WO2015135831A1 - A device and a method for fitting objects together in a nuclear environment - Google Patents
A device and a method for fitting objects together in a nuclear environment Download PDFInfo
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- WO2015135831A1 WO2015135831A1 PCT/EP2015/054621 EP2015054621W WO2015135831A1 WO 2015135831 A1 WO2015135831 A1 WO 2015135831A1 EP 2015054621 W EP2015054621 W EP 2015054621W WO 2015135831 A1 WO2015135831 A1 WO 2015135831A1
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- objects
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Classifications
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
- G21C19/207—Assembling, maintenance or repair of reactor components
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C13/00—Pressure vessels; Containment vessels; Containment in general
- G21C13/02—Details
- G21C13/06—Sealing-plugs
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- 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 invention relates to a device configured to connectingly fit a first object together with a second object in a nuclear environment, said device comprising means configured to move at least said first object with respect to said second object for fitting the objects together, and a controllable arrangement configured to control the movement of at least said first object when fitting the objects together, as well as a method for such fitting together according to the preamble of the appended independent method claim. It may then be a question of fitting a number of different objects together in a nuclear environment, and as a not complete list of examples fitting together of a reactor pressure vessel lid with a reactor pressure vessel, movement of nuclear fuel to a determined position of a receiver thereof and mounting of different components of a nu- clear power plant may be mentioned.
- One of said objects is then usually kept in a fixed position and the other moved with respect thereto when fitting the objects together, but the invention comprises also the case that the relative movement of them is achieved by moving both of them.
- "Fitting together” is in this disclosure to be interpreted broadly and covers for instance that one of the objects or parts thereof is fitted into the other object.
- a nuclear or nuclear power environment means in certain situations and positions in the space an increased risk for persons staying there to be exposed to unacceptable doses of radioactive radiation, and this fact is to be observed when objects are to be fitted together in such an environment.
- Such objects to be fitted together may also have sensitive parts requiring a high accuracy in the fitting together operation for not being damaged.
- the high requirement of accuracy and the requirement to not expose a said human operator or other staff to high doses may in certain situations be difficult to fulfil at the same time.
- a reactor pressure vessel lid and a reactor pressure vessel may be mentioned.
- a reactor pressure vessel lid has normally a weight of several tons and is lifted and lowered down towards the reactor pressure vessel through a said means in the form of a crane or hoist with a control arrangement controlled by a human operator.
- Such a lid contains a number of elements in the form of instruments, rods and the like, which are to be fitted into different recesses and the like in the vessel equipment.
- Guiding means in the form of funnels and so called “spotters” are used to get the different elements to arrive correctly, in which “spotters” more exactly are persons placed around the vessel for giving signs to the operator and assist the operator to get the rods to pass, preferably centrally, into the respective funnel.
- spotters more exactly are persons placed around the vessel for giving signs to the operator and assist the operator to get the rods to pass, preferably centrally, into the respective funnel.
- US 5 730 421 discloses a device of the type defined in the introduction used for installation and removal of lids of a reactor pressure vessel. This device has certain physical members for controlling the lid in a desired movement path in the movement thereof so as to reduce the number of persons necessary to participate in the work and still obtain an acceptable accuracy of the fitting together.
- the object of the present invention is to provide a device and a method of the types defined in the introduction, which are improved in at least some aspect with respect to such devices and methods already known.
- said two objects may be fitted to- gether with an accuracy asked for at the same time as no staff has to be present in the vicinity of the objects for supervising how the fitting together movement is carried out and possibly participate therein.
- said means for creating a representation is configured to create this representation in the form of a picture. Such a picture may then be shown to a human operator, when a human operator is controlling the arrangement, so that this may be done with a high accuracy.
- said means for creating a representation is configured to create this representation in the form of a geometrical figure
- said means for creating a representation is configured to create this representation in the form of a combination of a picture and a geometrical figure.
- said means for creating a representation is configured to process information about the appearance of the objects so as to create said representation.
- Said means for creating a representation is preferably a computer unit which by means of a suitable software processes information about the appearance of the objects so as to create a suitable said representation.
