JPS641757B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for monitoring and inspecting equipment etc. by remote control.

[Conventional technology]

Conventional techniques include Japanese Patent Application Laid-Open No. 50-47090,
The monitoring and inspection equipment disclosed in JP-A-52-52091 and JP-A-53-59196, inspection equipment, or a detector that can grasp the status of inspection equipment (for example, ITV camera, There is a detector equipment method that uses information from these detectors to detect abnormalities in inspection equipment.

[Problem to be solved by the invention]

However, conventional monitoring and inspection devices do not give any consideration to inspecting narrow areas of a plant, and there are cases where it is not possible to monitor and inspect each device within the plant.

SUMMARY OF THE INVENTION An object of the present invention is to provide a monitoring and inspection device capable of monitoring and inspecting equipment even installed in a narrow place within a plant.

[Means to solve the problem]

In order to achieve the above object, the monitoring and inspection device of the present invention includes a detector unit that monitors equipment in a plant;
a control circuit section that controls the detector section based on a control signal from the outside; a communication circuit section that transmits the detection signal from the detector section and the control signal from the outside;
It has a power source section that supplies power to the detector section, etc., and each section constituting the monitoring and inspection device is divided into one or more units and moves along the trajectory, and Each divided part communicates and
It is characterized by being connected by a power supply cable.

[Effect]

In the present invention, since the monitoring and inspection device is configured by being divided into functions such as a detector section, a control circuit section, a communication circuit section, and a power supply section, the monitoring and inspection device can be configured without increasing its size. Therefore, it becomes possible to remotely monitor and inspect equipment installed in a narrow place within the plant using a monitoring and inspection device that moves along a track laid within the plant.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

The present invention allows the monitoring and inspection device to be configured by dividing it into functions such as a detector section, a control circuit section, a communication circuit section, and a power supply section. This enables monitoring and inspection of equipment installed in narrow spaces. To make it easier to understand the advantages of this invention,
First, an undivided monitoring and inspection device (hereinafter referred to as a conventional example) that the present inventors studied before arriving at the present invention will be explained, and the present invention will be explained in comparison with this conventional example.

FIG. 1 is a block diagram of a conventional monitoring and inspection device (which is basically the same as the embodiment of the present invention). This conventional example consists of a control panel 1, a computer 2, a communication relay device 3, an inspection vehicle drive control device 4, an inspection vehicle power supply device 5, an inspection vehicle 6, an inspection vehicle drive device 7, an inspection vehicle running rail 8, and a power distribution board 9. has been done.

The control panel 1 includes a TV monitor, a monitoring measurement data display, an operating device, and a communication device. The calculator 2 controls the inspection vehicle 6 based on the operation contents and an inspection vehicle status signal transmitted from the inspection vehicle 6 to the control panel 1 .

When the inspection site (for example, inside the reactor containment vessel) 12 and the operation room 10 are far apart, the communication relay device 3
Relay and amplify the transmitted signal. It is not necessary if both are close to each other. The inspection vehicle drive control device 4 controls the traveling of the inspection vehicle 6 using control signals such as the inspection vehicle speed setting signal and the forward and backward movement command signals from the control panel 1, and also controls the inspection from the drive motor in the inspection vehicle drive device 7. A vehicle speed feedback signal is sent to the control panel 1. The inspection vehicle power supply device 5 supplies power to the power supply line 801 to the inspection vehicle 6. Furthermore, the inspection vehicle power supply device 5 is
The occurrence of an abnormality such as leakage or short circuit in the power supply line 801 and the inspection vehicle 6 is detected by monitoring current imbalance and overcurrent between the two power supply lines 801, and power transmission to the power supply line 801 is automatically stopped. Then, a signal to that effect is sent to the control panel 1. The control panel 1 turns on and off the power to the inspection vehicle drive device 4 and the inspection vehicle power supply device 5.
Control remotely.

The communication relay device 3, the inspection vehicle drive control device 4, and the inspection vehicle power supply device 5 may be installed within the inspection site 12. However, if the inspection site 12 is in a bad environment such as inside a nuclear reactor containment vessel that cannot be easily approached by humans, the above devices 4, 5, and 6 are installed outside the inspection site 11 from the standpoint of improving maintainability.

