JP6943900B2 - Investigation method in the reactor - Google Patents

Description

The present invention relates to, for example, a method for investigating the inside of a nuclear reactor using an assisting device that supports an investigating apparatus for investigating a structure.

Various pipes are installed inside structures such as nuclear power plants and industrial plants, which may be too narrow for workers to pass through. In order to investigate the inside of such a structure, an investigation device that allows a worker to remotely control by a controller has been used. The investigation device was connected to the controller installed outside by a cable, and the necessary investigation was conducted according to the control command received from the controller via the cable. Then, in order to enable the search device to move efficiently inside the structure, for example, a search vehicle disclosed in Patent Document 1 has been proposed.

Patent Document 1 discloses a research vehicle in which a camera and a control board are mounted in the longitudinal direction of an upper portion of a rectangular main body, and two sets of circular cross-section crawlers that can rotate in two directions are attached to the lower portion of the main body.

Japanese Unexamined Patent Publication No. 2013-113597

However, if the internal structure of the structure is complicated, the cable is likely to come into contact with the floor surface or the cable may be caught by an obstacle. Further, as the distance that the survey device enters the inside of the structure becomes longer, the cable towed by the survey device also becomes longer. For this reason, if the survey device cannot route the cable, the range of movement of the survey device is limited, and it is difficult to allow the survey device to enter the target location.

A cable is also connected to the search vehicle disclosed in Patent Document 1, but the problem that the cable is difficult to route has not been solved.

The present invention has been made in view of such a situation, and an object of the present invention is to provide a support device that supports a survey device so as to be able to travel a long distance and conduct a survey.

The method for investigating the inside of a nuclear reactor according to the present invention is for each crawler of a support device having a support device housing having a mounting plate and a plurality of crawlers having variable mounting angles attached to both ends of the mounting plate. The support device moves in the pipe of the reactor in a series arrangement in which the longitudinal direction is in series I shape with respect to the longitudinal direction of the support device housing, and the longitudinal direction of each crawler of the support device is the support device. A survey in which the support device moves in the reactor and the support device is connected to the survey device that surveys the inside of the reactor in a parallel arrangement that forms a U-shape that is perpendicular to the longitudinal direction of the housing. By sending out or winding the device cable, it supports the routing of the survey device cable, and at the destination of the support device, the survey device connected to the support device via the survey device cable is inside the reactor. Is to investigate.

According to the present invention, the investigation device is connected to the support device by moving the crawler in series when moving in the pipe of the reactor and moving the crawler in parallel when moving in the reactor. The research equipment that has been used will be able to survey the inside of the reactor at the destination in a wide range.
Issues, configurations and effects other than those described above will be clarified by the following description of the embodiments.

It is a schematic diagram which shows the state of performing the investigation inside the reactor containment vessel using the investigation system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the internal structure example of the investigation system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the hardware configuration example of the computer which concerns on 1st Embodiment of this invention. It is a perspective view and the operation explanatory view which show the structural example and the operation example of the support device traveling on the plane which concerns on 1st Embodiment of this invention. FIG. 4A shows a configuration example of a support device in which a left wheel crawler and a right wheel crawler are arranged in parallel, and FIG. 4B shows an operation example of the left wheel crawler and the right wheel crawler of the support device traveling on a flat surface. It is a perspective view and the operation explanatory view which show the structural example of the support device traveling in a narrow part which concerns on 1st Embodiment of this invention. FIG. 5A shows a configuration example of a support device in which a left wheel crawler and a right wheel crawler are arranged in series, and FIG. 5B shows an operation example of the left wheel crawler and the right wheel crawler of the support device traveling in a narrow space. It is an enlarged view of the shape variable part which concerns on 1st Embodiment of this invention. FIG. 6A shows an example of a shape variable portion provided on the left wheel crawler arranged in series with the support device housing, and FIG. 6B is provided on the left wheel crawler arranged in parallel with the support device housing. An example of the shape variable portion is shown. It is an enlarged view of the cable support part which concerns on 1st Embodiment of this invention. It is an enlarged view of the fixed part which concerns on 1st Embodiment of this invention. FIG. 8A shows the state of the fixed portion when the support device is moved, and FIG. 8B shows the state of the fixed portion when the support device is fixed to the grating. It is a flowchart which shows the operation example of each part of the fixed part controlled by the support device control part which concerns on 1st Embodiment of this invention. FIG. 5 is an external view showing a detailed configuration example of an operation unit included in the support device controller according to the first embodiment of the present invention. It is a perspective view which shows the external configuration example of the investigation apparatus traveling on the plane which concerns on 1st Embodiment of this invention. It is a perspective view which shows the structural example of the investigation apparatus traveling in the narrow part which concerns on 1st Embodiment of this invention. It is a flowchart which shows the content of processing for each function of the investigation which the investigation apparatus control unit which concerns on 1st Embodiment of this invention performs based on the image acquired from the camera unit. It is explanatory drawing which shows the example of the image displayed on the display part which concerns on 1st Embodiment example of this invention. It is explanatory drawing which shows the example which the dose rate measuring part which concerns on 1st Embodiment of this invention calculates the dose rate in the environment where the investigation object was imaged based on the number of white spot noise included in an image. FIG. 5 is an external view showing a detailed configuration example of an operation unit included in the investigation device controller according to the first embodiment of the present invention. It is a perspective view which shows the structural example of the camera part which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the example of the measurement method of the distance from the investigation apparatus to the investigation object which concerns on 2nd Embodiment of this invention. FIG. 18A shows an example in which the positional relationship between the survey device and the survey object is viewed from above, and FIG. 18B shows an example of an image in which the survey object irradiated with the slit laser light is reflected. It is explanatory drawing which shows the method which the self-position detection part which concerns on the 2nd Embodiment of this invention calculates the self-position of the investigation apparatus. It is explanatory drawing which shows the method which the self-position detecting part which concerns on the 2nd Embodiment of this invention calculates the height and the gap of the investigation object existing in front of the investigation apparatus. It is a block diagram which shows the internal structure example of the investigation system which concerns on 3rd Embodiment of this invention. It is explanatory drawing which shows the structure of the circular cross-section crawler which concerns on 4th Embodiment of this invention. 22A is a top view of the circular cross-section crawler, FIG. 22B is a bottom view of the circular cross-section crawler, FIG. 22C is a front view of the circular cross-section crawler, and FIG. 22D is a side view of the circular cross-section crawler.

[Example of the first embodiment]
Hereinafter, a configuration example and an operation example of the investigation system according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 16.
In the present specification and the drawings, components having substantially the same function or configuration are designated by the same reference numerals, and redundant description will be omitted.

<Structure of reactor building>
FIG. 1 shows a state in which the inside of the reactor containment vessel is investigated using the investigation system 15.

A reactor containment vessel 2 is installed inside the reactor building 1. Then, the reactor pressure vessel 3 and the pedestal 4 are installed inside the reactor containment vessel 2. The reactor pressure vessel 3 is held by the pedestal 4. Further, a pressure suppression chamber 6 installed inside the torus chamber 5 is connected to the reactor containment vessel 2.

Further, in the reactor containment vessel 2, a guide pipe 8 (hereinafter, narrow portion such as the inside of the guide pipe 8), which is a narrow pipe, is formed in a penetrating portion provided in a part of the reactor containment vessel 2. It is called "part".) Is inserted. Further, inside the reactor containment vessel 2, grid-shaped gratings 9 are installed at substantially the same height as the reactor building floor 7. An opening 10 is formed in a part of the grating 9. A reactor pressure vessel bottom 11 is provided at the bottom of the reactor containment vessel 2. The pedestal 4 in the vicinity of the reactor containment vessel 2 is provided with an opening 12 for workers to enter and exit the inside of the pedestal 4.

The investigation system 15 is used to investigate the inside of such a reactor containment vessel 2. The survey system 15 includes a support device controller 20, a support device 30, a survey device controller 40, and a survey device 50. The support device controller 20 and the survey device controller 40 are provided outside the reactor building 1. On the other hand, the support device 30 and the investigation device 50 enter the inside of the reactor containment vessel 2.