- said means for creating a representation is configured to carry out a 3D-mapping or a laser scanning of at least said portions of said two objects for ob- taining said information for creating said representation.
- said means for creating a representation comprises one or a plurality of cameras configured to be arranged in the region of two said objects to be fitted together. If in this case more than one camera is used the fitting to- gether of the objects in all dimensions is secured.
- the device comprises a plurality of said cameras configured to be arranged in the region of said portions of said objects, and said means for creating a representation is configured to process information about the appearance of said objects received from said cameras and when doing so calculate the direction of movement of said first object with respect to said second object desired for fitting the objects together when fitting the objects together.
- said means for creating a representation is configured to introduce a visual assisting means in a picture shown to a human operator, in which said assist- ing means assists said operator to fit said objects together.
- the visual assisting means is designed as a line as a prolongation of a member of said portions of said first object to be fit together with another member of said second object visible in said picture.
- This line or "sword" generated by a suitable software through the means for creating a representation will then during the entire move- ment of the first object with respect to the second object be in the prolongation of a said member even when the first object and then this member move.
- a human operator may in this way determine if said member is directed towards the visible member in question of the second object, for example a rod directed towards a sleeve. The operator may take correcting measures would there be a deviation .
- the device comprises a plurality of cameras configured to take photographs of said two objects at the location where they are to be fitted together
- said means for creating a representation comprises a computer unit configured to receive picture information from the cameras and based thereupon on one hand create a picture of said second object as seen in the direction of the intended movement for fitting together with reference points on said second object on a screen visible for a human operator and on the other calculate the position of reference points of said first object, which are to coincide with the reference points first mentioned when fitting said objects together, in a plane perpendicular to said direction and show this position on said screen, so that said arrangement is to be controlled so that reference points of said first object and of said second object belonging to each other will cover each other on the screen and said first object is then guided with respect to said second object in the direction of fitting together for fitting said objects together.
- the device comprises a computer unit configured to control said arrangement based upon said representation created so as to obtain said fitting of said two objects together.
- a computer unit configured to control said arrangement by means of a computer software, which contains a suit- able logic for utilizing the representation created, no said human operator is needed for carrying out said fitting together, but this may be totally computer controlled. This may in certain situations of course be of a great advantage in a nuclear environment.
- said moving means is a crane, in which the crane may be configured to lower a first object in the form of a reactor pressure vessel lid onto a second object in the form of a reactor pressure vessel for fitting these together.
- the device comprises according to another embodiment of the invention means configured to calculate, based upon said representation created, whether fitting of said objects together is possible or if adjustments of the geometry of any part of said objects are necessary for making the fitting together possible.
- These calculating means may for example be included in said computer unit. It is well possible that for any reason not all the details of the two objects to be fitted together look like as expected, for example as a consequence of a deformation of any detail or since any of the objects has been provided with a detail being another than the one needed for fitting together with the other object, and these calculating means may in this case ensure that a failing attempt to fitting together which may result in material damages is not carried out.
- the object of the present invention is with respect to the method ob- tained by providing a method having the method steps listed in the appended independent method claim.
- the invention also relates to a use of a device according to the invention for fitting a reactor pressure vessel lid and a reactor pressure vessel together or moving nuclear fuel to a determined position or for mounting components of a nuclear power plant in nuclear environment, which constitutes advantageous uses of a device according to the invention.
- Fig. 1 is a very simplified view illustrating a use of a device according to the invention for fitting a reactor pressure vessel lid and a reactor pressure vessel together and carrying out a method for this in a nuclear environment, and
- Fig. 2 shows a schematic diagram of parts of the device according to the invention.
- FIG. 1 A device configured to fit a first object in the form of a reactor pressure vessel lid 1 and a second object in the form a reactor pressure vessel 2 together is schematically illustrated in Fig. 1 .
- the device has means in the form of a crane or hoist 3 configured to move the lid 1 with respect to the vessel 2 for fitting them together.
- the crane 3 has an arrangement 4, which is hand-operatedly controllable by a human operator 5 and configured to control the movement of the lid 1 by controlling the movement of the arms 6 of the crane.
