 122 or the second reflector 124 to be in the field of view of the imaging device 104.
  • the struts 146 may be provided with a thickness so as to reduce the obstruction of the outer and inner reflectors 122, 124.
  • the struts 146 may have radially outer edges that terminate radially inward of the inner reflector 124 so as to not obstruct or impede the reflection of the subject area or a portion of the subject area by the first reflector 122 or the second reflector 124 to be in the field of view of the imaging device 104.
  • the illustrated radial supports 140 which span from the inner block
  • the 144 to the outer rim 142 may be the only components spanning radially across the outer and inner reflectors 122, 124.
  • all or a portion of the support assembly 132 may be constructed of a substantially transparent material, such as glass, clear acrylic, or other plastics.
  • the radial supports 140, the outer rim 142, and/or the inner block 144 may be replaced with a solid plate 145 of substantially transparent material, such as glass, clear acrylic, or other plastics as shown in the alternate support assembly 132' of Figure 10.
  • the plate 145 as depicted in Figure 10 may also be integrally formed as a single piece with the end frame 130 to simplify the assembly in some embodiments.
  • the illustrated struts 146 may be replaced by a threaded clamp connection 147 through the plate 145 for securing the central rod 136 to the plate
  • FIG. 8 illustrates an example of image data captured by the imaging device 104. Although the bellows surfaces are visible in Figure 8, the bellows is not labeled in Figure 8. Instead, the reflectors 122, 124 providing the views of the bellows are labeled.
  • the imaging device 104 is provided with a 360-degree view of both the outer and inner surfaces of the bellows 62 via the outer and inner reflectors 122, 124, respectively.
  • the reflectors 122, 124 transpose the radially inward and radially outward views of the bellows 62 to axially viewable rings.
  • the inspection tool 100 may be moved a single time axially through the bellows 62 to collect image data of the entirety of the inner and outer surfaces of the bellows 62.
  • the image data may be viewed in real time or near real time, or collected on electronic storage medium for review.
  • the review may be conducted manually (by human inspection of the image data) and/or automatically by surface flaw detection software, which may include algorithms operable to detect flaws.
  • the inspection tool 100 may be automatically moved from one lattice site to the next, performing an axial scan of each bellows 62 once aligned with the lattice site.
  • Movement of the inspection tool 100 may be performed by moving an entire work table that supports the inspection tool 100 (e.g., horizontal and/or vertical movement of the work table relative to a platform, vertical movement of the platform carrying the work table, and the like).
  • one or more mechanisms or drives (“motion devices", not shown) may be provided between the inspection tool 100 and the work table to enable horizontal and/or vertical movement of the inspection tool 100 relative to the work table.
  • a controller 500 may operate an inspection system, including the inspection tool 100 and coupled motion devices to automatically or semi-automatically perform inspection of a plurality of bellows in situ in the nuclear reactor, which reduces the amount of worker exposure time and the total elapsed time required for inspection. Fine positioning of the inspection tool 100 may be achieved by measuring the center of the bellows circle using the imaging device 104 and commanding the work table to move accordingly.
  • the tool 100 is mounted to a heavy work table, and the heavy work table is mounted to a platform.
  • the platform may be able to move in the y direction, and the work table may be able to move in the x direction and the y direction. Accordingly, in such a configuration, the tool 100 is movable in the x direction and the y direction.
  • the tool comprises a linear drive assembly 300.
  • the linear drive assembly 300 may be an integral component of the tool 100, or may be a separate component of the tool 100 that is connected to the tool, such as with fasteners, welding, and the like.
  • the linear drive assembly 300 comprises one or more rails 302, a linear actuator (e.g.
  • the linear drive assembly 300 may re-position the tool 100 or a component of the tool (e.g. reflector assembly 120) from a first axial position to a second axial position.
  • the tool 100 may be connected to the linear drive assembly 300 using one or more brackets 310 that can be fastened to the tool 100 and move along the rails 302.
  • the heavy work table supports the tool 100
  • the heavy work table may support other tools, such as a vision alignment system and a shielding or cover removal tool.
  • the vision alignment system may be mounted to the heavy work table.
  • the vision alignment system may comprise an imaging device to determine a center position of a component of the nuclear reactor, such as a nuclear fuel channel.
  • the imaging device of the vision alignment system may be in data communication with the controller 500.
  • the imaging device may capture image data of features outside the fuel channel (e.g. a round shape), or the imaging device may capture image data of lattice sleeve assemblies.
