CN113066592B - Complete in-service inspection system and method for steel containment vessel of nuclear power plant - Google Patents
Complete in-service inspection system and method for steel containment vessel of nuclear power plant Download PDFInfo
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- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/007—Inspection of the outer surfaces of vessels
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- G—PHYSICS
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- G21C17/10—Structural combination of fuel element, control rod, reactor core, or moderator structure with sensitive instruments, e.g. for measuring radioactivity, strain
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Abstract
The invention relates to the technical field of nuclear power, in particular to a complete in-service inspection system and a complete in-service inspection method for a steel containment vessel of a nuclear power plant. The method comprises the steps of carrying out direct visual inspection on a first reachable region of the containment, carrying out close-range indirect visual inspection on a second reachable region of the containment, carrying out remote indirect visual inspection on a third reachable region of the containment, and carrying out special indirect visual inspection on a special region of the containment by adopting a complete in-service inspection system of the containment; the first reachable region is a reachable region of the containment vessel, which is not more than 1220mm away from a detected object, the second reachable region is a reachable region of the containment vessel, which is more than 1220mm away from the detected object and not more than 10m away from the detected object, the third reachable region is a reachable region of the containment vessel, which is more than 10m away from the detected object, and the special region comprises an air deflector region, a middle annular corridor region, an IRWST region and a fuel transportation channel region of the containment vessel. The invention ensures the checking efficiency and improves the reliability of the checking result.
Description
Technical Field
The invention relates to the technical field of nuclear power, in particular to a complete in-service inspection system and a complete in-service inspection method for a steel containment vessel of a nuclear power plant, which are mainly used for in-service inspection of the steel containment vessel.
Background
The containment vessel is used as the last safety barrier of the nuclear power station, and has the main function of containing radioactive substances in the containment vessel during the normal operation of the reactor and under the accident condition so as to avoid the harm to the surrounding environment and the public society. The containment vessel of the nuclear power plant at home and abroad is mainly divided into a prestressed concrete lined steel lining containment vessel, a reinforced concrete lined steel lining containment vessel and a double-layer containment vessel (the outer side is the concrete containment vessel and the inner side is the steel containment vessel) structure.
The AP1000 unit is used as a third-generation nuclear power unit, and a double-layer containment (the outer side is a concrete containment and the inner side is a steel containment) structure is introduced for the first time in China. In order to ensure the structural integrity of the steel containment vessel, regular in-service inspection needs to be performed on the steel containment vessel according to the specification requirements, and the inspection method mainly adopts visual inspection. The structural particularity of the steel containment vessel of the AP1000 unit causes that the traditional inspection means is difficult to implement, and the technical difficulty of the in-service inspection of the containment vessel mainly comprises the following aspects: 1) The illumination and resolution requirements are visually inspected, and if the remote visual inspection is substituted for the direct visual inspection, the remote inspection system should have the same resolution and illumination requirements as the direct visual inspection. However, because the steel containment vessel has a huge space, in consideration of feasibility and efficiency of inspection implementation, remote visual inspection needs to be used for replacing direct visual inspection in a part of areas, and under the condition of long distance and illumination in the containment vessel, how illuminance and resolution of a remote visual inspection system meet the specification requirements is a difficult point. 2) The difficulty of the inspection implementation of the steel safety shell part area is large: because the steel containment vessel has a complex structure, and a part of the area is limited by the structure, the implementation of visual inspection is difficult.
A patent with publication number CN109521021a discloses a nuclear power plant containment appearance inspection system and method, which includes: the ground station unit is used for sending a first control instruction to the wall climbing robot; the wall climbing robot is used for acquiring an appearance image of the containment vessel according to the first control instruction and sending the appearance image to the ground station unit; the ground station unit is used for judging whether the appearance of the containment vessel has defects according to the appearance image, and if so, sending a second control instruction to the wall climbing robot; the wall climbing robot is used for re-acquiring the defect picture and the current position information according to the second control instruction and sending the defect picture and the current position information to the ground station unit; and the ground station unit is used for acquiring a defect mark code according to the defect picture and the position information and controlling the wall-climbing robot to mark the defect according to the defect mark code. According to the method, only the wall climbing robot is used for appearance detection, and the wall climbing robot is limited by space in relatively complex areas in the containment vessel and cannot enter the containment vessel to acquire images in all directions. Meanwhile, the complete machine type inspection mode is easy to cause judgment errors due to the abnormity of the ground station unit, and the accuracy of the inspection result cannot be completely ensured.