- the lid 1 may be provided with elements 7 schemati- cally indicated in the form of a number of instruments, rods or the like, which have to be fitted into different recesses and the like in the vessel. Guiding means in the form of funnels 8 are used for ensuring that the different elements 7 will get to the correct place.
- the operator has to control the crane so that the lid is in exactly correct position when lowered, i.e. so that each element 7 is correctly aligned with respect to the associated funnel 8.
- the device has in order to obtain this a screen 9 arranged in front of the operator and which forms means configured to, in real time, display a picture of at least the portions of the two objects, here lid and vessel, to be brought together when fitting the objects together. This enables the operator to control the arrangement 4 for controlling and guiding the movement of the lid by means of said picture when fitting the objects together.
- the picture will be well visible to the operator, so that this has a possibility to perfectly “aim" the parts to be fitted together.
- the device has cameras 10, 1 1 arranged in the region of said portions of the two objects 1 , 2 to be fitted together, and these cameras are configured to send information about the appearance of the objects to a computer unit 12 configured to process this information about the appearance, such as shape, of the objects so as to create a picture being suitable to show the operator on the screen 9.
- a computer unit 12 has already been provided with information about the appearance of the two objects to be fitted together, for example by a 3D-mapping or a laser scanning of the objects previously carried out and the data of which have been stored in the computer unit.
- the computer unit may then consider this information when creating the picture to be displayed on the screen .
- the computer unit 12 may based upon the picture information received thereby from the cameras 10, 1 1 on one hand create a picture of the second object (the vessel 2) as seen in the direction of the intended movement for fitting together with reference points on the second object deriving from data stored in the computer unit and on the other calculate the position of reference points also deriving from such data of the first object, which have to coincide with the reference point first mentioned when fitting the objects together, in a plane perpendicular to the direction of bringing the objects together and show this position on the screen .
- This enables the operator to control the arrangement 4 so that reference points on the lid 1 and the vessel 2 belonging to each other are aligned to cover each other and then control the lid 1 with respect to the vessel 2 in the direction of fitting them together for obtaining this.
- the computer unit has software designed to process the information received from the cameras 10, 1 1 for calculating the direction of movement of the lid 1 with respect to the vessel 2 desired for bringing them together when fitting together really takes place and on the picture displayed to the operator attach a line 13 as a prolongation of a member (element 7) of the lid to be fitted together with another member (funnel 8) of the vessel 2 visible in said picture.
- the software of the computer unit 12 could also be designed to obtain a compensation for possible geometry changes taking place of parts to be fitted together during the very process of fitting together. It may then be possible to, in real time, follow the procedure irrespectively of whether the computer unit or a human operator controls the movement for fitting the objects together for being able to carry out possible adjustments, for example as a consequence of a flexible nature of certain details of any of the objects which means that they may be subjected to geometry changes for instance when putting a lid on a vessel. Said cameras will then take photographs by making a film during the procedure of fitting together. "Take photographs" covers in this disclosure also making films.
- the computer unit could also be configured to control the arrangement 4 for obtaining fitting together of the two objects by support of the representation of at least those portions of the two objects to be brought together during said fitting together procedure created by cameras, laser scanners and other means.
- the software of the computer unit contains logic carrying out the work of the operator in connection with the fitting together.
- there be a need of persons present close to the two objects to be fitted together not for functioning as said "spotters” but for by hand power push the objects to be fitted together. These persons may then use bars for reaching and pushing the objects.
- the invention is of course not in any way restricted to the embodi- ments described above, but many possibilities to modifications thereof would be apparent to a person skilled in the art without departing from the scope of the invention as defined in the appended claims.
- the means used for moving an object with respect to another object may for example be something totally different than a crane, and it is also possible to move both objects when fitting them together.
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Abstract
A device configured to fit a first object (1) together with a second object (2) in a nuclear environment comprises means (3) configured to move at least said first object with respect to said second object for fitting these objects together and a controllable arrangement (4) configured to control the movement of at least said first object when fitting the objects together. Means (10-12) is configured to create a representation of at least those portions of said two objects which are to be brought together when fitting the objects together. Means (9) is also configured to utilize this information in real time for making it possible to control said arrangement (4) for controlling the movement of at least said first object when fitting the objects together by means of said representation.