  • Lattice sleeve assemblies may be mushroom-shaped and may be put in a grid of circular holes like a pegboard, and allow a complete modular lattice sleeve assembly to cover all of the face of the reactor during refurbishment.
  • the controller 500 may determine a center of the component of the nuclear reactor. Based on this determination, the controller 500 may determine an offset (e.g. a distance in the x or y direction to move the tool 100 to align the tool 100 with the center of the fuel channel). Based on the offset, the controller 500 may position the platform or heavy work table to position the tool 100 to be aligned with the center of the component of the nuclear reactor.
  • an offset e.g. a distance in the x or y direction to move the tool 100 to align the tool 100 with the center of the fuel channel.
  • the lattice sleeve assembly When the lattice sleeve assembly is inserted into the fuel channel, the lattice sleeve assembly may attenuate radiation that may emit from the channel or tube sheet face adjacent the channel.
  • the lattice sleeve assembly Once the lattice sleeve assembly is installed in a lattice site, the lattice sleeve assembly may define a portal or aperture through which tooling, such as tool 100, and reactor parts may be passed into and out of the reactor during re-tubing operations.
  • the lattice sleeve assembly may plug the lattice site and form a seal to maintain a vacuum within the calandria, or provide a tooling interface between re-tubing tools and
  • the lattice sleeve assembly has three major components: a sleeve, a shield plug, and a flange. These components of the lattice sleeve assembly may be made from steel with a smooth plated surface finish to inhibit corrosion and promote easy decontamination, although other materials are possible.
  • the outer diameter of the sleeve provides a clearance fit with the inner diameter of the lattice tube, and/or the inner diameter of the sleeve is the same as that of the inner diameter of the lattice tube inboard of the fully-inserted lattice sleeve assembly or of any component (e.g., split bearing ring) similarly located. Once installed, the sleeve protects the aperture in the end shield and the lattice tube from contact and possible damage by tooling and reactor parts moving through the sleeve and lattice tube.
  • the shield plug may be integrally formed with the sleeve or separate from the sleeve.
  • the shield plug may be removable from the sleeve to access the interior of the fuel channel.
  • the flange of the lattice sleeve assembly provides another layer of radiation protection by defining (with the shield plugs and the ends of the sleeves of the lattice sleeve assembly) a modular wall across the end shield.
  • each of the flanges may have a shape matching the adjoining edges of adjacent flanges of the fuel channel.
  • the shielding or cover removal tool may be mounted to the heavy work table.
  • the removal tool may be oriented relative to a first nuclear fuel channel to remove the lattice sleeve assembly, a portion of the lattice sleeve assembly, or a cover of the nuclear fuel channel, such that the inspection tool 100 may inspect an element inside the channel. After the inspection is completed, the removal tool may put back the removed lattice sleeve assembly or cover of the nuclear fuel channel. Then, the heavy work table may be oriented relative to a second nuclear fuel channel to inspect the second nuclear fuel channel.
  • the platform, heavy work table, and the tools supported by the heavy work table may be in data communication with the controller 500 to operate the platform, heavy work table, and the tools mounted on the heavy work table, such as the tool 100 and the linear drive assembly 300, automatically or semi -automatically.
  • An operator controlling the controller 500 may operate the platform, heavy work table, and the tools mounted on the heavy work table manually to control the position and configuration of the tools.
  • the image data captured by the imaging device 104 may not reflect the shape of the bellows 62. However, all of the relevant data is provided.
  • processing of the data from the imaging device 104 may include transposing the data to a more physically accurate representation of each of the inner and outer bellows surfaces.
  • Figure 9 illustrates a representation of one of the entire bellows surfaces (either inner or outer) from the image data captured by the imaging device 104 after being transposed or "unwrapped” from ring shape so that the bellows rings all extend linearly along parallel lines as if the entire bellows 62 was split open along a line parallel to the axis A and flattened for viewing as a sheet.
  • the inspection tool 100 may further be used to perform a method of dimensional inspection in addition to or in lieu of flaw detection.
  • an axial dimension may be measured from a first reference feature (e.g. a cut location) to a second reference feature on the bellows 62 using measurement software to perform analysis on the image data captured by the imaging device 104.
  • the tool 100 may be used to inspect at least one of an interior surface and an exterior surface of an element (e.g. bellows 62) of a fuel channel assembly within a nuclear reactor.
  • the tool 100 and the element may be cooperatively configured or positioned relative to each other such that the element is in the subject area of the tool 100.
  • the interior surface or the exterior surface of the element may be illuminated by the lighting assembly 108.