FIG. 2 is a diagram showing the relationship between the inspection vehicle 6 and the inspection vehicle drive device 7. The inspection vehicle 6 is a vehicle 6 that moves within an inspection vehicle travel rail 810 laid in a closed loop.
01 and 602. The inspection vehicle drive device 7 moves an inspection vehicle traction chain 820 laid in a closed loop back and forth. The inspection vehicle towing chain 820 has a hook 8 that engages with the inspection vehicle 6.
23 is installed. Therefore, by moving the inspection vehicle towing chain 820 back and forth with the inspection vehicle drive device 7, the inspection vehicle 6 is moved along the inspection vehicle traveling rail 8.
10.

Next, the relationship between the inspection vehicle drive device 7 and the inspection vehicle traction chain 820 will be explained with reference to FIGS. 3 and 4. FIG. 3 is a plan view of the inspection vehicle drive device 7. The inspection vehicle drive device 7 includes a drive motor 710, a reduction gear 720, a coupling 730 that connects the drive motor 710 and the reduction gear 720, a chain drive roller 750, and a torque transmission for transmitting rotational force from the reduction gear 720 to the chain drive roller 750. It consists of a chain 740 and a brake 760. The inspection vehicle drive device 7 is connected to a fixed support structure 7.
Supported by 70. The drive motor 710 is controlled by the inspection vehicle drive control device 4, and the drive motor 71
The torque of 0 is the coupling spring 730 and the reducer 7.
20 to the chain drive roller 750. FIG. 4 is a diagram showing torque transmission between the chain drive roller 750 and the inspection vehicle traction chain 820. A spiral convex band 751 is provided on the side surface of the chain drive roller 750. This convex band 751 moves the traveling body 821 provided on the inspection vehicle traction chain 820 to the chain drive roller 750.
The inspection vehicle traction chain 820 is moved by pushing it out as it rotates. The inspection vehicle 6 is attached to an inspection vehicle traction chain 820. The chain rail 831 is the inspection vehicle towing chain 8
It functions as a guide for 20. chain rail 8
31 is installed in a closed loop with the inspection vehicle traction chain 820. The brake 760 shown in FIG.
The chain drive roller 750 is held so as not to rotate due to its own weight, and is used as a brake when the inspection vehicle 6 is brought to an emergency stop. When stopping normally, the speed is gradually reduced to reduce the load on the inspection vehicle's towing chain.

5 and 6 are a front view and a side view of the inspection vehicle 6 and the inspection vehicle running rail 8. FIG. In FIG. 5, the area within the one-dot chain line indicates the inspection vehicle traveling rail 8, and the area within the two-dot chain line indicates the inspection vehicle 6. The inspection vehicle traveling rail 8 includes a traveling rail 810 attached to a fixed support structure 850 and chain rails 830 and 831 provided on the traveling rail 810 and guiding an inspection vehicle traction chain 820. A pair of feeder lines 801 and a leaky coaxial cable 840
is attached to the support structure 850 and arranged parallel to the running rail 810. Power line 8
01 are each attached to a support structure 850 via an insulator 800.

The inspection vehicle 6 includes a traveling mechanism section 600, a pantograph 610 which is a current collector, an electric circuit section 620 having a transmitter/receiver and a control circuit, an ITV camera 630, and a microphone 640.

The traveling mechanism section 600 includes a pair of traveling rails 810
4 pairs of cars 601 and 602 moving inside, 4 pairs connecting the adjacent pair of cars 601 and 602
It has two connecting plates 603, each hanging plate 607 rotatably attached to a shaft 604 provided on each connecting plate 603, and a connecting plate 609 that connects a pair of hanging plates 607 arranged facing each other. are doing. A pivot portion 609 is provided on the lower surface of the connecting plate 609. A rod 605 provided on the upper surface of the main body 690 of the inspection vehicle 6 is rotatably coupled to a rotating portion 606. A hook 823 attached to the traction chain 820 is inserted into a cylindrical coupling portion 608 provided on the upper surface of the main body 690.