Description
A device and a method for fitting objects together in a nuclear environment
BACKGROUND OF THE INVENTION AND PRIOR ART
The present invention relates to a device configured to connectingly fit a first object together with a second object in a nuclear environment, said device comprising means configured to move at least said first object with respect to said second object for fitting the objects together, and a controllable arrangement configured to control the movement of at least said first object when fitting the objects together, as well as a method for such fitting together according to the preamble of the appended independent method claim. It may then be a question of fitting a number of different objects together in a nuclear environment, and as a not complete list of examples fitting together of a reactor pressure vessel lid with a reactor pressure vessel, movement of nuclear fuel to a determined position of a receiver thereof and mounting of different components of a nu- clear power plant may be mentioned. One of said objects is then usually kept in a fixed position and the other moved with respect thereto when fitting the objects together, but the invention comprises also the case that the relative movement of them is achieved by moving both of them. "Fitting together" is in this disclosure to be interpreted broadly and covers for instance that one of the objects or parts thereof is fitted into the other object.
A nuclear or nuclear power environment means in certain situations and positions in the space an increased risk for persons staying there to be exposed to unacceptable doses of radioactive radiation, and this fact is to be observed when objects are to be fitted together in such an environment. Such objects to be fitted together may also have sensitive parts requiring a high accuracy in the fitting together operation for not being damaged. The high requirement of accuracy and the requirement to not expose a said human operator or other
staff to high doses may in certain situations be difficult to fulfil at the same time.
As an example of fitting of objects together in which both said re- quirements are valid but to which the present invention is in no way restricted the fitting together of a reactor pressure vessel lid and a reactor pressure vessel may be mentioned. Such a reactor pressure vessel lid has normally a weight of several tons and is lifted and lowered down towards the reactor pressure vessel through a said means in the form of a crane or hoist with a control arrangement controlled by a human operator. Such a lid contains a number of elements in the form of instruments, rods and the like, which are to be fitted into different recesses and the like in the vessel equipment. Guiding means in the form of funnels and so called "spotters" are used to get the different elements to arrive correctly, in which "spotters" more exactly are persons placed around the vessel for giving signs to the operator and assist the operator to get the rods to pass, preferably centrally, into the respective funnel. However, this is a delicate procedure, since the persons have due to the radioactive radiation to stay in such positions that their view and possibility to estimate the correct position of the lid and parts connected thereto may be limited . This results now and then in a hit of any element on the edge of such a funnel or any other part causing a fracture of the element. This results of course in considerable costs.
US 5 730 421 discloses a device of the type defined in the introduction used for installation and removal of lids of a reactor pressure vessel. This device has certain physical members for controlling the lid in a desired movement path in the movement thereof so as to reduce the number of persons necessary to participate in the work and still obtain an acceptable accuracy of the fitting together.
SUMMARY OF THE INVENTION
The object of the present invention is to provide a device and a method of the types defined in the introduction, which are improved in at least some aspect with respect to such devices and methods already known.
This object is with respect to the device obtained by providing a device having the features listed in the appended claim 1 .
By creating a representation of the part being important for being able to carry out a fitting together procedure of desired accuracy and processing the information of the representation for delivering an assisting means for the fitting together said two objects may be fitted to- gether with an accuracy asked for at the same time as no staff has to be present in the vicinity of the objects for supervising how the fitting together movement is carried out and possibly participate therein. Accordingly, no person has to be so close to both objects that this is exposed to unacceptable high doses of radioactive radia- tion or be in a certain position where such a radiation is high, since the place of the human operator, if a human operator is controlling said arrangement, may through choosing the location of the control arrangement and the means for utilizing said representation be determined so that it is advantageous with respect to radioactive radia- tion.
According to an embodiment of the invention said means for creating a representation is configured to create this representation in the form of a picture. Such a picture may then be shown to a human operator, when a human operator is controlling the arrangement, so that this may be done with a high accuracy.