  • the reflector assembly 120 reflects at least one of: (1) a radially inward view of a first portion of the exterior surface of the element to be in a field of view of the imaging device 104; and (2) a radially outward view of a first portion of the interior surface of the element to be in the field of view of the imaging device 104.
  • the imaging device 104 captures image data of the field of view of the imaging device 104.
  • the first reflector 122 of the reflector assembly 120 has a reflective surface with an annular ring shape and oriented at a first angle and positioned relative to the subject area to reflect a first portion of the subject area
  • the first reflector 122 reflects a radially inward circumferential view of the first portion of the exterior surface of the element to be in the field of view of the imaging device 104.
  • the second reflector 124 of the reflector assembly 120 has a conical reflective surface and oriented at a second angle and positioned relative to the subject area to reflect a second portion of the subject area
  • the second reflector 124 reflects a radially outward circumferential view of the first portion of the interior surface of the element to be in the field of view of the imaging device 104.
  • the reflector assembly 120 comprises the first reflector 122 and the second reflector 124
  • the reflector assembly 120 reflects the radially inward circumferential view of the first portion of the exterior surface of the element and the radially outward circumferential view of the first portion of the interior surface of the element to be in the field of view of the imaging device.
  • the first reflector 122 or the second reflector 124 may be incomplete or segmented circular shape, such that the first reflector 122 or the second reflector 124 reflect a radially inward non-circumferential (e.g. a quarter circumference, a half
  • the image captured by the imaging device 104 may be representative of a portion of the circumference of the element.
  • the first reflector 122 or the second reflector 124 having the incomplete or segmented circular shape may be rotated about an axis.
  • the imaging device 104 may capture image data from the first reflector 122 or the second reflector 124 being rotated by the drive mechanism representative of a portion of the circumference of the interior or exterior surface of the element.
  • the captured image data may be compiled by a controller 500, and the compiled image data may be representative of the circumference of the interior surface of the element.
  • the first reflector 122 and the second reflector 124 may be positioned to reflect a common position of the element (e.g. a common circumferential segment of the element), such that the reflector assembly 120 reflects the radially inward view of the first portion of the exterior surface of the element and the radially outward view of the first portion of the interior surface of the element at a common position of the element.
  • a common position of the element e.g. a common circumferential segment of the element
  • the first reflector 122 and the second reflector 124 may be positioned to reflect different positions of the element, such that the reflector assembly 120 reflects the radially inward view of the first portion of the exterior surface of the element and the radially outward view of the first portion of the interior surface of the element at different positions of the element.
  • the first reflector 122 and the second reflector 124 may be positioned to reflect different elements, such that the reflector assembly 120 reflects a view of the first element and a view of a second element to be in the field of view of the imaging device.
  • the view of the first element is either a radially inward view or a radially outward view
  • the view of the second element is the other of the radially inward view or the radially outward view.
  • the tool 100 may reflect the first portion of the exterior surface or interior surface of the element, the tool 100 may reflect at least one of: (1) a radially inward view of a second portion of the exterior surface of the element to be in the field of view of the imaging device 104, and (2) a radially outward view of a second portion of the interior surface of the element to be in the field of view of the imaging device 104.
  • the imaging device 104 may capture image data of the field of view of the imaging device 104.
  • the tool 100, or a component of the tool 100, such as the reflector assembly 120 may be re-positioned from a first position to a second position to reflect the second portion of the exterior surface or interior surface of the element.
  • the imaging device 104 may continuously capture image data. In some embodiments, during the re-positioning of the tool 100, or a component of the tool 100, such as the reflector assembly 120, the imaging device 104 may capture image data at intervals.
  • the tool 100 may be initially positioned at the beginning or opening of the bellows 62 and capture image data at the beginning or opening of the bellows 62. Then, the tool 100 may be re-positioned to the end of the bellows 62. During the re-positioning of the tool 100, the imaging device 104 may capture image data continuously or at intervals. Accordingly, the tool 100 may be moved axially a single time along the bellows 62 and capture image data of the entire exterior and interior surfaces of the bellows 62.