Disclosure of Invention
The invention aims to provide a complete in-service inspection system and a complete in-service inspection method for a steel containment vessel of a nuclear power plant, which are mainly used for in-service inspection of the steel containment vessel.
In order to solve the technical problems, the application provides a complete in-service inspection system for a steel containment vessel of a nuclear power plant, which is characterized by comprising a control module, an air deflector detection module for inspecting an air deflector area of the containment vessel, a middle ring corridor detection module for inspecting a middle ring corridor area of the containment vessel, an IRWST detection module for inspecting an IRWST area of the containment vessel, and a fuel transportation channel detection module for inspecting a fuel transportation channel area of the containment vessel; the air deflector detection module comprises a magnetic adsorption carrying tool and a first camera device arranged on the magnetic adsorption carrying tool; the middle annular corridor detection module comprises a flying carrying tool and a second camera device installed on the flying carrying tool; the IRWST detection module comprises a rod-shaped carrying tool and a third camera device installed on the rod-shaped carrying tool; the fuel transportation channel detection module comprises a crawling carrying tool and a fourth camera device arranged on the crawling carrying tool; the control module comprises a control handle and a main control computer, wherein the control handle is connected with the main control computer, and the main control computer is respectively in communication connection with the air guide plate detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through communication cables.
In the in-service inspection system, a control handle of a control module controls a magnetic adsorption carrying tool in an air guide plate detection module, a flight carrying tool in a middle annular corridor detection module, a rod-shaped carrying tool in an IRWST detection module and a crawling carrying tool in a fuel transportation channel detection module to realize detection of different modules, meanwhile, corresponding camera devices are arranged on the magnetic adsorption carrying tool, the flight carrying tool, the rod-shaped carrying tool and the crawling carrying tool, the camera devices carry out switching of different angles and distances along with the action of the corresponding carrying tools, all-around clear shooting is carried out on a detected area, a shooting result is transmitted to a main control computer of the control module, and further analysis is carried out through the main control computer. The carrying tools in different forms in each module are suitable for different environments of different modules, corresponding detection is performed in a targeted manner, the inspection efficiency is guaranteed, and the reliability of an inspection result is improved.
Preferably, the air deflector detection module further comprises a first light supplement lamp device installed on the magnetic adsorption carrying tool; the middle annular corridor detection module also comprises a second light supplement lamp device arranged on the flying carrying tool; the IRWST detection module further comprises a third light supplement lamp device arranged on the rod-shaped carrying tool; the fuel transport passage detection module further comprises a fourth light supplement lamp device installed on the crawling carrying tool.
Preferably, the first camera device, the second camera device, the third camera device and the fourth camera device all meet the resolution requirement that the maximum height of the letters under the condition that the maximum distance of direct inspection is 610mm is 1.1mm, or the maximum height of the letters under the condition that the maximum distance of direct inspection is 1220mm is 2.7mm, and are provided with a visual angle adjusting holder; the first light supplement lamp device, the second light supplement lamp device, the third light supplement lamp device and the fourth light supplement lamp all meet the illuminance requirement that the minimum illuminance is 50fc when the maximum distance of direct inspection is 610mm or 1220 mm.
Preferably, the communication cable is connected with a power supply module, and the power supply module supplies power to the air deflector detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through the communication cable.