The support device 30 is connected to the support device controller 20 by a support device cable 13. The survey device 50 is connected to the survey device controller 40 by the survey device cable 14. When investigating the reactor containment vessel 2, the investigation device 50 and the support device 30 enter in this order from the guide pipe 8 toward the inside of the reactor containment vessel 2, and the investigation is performed from the end of the guide pipe 8 in the reactor containment vessel 2. The device 50 and the support device 30 descend to the glazing 9 in this order. Then, the support device 30 is fixed on the grating 9 and supports the feeding or winding of the survey device cable 14. The survey device 50 descends from the opening 10 to the bottom 11 of the reactor pressure vessel, and the survey device 50 moves the bottom 11 of the reactor pressure vessel to perform a predetermined survey.

When the internal investigation of the reactor containment vessel 2 is completed, the support device 30 and the investigation device 50 return to the end of the guide pipe 8. Then, the support device 30 and the investigation device 50 are sequentially pulled up to the guide pipe 8 by the winch provided outside the reactor building 1. After that, the support device 30 and the investigation device 50 travel inside the guide pipe 8 and exit from the reactor containment vessel 2 and the reactor building 1, and are recovered by the workers.

<Survey system configuration example>
FIG. 2 shows an example of the internal configuration of the survey system 15.

The support device controller 20 includes a display unit 21, a support device control unit 22, and an operation unit 23. Then, the support device controller 20 controls the operation of the support device 30 via the support device cable 13.

The display unit 21 displays the operating state of each part of the support device 30, the moving distance of the support device 30, and the like.
The support device control unit 22 controls the operation of the support device 30 based on the operation input from the operation unit 23, and causes the display unit 21 to display the status of the support device 30 and the like.
The operation unit 23 receives an operation input for the worker to cause the support device 30 to perform a predetermined operation.

The support device 30 includes a traveling unit 31 (an example of a second traveling unit), a shape variable unit 32, a fixing unit 33, and a cable support unit 34.
The traveling unit 31 is composed of a left wheel crawler 31L and a right wheel crawler 31R (see FIGS. 4 and 5 described later). Each crawler rotates in the forward and reverse directions to move the support device 30 in an arbitrary direction. Then, the support device 30 is moved by the traveling unit 31 to a position where the investigation device cable 14 is sent out or wound up.

The shape variable portion 32 arranges the crawlers of the support device 30 in parallel if the place where the support device 30 travels is a flat surface (see FIG. 4A described later), and arranges the crawlers of the support device 30 in a narrow portion. Arrange in series (see FIG. 5A below).
The fixing portion 33 fixes the support device 30 to the grating 9. This fixed position is a position where the support device 30 sends out or winds up the investigation device cable 14.
The cable support unit 34 supports sending out or winding up the investigation device cable 14.

The survey device controller 40 includes a display unit 41, a survey device control unit 42, and an operation unit 43. Then, the survey device controller 40 controls the operation of the survey device 50 via the survey device cable 14.

The display unit 41 displays the operating state of each part of the survey device 50, the moving distance of the survey device 50, the image captured by the camera unit 53 of the survey device 50, and the like.
The survey device control unit 42 conducts a predetermined survey based on an image acquired from the camera unit 53 via the survey device cable 14. Therefore, the survey device control unit 42 controls the operations of the traveling unit 51 (an example of the first traveling unit), the shape variable unit 52, and the camera unit 53 of the survey device 50. For example, the survey device control unit 42 controls the operation of the survey device 50 based on the operation input from the operation unit 43, or causes the display unit 41 to display the status of the survey device 50 and the like.
The operation unit 43 receives an operation input for the worker to cause the investigation device 50 to perform a predetermined operation.

The survey device control unit 42 includes a self-position detection unit 42a, a temperature measurement unit 42b, and a dose rate measurement unit 42c.
The self-position detection unit 42a detects the current position of the survey device 50.
The temperature measuring unit 42b measures the temperature of the object to be investigated.
The dose rate measuring unit 42c measures the radiation dose rate (hereinafter, abbreviated as “dose rate”) in the environment where the survey object exists.
A detailed processing example of each function of the self-position detecting unit 42a, the temperature measuring unit 42b, and the dose rate measuring unit 42c is shown in FIG. 13 to be described later.

The survey device 50 has a traveling unit 51, a shape variable unit 52, and a camera unit 53.
The traveling unit 51 is composed of a left wheel crawler 51L and a right wheel crawler 51R (see FIGS. 11 and 12 described later) in the same manner as the traveling unit 31 described above. Each crawler rotates forward and reverse to move the survey device 50 in an arbitrary direction. Then, the survey device 50 is moved by the traveling unit 51 to a position where the survey object is surveyed.

Similar to the shape variable portion 32 described above, the shape variable portion 52 arranges the crawlers of the survey device 50 in parallel if the place where the survey device 50 travels is a flat surface (see FIG. 11 described later), and the narrow portion. If so, each crawler of the investigation device 50 is arranged in series (see FIG. 12 described later).
The camera unit 53 can capture a moving image or a still image (hereinafter, collectively referred to as “image”) of an object to be investigated by using visible light including infrared rays or visible light not containing infrared rays. Then, the camera unit 53 outputs an image of the surveyed object to the survey device cable 14. The survey device control unit 42 receives an image from the camera unit 53 via the survey device cable 14.

The support device 30 and the survey device 50 according to the example of the present embodiment are not electrically connected. However, by integrating the support device cable 13 and the survey device cable 14 and dividing the signal in the support device 30, it is possible to send and receive necessary signals between the support device 30 and the survey device 50. Is.

<Computer hardware configuration example>
Next, a hardware configuration example of the computer 60 constituting the support device controller 20 and the survey device controller 40 will be described.
FIG. 3 shows a hardware configuration example of the computer 60.

The computer 60 is hardware used as a so-called computer. The computer 60 includes a CPU (Central Processing Unit) 61, a ROM (Read Only Memory) 62, and a RAM (Random Access Memory) 63, which are connected to the bus 64, respectively. Further, the computer 60 includes a display unit 65, an operation unit 66, a non-volatile storage 67, and a cable interface 68.

The CPU 61 reads the program code of the software that realizes each function according to the embodiment of the present embodiment from the ROM 62 and executes the program code. Variables, parameters, etc. generated during the arithmetic processing are temporarily written in the RAM 63. Each function of the support device control unit 22 and the survey device control unit 42 shown in FIG. 2 is realized by the CPU 61. Note that in FIG. 2, the configuration corresponding to the ROM 62 and the RAM 63 is not shown.

The display unit 65 is, for example, a liquid crystal display monitor, and displays the result of processing performed by the computer 60 to the worker. For example, a keyboard, a joystick, a button switch, or the like is used for the operation unit 66, and an operator can perform predetermined operation input and instruction. The display unit 65 corresponds to the display units 21 and 41 shown in FIG. 2, and the operation unit 66 corresponds to the operation units 23 and 43 shown in FIG.

As the non-volatile storage 67, for example, an HDD (Hard disk drive), a flexible disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory card, or the like is used. In this non-volatile storage 67, in addition to the OS (Operating System) and various parameters, a program for operating the computer 60 is recorded. For the cable interface 68, for example, a NIC (Network Interface Card) or the like is used. In the support device controller 20, the support device cable 13 is connected to the cable interface 68, and various data can be transmitted and received between the support device controller 20 and the support device 30. In the survey device controller 40, the survey device cable 14 is connected to the cable interface 68, and various data can be transmitted and received between the survey device controller 40 and the survey device 50. Note that FIG. 2 does not show a configuration corresponding to the non-volatile storage 67 and the cable interface 68.