  • the reflector assembly 120 may reflect a radially inward view of a flat section 1202 of the exterior surface of the element or reflect a radially outward view of a flat section 1202 of the interior surface of the element to be in the field of view of the imaging device 104. In such embodiments, at least a portion of the reflective surface of the first reflector 122 or the second reflector 124 may have a flat profile. [0098] In some embodiments, the reflector assembly 120 may reflect a radially inward view of a vertical section 1302 of the exterior surface of the element or reflect a radially outward view of a vertical section 1302 of the interior surface of the element to be in the field of view of the imaging device 104. In such embodiments, at least a portion of the reflective surface of the first reflector 122 or the second reflector 124 may have a concave profile or a convex profile.
  • the captured image data by the imaging device 104 may be stored on an electronic storage medium, or may be displayed in real time or near real time.
  • the image data may be transposed to represent a split and flattened element.
  • the captured image data may be analyzed or reviewed using flaw detection software.
  • the captured image data may be analyzed or reviewed using dimensional measurement software to determine a dimension from a first reference feature (e.g. a cut location) to a second reference feature, to determine an axial distance between the first reference feature to the second reference feature.
  • the tool 100 may be mounted to the heavy work table.
  • the heavy work table may be mounted to a platform.
  • the platform or heavy work table may be moved to orient the tool 100 to face the nuclear fuel channel.
  • the vision alignment system may capture image data of features outside the fuel channel (e.g. a round shape), or may capture image data of lattice sleeve assemblies, and based on this captured image data, the controller 500 may determine a center position of the nuclear fuel channel.
  • the controller 500 may move the platform or heavy work table to position the shielding or cover removal tool relative to the nuclear fuel channel to remove the lattice sleeve assembly, a portion of the lattice sleeve assembly, or a cover of the nuclear fuel channel.
  • the tool 100 may be used to capture image data of an interior surface or exterior surface of an element in the fuel channel, as described herein. The tool 100 may be positioned at a center position relative to the nuclear fuel channel based on the data captured by the vision alignment system.
  • the controller 500 may determine the alignment of the tool 100 relative to the nuclear fuel channel based on an image captured by the imaging device of the tool 100. For example, the imaging device of the tool 100 may capture an image corresponding to the bellows 62, which may be round. Based on this image, the controller 500 may determine the center position of the nuclear fuel channel. The controller 500, by controlling operation of the linear drive assembly 300, may accurately control movement of the tool 100 in the z direction into and out of the fuel channel.
  • the tool may be retracted from the nuclear fuel channel using the linear drive assembly 300.
  • the shielding or cover removal tool may put back the lattice sleeve assembly, the portion of the lattice sleeve assembly, or the cover of the nuclear fuel channel.
  • the controller 500 may move the platform or heavy work table as described herein to another nuclear fuel channel to inspect that fuel channel using the tool 100.
  • Figure 17 is a schematic of the controller 500 of an inspection system having the tool 100.
  • the controller 500 is configured to receive image data captured by the imaging device 104 of the tool 100 and process the image data.
  • the controller 500 may be configured to receive signals from the tool 100 (e.g. signals from proximity sensor 150) to align the tool 100.
  • the controller 500 may receive signals from other tools of the inspection system, such as the visual alignment system, to align the tool 100.
  • the controller 500 may send control commands to the platform, heavy work table, visual alignment system, shielding or cover removal tool, the tool 100 or the linear drive assembly 300 to position the tool 100, axially move the tool 100, or otherwise operate the inspection system.
  • the controller 500 is in data communication with the components of the inspection system, and generates control commands to control the configuration and operation of the components of the inspection system.
  • the controller 500 may automatically or semi-automatically control the configuration and operation of the components of the inspection system, which may include the tool 100.
  • an operator may manually control the configuration and operation of the components of the inspection system, which may include the tool 100, using the controller 500.
  • the controller 500 is a relay logic circuit.
  • controller 500 includes at least one processor, a data storage device (including volatile memory or non-volatile memory or other data storage elements or a combination thereof), and at least one communication interface.
  • the computing device components may be connected in various ways including directly coupled.
  • the computing device may be a server, network appliance, set-top box, embedded device, computer expansion module, personal computer, laptop, or computing devices capable of being configured to carry out the methods described herein.