The traction chain 820 is connected to the chain drive roller 7
50, the hook 823 moves and the cylindrical coupling portion 608 engaged therewith moves together with the hook 823, so that the inspection vehicle 6 moves in the direction of movement of the traction chain 820. Changes in the distance between the traveling rail 810 and the inspection vehicle 6 are absorbed by the vertical movement within the cylindrical coupling portion 608 of the hook 823. On the other hand, on the left and right turning travel path, the front and rear travel mechanisms 6
The turning section 606 of 00 turns around the rod 605 and absorbs the curvature of the left and right turning travel path.

The pantograph 610 having the current collecting part 611 is
attached to the hanging plate 607 of the traveling mechanism section 600,
It moves together with the main body 690 of the inspection vehicle. Current collector 6
11 is in contact with the power supply line 801. Inspection car 6
Electric power is supplied to the electric circuit section 620 from the inspection vehicle power supply device 5 through a power supply line 801 to the current collection section 611.
The current is collected by passing through the current collecting cable 612. An ITV camera 630 as an inspection detector for visually observing the appearance of the inspection equipment and a microphone 640 for detecting abnormal sounds from the inspection equipment are mounted on the main body 690. 631
is the electric zoom lens of ITV camera 630, 63
2 is a pan head for turning the ITV camera 630 vertically and horizontally. The electric zoom lens 631 and the camera platform 632 are remotely controlled by the control panel 1. When measuring the temperature of inspection equipment or the humidity of the atmosphere, attach a corresponding detector to the main body 69.
It should be installed on 0. In addition, 633, 634, 64
1 is an ITV camera 630, a pan head 632, and
A signal and power line for the microphone 640,
One end is connected to the electric circuit section 620.

Signals are transmitted between the control panel 1 and the inspection vehicle 6 using a leaky coaxial cable 840 and an antenna 650 provided on the main body 690 of the inspection vehicle 6.
For example, when changing the angle of the pan head 632 to change the direction of the ITV camera 630, when an operator issues an operation command on the control panel 1, the command signal is transmitted to the leaky coaxial cable 840 via the communication relay device 3. communicated. The operation command radio waves transmitted from the leaky coaxial cable 840 are received by the antenna 650 and sent to a receiver (not shown) of the electric circuit section 620. The command signal output from the receiver is sent to the electric circuit section 6.
20 control circuits (not shown). The control circuit outputs a drive signal to a drive device (not shown) for the pan head 632 via wiring 634 to rotate the pan head 632 based on the command signal.

On the other hand, the video signal photographed by the ITV camera 630 and the acoustic signal measured by the microphone 640 are sent to the electric circuit section 620 through wiring 633 and 641, and are sent to the electric circuit section 620 by a transmitter (not shown) of the electric circuit 620. sent to. These signals are transmitted from the transmitter to antenna 650, and antenna 65
It is transmitted as a radio wave from 0. The radio waves of these signals are received by the leaky coaxial cable 840 and transmitted to the control panel 1 via the communication relay device. ITV
A video signal captured by the camera 630 is displayed on a TV monitor provided on the control panel 1. Further, the acoustic signal detected by the microphone 640 is output as sound from a speaker provided in the control panel 1.

In this conventional example, signals are transmitted using an antenna and a leaky coaxial cable, and the signal is transmitted wirelessly between the antenna and the leaky coaxial cable, so if a bare electric wire is used as a communication cable as in the past, It is possible to eliminate the noise generated from the contact surface between the bare electric wire and the trolley bar when the inspection vehicle 6 moves. Therefore, since no noise is mixed into the command signal and the detection signal (video signal, audio signal, etc.), the control accuracy of the inspection vehicle 6 is improved, and the object to be inspected can be sufficiently monitored. Furthermore, in this conventional example, since the leaky coaxial cable 840 and the antenna 650 are used for signal transmission and power supply, the inspection vehicle 6 can be separated from the power supply line and the signal transmission cable. For this reason, inspection vehicle 6
The range of action can be expanded. That is, when the power feed line and signal transmission cable are directly connected to the inspection vehicle 6, it is necessary to move them together with the inspection vehicle 6, and the length of the power feed line and signal transmission cable cannot be made too long. Therefore, from this point of view, the range of action of the inspection vehicle 6 is limited. However, in this conventional example, there is no need to move the power supply line 801 and the leaky coaxial cable 840, so the range of action of the inspection vehicle 6 can be widened. Even in a dangerous environment such as a nuclear reactor containment vessel with a radioactive atmosphere, equipment can be automatically and safely activated.