<Shape of support device running on a flat surface>
Next, a configuration example and an operation example of the support device 30 will be described separately for when the support device 30 travels on a flat surface and when the support device 30 travels in a narrow portion.
FIG. 4 shows a configuration example and an operation example of the support device 30 traveling on a flat surface. FIG. 4A shows a configuration example of the support device 30 in which the left wheel crawler 31L and the right wheel crawler 31R are arranged in parallel, and FIG. 4B shows an operation example of the left wheel crawler 31L and the right wheel crawler 31R of the support device 30 traveling on a flat surface. Is shown.

The support device 30 transforms the left wheel crawler 31L and the right wheel crawler 31R shown in FIG. 5A, which will be described later, from the series arrangement to the parallel arrangement when traveling on a plane moving the grating 9. Here, the arrow A1 is the forward direction of the support device 30, and the arrow A2 is the backward direction of the support device 30. Further, the arrow A3 is the right turning direction of the support device 30, and the arrow A4 is the left turning direction of the support device 30.

The support device 30 includes a support device housing 35 having a substantially rectangular parallelepiped shape, and left wheel crawlers 31L and right wheel crawlers 31R attached to both ends of the support device housing 35. The support device housing 35 includes a mounting plate 39 on which various parts are mounted. The mounting plate 39 has a substantially rectangular shape, and both ends protrude in the longitudinal direction of the support device housing 35. A shape variable portion 32 and a cable support portion 34 are provided on the mounting plate 39. A configuration example and an operation example of the shape variable portion 32 and the cable support portion 34 will be described later.

The left wheel crawler 31L and the right wheel crawler 31R are attached to the support device housing 35 via the shape variable portion 32. The left wheel crawler 31L and the right wheel crawler 31R are used as an example of the traveling unit 31. The support device 30 travels in the rotation direction (one direction) of the left wheel crawler 31L and the right wheel crawler 31R. The left wheel crawler 31L and the right wheel crawler 31R are provided with a plurality of grousers facing outward to prevent slipping. The mounting angles of the left wheel crawler 31L and the right wheel crawler 31R with respect to the longitudinal direction of the support device housing 35 are variable by the shape variable portion 32. The left wheel crawler 31L and the right wheel crawler 31R are arranged in series or in parallel by the shape variable portion 32.

Further, fixing portions 33 are provided on the upper portions of the left wheel crawler 31L and the right wheel crawler 31R, respectively. A configuration example and an operation example of the fixed portion 33 will be described later.
Then, one end of the support device cable 13 is connected to the left wheel crawler 31L.

FIG. 4B is a list of operation modes when the support device 30 travels on a flat surface and rotation directions of the left wheel crawler 31L and the right wheel crawler 31R. As shown in this list, when both the left wheel crawler 31L and the right wheel crawler 31R rotate in the normal direction, the support device 30 advances in the direction of arrow A1. When both the left wheel crawler 31L and the right wheel crawler 31R are reversed, the support device 30 moves backward in the direction of arrow A2. Further, when the left wheel crawler 31L rotates forward and the right wheel crawler 31R reverses, the support device 30 turns right in the direction of arrow A3. Further, when the left wheel crawler 31L reverses and the right wheel crawler 31R rotates forward, the support device 30 turns left in the direction of arrow A4.

<Shape of support device running in narrow areas>
FIG. 5 shows a configuration example of the support device 30 traveling in the narrow space. FIG. 5A shows a configuration example of the support device 30 in which the left wheel crawler 31L and the right wheel crawler 31R are arranged in series, and FIG. 5B shows the operation of the left wheel crawler 31L and the right wheel crawler 31R of the support device 30 traveling in a narrow space. An example is shown.

When moving the narrow portion, the support device 30 is transformed from the parallel arrangement of the left wheel crawler 31L and the right wheel crawler 31R shown in FIG. 4A to the series arrangement shown in FIG. 5A.
FIG. 5B is a list of operation modes when the support device 30 travels in a narrow portion and rotation directions of the left wheel crawler 31L and the right wheel crawler 31R. As shown in this list, when the left wheel crawler 31L rotates forward and the right wheel crawler 31R reverses, the support device 30 advances in the direction of arrow A1. When the left wheel crawler 31L reverses and the right wheel crawler 31R rotates forward, the support device 30 moves backward in the direction of arrow A2.

<Structure example and operation example of shape variable part>
Next, a configuration example and an operation example of the shape variable portion 32 will be described with reference to FIG.
FIG. 6 is an enlarged view of the shape variable portion 32. FIG. 6A shows an example of a shape variable portion 32 provided on the left wheel crawler 31L arranged in series with the support device housing 35, and FIG. 6B shows a left wheel arranged in parallel with the support device housing 35. An example of the shape variable portion 32 provided in the crawler 31L is shown. Here, the shape variable portion 32 provided on the left wheel crawler 31L will be described.

The shape-changing portion 32 includes a shape-changing motor 32a, a shape-changing worm gear 32b, and a shaft with gears 32c.
The shape-changing motor 32a is attached to the upper part of the left wheel crawler 31L. A shape-changing worm gear 32b is connected to the shape-changing motor 32a along the rotation axis of the shape-changing motor 32a. A shaft with gears 32c is mounted on the mounting plate 39. The geared shaft 32c is fixed to both ends of the mounting plate 39.

When the rotation shaft of the shape-changing motor 32a rotates in the forward direction, the shape-changing worm gear 32b rotates in the same direction as the rotation direction of the rotation shaft of the shape-changing motor 32a. Then, the shaft with gears 32c rotates in a direction perpendicular to the rotation direction of the shape-changing worm gear 32b. As a result, as shown in FIGS. 6A to 6B, the connection angle of the left wheel crawler 31L with respect to the longitudinal direction of the support device housing 35 changes. On the other hand, when the rotation axis of the shape-changing motor 32a rotates in the reverse direction, the connection angle of the left wheel crawler 31L with respect to the longitudinal direction of the support device housing 35 changes as shown in FIGS. 6B to 6A. Such a configuration and operation are the same for the shape variable portion 32 provided on the right wheel crawler 31R.

<Cable support unit configuration example and operation example>
Next, a configuration example and an operation example of the cable support unit 34 will be described with reference to FIG. 7.
FIG. 7 is an enlarged view of the cable support unit 34.

The support device 30 includes a cable feeding active pulley 37a, a passive pulley 38, and a cable winding active pulley 37b arranged substantially linearly on the mounting plate 39. The cable feeding active pulley 37a is driven by a cable feeding motor 35a and a cable feeding worm gear 36a. The cable winding active pulley 37b is driven by a cable winding motor 35b and a cable winding worm gear 36b. The cable feeding active pulley 37a, the cable winding active pulley 37b, and the passive pulley 38 sandwich the cable 14 for the investigation device. Then, the active pulley 37a for feeding out the cable, the active pulley 37b for winding up the cable, and the passive pulley 38 interlock to send out or wind up the cable 14 for the investigation device.

Next, a detailed operation example of each pulley will be described.
When the support device 30 feeds the survey device cable 14 to the survey device 50 side, the cable feeding motor 35a rotates the cable feeding worm gear 36a. As a result, the cable feeding active pulley 37a that comes into contact with the cable feeding worm gear 36a rotates. A part of the investigation device cable 14 is in close contact with the cable feeding active pulley 37a. As the active pulley 37a for feeding the cable rotates, the cable 14 for the survey device is fed.

When the support device 30 winds the investigation device cable 14 toward the investigation device controller 40, the cable winding motor 35b rotates the cable winding worm gear 36b. As a result, the cable winding active pulley 37b that comes into contact with the cable winding worm gear 36b rotates. A part of the investigation device cable 14 is in close contact with the cable winding active pulley 37b. As the active pulley 37b for winding the cable rotates, the cable 14 for the investigation device is wound.
In this way, the cable support unit 34 sends out or winds up the investigation device cable 14 by rotating the two cable feeding motors 35a in the forward and reverse directions.