According to another embodiment of the invention said means for creating a representation is configured to create this representation in the form of a geometrical figure, and according to a further embodiment of the invention said means for creating a representation is
configured to create this representation in the form of a combination of a picture and a geometrical figure. These possible representations of at least the portions of the two objects to be brought together when fitting the objects together are suitable to form a base for the control of said arrangement, since they allow accurate determination of the positions of the two objects at each instant during the movement for fitting them together.
According to another embodiment of the invention said means for creating a representation is configured to process information about the appearance of the objects so as to create said representation. Said means for creating a representation is preferably a computer unit which by means of a suitable software processes information about the appearance of the objects so as to create a suitable said representation.
According to another embodiment of the invention said means for creating a representation is configured to carry out a 3D-mapping or a laser scanning of at least said portions of said two objects for ob- taining said information for creating said representation. These are advantageous ways to use for obtaining information about the appearance of the objects necessary for creating a suitable representation of the objects and to use when controlling the arrangement of the device.
According to another embodiment of the invention said means for creating a representation comprises one or a plurality of cameras configured to be arranged in the region of two said objects to be fitted together. If in this case more than one camera is used the fitting to- gether of the objects in all dimensions is secured.
According to another embodiment of the invention the device comprises a plurality of said cameras configured to be arranged in the region of said portions of said objects, and said means for creating a representation is configured to process information about the appearance of said objects received from said cameras and when doing so
calculate the direction of movement of said first object with respect to said second object desired for fitting the objects together when fitting the objects together. Such a use of cameras makes it possible to easily obtain a said representation of a high quality which may form a support for an accurate fitting of said objects together.
According to another embodiment of the invention said means for creating a representation is configured to introduce a visual assisting means in a picture shown to a human operator, in which said assist- ing means assists said operator to fit said objects together.
According to another embodiment of the invention the visual assisting means is designed as a line as a prolongation of a member of said portions of said first object to be fit together with another member of said second object visible in said picture. The presence of such a line in the picture shown to the human operator makes it easier for this person to obtain a high accuracy when fitting the objects together. This line or "sword" generated by a suitable software through the means for creating a representation will then during the entire move- ment of the first object with respect to the second object be in the prolongation of a said member even when the first object and then this member move. A human operator may in this way determine if said member is directed towards the visible member in question of the second object, for example a rod directed towards a sleeve. The operator may take correcting measures would there be a deviation .
According to another embodiment of the invention the device comprises a plurality of cameras configured to take photographs of said two objects at the location where they are to be fitted together, and said means for creating a representation comprises a computer unit configured to receive picture information from the cameras and based thereupon on one hand create a picture of said second object as seen in the direction of the intended movement for fitting together with reference points on said second object on a screen visible for a human operator and on the other calculate the position of reference points of said first object, which are to coincide with the reference points
first mentioned when fitting said objects together, in a plane perpendicular to said direction and show this position on said screen, so that said arrangement is to be controlled so that reference points of said first object and of said second object belonging to each other will cover each other on the screen and said first object is then guided with respect to said second object in the direction of fitting together for fitting said objects together. The reference points may then be obtained by scanning of said portions of the objects before the procedure of fitting together, for example through laser scanning. By showing the reference points obtained in the picture delivered in real time by the cameras of the portions in question of the objects a combination of computer graphic and real graphic with an advantageous result takes place. According to another embodiment of the invention the device comprises a computer unit configured to control said arrangement based upon said representation created so as to obtain said fitting of said two objects together. By using a computer unit to control said arrangement by means of a computer software, which contains a suit- able logic for utilizing the representation created, no said human operator is needed for carrying out said fitting together, but this may be totally computer controlled. This may in certain situations of course be of a great advantage in a nuclear environment. According to another embodiment of the invention said moving means is a crane, in which the crane may be configured to lower a first object in the form of a reactor pressure vessel lid onto a second object in the form of a reactor pressure vessel for fitting these together.
The device comprises according to another embodiment of the invention means configured to calculate, based upon said representation created, whether fitting of said objects together is possible or if adjustments of the geometry of any part of said objects are necessary for making the fitting together possible. These calculating means may for example be included in said computer unit. It is well possible that
for any reason not all the details of the two objects to be fitted together look like as expected, for example as a consequence of a deformation of any detail or since any of the objects has been provided with a detail being another than the one needed for fitting together with the other object, and these calculating means may in this case ensure that a failing attempt to fitting together which may result in material damages is not carried out.