The application also provides a complete in-service inspection method for the steel containment vessel of the nuclear power plant, which is characterized in that direct visual inspection is carried out on a first reachable region of the containment vessel, close-range indirect visual inspection is carried out on a second reachable region of the containment vessel, remote indirect visual inspection is carried out on a third reachable region of the containment vessel, and the complete in-service inspection system for the steel containment vessel of the nuclear power plant is adopted for carrying out special indirect visual inspection on a special region of the containment vessel; the first reachable region is a reachable region of the containment vessel, which is not more than 1220mm away from a detected object, the second reachable region is a reachable region of the containment vessel, which is more than 1220mm away from the detected object and not more than 10m away from the detected object, the third reachable region is a reachable region of the containment vessel, which is more than 10m away from the detected object, and the special regions comprise an air deflector region, a middle ring corridor region, an IRWST region and a fuel transportation channel region of the containment vessel.
Aiming at each area of the containment, the general mode of directly carrying out visual inspection through eyes by inspectors has more limitations, and for solving various problems such as the visual distance and the visual line accessibility of the inspectors, the difference of the environmental complexity of each area and the like, in order to ensure the accuracy of the inspection, the visual inspection is carried out through eyes in the area where the visual line accessibility of the inspectors is available, and the inspection is carried out on the area where the visual line is inaccessible (including the area which is shielded by other areas due to high environmental complexity) by using the in-service inspection system. Meanwhile, due to limited eyesight of the inspector, in order to ensure the accuracy of the inspection result, the region which can be reached by the sight of the inspector is further subdivided in terms of distance, so that different visual inspection modes are adopted, different regions are inspected in a targeted manner by using different inspection means, the accuracy of the inspection result is improved, and the radioactive substance leakage caused by errors in the inspection in the subsequent use process of the containment is prevented.
Preferably, the direct visual inspection of the first accessible region of the containment vessel comprises: an inspector carries a portable searchlight to perform direct visual inspection, and the inspection visual angle is greater than 30 degrees; performing a close range indirect visual inspection of a second accessible region of the containment vessel comprises: the inspection personnel carry a portable telescope with a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees; remotely and indirectly visually inspecting a third accessible region of the containment vessel includes: the inspectors carry a mobile high-power telescope with a fixed bracket and a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees.
Preferably, in the short-distance indirect visual inspection of the second reachable area of the containment, the portable telescope meets the resolution requirements of visual inspection that the maximum height of letters within 13m is 1.1mm and the maximum height of letters within 20m is 2.7 mm; in the remote indirect visual inspection of the third accessible area of the containment, the movable high-power telescope with the fixed support meets the resolution requirements of visual inspection that the maximum height of letters within 20m is 1.1mm and the maximum height of letters within 37m is 2.7 mm.
Preferably, the special indirect visual inspection of the special region of the containment vessel comprises the steps of:
s1, a control handle sends a control command to a main control computer;
s2, the main control computer receives the control command and transmits a control signal to the corresponding air guide plate detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through a communication cable;
s3, the air deflector detection module, the middle ring corridor detection module, the IRWST detection module and the fuel transport channel detection module receive the control signal, perform continuous video detection to obtain video information, and send the video information to a main control computer through a communication cable;
and S4, the main control computer analyzes, displays and stores the received video information.
Preferably, in step S3, the magnetic adsorption carrying tool of the air deflector detection module, the flying carrying tool of the middle corridor detection module, the rod-shaped carrying tool of the IRWST detection module, and the crawling carrying tool of the fuel transportation channel detection module receive the control signal, and perform corresponding actions according to the control signal; and the first camera device, the second camera device, the third camera device and the fourth camera device continuously record the video to obtain the video information.
Preferably, in step S4, when the video information is stable and displayed without any abnormality, the speed of displaying the image information by the main control computer is less than 80mm/S relative to the video recording speed of the air deflector detection module, the middle corridor detection module, the IRWST detection module, and the fuel transportation channel detection module, and when abnormal display occurs, the time of displaying the video information by the main control computer is fixed for 10S or more.
The invention has the following technical effects:
1. first light filling lamp device, second light filling lamp device, third light filling lamp device and fourth light filling lamp device provide the illumination demand when being corresponding first camera device, second camera device, third camera device, fourth camera device and make a video recording to the video definition who shoots is higher, the follow-up further analysis of being convenient for.