  • the controller 500 may include a processor 502, an interface API 510, memory 504, an I/O interface 506, or a network interface 508.
  • the processor 502 may process the data received from the components of the inspection system, including the tool 100, or from other systems of the nuclear reactor.
  • each processor 502 is, for example, a microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), or any combination thereof.
  • DSP digital signal processing
  • FPGA field programmable gate array
  • PROM programmable read-only memory
  • memory 504 includes a suitable combination of computer memory that may be located either internally or externally such as, for example, random-access memory (RAM), read-only memory (ROM), compact disc read-only memory (CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM) or the like.
  • RAM random-access memory
  • ROM read-only memory
  • CDROM compact disc read-only memory
  • electro-optical memory magneto-optical memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically-erasable programmable read-only memory
  • FRAM Ferroelectric RAM
  • Each I/O interface 506 enables the processor 502 to interconnect with one or more input devices, such as a keyboard, mouse, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker.
  • the I/O interface 506
  • the network interface 508 enables the processor 502 to communicate with other components, to exchange data with other components, to access and connect to network resources, to serve applications, and perform other computing applications by connecting to a network (or multiple networks) capable of carrying data.
  • API 510 is configured to connect with a front end interface to provide interface services when required.
  • the inspection system comprises a front end interface to transmit processed data, and receive data from different interfaces.
  • the front end interface may reside on different types of devices, such as a computer, a personal digital assistant, a laptop, or a smart phone.
  • the front end interface provides different reporting services and graphical renderings of processed data for user devices.
  • Graphical renderings of processed data e.g. image data
  • image data captured by the imaging device 104 may be processed and reviewed to inspect a bellows 62 in the nuclear fuel channel.
  • the front end interface provides an interface to the controller 500 for user devices and third-party systems.
  • the front end interface may, for example, generate, assemble and transmit interface screens.
  • the front end interface may include a historical data page, which may display historical data captured by the tool 100 and processed by the controller 500.
  • the processor 502 may be operable to register and authenticate user and user devices (using a login, unique identifier, and password for example) prior to providing access to applications, network resources, and data.
  • the processor 502 may serve one user/customer or multiple users/customers.
  • each embodiment represents a single combination of inventive elements, all suitable combinations of the disclosed elements include the inventive subject matter. Thus if one embodiment comprises elements A, B, and C, and a second embodiment comprises elements B and D, then the inventive subject matter is also considered to include other remaining combinations of A, B, C, or D, even if not explicitly disclosed.
  • connection or “coupled to” may include both direct coupling (in which two elements that are coupled to each other contact each other) and indirect coupling (in which at least one additional element is located between the two elements).
  • the technical solution of embodiments may be in the form of a software product.
  • the software product may be stored in a non-volatile or non-transitory storage medium, which can be a compact disk read-only memory (CD-ROM), a USB flash disk, or a removable hard disk.
  • the software product includes a number of instructions that enable a computer device (personal computer, server, or network device) to execute the methods provided by the embodiments.
  • the embodiments described herein may be implemented by physical computer hardware, which may include computing devices, servers, receivers, transmitters, processors, memory, displays, or networks.
  • the embodiments described herein provide useful physical machines and particularly configured computer hardware arrangements.
  • the embodiments described herein are directed to electronic machines and methods implemented by electronic machines adapted for processing and transforming electromagnetic signals which represent various types of information.
  • the embodiments described herein pervasively and integrally relate to machines, and their uses; and the embodiments described herein have no meaning or practical applicability outside their use with computer hardware, machines, and various hardware components.
  • Such computer hardware limitations are clearly essential elements of the embodiments described herein, and they cannot be omitted or substituted for mental means without having a material effect on the operation and structure of the embodiments described herein.
  • the computer hardware is essential to implement the various embodiments described herein and is not merely used to perform steps expeditiously and in an efficient manner.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