The object of the present invention is with respect to the method ob- tained by providing a method having the method steps listed in the appended independent method claim.
Advantages and advantageous features of this method and embodiments according to the invention of this method appear clearly from the above discussion of the device according to the invention .
The invention also relates to a use of a device according to the invention for fitting a reactor pressure vessel lid and a reactor pressure vessel together or moving nuclear fuel to a determined position or for mounting components of a nuclear power plant in nuclear environment, which constitutes advantageous uses of a device according to the invention.
Further advantages as well as advantageous features of the inven- tion appear from the following description.
BRIEF DESCRI PTION OF THE DRAWINGS With reference to the appended drawings below follows a specific description of an embodiment of a device and a method according to the present invention cited as examples.
In the drawings:
Fig. 1 is a very simplified view illustrating a use of a device according to the invention for fitting a reactor pressure vessel lid and a reactor pressure vessel together and carrying out a method for this in a nuclear environment, and
Fig. 2 shows a schematic diagram of parts of the device according to the invention.
DETAILED DESCRI PTION OF AN EMBODI MENT OF THE INVENTION
A device and a method according to an embodiment of the invention will now be described while making reference at the same time to Fig. 1 and 2. A device configured to fit a first object in the form of a reactor pressure vessel lid 1 and a second object in the form a reactor pressure vessel 2 together is schematically illustrated in Fig. 1 . The device has means in the form of a crane or hoist 3 configured to move the lid 1 with respect to the vessel 2 for fitting them together. The crane 3 has an arrangement 4, which is hand-operatedly controllable by a human operator 5 and configured to control the movement of the lid 1 by controlling the movement of the arms 6 of the crane.
It is shown how the lid 1 may be provided with elements 7 schemati- cally indicated in the form of a number of instruments, rods or the like, which have to be fitted into different recesses and the like in the vessel. Guiding means in the form of funnels 8 are used for ensuring that the different elements 7 will get to the correct place. The operator has to control the crane so that the lid is in exactly correct position when lowered, i.e. so that each element 7 is correctly aligned with respect to the associated funnel 8. The device has in order to obtain this a screen 9 arranged in front of the operator and which forms means configured to, in real time, display a picture of at least the portions of the two objects, here lid and vessel, to be brought together when fitting the objects together. This enables the
operator to control the arrangement 4 for controlling and guiding the movement of the lid by means of said picture when fitting the objects together. The picture will be well visible to the operator, so that this has a possibility to perfectly "aim" the parts to be fitted together.
The device has cameras 10, 1 1 arranged in the region of said portions of the two objects 1 , 2 to be fitted together, and these cameras are configured to send information about the appearance of the objects to a computer unit 12 configured to process this information about the appearance, such as shape, of the objects so as to create a picture being suitable to show the operator on the screen 9.
It is then possible that a computer unit 12 has already been provided with information about the appearance of the two objects to be fitted together, for example by a 3D-mapping or a laser scanning of the objects previously carried out and the data of which have been stored in the computer unit. The computer unit may then consider this information when creating the picture to be displayed on the screen . The computer unit 12 may based upon the picture information received thereby from the cameras 10, 1 1 on one hand create a picture of the second object (the vessel 2) as seen in the direction of the intended movement for fitting together with reference points on the second object deriving from data stored in the computer unit and on the other calculate the position of reference points also deriving from such data of the first object, which have to coincide with the reference point first mentioned when fitting the objects together, in a plane perpendicular to the direction of bringing the objects together and show this position on the screen . This enables the operator to control the arrangement 4 so that reference points on the lid 1 and the vessel 2 belonging to each other are aligned to cover each other and then control the lid 1 with respect to the vessel 2 in the direction of fitting them together for obtaining this.
However, it is also conceivable that the computer unit has software designed to process the information received from the cameras 10, 1 1 for calculating the direction of movement of the lid 1 with respect
to the vessel 2 desired for bringing them together when fitting together really takes place and on the picture displayed to the operator attach a line 13 as a prolongation of a member (element 7) of the lid to be fitted together with another member (funnel 8) of the vessel 2 visible in said picture.