2. The resolution ratio of the camera device and the illuminance of the light supplement lamp device all affect the definition and the identifiability of the shot video, the maximum height of the letters under the condition that the maximum distance of direct examination is 610mm is 1.1mm, or the maximum height of the letters under the condition that the maximum distance of direct examination is 1220mm is 2.7mm, the first light supplement lamp device, the second light supplement lamp device, the third light supplement lamp device and the fourth light supplement lamp device all meet the requirement that the maximum distance of direct examination is 610mm or 1220mm, the minimum illuminance is 50fc illuminance, the definition of the shot video is guaranteed to be higher to a certain extent, and the judgment of whether damage exists in the area of the containment vessel or not can be more accurately facilitated. And first camera device, second camera device, third camera device, fourth camera device all possess visual angle adjustment cloud platform, are convenient for adjust the shooting visual angle, improve the stability of shooing the video.
3. The main control computer supplies power to the communication cable through the communication cable and air guide plate detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module, and the power supply module further realizes data transmission between the main control computer and each module.
4. In different modes of visual inspection by inspectors, different equipment is configured according to different reachable areas, wherein a search light is directly carried in a first reachable area, and the eyes of people can see clearly under the irradiation of the search light, so that the adjustment operation of the equipment is reduced, and the inspection efficiency is improved conveniently; for the indirect inspection of the portable telescope provided with the portable searchlight carried by the inspection personnel in the second far reachable area, the telescope can make up the limitation that the eyes of the inspection personnel can clearly see the distance and clearly check the distance, and the cost of the telescope is low, thus having little influence on the economic aspect; to farther third reachable region, the inspector carries the movable high-power telescope with the fixed support and the portable searchlight to carry out indirect inspection, and the movable high-power telescope with the fixed support can be used for the inspector to see the third reachable region completely, so that the inspection definition of the region is better, and the effect is better.
5. The portable telescope meets the resolution requirements of visual inspection with the maximum height of letters within 13m being 1.1mm and the maximum height of letters within 20m being 2.7 mm. The movable high power telescope with the fixed support meets the resolution requirements of visual inspection that the maximum height of letters within 20m is 1.1mm and the maximum height of letters within 37m is 2.7 mm. The method facilitates the inspector to observe the inspected area of the containment more clearly, and prevents inspection errors caused by unclear observation.
6. The main control computer receives the video information from the air deflector detection module, the middle ring corridor detection module, the IRWST detection module and the fuel transportation channel detection module, analyzes and displays the video information, if the image information is not displayed abnormally through analysis of the video information, the fact that the containment area inspected by the image information is not damaged is shown, the speed when the video information is displayed is smaller than 80mm/s relative to the detection speed of each module, sufficient time is conveniently reserved for analysis, and the accuracy of the inspection result is improved. If the image information is displayed abnormally in the analysis process, the area checked by the image information is damaged, the main control computer freezes the video information for 10s or more when displaying the video information, so that the video information can be further analyzed finely or checked and recorded by a checking person conveniently, and more accurate information of the damage position and the damage degree can be found for subsequent maintenance.
Drawings
FIG. 1 is a frame diagram of a complete in-service inspection system for a steel containment vessel of a nuclear power plant.
FIG. 2 shows a steel containment structure of a nuclear power plant.
Wherein, 1-containment vessel; 1-1-air deflector zone; 1-2-the middle ring corridor area; 1-3-IRWST region; 1-4-fuel transport channel region.
Detailed Description
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.