L'invention concerne un appareil et un procédé d'inspection d'une surface intérieure et d'une surface extérieure d'un élément d'un ensemble canal de carburant à l'intérieur d'un réacteur nucléaire. Pour inspecter la surface de l'élément, l'appareil et l'élément sont relativement positionnés de telle sorte que l'élément se trouve dans une zone de sujet. Un ensemble réflecteur réfléchit la zone de sujet ou une partie de la zone de sujet de manière à ce qu'elle se trouve dans un champ de vision d'un dispositif d'imagerie, qui capture des données d'image de son champ de vision. L'ensemble réflecteur comprend au moins l'un d'un premier réflecteur et d'un second réflecteur. Le premier réflecteur réfléchit la surface extérieure de l'élément de façon à ce qu'elle se trouve dans le champ de vision du dispositif d'imagerie. Le second réflecteur réfléchit la surface intérieure de l'élément de façon à ce qu'elle se trouve dans le champ de vision du dispositif d'imagerie.
PCT/CA2018/050490 2017-04-26 2018-04-26 Outil et procédé d'inspection pour assemblage de canal de carburant de réacteur nucléaire WO2018195663A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
ROA201900667A RO134274A2 (ro) 2017-04-26 2018-04-26 Instrument şi metodă de inspectare a ansamblului de canale de combustibil al unui reactor nuclear
CA3061072A CA3061072A1 (fr) 2017-04-26 2018-04-26 Outil et procede d'inspection pour assemblage de canal de carburant de reacteur nucleaire
KR1020197034743A KR102592631B1 (ko) 2017-04-26 2018-04-26 핵 반응기 연료 채널 어셈블리를 위한 검사 도구 및 방법
CN201880043247.8A CN111052261B (zh) 2017-04-26 2018-04-26 核反应堆燃料通道组件的检查工具和方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201762490405P 2017-04-26 2017-04-26
US62/490,405 2017-04-26