The passive pulley 38 presses the investigation device cable 14 against the side surface of the cable feeding active pulley 37a and the side surface of the cable winding active pulley 37b. As a result, the cable 14 for the investigation device is less likely to slip on the active pulley 37a for feeding out the cable and the active pulley 37b for winding up the cable. Further, the passive pulley 38 is attached for the purpose of buffering the force applied to the investigation device cable 14. By using the passive pulley 38 in this way, the support device 30 can stably feed out the investigation device cable 14.

In FIG. 4A, the portion of the active pulley 37a for feeding out the cable, the active pulley 37b for winding the cable, and the cable 14 for the investigation device of the passive pulley 38 is shown in a cylindrical shape, but the side surface portion of each pulley is inside. It may have a dented shape. In a pulley having such a shape, the contact area between the recessed side surface portion of each pulley and the side surface of the survey device cable 14 is widened, and the frictional force between the side surface portion of each pulley and the side surface of the survey device cable 14 is increased. .. Therefore, the survey device cable 14 is less likely to slip from each pulley.
Further, a cover covering the entire cable support unit 34 may be provided on the mounting plate 39 to prevent the investigation device cable 14 from coming off from each pulley.

<Structure example and operation example of fixed portion 33>
Next, a configuration example and an operation example of the fixing portion 33 attached to the right wheel crawler 31R will be described with reference to FIGS. 8 and 9.
FIG. 8 is an enlarged view of the fixed portion 33. FIG. 8A shows the state of the fixing portion 33 when the support device 30 is moving, and FIG. 8B shows the state of the fixing portion 33 when the support device 30 is fixed to the grating 9.

The fixing portion 33 includes a fixing jig elevating motor 33a, a fixing jig elevating drum 33b, a fixing jig deformation motor 33c, a fixing jig elevating wire 33d, a fixing jig deformation wire 33e, a fixing jig 33f, and a fixing jig deformation instruction. A ring 33 g is provided.

A fixing jig elevating drum 33b is attached to the rotating shaft of the fixing jig elevating motor 33a. A fixing jig elevating wire 33d is wound around the fixing jig elevating drum 33b, and the fixing jig 33f is elevated and lowered in accordance with the drive of the fixing jig elevating motor 33a. Further, the fixing jig deformation motor 33c unwinds or winds the fixing jig elevating wire 33d. The fixing jig 33f is two rod-shaped objects, and the fixing jig elevating wire 33d is connected to one end of the fixing jig 33f (the fulcrum portion where the fixing jig 33f opens and closes), and is connected to the other end of the fixing jig 33f. The fixing jig deformation wire 33e is connected. Further, a fixing jig deformation instruction ring 33g is provided at one end of the fixing jig 33f. The fixing jig elevating wire 33d and the fixing jig deformation wire 33e are passed through the inside of the fixing jig deformation instruction ring 33g.

FIG. 9 shows an operation example of each part of the fixing part 33 controlled by the support device control part 22.

The support device control unit 22 starts a process for selecting whether to fix the support device 30 to the grating 9 by the fixing unit 33 or to release the fixing of the fixing unit 33 (S1). Then, the support device control unit 22 selects the fixing or release of the support device 30 by the operation input from the operation unit 23 (S2).

When the operation unit 23 selects to fix the support device 30, the support device control unit 22 moves the support device 30 to a predetermined position of the grating 9 (S3). Then, the support device control unit 22 drives the fixing jig elevating motor 33a, rotates the fixing jig elevating drum 33b to extend the fixing jig elevating wire 33d, and lowers the fixing jig 33f to the lower surface of the grating 9. (S4).

At this time, the fixing jig 33f moves up and down in a closed state (state shown in FIG. 8A). The horizontal width of the closed fixing jig 33f is narrower than the width of the gap of the grating 9. Therefore, the fixing jig 33f easily passes through the gap of the grating 9. When the fixing jig 33f descends to the lower surface of the grating 9, the support device control unit 22 stops the rotation of the fixing jig elevating drum 33b.

Next, the support device control unit 22 drives the fixing jig deformation motor 33c, and winds the fixing jig deformation wire 33e around the rotating shaft of the fixing jig deformation motor 33c (S5). At this time, the fixing jig deformation wire 33e moves inside the fixing jig deformation instruction ring 33g, and the fixing jig 33f opens as shown in FIG. 8B. In FIG. 8B, in order to show the relationship between the grating 9 and the fixing jig 33f, the right wheel crawler 31R is floated from the grating 9, but the right wheel crawler 31R is actually in contact with the upper surface of the grating 9. There is.

Then, the support device control unit 22 drives the fixing jig elevating motor 33a, rotates the fixing jig elevating drum 33b in the reverse direction, and winds the fixing jig elevating wire 33d until the fixing jig 33f hits the grating 9 ( S6), the fixing operation of the support device 30 is terminated (S10). Since the width of the horizontally opened fixing jig 33f in the horizontal direction is wider than the width of the gap of the grating 9, the fixing jig 33f cannot be removed from the grating 9. When the fixing jig 33f is caught in the gap of the grating 9, the support device 30 is fixed on the grating 9.

When the support device controller 20 moves the support device 30, it is necessary to remove the fixing jig 33f from the grating 9. At this time, in step S2, the support device control unit 22 selects the release of the fixing of the fixing unit 33 by the operation input from the operation unit 23 (S2).

When the operation unit 23 selects to release the fixing of the fixing unit 33, the support device control unit 22 drives the fixing jig elevating motor 33a and rotates the fixing jig elevating drum 33b to rotate the fixing jig elevating wire 33d. Is extended to release the fixing of the fixing portion 33 (S7). At this time, the fixing jig 33f that was in contact with the lower surface of the grating 9 is separated from the lower surface of the grating 9.

Next, the support device control unit 22 drives the fixing jig deformation motor 33c, extends the fixing jig deformation wire 33e, and closes the fixing jig 33f (S8). Then, the support device control unit 22 drives the fixing jig elevating motor 33a, rotates the fixing jig elevating drum 33b, winds up the fixing jig elevating wire 33d (S9), and releases the fixing of the fixing unit 33. Is finished (S10). At this time, the support device control unit 22 raises the fixing jig 33f on the upper surface, and stores the fixing jig 33f in a storage unit (not shown) provided on the side surface of the right wheel crawler 31R. After that, the support device control unit 22 moves the support device 30.

The fixing portion 33 attached to the left wheel crawler 31L also operates in the same manner as the fixing portion 33 attached to the right wheel crawler 31R.
Further, as the fixing portion 33, for example, an outrigger may be provided on the left wheel crawler 31L and the right wheel crawler 31R. Further, as the fixing jig, for example, a sandwiching mechanism for sandwiching the lattice of the grating 9 may be used.

<Configuration example of support controller>
FIG. 10 shows a detailed configuration example of the operation unit 23 included in the support device controller 20. The display unit 21 is not shown.
The operation unit 23 includes a power supply LED (Light Emitting Diode) 101, a crawler controller 102, a shape variable controller 103, and a cable support controller 104.

When the worker turns on the power button (not shown), the power LED 101 lights up. By lighting the power supply LED 101, the worker can confirm that the support device 30 is in a state of accepting an operation. Then, the worker operates the crawler controller 102, the shape variable controller 103, and the cable support controller 104 to control the support device 30. After that, when the worker turns off the power button, the power LED 101 turns off. At this time, the worker can confirm that the support device 30 has stopped operating and the support device 30 is not in a state of accepting the operation.

The crawler controller 102 includes a joystick 102a that allows an operator to operate the support device 30 by tilting in a cross direction. When the worker tilts the joystick 102a in the vertical direction 102b, the support device 30 moves back and forth. Further, when the worker tilts the joystick 102a in the left-right direction 102c, the support device 30 makes a left-right turn operation.