Example one
The embodiment provides a complete set of in-service inspection system for a steel containment vessel of a nuclear power plant, which is mainly used for in-service inspection of the steel containment vessel. As shown in FIG. 1, the system comprises a control module, an air deflector detection module for checking an air deflector area 1-1 of a containment 1, a middle ring corridor detection module for checking a middle ring corridor area 1-2 of the containment 1, an IRWST detection module for checking an IRWST area 1-3 of the containment 1, and a fuel transport channel detection module for checking a fuel transport channel area 1-4 of the containment 1; the air deflector detection module comprises a magnetic adsorption carrying tool and a first camera device arranged on the magnetic adsorption carrying tool; the middle annular corridor detection module comprises a flight carrying tool and a second camera device installed on the flight carrying tool; the IRWST detection module comprises a rod-shaped carrying tool and a third camera device arranged on the rod-shaped carrying tool; the fuel transportation channel detection module comprises a crawling carrying tool and a fourth camera device installed on the crawling carrying tool; and the control module comprises a control handle and a main control computer, the control handle is connected with the main control computer, and the main control computer is respectively in communication connection with the air guide plate detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through communication cables.
In fig. 2, in the air deflector detection module, the air deflector covers the outer surface area of the steel containment vessel 1, so that the partial area of the steel containment vessel 1 is difficult to inspect, and the magnetic adsorption carrying tool is adsorbed on the outer surface of the steel containment vessel 1 through the adsorption force generated by the permanent magnet or the electromagnet relative to the magnetic conductive wall material, and is not blocked by the air deflector, so that the outer surface of the containment vessel 1 covered with the air deflector is inspected; in the middle annular corridor detection module, the space of a middle annular corridor area 1-2 is narrow, the detection cannot be performed due to the fact that the sight is blocked when human eyes directly detect, the flexibility of the flight carrying tool is high, the safety shell 1 at the position can be conveniently detected in the narrow space, and the problem that the detection of the human eyes is blocked is solved; in the IRWST detection module, the space between the IRWST and the containment vessel 1 is small, so that the IRWST blocking area on the containment vessel 1 cannot be checked by human eyes, and a rod-shaped carrying tool can extend into the space formed by the IRWST and the containment vessel 1 to check the IRWST blocking area; among the transport passageway detection module, fuel transport passageway is because of the problem of pipeline bending, overlength, also is the place that human eyes can not be looked at, and pipeline inside and outside wall is the nonplanar, and other instruments are difficult for the inspection, and the carrying tool of crawling is through attaching on fuel transport passageway, and the shooting of crawling comprehensively has solved the problem of the unable inspection in the pipeline.
In the present embodiment, the magnetic attraction carrying tool, the flight carrying tool, the pole carrying tool, or the crawl carrying tool does not have an imaging function by itself, and the magnetic attraction carrying tool, the flight carrying tool, the pole carrying tool, or the crawl carrying tool is provided with corresponding imaging devices, that is, a first imaging device, a second imaging device, a third imaging device, and a fourth imaging device, for further detection in order to obtain corresponding images. The air deflector area 1-1, the middle annular corridor area 1-2, the IRWST area 1-3 and the fuel transportation channel area 1-4 are shielded and have no light irradiation, so the air deflector detection module further comprises a first light supplement lamp device arranged on the magnetic adsorption carrying tool; the middle annular corridor detection module also comprises a second light supplement lamp device arranged on the flying carrying tool; the IRWST detection module also comprises a third light supplement lamp device arranged on the rod-shaped carrying tool; the fuel transportation channel detection module further comprises a fourth light supplement lamp device installed on the crawling carrying tool. The illumination service is provided for the first camera device, the second camera device, the third camera device and the fourth camera device to record, and clear video is obtained. Meanwhile, in order to ensure that each camera device shoots a clearer video in a corresponding area, the first camera device, the second camera device, the third camera device and the fourth camera device all meet the resolution requirement that the maximum height of a letter is 1.1mm under the condition that the maximum distance of direct inspection is 610mm, or the maximum height of the letter is 2.7mm under the condition that the maximum distance of direct inspection is 1220mm, and are provided with a visual angle adjusting pan-tilt; the first light supplement lamp device, the second light supplement lamp device, the third light supplement lamp device and the fourth light supplement lamp all meet the illuminance requirement that the minimum illuminance is 50fc when the maximum distance of direct inspection is 610mm or 1220 mm. So as to obtain more accurate result when the video information is analyzed subsequently, and improve the reliability of the safety shell 1 checked by the system. Meanwhile, the resolution ratio of the camera device and the illumination of the light supplement lamp device both meet the requirements of ASME-XI nuclear power plant equipment in-service inspection rule ASME XI volume IWA-2210-1.