The software of the computer unit 12 could also be designed to obtain a compensation for possible geometry changes taking place of parts to be fitted together during the very process of fitting together. It may then be possible to, in real time, follow the procedure irrespectively of whether the computer unit or a human operator controls the movement for fitting the objects together for being able to carry out possible adjustments, for example as a consequence of a flexible nature of certain details of any of the objects which means that they may be subjected to geometry changes for instance when putting a lid on a vessel. Said cameras will then take photographs by making a film during the procedure of fitting together. "Take photographs" covers in this disclosure also making films. The computer unit could also be configured to control the arrangement 4 for obtaining fitting together of the two objects by support of the representation of at least those portions of the two objects to be brought together during said fitting together procedure created by cameras, laser scanners and other means. Thus, no human operator is needed in such a case since the software of the computer unit contains logic carrying out the work of the operator in connection with the fitting together. However, in certain cases may then, and also in the case of a fitting together controlled by an operator, there be a need of persons present close to the two objects to be fitted together, not for functioning as said "spotters" but for by hand power push the objects to be fitted together. These persons may then use bars for reaching and pushing the objects.
The invention is of course not in any way restricted to the embodi- ments described above, but many possibilities to modifications
thereof would be apparent to a person skilled in the art without departing from the scope of the invention as defined in the appended claims. The means used for moving an object with respect to another object may for example be something totally different than a crane, and it is also possible to move both objects when fitting them together.
Claims
1 . A device configured to connectingly fit a first object (1 ) together with a second object (2) in a nuclear environment, said device comprising:
• means (3) configured to move at least said first object (1 ) with respect to said second object (2) for fitting the objects together, and
• a controllable arrangement (4) configured to control the movement of at least said first object (1 ) when fitting the objects together,
characterized in that it also comprises
• means (10-12, 14) configured to create a representation of at least the portions of said two objects to be brought to- gether when fitting the objects together and to process information contained in said representation created so as to deliver assisting means for fitting said objects together, and
• means (12) configured to utilize said assisting means created by processing said information from said representation in real time so as to make it possible to control said arrangement (4) for controlling the movement of at least said first object (1 ) by means of said representation when fitting the objects together.
2. The device according to claim 1 , characterized in that said means (10-12, 14) for creating a representation is configured to create this representation in the form of a picture.
3. The device according to claim 1 , characterized in that said means (10-12, 14) for creating a representation is configured to create this representation in the form of a geometrical figure.
4. The device according to claim 1 , characterized in that said means (10-12, 14) for creating a representation is configured to create this representation in the form of a combination of a picture and a geometrical figure.
The device according to any of the preceding claims, characterized in that said means (12) for creating a representation is configured to process information about the appearance of said objects (1 , 2) so as to create said representation.
The device according to claim 5, characterized in that said means (14) for creating a representation is configured to carry out a 3D-mapping or a laser scanning of at least said portions of said two objects (1 , 2) for obtaining said information for creating said representation.
The device according to any of the preceding claims, characterized in that said means for creating a representation comprises one or a plurality of cameras (10, 1 1 ) configured to be arranged in the region of said two objects (1 , 2) to be fitted together.
The device according to claims 5 and 7, characterized in that it comprises a plurality of said cameras (10, 1 1 ) configured to be arranged in the region of said portions of said objects (1 , 2), and that said means (12) for creating a representation is configured to process information about the appearance of said objects received from said cameras and when doing so calculate the direction of movement of said first object (1 ) with respect to said second object (2) desired for fitting the objects together when fitting the objects together.
The device according to claim 5, characterized in that said means for creating a representation is configured to introduce a visual assisting means in a picture shown to a human operator, in which said assisting means assists said operator to fit said objects (1 , 2) together.
The device according to claim 9, characterized in that said visual assisting means is designed as a line (13) as a prolongation of a member (7) of said portions of said first object (1 ) to be fit
together with another member (8) of said second object (2) visible in said picture.