Publications (1)

Publication Number Publication Date
WO2018195663A1 true WO2018195663A1 (fr) 2018-11-01

Family

ID=63917973

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2018/050490 WO2018195663A1 (fr) 2017-04-26 2018-04-26 Outil et procédé d'inspection pour assemblage de canal de carburant de réacteur nucléaire

Country Status (5)

Country Link
KR (1) KR102592631B1 (fr)
CN (1) CN111052261B (fr)
CA (1) CA3061072A1 (fr)
RO (1) RO134274A2 (fr)
WO (1) WO2018195663A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650634A (en) * 1983-11-21 1987-03-17 Westinghouse Electric Corp. Quick release cushioned T.V. camera mount
US5917875A (en) * 1995-10-06 1999-06-29 British Nuclear Fuels Plc Apparatus for inspecting nuclear fuel assemblies

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6194491A (ja) * 1984-10-15 1986-05-13 Nec Corp ボタン電話装置
JP3614597B2 (ja) * 1996-10-24 2005-01-26 三菱原子燃料株式会社 内面撮像装置
CN102568627B (zh) * 2010-12-16 2015-06-03 核动力运行研究所 管件内部电视检查摄像头组合装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4650634A (en) * 1983-11-21 1987-03-17 Westinghouse Electric Corp. Quick release cushioned T.V. camera mount
US5917875A (en) * 1995-10-06 1999-06-29 British Nuclear Fuels Plc Apparatus for inspecting nuclear fuel assemblies

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
RUGGIRELLO ET AL.: "APPLIED MONITORING METHODS FOR THE CONTROL OF FUEL ELEMENTS AND REACTOR INTERNALS IN ARGENTINE NUCLEAR POWER PLANTS POOLSIDE FACILITIES", IAEA-TECDOC-1050, October 1997 (1997-10-01), pages 7 - 12, XP055527576 *

Also Published As

Publication number Publication date
KR102592631B1 (ko) 2023-10-20
KR20190140032A (ko) 2019-12-18
RO134274A2 (ro) 2020-06-30
CA3061072A1 (fr) 2018-11-01
CN111052261A (zh) 2020-04-21
CN111052261B (zh) 2023-04-21

Similar Documents

Publication Publication Date Title
JPS60102608A (ja) 放射性物体の遠隔目視検査装置
KR102592631B1 (ko) 핵 반응기 연료 채널 어셈블리를 위한 검사 도구 및 방법
KR101390889B1 (ko) 중수로 원자로 원격육안검사 시스템 및 중수로 원자로 원격육안검사 방법
US20120180318A1 (en) Nuclear power plant construction preparation unit, nuclear power plant construction system, and nuclear power plant construction method
KR102656972B1 (ko) 원자로 연료 채널 조립체를 위한 검사 도구 및 방법
Wang et al. Underwater fuel assembly deformation measurement with multisensor dual-line structured light
CN111735837A (zh) 一种用于管道内缺陷巡检的x射线背散射检测装置
EP3043163A1 (fr) Procédé et système sur pont pour valider un ensemble d'étanchéité de générateur
Chauvin et al. Design and manufacturing progress of IRVIS endoscopes prototypes for W7-X divertor temperature monitoring
JP7336285B2 (ja) コネクタ撮影装置および撮影方法
Huang et al. Improved visual inspection for nozzle inner radius based on panoramic imaging
Bouveret et al. PWR reactor vessel in-service inspection according to RSEM
Cornell et al. Facilities and techniques for on-site and off-site inspection of irradiated fuel elements and components from Nuclear Electric's advanced gas-cooled reactors
JP3518824B2 (ja) 炉内構造物目視検査装置
Dixon et al. Underwater fuel inspection capabilities at AEA Technology, Windscale
Glass et al. Robotics and manipulators for reactor pressure vessel head inspection
Frandsen Status of the nondestructive examination equipment for the fuels and materials examination facility
Rochefort CANDU in-reactor quantitative visual-based inspection techniques
Pettigrew et al. InspectTM Computed Tomography for NDT of Subsea Pipelines
Guidez et al. In-Service Inspection
KR101363868B1 (ko) 원자로 용기 밀폐헤드의 오메가 씰 용접부 육안 검사장치
Daaland et al. TomX: high-energy tomographic x-ray for in-service inspection of flexible pipeline systems
CN114235856A (zh) 一种火箭弹固体复合推进剂质量无损检测设备及方法
Stone et al. 100 percent X-ray weld inspection: a real-time imaging system for large diameter steel pipe manufacturing
Wang Advanced SOFC quality control and the role of manufacturing defects on stack reliability

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18791135

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 3061072

Country of ref document: CA

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20197034743

Country of ref document: KR

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 18791135

Country of ref document: EP

Kind code of ref document: A1