In this embodiment, control air guide plate detection module through control module, middle part ring corridor detection module, IRWST detection module, the magnetic adsorption who corresponds in the fuel transportation passageway detection module carries the instrument, the flight carries the instrument, shaft-like carrying tool, the action and the action of crawling the carrying tool, and control the output that needs the signal of telecommunication, be connected with power module on the communication cable, power module supplies power for air guide plate detection module through the communication cable, middle part ring corridor detection module, IRWST detection module, fuel transportation passageway detection module. So that the control module effectively controls each module to carry out corresponding detection. And the control module can be wirelessly connected with each module, so that the limitation influence caused by communication cables is reduced.
Example two
The embodiment provides a complete in-service inspection method of a steel containment vessel of a nuclear power plant, which comprises the steps of carrying out direct visual inspection on a first reachable region of the containment vessel 1, carrying out close-range indirect visual inspection on a second reachable region of the containment vessel 1, carrying out remote indirect visual inspection on a third reachable region of the containment vessel 1, and carrying out special indirect visual inspection on a special region of the containment vessel 1 by adopting a complete in-service inspection system of the steel containment vessel 1 of the nuclear power plant in the first embodiment; the first reachable region is a reachable region of the containment 1, which is not more than 1220mm away from a detected object, the second reachable region is a reachable region of the containment 1, which is more than 1220mm away from the detected object and not more than 10m away from the detected object, the third reachable region is a reachable region of the containment 1, which is more than 10m away from the detected object, and the special regions comprise an air deflector region 1-1, a middle ring corridor region 1-2, an IRWST region 1-3 and a fuel transportation channel region 1-4 of the containment 1.
The containment vessel 1 is an advantageous guarantee for protecting the public from the radioactive substances, so that the inspection of each position of the containment vessel 1 is an essential step, and generally, the inspection by human eyes is the most direct and effective inspection method, but due to the internal and external structures of the containment vessel 1, some positions are not visible due to too far distance or blocked view in the human eye inspection. Therefore, in the present embodiment, the inspection methods and the inspection regions thereof are classified into direct visual inspection, close-range indirect visual inspection, long-range indirect visual inspection and special indirect visual inspection according to the distance of the human eye reachable region and the different sight-line blocking regions. Wherein the direct visual inspection of the first accessible region of the containment vessel 1 comprises: an inspector carries a portable searchlight to perform direct visual inspection, and the inspection visual angle is greater than 30 degrees; the close range indirect visual inspection of the second accessible area of the containment vessel 1 includes: the inspection personnel carry a portable telescope with a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees; remote indirect visual inspection of the third accessible region of the containment vessel 1 includes: the inspectors carry a mobile high-power telescope with a fixed bracket and a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees. According to the requirement of the inspection of the containment 1, in order to ensure that the observation is clear enough during the inspection, in the short-distance indirect visual inspection of the second reachable area of the containment 1, the portable telescope meets the resolution requirement of the visual inspection that the maximum height of the letters within 13m is 1.1mm and the maximum height of the letters within 20m is 2.7 mm; in the remote indirect visual inspection of the third accessible area of the containment 1, the movable high-power telescope with the fixed support meets the resolution requirements of visual inspection that the maximum height of letters within 20m is 1.1mm and the maximum height of letters within 37m is 2.7 mm. The portable telescope can meet at least 10 times of magnification, and the mobile high-power telescope with the fixed support can meet at least 30 times of magnification. Meanwhile, in the checking process, the illuminance of the portable searchlight is enough to support checking personnel to see the checking area clearly, so that the checking object is clearer during checking, and the checking result is more accurate. In addition, the visual inspection viewing angle must be greater than 30 degrees,
the air deflector area 1-1, the middle annular corridor area 1-2, the IRWST area 1-3 and the fuel transportation channel area 1-4 are narrow in space, and the effective range of direct visual inspection is limited to only 2.5-3m. And if all remove air guide plate etc. and block when checking each time, greatly increased the degree of difficulty of inspection, delayed inspection efficiency, in this embodiment, carry out special indirect visual inspection to the special region of containment 1, include the following step:
s1, a control handle sends a control command to a main control computer;
s2, the main control computer receives the control command and transmits the control signal to the corresponding air deflector detection module, the middle ring corridor detection module, the IRWST detection module and the fuel transportation channel detection module through the communication cable;
s3, receiving control signals by an air deflector detection module, a middle ring corridor detection module, an IRWST detection module and a fuel transport channel detection module, carrying out continuous video detection to obtain video information, and sending the video information to a main control computer through a communication cable;
and S4, analyzing, displaying and storing the received video information by the main control computer.