The shape-variable controller 103 can individually control the left wheel crawler 31L and the right wheel crawler 31R with the arrow A1 direction of the support device housing 35 facing forward. The shape variable controller 103 includes buttons 103a to 103d.
The button 103a is used to arrange the left wheel crawler 31L in series with the support device housing 35, and the button 103b is used to arrange the left wheel crawler 31L in parallel with the support device housing 35. The button 103c is used to arrange the right wheel crawler 31R in series with the support device housing 35, and the button 103d is used to arrange the right wheel crawler 31R in parallel with the support device housing 35. Be done.

Further, the cable support controller 104 controls the fixing portion 33 in order to fix the support device 30 to the grating 9 in the vicinity of the opening 10. The cable support controller 104 includes buttons 104a to 104f, and when an operator presses each button, an operation input is performed to the support device control unit 22.
The fixing portion lowering button 104a gives an instruction to extend the fixing jig elevating wire 33d and lower the fixing jig 33f. The fixing portion raising button 104b winds up the fixing jig elevating wire 33d and gives an instruction to raise the fixing jig 33f. The fixing portion deploy button 104c pays out the fixing jig deforming wire 33e to open the fixing jig 33f, and the fixing portion storing button 104d winds up the fixing jig deforming wire 33e and gives an instruction to close the fixing jig 33f. Then, after the support device 30 is fixed to the grating 9, the buttons 104e and 104f become effective. The cable sending button 104e gives an instruction to send out the investigation device cable 14, and the cable winding button 104f gives an instruction to wind up the investigation device cable 14.

<Shape of survey device running on a flat surface>
Next, a configuration example and an operation example of the survey device 50 will be described.
FIG. 11 shows an example of an external configuration of the survey device 50 traveling on a flat surface. Here, the investigation device 50 in which the left wheel crawler 51L and the right wheel crawler 51R are arranged in parallel will be described. Arrows A1 to A4 shown in FIGS. 11 and 12 indicate the traveling direction or turning direction of the investigation device 50, similarly to the arrows A1 to A4 shown in FIG.

The survey device 50 includes a survey device housing 57 having a substantially rectangular parallelepiped shape, and left wheel crawlers 51L and right wheel crawlers 51R attached to both ends of the survey device housing 57. The left wheel crawler 51L and the right wheel crawler 51R are used as an example of the traveling portion 51, and travel in the rotation direction (one direction) of the left wheel crawler 51L and the right wheel crawler 51R. The investigation device cable 14 is connected to the left wheel crawler 51L.

In the investigation device 50, the left wheel crawler 51L and the right wheel crawler 51R are arranged in series when traveling in a straight line traveling in a narrow portion, and the left wheel crawler 51L when traveling in a plane moving through the grating 9 or the bottom 11 of the reactor pressure vessel. Right wheel crawlers 51R are arranged in parallel.

The survey device housing 57 includes a mounting plate 59 on which various parts are mounted. The mounting plate 59 has a substantially rectangular shape, and both ends protrude in the longitudinal direction of the survey device housing 57. A shape variable portion 52 and a camera portion 53 are provided on the mounting plate 59. The left wheel crawler 51L and the right wheel crawler 51R are attached to the survey device housing 57 via the shape variable portion 52. The shape variable portion 52 has the same configuration as the shape variable portion 32 shown in FIG. 4A described above, and operates in the same manner as the shape variable portion 32. Therefore, the mounting angles of the left wheel crawler 51L and the right wheel crawler 51R with respect to the survey device housing 57 are variable by the shape variable portion 52. Then, the left wheel crawler 51L and the right wheel crawler 51R are arranged in series or in parallel with the investigation device housing 57 by the shape variable portion 52.

The camera unit 53 includes a camera pan mechanism unit 54, a camera tilt mechanism unit 55, and a camera body 56 (camera barrel). The orientation of the camera body 56 can be changed up, down, left, and right by the operation of the camera pan mechanism portion 54 and the camera tilt mechanism portion 55.

The camera pan mechanism portion 54 is mounted on the mounting plate 59. The camera pan mechanism unit 54 includes a camera pan motor 54a, a camera pan worm gear 54b, and a camera pan gear 54c. When the camera pan motor 54a is driven, the camera pan worm gear 54b connected to the rotation shaft of the camera pan motor 54a rotates, and the camera pan gear 54c connected to the camera pan worm gear 54b rotates. When the camera pan gear 54c rotates, the camera body 56 integrally attached to the camera pan gear 54c performs a horizontal plane operation, that is, a pan operation. The pan operation is used not only for the purpose of swinging the camera body 56 left and right in a horizontal plane, but also for the purpose of changing the direction of the camera body 56 when the survey device 50 passes through a narrow portion as shown in FIG.

The camera tilt mechanism portion 55 is provided on the camera pan gear 54c. The camera tilt mechanism unit 55 includes a camera tilt motor 55a, a camera tilt worm gear 55b, and a camera tilt gear 55c. When the camera tilt motor 55a rotates, the camera tilt worm gear 55b connected to the rotation axis of the camera tilt motor 55a rotates, is connected to the camera tilt worm gear 55b, and is provided on the side surface of the camera body 56. The gear 55c rotates. The camera tilt gear 55c causes the camera body 56 to perform an in-vertical in-plane operation, that is, a tilt operation. Then, by combining the camera pan mechanism unit 54 and the camera tilt mechanism unit 55, the camera unit 53 can image a wide range.

A part of the survey device housing 57 on the arrow A1 direction side is cut out in a substantially semi-elliptical shape. Therefore, when the camera body 56 faces directly downward, it is possible to take an image of the floor surface of the place where the survey device 50 is located. Further, the tilt angle of the camera body 56 can be adjusted by changing the position of the camera tilt gear 55c with respect to the side surface of the camera body 56.

<Shape of survey device running in narrow areas>
FIG. 12 shows a configuration example of the survey device 50 traveling in a narrow space. Here, the investigation device 50 in which the left wheel crawler 51L and the right wheel crawler 51R are arranged in series will be described.

In the survey device 50, the left wheel crawler 51L, the survey device housing 57, and the right wheel crawler 51R are arranged in series by driving the shape variable portion 52. Further, as described above, the camera pan mechanism unit 54 pans to change the direction of the camera body 56 according to the traveling direction of the investigation device 50. As a result, the protrusion of the camera body 56 from the side surface of the survey device housing 57 is suppressed. Then, the survey device 50 can travel in the narrow space.

The camera body 56 includes an infrared cut filter 56a, a lens 56b, an image sensor 56c, a laser light source 56d, and an LED illumination unit 56e. The infrared cut filter 56a can be removed from the optical axis of the camera body 56. The lens 56b is used to collect the image light. For the image sensor 56c, for example, a CCD (Charge Coupled Device) imager is used, and image data is output from an image signal generated by an image light imaged on the surface. The laser light source 56d is used to emit laser light and measure the distance from the survey device 50 to the survey object (see FIGS. 17 to 20 described later). The LED illumination unit 56e is provided to illuminate the object to be investigated in the imaging direction. The LED lighting unit 56e is controlled to turn on or off the light emission by the investigation device controller 40. Further, in the camera body 56, by moving the lens 56b in the optical axis direction, it is possible to focus or zoom on the object to be investigated.

When taking an image with visible light with the camera body 56 facing the object to be investigated, an infrared cut filter 56a is provided in front of the lens 56b to cut infrared rays. As a result, only visible light with infrared rays cut passes through the lens 56b, and image light is formed on the image pickup surface of the image pickup device 56c. However, when imaging with infrared rays (for example, holding a temperature measurement), the infrared cut filter 56a is slid to remove the infrared cut filter 56a from the lens 56b. As a result, only infrared rays pass through the lens 56b, and image light by infrared rays is formed on the image pickup surface of the image pickup device 56c. Then, the image sensor 56c outputs the image data to the investigation device cable 14.

<Processing example of survey device control unit>
Next, a processing example for the investigation device control unit 42 to perform various investigations based on the image acquired from the camera unit 53 of the investigation device 50 will be described.
FIG. 13 shows the content of processing for each function of the survey performed by the survey device control unit 42 based on the image acquired from the camera unit 53.