Next, an embodiment of the present invention will be described in comparison with the above-mentioned conventional example. Therefore, description of the same parts will be omitted. 7 and 8 show an embodiment of the present invention. In this embodiment, the inspection vehicle 6 includes detector sections 630 and 640, a control circuit,
It is divided into three parts: a power supply section 621 and a communication circuit section 62. Signals and power are exchanged between each part using cables. A pantograph 610 shown in FIG. 5 is provided in a control circuit, a power supply section 621, and an antenna 650.
is provided in the communication circuit section 622. Since each block of the inspection vehicle 6 is sufficiently smaller than the conventional one, only one traveling mechanism is provided. Therefore, the traveling mechanism section of this embodiment includes a turning mechanism 605 for absorbing the curvature of the left and right turning traveling path shown in FIGS. 5 and 6, which is necessary when having a plurality of turning mechanism sections.
is not necessary. For this reason, the inspection vehicle body is directly connected to the traveling mechanism section 600. In addition, even in the vertical turning travel path, absorption of the curvature only needs to be considered in one traveling mechanism part, and this curvature
As will be described later, by inserting the hook 823 into the coupling portion 608 so as to be able to move up and down, the connecting plate 609 (fifth
(see figure) can be sufficiently absorbed. Therefore, in this embodiment, the rotating shaft 6 in FIG.
04 is omitted and the connecting plate 603 is directly connected to the connecting plate 609.
This simplifies the traveling mechanism. or,
The inspection vehicle body of each block (the connecting plate 6 of the traveling mechanism section)
A cylindrical joint 608 provided in
A hook 823 provided on the inspection vehicle towing chain 820 is inserted into the frame so as to be movable up and down. Therefore, by moving the inspection vehicle traction chain 820 back and forth, each block of the inspection vehicle 6 can move independently on the traveling rail.

When there is only one inspection vehicle 6 as in the conventional example, it is too large to secure an inspection travel route in narrow places, etc., but in this embodiment, the items carried on the inspection vehicle 6 are divided by function, Since the traveling rails are moved independently and the inspection vehicle 6 is miniaturized by connecting these rails, a sufficient inspection traveling route can be secured even in a narrow place. Further, this embodiment has the advantage that inspection vehicles can be combined depending on inspection equipment and inspection contents, so-called building block system.

[Effects of the Invention] As explained above, according to the present invention, it is possible to monitor and inspect equipment installed in a narrow place within a plant.

[Brief explanation of drawings]

Figure 1 is a system diagram of the monitoring and inspection equipment, Figure 2 is a diagram showing the relationship between the inspection vehicle and the inspection vehicle drive system, Figure 3 is a plan view of the inspection vehicle drive system shown in Figure 1, and Figure 4 is the diagram showing the relationship between the inspection vehicle drive system and the inspection vehicle drive system. 1
5 and 6 are front and side views of the inspection vehicle shown in FIG. 1, and FIG. FIG. 8 is a system diagram of the monitoring and inspection device according to the embodiment, and is a side view of the embodiment of the present invention. 1...Control panel, 2...Computer, 3...Communication relay device, 4...Inspection vehicle drive control device, 5...Inspection vehicle power supply device, 6...Inspection vehicle, 8...Traveling rail.

Claims (1)

[Claims] 1. A device that moves along a track laid in a plant and monitors and inspects equipment in the plant by remote control, and the monitoring and inspection equipment includes a detector unit that monitors equipment in the plant, and a detector unit that monitors equipment in the plant, and a a control circuit unit that controls the detector unit based on a control signal from the detector unit, a communication circuit unit that transmits the detection signal from the detector unit and a control signal from the outside, and supplies power to the detector unit, etc. Each part constituting the monitoring and inspection device is divided into one or more units and moved along the track, and each divided part is connected to a communication/power supply cable. A monitoring and inspection device characterized by being connected.