1 1 . The device according to at least claims 5 and 7, characterized in that it comprises a plurality of cameras (10, 1 1 ) configured to take photographs of said two objects (1 , 2) at the location where they are to be fitted together, and that said means for creating a representation comprises a computer unit (12) configured to receive picture information from the cameras and based thereupon on one hand create a picture of said second object (2) as seen in the direction of the intended movement for fitting together with reference points on said second object on a screen (9) visible for a human operator and on the other calculate the position of reference points of said first object (1 ), which are to coincide with the reference points first mentioned when fitting said objects together, in a plane perpendicular to said direction and show this position on said screen, so that said arrangement (4) is to be controlled so that reference points of said first object (1 ) and of said second object (2) belonging to each other will cover each other on the screen (9) and said first object is then guided with respect to said second object in the direction of fitting together for fitting said objects together.
12. The device according to any of the preceding claims, character- ized in that it comprises a computer unit (12) configured to control said arrangement (4) based upon said representation created so as to obtain said fitting of said two objects (1 , 2) together.
13. The device according to any of the preceding claims, character- ized in that said moving means (3) is a crane.
14. The device according to claim 13, characterized in that said crane is configured to lower a said first object in the form of a reactor pressure vessel lid (1 ) onto a said second object in the form of a reactor pressure vessel (2) for fitting these two objects together.
15. The device according to any of the preceding claims, characterized in that it comprises means (12) configured to calculate, based upon said representation created, whether fitting of said objects together is possible or if adjustments of the geometry of any part of said objects are necessary for making the fitting together possible.
16. A method for fitting a first object (1 ) together with a second object (2) in a nuclear environment, said method comprising the steps:
• moving at least said first object (1 ) through means (3) carrying this object with respect to said second object (2) for fitting said objects together, and
• controlling the movement of at least said first object (1 ) when fitting the objects together,
characterized in that it further comprises the steps:
• creating a representation of at least those portions of said two objects which are to be brought together when fitting said objects together, and
· fitting said objects together by support of said representation.
17. The method according to claim 16, characterized in that said creating of a representation comprises processing of information about the appearance of said objects (1 , 2).
18. The method according to claim 17, characterized in that it comprises the step of carrying out a 3D-mapping or a laser scanning of at least said portions of said two objects (1 , 2) for obtaining said information for creating a said representation.
19. The method according to any of the claims 16-18, characterized in that said movement for fitting the objects together is controlled by a computer unit (12) based upon information relating to said representation.
20. Use of a device according to any of claims 1 -15 so as to in a nuclear environment fit a reactor pressure vessel lid together with a reactor pressure vessel or move nuclear fuel to a determined position or for mounting components of a nuclear power plant.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1450283A SE1450283A1 (en) | 2014-03-13 | 2014-03-13 | Device and method for matching objects in nuclear power environment |
| SE1450283-5 | 2014-03-13 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2015135831A1 true WO2015135831A1 (en) | 2015-09-17 |
Family
ID=52630371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2015/054621 Ceased WO2015135831A1 (en) | 2014-03-13 | 2015-03-05 | A device and a method for fitting objects together in a nuclear environment |
Country Status (2)
| Country | Link |
|---|---|
| SE (1) | SE1450283A1 (en) |
| WO (1) | WO2015135831A1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10197680A (en) * | 1996-12-27 | 1998-07-31 | Toshiba Corp | Control device of control rod drive device handling device |
| US20090225925A1 (en) * | 2006-07-24 | 2009-09-10 | Areva Np Gmbh | Fuel assembly loading machine and method for handling fuel assemblies |
-
2014
- 2014-03-13 SE SE1450283A patent/SE1450283A1/en not_active Application Discontinuation
-
2015
- 2015-03-05 WO PCT/EP2015/054621 patent/WO2015135831A1/en not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10197680A (en) * | 1996-12-27 | 1998-07-31 | Toshiba Corp | Control device of control rod drive device handling device |
| US20090225925A1 (en) * | 2006-07-24 | 2009-09-10 | Areva Np Gmbh | Fuel assembly loading machine and method for handling fuel assemblies |
Also Published As
| Publication number | Publication date |
|---|---|
| SE1450283A1 (en) | 2015-09-14 |
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