The investigation device 50 starts the investigation of the investigation object (S11). At the time of this investigation, the investigation device control unit 42 selects a function according to the purpose of the investigation (S12). There are three types of functions selected by the survey device control unit 42: self-position detection function, temperature measurement function, and dose rate measurement function, which are processed by the self-position detection unit 42a, temperature measurement unit 42b, and dose rate measurement unit 42c, respectively. Is done.

When the investigation device control unit 42 selects the self-position detection function, the self-position detection unit 42a starts the self-position detection process. First, the self-position detecting unit 42a gives an instruction to the camera unit 53 to fix the camera body 56 downward (S13). However, if the camera body 56 is kept facing straight down, the image displayed on the display unit 41 is only the surface of the bottom 11 of the reactor pressure vessel, which makes it difficult for the operator to operate the investigation device 50 while looking at the image. Become.

Therefore, the self-position detecting unit 42a gives an instruction to fix the camera body 56 at an angle (for example, 45 degrees downward with respect to the horizontal plane) so that the image includes the state of the traveling direction of the investigation device 50. To do. This angle differs depending on the angle of view of the lens 56b and the angle of the camera tilt mechanism unit 55. Therefore, the worker is the display unit 4
While looking at the image displayed in 1, the quality of the inclination of the camera body 56 is determined. Next, the self-position detection unit 42a initializes the self-position of the survey device 50 (S14).

The self-position detection unit 42a assigns coordinates (0,0) as the origin of relative coordinates, or assigns absolute coordinates (X0, Y0) to the initial position based on the arrangement data of the survey object known in advance. This initializes the self-position of the survey device 50. After that, the self-position detection unit 42a acquires the initial image (S15) and shifts to the two-dimensional movement amount calculation process (S16).

The self-position detection unit 42a, which has shifted to the two-dimensional movement amount calculation process, acquires an image captured by the image sensor 56c (S17) and calculates a two-dimensional correlation with the images acquired up to the previous time (S18). When the self-position detection unit 42a performs the process of step S16 for the first time, the self-position detection unit 42a calculates a two-dimensional correlation with the initial image acquired in step S15.

Next, the self-position detection unit 42a calculates the two-dimensional movement amount of the survey device 50 based on the result of calculating the two-dimensional correlation (S19). Next, the self-position detection unit 42a corrects the self-position by adding the two-dimensional movement amount calculated in step S19 to the self-position calculated up to the previous time (S20), and displays the corrected self-position. Output to 41 (S21). As a result, the worker can grasp the current position of the survey device 50.

The survey device control unit 42 is self-positioned not only when the survey device 50 approaches the survey object, but also when the survey device 50 travels on a narrow surface, a grating 9, a reactor pressure vessel bottom 11 or the like. The detection function can be selected. Then, the self-position detection unit 42a repeatedly performs the two-dimensional movement amount calculation process from steps S16 to S21 while the survey device 50 is traveling, and detects the self-position of the survey device 50. The self-position detection unit 42a is self-positioned when the survey device 50 reaches a position where the survey object is surveyed and stops, or when the survey device control unit 42 selects another function of temperature measurement or dose rate measurement. The detection process ends (S31). Therefore, the function selection process in step S2 can be interrupted during the execution of the two-dimensional movement amount calculation process.

When the investigation device control unit 42 selects temperature measurement by the function selection process in step S2, the temperature measurement unit 42b starts the temperature measurement process. Then, the temperature measuring unit 42b drives the camera pan mechanism unit 54 or the camera tilt mechanism unit 55 to direct the lens 56b of the camera body 56 toward the object to be investigated (S22). Next, the temperature measuring unit 42b removes the infrared cut filter 56a and transmits infrared rays to the lens 56b in addition to visible light (S23).

Then, the temperature measuring unit 42b acquires the image data of the infrared image captured by the imaging element 56c (S24) and analyzes the histogram in the infrared image (S25). Finally, the temperature measuring unit 42b outputs the temperature distribution of the survey object to the display unit 41 (S26) based on the correspondence between the points shown in the infrared image and the histogram, and ends the process (S31).

Further, when the investigation device control unit 42 selects the dose rate measurement by the function selection process in step S2, the dose rate measurement unit 42c starts the dose rate measurement process. Then, the dose rate measuring unit 42c turns off the illumination of the LED lighting unit 56e (S27). When the lighting of the LED lighting unit 56e is turned off, the surroundings of the survey object become pitch black, which makes it difficult for the worker to understand the position of the survey target. Therefore, in step S27, the dose rate measuring unit 42c may dim the illumination of the LED illumination unit 56e to such an extent that the worker can visually recognize the white spot noise of the radiation generated in the image.

Next, the dose rate measuring unit 42c acquires an image from the camera unit 53 (S28), binarizes the image, and then counts the number of independent white spots generated in the image (S29). These white spots are noise generated when radiation passes through the image sensor 56c, and it is shown that the larger the number of white spots generated in the image, the higher the dose rate. Then, the dose rate measuring unit 42c outputs the dose rate at the place where the survey device 50 is located to the display unit 41 (S30), and ends the process (S31).

The self-position detection function may be selected by the survey device control unit 42 through the processes of steps S1 and S2 at the timing when the worker turns on the power of the survey device controller 40. Further, the survey device control unit 42 holds the final self-position at the timing when the worker turns off the power of the survey device controller 40. Then, when the worker turns on the power of the survey device controller 40 again, the final self-position can be displayed on the display unit 41 as the current position of the survey device 50.

Next, an example of an image used by the dose rate measuring unit 42c for measuring the dose rate will be described with reference to FIGS. 14 and 15.
FIG. 14 shows an example of an image displayed on the display unit 41. The display unit 41 is not shown.

When radiation enters the image sensor 56c, random white spot noise is generated in the image acquired by the dose rate measuring unit 42c. When the camera unit 53 takes an image of the object to be investigated in an environment where the dose rate is high, the image 71 containing a large amount of white spot noise is displayed on the display unit 41. Further, when the camera unit 53 takes an image of the survey object in an environment where the dose rate is low, the image 72 in which the amount of white point noise is smaller than that of the image 71 is displayed on the display unit 41. On the other hand, when the camera unit 53 takes an image of the object to be investigated in an environment that is not affected by radiation, the image 73 in which the white point noise is not generated is displayed on the display unit 41.

FIG. 15 shows an example in which the dose rate measuring unit 42c calculates the dose rate in an environment in which the survey object is imaged based on the number of white spot noises included in the image.

The dose rate measuring unit 42c has a conversion graph 74 for converting the number of white point noises into a dose rate. From this conversion graph 74, it is shown that the dose rate is determined according to the number of white spot noises included in one screen. Therefore, the dose rate measuring unit 42c can obtain the dose rate from the number of white point noises counted in the image.

<Configuration example of survey device controller>
FIG. 16 shows a detailed configuration example of the operation unit 43 included in the investigation device controller 40.
The operation unit 43 includes a power supply LED 111, a crawler controller 112, a shape variable controller 113, and a camera controller 114.

When the worker turns on the power button (not shown), the power LED 111 lights up. By lighting the power supply LED 111, the worker can confirm that the survey device 50 is in a state of accepting an operation. After that, when the worker turns off the power button, the power LED 111 turns off. At this time, the investigation device 50 stops operating.
When the worker tilts the joystick 112a of the crawler controller 112 in the vertical direction 112b, the survey device 50 moves back and forth, and when the joystick 112a is tilted in the horizontal direction 112c, the survey device 50 performs a left-right turning operation.

The button 113a of the shape-variable controller 113 is used to arrange the left wheel crawlers 51L in series, and the button 113b is used to arrange the left wheel crawlers 51L in parallel. The button 113c is used to arrange the right wheel crawlers 51R in series, and the button 113d is used to arrange the right wheel crawlers 51R in parallel.