In the step S3, a magnetic adsorption carrying tool of the air deflector detection module, a flight carrying tool of the middle annular corridor detection module, a rod-shaped carrying tool of the IRWST detection module and a crawling carrying tool of the fuel transportation channel detection module receive control signals and perform corresponding actions through the control signals; and continuously recording the video by the first camera device, the second camera device, the third camera device and the fourth camera device to obtain video information.
In the step S4, when the video information is stable and displayed without abnormal conditions, the speed of the main control computer for displaying the image information is less than 80mm/S relative to the video speeds of the air deflector detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module, and when abnormal display is met, the main control computer is set to be in a fixed frame for 10S or more when the video information is displayed. That is, when the main control computer analyzes the received image information, if the image information is stable and has no abnormal display, it indicates that no problem is found in the detected area corresponding to the image information, and if the abnormal display occurs, it indicates that the detected area corresponding to the image information has a damage or other problems, and prompts the inspector to subsequently maintain the area. If abnormal display does not exist, the display speed of the image information sent by each module by the main control computer is less than 80mm/s relative to the detection speed of the corresponding module, so that the image information is analyzed, the image information which is not analyzed is prevented from being displayed, and the reliability of an analysis result is improved. Meanwhile, if abnormal display occurs, a certain freezing time is needed, so that system operators can conveniently see the corresponding problem areas in the containment vessel 1, and subsequent maintenance is facilitated. In this embodiment, the main control computer archives the received image information for subsequent viewing, thereby preventing omission.
Although embodiments of the present invention have been described, various changes or modifications may be made by one of ordinary skill in the art within the scope of the appended claims.
Claims (6)
1. A complete set of in-service inspection method for a steel containment vessel of a nuclear power plant is characterized by comprising the following steps:
performing direct visual inspection on a first reachable region of the containment vessel, performing close-range indirect visual inspection on a second reachable region of the containment vessel, performing remote indirect visual inspection on a third reachable region of the containment vessel, and performing special indirect visual inspection on a special region of the containment vessel by adopting a nuclear power plant steel containment vessel complete in-service inspection system;
the steel containment complete in-service inspection system for the nuclear power plant comprises a control module, an air deflector detection module for inspecting an air deflector area of a containment, a middle ring corridor detection module for inspecting a middle ring corridor area of the containment, an IRWST detection module for inspecting an IRWST area of the containment and a fuel transportation channel detection module for inspecting a fuel transportation channel area of the containment;
the air deflector detection module comprises a magnetic adsorption carrying tool and a first camera device arranged on the magnetic adsorption carrying tool;
the middle annular corridor detection module comprises a flying carrying tool and a second camera device installed on the flying carrying tool;
the IRWST detection module comprises a rod-shaped carrying tool and a third camera device arranged on the rod-shaped carrying tool;
the fuel transportation channel detection module comprises a crawling carrying tool and a fourth camera device arranged on the crawling carrying tool;
the control module comprises a control handle and a main control computer, the control handle is connected with the main control computer, and the main control computer is respectively in communication connection with the air deflector detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through communication cables;
the first reachable region is a reachable region of the containment vessel, the distance between the reachable region and the detected object is not more than 1220mm, the second reachable region is a reachable region of the containment vessel, the distance between the reachable region and the detected object is more than 1220mm and not more than 10m, the third reachable region is a reachable region of the containment vessel, the distance between the reachable region and the detected object is more than 10m, and the special regions comprise an air deflector region, a middle annular corridor region, an IRWST region and a fuel transportation channel region of the containment vessel.