The camera controller 114 includes buttons 114a to 114j.
The camera use button 114a gives an instruction to pan the camera body 56 to the use state shown in FIG. The camera retract button 114b gives an instruction to pan the camera body 56 to the retracted state shown in FIG.

Further, in the camera used state shown in FIG. 11, the upward tilt button 114c gives an instruction to tilt the camera body 56 upward, and the downward tilt button 114d gives an instruction to tilt the camera body 56 downward. Further, the near focus button 114e gives an instruction to focus on the investigation object located near the investigation device 50, and the far focus button 114f gives an instruction to focus on the investigation object located far from the investigation device 50. conduct. The illumination button 114g gives an instruction to control the on / off of the LED illumination unit 56e, and the illumination adjustment knob 114h gives an instruction to adjust the illuminance of the LED illumination unit 56e. The laser light source switch 114i gives an instruction to control the on / off of the laser light source 56d, and the laser intensity adjusting knob 114j gives an instruction to adjust the intensity of the laser light of the laser light source 56d.

According to the survey system 15 according to the first embodiment described above, the support device 30 supports sending or winding of the survey device cable 14 connected to the survey device 50. At this time, the support device 30 moves to an optimum place where the investigation device cable 14 is less likely to get entangled with obstacles. Therefore, the investigation device cable 14 towed by the investigation device 50 over a long distance is less likely to be entangled with obstacles. Then, the survey device 50 can move over a wide area in the structure to survey and inspect the environment around the survey target.

Further, in the support device 30 and the survey device 50, the crawlers are arranged in series when traveling in a narrow space, and the crawlers are arranged in parallel when traveling on a flat surface. In this way, by appropriately arranging the crawlers according to the environment in which the support device 30 and the survey device 50 travel, the running stability of the support device 30 and the survey device 50 can be improved.

Further, the survey device control unit 42 detects the self-position of the survey device 50, measures the temperature of the survey object, and measures the dose rate based on the image received from the camera unit 53 via the survey device cable 14. As a result, the worker can perform the necessary investigation in the structure from a place away from the investigation device 50.

Further, the support device 30 is fixed to the grating 9 by the fixing portion 33. Therefore, when the support device 30 sends out or winds up the survey device cable 14, it is possible to avoid a situation in which the support device 30 is pulled by the survey device cable 14 and moves.

[Example of the second embodiment]
Next, the configuration of the investigation system 15 according to the second embodiment of the present invention will be described with reference to FIGS. 17 to 20. Here, another method for calculating the self-position of the survey device 50 will be described.

FIG. 17 shows a configuration example of the camera unit 53A.
The camera unit 53A according to the second embodiment includes a camera body 56A. The camera pan mechanism portion 54 and the camera tilt mechanism portion 55 provided corresponding to the camera body 56A are not shown.

The camera body 56A includes a lens 56b, an image sensor 56c, an LED illumination unit 56e, and a laser light source 56d.
The image pickup element 56c can image the object to be investigated by the vertical angle of view αV and the horizontal angle of view αH (see FIG. 18A described later) of the lens 56b. The image light of the survey object irradiated with the laser beam is reflected in the image captured by the image sensor 56c. The LED lighting unit 56e irradiates the object to be investigated with diffused light. The laser light source 56d irradiates the object to be investigated with the slit laser light in the horizontal direction. Here, let d be the distance between the optical axis of the lens 56b and the optical axis of the laser light source 56d.

FIG. 18 shows an example of a method for measuring the distance L from the survey device 50 to the survey object 81. FIG. 18A shows an example in which the positional relationship between the survey device 50 and the survey object 81 is viewed from above, and FIG. 18B shows an example of an image in which the survey object irradiated with the slit laser light is reflected.

As shown in FIG. 18A, the camera unit 53A provided in the survey device 50 in which the left wheel crawler 51L and the right wheel crawler 51R are arranged in parallel captures the survey objects 81, 82, and 83. Here, the direction perpendicular to the imaging direction of the camera unit 53A is represented by a broken line F in FIG. 18A. Then, the length of the perpendicular line with respect to the broken line F and the broken line F up to one point 84 of the survey object 81 is defined as the distance L from the survey device 50 to the survey object 81.

In the image 80 displayed on the display unit 41 shown in FIG. 18B, the laser light source 56d irradiates the survey objects 81, 82, 83 with the laser beam, so that the survey objects 81, 82, 83 and the floor surface are illuminated. The image 85 of the slit laser light indicated by is displayed.

Then, the self-position detection unit 42a calculates the distance L by the following equation (1). In the formula (1), the total number of pixels A in the vertical direction of the image 80 and the number of pixels B from the upper end of the screen up to one point 84 hit by the slit laser light are used. Further, the distance d between the optical axis of the lens 56b and the optical axis of the laser light source 56d and the vertical angle of view αV of the lens 56b are used.

Next, a method in which the self-position detecting unit 42a calculates the self-position of the survey device 50 will be described with reference to FIGS. 19 and 20.
FIG. 19 shows a method in which the self-position detecting unit 42a calculates the self-position of the survey device 50.

Here, the position where the lens 56b is provided on the camera body 56A is defined as the self-position coordinate 90 of the survey device 50. Then, the self-position detection unit 42a calculates the distance from the plurality of survey objects whose positions are known in advance to the survey device 50 from the image of the survey object irradiated with the slit laser light, and surveys. Find the current position of the device 50.

For example, the self-position detection unit 42a calculates the coordinates 91 of the known survey object 81 and the distance 93 to the survey target 81 calculated by the above equation (1). Further, the self-position detection unit 42a calculates the coordinates 92 of the known survey object 83 and the distance 94 to the survey target 83 calculated by the above equation (1). The distances 93 and 94 are represented by arcs of broken lines centered on the coordinates 91 and 92, respectively. After that, the self-position detection unit 42a calculates the intersection of the circles represented by the distances 93 and 94 as the self-position coordinates 90.

FIG. 20 shows a method in which the self-position detecting unit 42a calculates the height and the gap of the survey object existing in front of the survey device 50.

The image 120 displayed on the display unit 41 of the survey device controller 40 is represented by a pixel group having a total number of pixels AY in the vertical direction and a total number of pixels AX in the horizontal direction. Then, when the slit laser beam hits the investigation object for which the worker intends to measure the height and the gap, the image 121 represented by a substantially horizontal emission line is reflected in the image 120. At this time, the number of pixels B from the upper end of the image 120 to the image 121, the number of pixels CH in the image 120 from the upper end to the lower end of the survey object for which the height is to be measured, and the survey object for which the width is to be measured The number of pixels CW in the image 120 from the left end to the right end is determined.

Then, the self-position detecting unit 42a uses the following equations (2) to (4) to obtain the distance L from the survey device 50 to the image 121 by the slit laser beam, the height H of the survey target, and the width of the survey target. (Or gap) W is calculated.

The self-position detecting unit 42a displays the calculated height H of the surveyed object and the width (or gap) W of the surveyed object on the display unit 41. As a result, the worker can grasp the state of the survey object even in an unknown space, so that the survey device 50 can be easily moved.

According to the survey system 15 according to the second embodiment described above, the laser light source 56d irradiates the survey object with the slit laser light, so that the self-position detecting unit 42a accurately determines the self-position of the survey device 50. The height and width (or gap) of the surveyed object can be calculated. Therefore, the worker can grasp the state of the survey object existing in the traveling direction of the survey device 50 and move the survey device 50 so as not to collide with the survey object.

[Example of a third embodiment]
Next, a configuration example of the investigation system 15A according to the third embodiment of the present invention will be described with reference to FIG.
FIG. 21 shows an example of the internal configuration of the survey system 15A.

The survey system 15A includes a first support device controller 20A, a second support device controller 20B, a first support device 30A, a second support device 30B, a survey device controller 40, and a survey device 50. The first support device controller 20A and the first support device 30A are connected by a support device cable 13A. The second support device controller 20B and the second support device 30B are connected by a support device cable 13B.

The configuration example and operation example of the first support device controller 20A and the second support device controller 20B are the same as those of the support device controller 20 according to the above-described first embodiment.
Further, the configuration example and the operation example of the first support device 30A and the second support device 30B are the same as those of the support device 30 according to the above-described first embodiment.

Here, the first support device 30A and the second support device 30B send out or wind up the investigation device cable 14A at two different points. Therefore, the length of the survey device cable 14A according to the present embodiment can be made longer than the length of the survey device cable 14 according to the first embodiment. As a result, the range in which the survey device 50 moves is further expanded, and the survey device 50 can survey a wide range of survey objects.

It should be noted that three or more support devices 30 may be provided, and a longer cable for the survey device 14A may be connected to the survey device 50. This allows the survey device 50 to perform a wider survey.

[Example of Fourth Embodiment]
Next, a configuration example of the circular cross-section crawler 130 according to the fourth embodiment of the present invention will be described with reference to FIG. 22.

FIG. 22 shows the structure of the circular cross-section crawler 130. 22A is a top view of the circular cross-section crawler 130, FIG. 22B is a bottom view of the circular cross-section crawler 130, FIG. 22C is a front view of the circular cross-section crawler 130, and FIG. 22D is a side view of the circular cross-section crawler 130.

The circular cross-section crawler 130 can travel in two orthogonal directions. The circular cross-section crawler 130 can be replaced with any of the left wheel crawler 31L and the right wheel crawler 31R included in the support device 30 and the left wheel crawler 51L and the right wheel crawler 51R included in the survey device 50.

The circular cross-section crawler 130 includes crawler-shaped roller drive portions 132a and 132b surrounded by a crawler case 131. The longitudinal direction X of the shoe strip-shaped roller drive portions 132a and 132b is supported by the long axis rotation shaft 133. Further, the two crest-shaped roller drive portions 132a and 132b can rotate in the W1 direction in the longitudinal direction and also in the Y direction W2 orthogonal to the W1 direction in the longitudinal direction. As a result, the support device 30 and the survey device 50 can move in all directions.

Further, by rotating the circular cross-section crawler 130 in the Y direction W2, the position of the circular cross-section crawler 130 with respect to each housing can be changed in the same manner as the above-mentioned left wheel crawler 31L, right wheel crawler 31R, left wheel crawler 51L, and right wheel crawler 51R. Therefore, if the circular cross-section crawler 130 is used, it is not necessary to provide the shape variable portions 32 and 52 in each housing.

[Modification example]
The survey systems 15 and 15A are used not only for nuclear power plants but also for surveys and inspections of narrow and flat parts of various power plants such as thermal power, hydraulic power, and wind power. Further, the survey systems 15 and 15A may be used for surveying and inspecting oil plants and factories.

Further, the support device 30 and the survey device 50 may each include three or more crawlers. As a result, even if dust or the like is entangled with any one of the crawlers and the crawler does not move, the support device 30 and the investigation device 50 can be moved by the other crawlers.

Further, each process of self-position detection, temperature measurement, and dose rate measurement performed by the survey device control unit 42 may be performed by the survey device 50 itself. Then, the survey device 50 may transmit only the measurement result to the survey device controller 40 via the survey device cable 14.

Further, by mounting the camera unit on the support device 30, the image captured by the support device 30 may be output to the support device controller 20. As a result, the worker can accurately grasp the current position of the support device 30.

Further, if the internal configuration of the structure is known in advance, the support device 30 can self-propell and reach the target position without the control of the support device controller 20. Similarly, the survey device 50 can self-propell and reach the target position without the control of the survey device controller 40.

Further, the present invention is not limited to the above-described embodiment, and it goes without saying that various other application examples and modifications can be taken as long as the gist of the present invention described in the claims is not deviated.
For example, the above-described embodiment of the embodiment describes in detail and concretely the configurations of the apparatus and the system in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those including all the described configurations. No. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and further, it is possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.
In addition, the control lines and information lines indicate those that are considered necessary for explanation, and do not necessarily indicate all the control lines and information lines in the product. In practice, it can be considered that almost all configurations are interconnected.

13 ... Support device cable, 14 ... Investigation device cable, 15 ... Investigation system, 20 ... Support device controller, 22 ... Support device control unit, 30 ... Support device, 31 ... Travel unit, 33 ... Fixed unit, 34 ... Cable Support unit, 40 ... Investigation device controller, 42 ... Investigation device control unit, 50 ... Investigation device, 51 ... Traveling unit

Claims (11)

The longitudinal direction of each of the crawlers of the support device having a support device housing having a mounting plate and a plurality of crawlers having a variable mounting angle attached to both ends of the above-mentioned mounting plate is the length of the support device housing. The support device moves in the pipe of the reactor in a series arrangement that forms an I-shape in series with respect to the direction.
The support device moves in the reactor in a parallel arrangement in which the longitudinal direction of each of the support devices is U-shaped in parallel with the longitudinal direction of the support device housing.
The support device sends out or winds up the cable for the survey device connected to the survey device for surveying the inside of the reactor, thereby supporting the routing of the cable for the survey device and moving to the destination of the support device. A method for investigating the inside of a nuclear reactor, wherein the investigating device connected to the support device via a cable for the investigating device conducts an investigation inside the reactor. The support device housing has a pulley for sending out or winding the survey device cable connected to the survey device, and a cable support unit for supporting the feeding or winding of the survey device cable. The pulley and the cable support unit are mounted on the above-mentioned mounting plate .
Before Symbol support device housing the support device in which the plurality of crawler mounted on both ends of the mounting plate protruding in the longitudinal direction of said plurality of crawlers to position for feeding or winding of the survey device for cable The method for investigating the inside of a nuclear reactor according to claim 1, wherein the moving by means of. The pulley is an active pulley and a passive pulley that sandwich the cable for the investigation device.
The investigation method in a nuclear reactor according to claim 2, wherein the support device interlocks the active pulley and the passive pulley to send out or wind up the investigation device cable. In the support device, the lifting wire for raising and lowering the fixing jig of the support device is lowered to lower the fixing jig on the lower surface of the grating installed in the reactor, and then the fixing jig is grating. The method for investigating the inside of a nuclear reactor according to any one of claims 1 to 3, wherein the elevating wire is wound up until it hits the grating, and the support device is fixed to the grating. The method for investigating the inside of a nuclear reactor according to any one of claims 1 to 4, wherein the investigation apparatus is an image of the inside of the nuclear reactor by a camera unit included in the investigation apparatus. The investigation method in a nuclear reactor according to any one of claims 1 to 5, wherein the operation of the investigation device is controlled by an investigation device control unit connected to the investigation device cable. The investigation method in a nuclear reactor according to claim 6, wherein the self-position detection unit of the investigation device control unit detects the self-position of the investigation device. The investigation method in a nuclear reactor according to claim 6 or 7, wherein the temperature in the reactor is detected by the temperature measuring unit included in the investigation device control unit. The investigation method in a nuclear reactor according to any one of claims 6 to 8, wherein the radiation dose rate in the reactor is measured by the dose rate measuring unit included in the investigation device control unit. The survey device has a survey device housing having a second mounting plate, and a plurality of second crawlers to which mounting angles are variably attached to both ends of the second mounting plate. The investigation device moves in the pipe of the reactor in a series arrangement in which the longitudinal direction of the second crawler is in series I shape with respect to the longitudinal direction of the investigation device housing.
The investigation device moves in the reactor in a parallel arrangement in which the longitudinal direction of each of the second crawlers of the investigation device is a U-shape parallel to the longitudinal direction of the investigation device housing. The method for investigating the inside of a nuclear reactor according to any one of claims 1 to 9. The operation of the support device includes a cable sending button for instructing the feeding of the investigation device cable and a cable winding button for instructing the winding of the survey device cable, and the operation of the support device is performed via the support device cable. The method for investigating an inside a nuclear reactor according to any one of claims 1 to 10, which is controlled by a support device controller connected to the support device.

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