2. The complete in-service inspection method for steel containment vessel of nuclear power plant as claimed in claim 1, wherein:
direct visual inspection of a first accessible region of a containment vessel includes:
an inspector carries a portable searchlight to perform direct visual inspection, and the inspection visual angle is greater than 30 degrees;
performing a close range indirect visual inspection of a second accessible region of the containment vessel comprises:
the inspection personnel carry a portable telescope with a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees;
remotely and indirectly visually inspecting a third accessible region of the containment vessel includes:
the inspectors carry a mobile high-power telescope with a fixed bracket and a portable searchlight for indirect inspection, and the inspection visual angle is more than 30 degrees.
3. The in-service inspection method for steel containment vessel of nuclear power plant as claimed in claim 2, wherein:
in the short-distance indirect visual inspection of the second reachable area of the containment, the portable telescope meets the resolution requirements of visual inspection that the maximum height of letters within 13m is 1.1mm and the maximum height of letters within 20m is 2.7 mm;
in the remote indirect visual inspection of the third reachable area of the containment vessel, the movable high-power telescope with the fixed bracket meets the resolution requirement of visual inspection that the maximum height of letters within 20m is 1.1mm and the maximum height of letters within 37m is 2.7 mm.
4. The complete in-service inspection method for steel containment vessel of nuclear power plant as claimed in claim 1, wherein:
a special indirect visual inspection of a special area of the containment vessel includes the steps of:
s1, a control handle sends a control command to a main control computer;
s2, the main control computer receives the control command and transmits a control signal to the corresponding air guide plate detection module, the middle annular corridor detection module, the IRWST detection module and the fuel transportation channel detection module through a communication cable;
s3, the air deflector detection module, the middle ring corridor detection module, the IRWST detection module and the fuel transport channel detection module receive the control signal, perform continuous video detection to obtain video information, and send the video information to a main control computer through a communication cable;
and S4, the main control computer analyzes, displays and stores the received video information.
5. The complete in-service inspection method for steel containment vessel of nuclear power plant as claimed in claim 4, wherein:
in the step S3, the first step is performed,
the magnetic adsorption carrying tool of the air deflector detection module, the flight carrying tool of the middle annular corridor detection module, the rod-shaped carrying tool of the IRWST detection module and the crawling carrying tool of the fuel transportation channel detection module receive the control signal and perform corresponding actions according to the control signal; and the first camera device, the second camera device, the third camera device and the fourth camera device continuously record the video to obtain video information.
6. The complete in-service inspection method for steel containment vessel of nuclear power plant as claimed in claim 4, wherein:
in the step S4, when the video information is stable and displayed without abnormality, the speed of the main control computer displaying the video information is less than 80mm/S relative to the video speeds of the air deflector detection module, the middle ring corridor detection module, the IRWST detection module and the fuel transportation channel detection module, and when abnormal display occurs, the time of displaying the video information by the main control computer is fixed for more than 10S.
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| US20040258190A1 (en) * | 2003-06-23 | 2004-12-23 | Neau David Matthew | Device to perform visual inspection and in-vessel maintenance on vessel components in a nuclear boiling water reactor vessel |
| JP2013076631A (en) * | 2011-09-30 | 2013-04-25 | Hitachi-Ge Nuclear Energy Ltd | Nuclear power plant inspection apparatus |
| CN202804514U (en) * | 2012-09-28 | 2013-03-20 | 中国核工业华兴建设有限公司 | Weld joint back side forming detection device |
| JP6189272B2 (en) * | 2014-09-26 | 2017-08-30 | 日立Ｇｅニュークリア・エナジー株式会社 | Survey system |
| CN112466490B (en) * | 2020-11-27 | 2024-09-24 | 中广核工程有限公司 | Nuclear power station double-layer containment ring gallery area defect inspection system and defect inspection method |
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