Patent Number: 047132124
Section: description

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 represents a schematic of a nuclear installation. An enclosure 1 protects a reactor 2 and a reactor pool 3. The reactor 2 comprises a core 4 situated at the interior of a vat 5. A loading canal 6 connects the reactor 2 to the reactor pool 3. The reactor pool 3 and the reactor 2 are supplied by a reactor pool loading machine 7 movable on rails 8. The loading machine 7 comprises a bridge 9 upon which is displaced a carriage 10. The carriage 10 comprises a telescopic mast 11 provided with sensors on the extremity serving to hook onto the core assemblies 4 of the reactor 2. In the reactor pool 3 is found a stockpile or storage rack 12 which is used to temporarily position the groups to be exchanged in the core of the reactor. A transfer tube 13 assures the connection between the reactor pool 3 and the deactivation pool 14 in which is found a storage rack 15. The deactivation pool 14 is served by a deactivation pool handling machine 16 which is movable on the rail 17. In the example represented in FIG. 1, the handling machine 16 comprises a bridge 18 upon which is moved a carriage 19. The carriage 19 also includes a telescopic mast 20 provided with sensors at the end for manipulating the groups. The transfer tube 13 is served by a transfer machine 21 comprising a transfer basket 22 and an apparatus which swings horizontally for placing the load on a carriage 23 for movement along the rails 24. The function of this transfer machine 21 is to proceed with a transport of the individual group between the reactor pool 13 and the deactivation pool 14. FIGS. 1 and 2 allow us to schematically follow a first example of manipulations. Assume that in the course of a charging sequence for a group A35, having coordinates 6D situated in the core 4 of the reactor, is to be transferred to the deactivation pool 14 for being replaced by another group C12 of coordinates 7P. The site of the coordinates 7P being itself occupied afterwards by a fresh group D41. For carrying out these manipulations, the unloading machine 7 first of all extracts the group A35 for placing it in the basket 22 of the transfer machine 21. After dumping the basket 22 the carriage 23 transfers the basket charged with the assembly A35 from the reactor pool 3 to the spent fuel pit 14. The handling machine 16 takes the group A35 out of the transfer basket 22 for placing it into a free space in the storage rack 15, for example in NL22. The loading machine 7 then extracts the group C12 from its location, at coordinates 7P, and places it at the location which has become free at coordinates 6D. Thereafter, the handling machine 16 takes the fresh group D41 from the storage rack 15 and places it in the transfer basket 22. Next, the transfer machine 21 brings the group D41 into the reactor pool 3. The loading machine 7 extracts then the group D41 from the transfer basket 22 and places it in the core 4 at the site of coordinates 7P. Upon the manipulation of the sets may be superposed a manipulation of components such as control rods or sets of plugs effectuated with the aid of a movable deposit station situated in the reactor pool 3. In the control process generally utilized in nuclear power plants, each manipulation constitutes one step in a loading sequence recorded in a loading listing which starts up, one by one, a sequence of pre-established administrative orders upon which an officer notes the beginning and ending times of the manipulation and validates the operation by his signature. This control only bears upon recorded administrative orders in the loading listing. Good execution of the manipulations rests upon the scrupulous execution of the administrative orders. At this level, therefore, can creep in manipulation errors owing either to a poorly worded administrative order, or an order poorly executed by the operator, or a faulty execution by the machine in spite of a well executed command by the operator. All of these errors are radically eliminated in the process according to the claimed invention. As represented in FIG. 4, assuming the reactor enclosure has a system of axes x.sub.1i, y.sub.1i permitting the placement with precision of the groups in the reactor 2, in the buffer rack 12, in the transfer basket 22 and in all other auxiliary apparatus equipping the reactor pool 3, such as a movable settling station 25 used for making exchanges of components in the midst of certain groups, or a fixed settling station 26 used for eliquation tests for detecting unexpected damage in a group on the rods forming the group. Assuming that the spent fuel pit 14 has another system of axes x.sub.2i, y.sub.2i, permitting placement with precision of the groups in the storage rack 15 and in the transfer basket 22, when the latter is located effectively in the spent fuel pit 14. The coordinates x.sub.1i, y.sub.1i, and x.sub.2i, y.sub.2i, which permit establishment of localization in the plan, are completed by the coordinates z which are situated on the depth of the groups, the handling heads of the loading machine 7 and the handling machine 16 and a camera perch, not shown, utilized for identifying the groups. These position coordinates x, y, z are provided by the codes given to the absolute position, independently of any interruption of current occurring at the installation. The codes are for example optical codes carried along without slippage by an appropriate mechanical apparatus. We have thus in x.sub.1i, y.sub.1i, z.sub.1i, the coordinates of placement of the groups in the core 2, the buffer rack 12, and the fixed resting station 26 which are the fixed coordinates, whereas the coordinates of the mobile resting station 25, the transfer basket 22, and the dams positioned, for example, in the recharging canal 6 are the variable parameters. In the same way as x.sub.2i, y.sub.2i, z.sub.2i, the coordinates of the storage rack 15 are fixed while the coordinates of the transfer basket 22 are variable parameters. We can designate by x.sub.1, y.sub.1, z.sub.1, the position of the gripping head of the loading machine 7, and by x.sub.2, y.sub.2, z.sub.2 the position of the gripping head of the handling machine 16. The signals corresponding to the coordinates x, y, z are sent to an information processor 30 charged with their management. Moreover, the information processor 30 receives information on the speed of displacement dx/dt, dy/dt, dz/dt, and the orientation .theta. of the gripping heads of the loading machine 7 and the handling machine 16, on the charge P and degree of opening F of the tongs of these machines. Also communicated to the information processor 30 are the identification marks of the groups, the loading plans, and the loading sequence. All of this information is not treated in the same manner. For that, it is necessary to distinguish in the information processor 30 a unit of treatment 31 charged with recognizing and treating the signals x.sub.1, y.sub.1, z.sub.1, dx/dt.sub.1, dy/dt.sub.1, dz/dt.sub.1, .theta..sub.1, P.sub.1, F.sub.1 characterizing the handling head of the loading machine 7 and the signals x.sub.2i, y.sub.2i, z.sub.2i, dx/dt.sub.2, dy/dt.sub.2, dz/dt.sub.2 .theta..sub.2, P.sub.2, F.sub.2 characterizing the gripping head of the handling machine 16. The fixed coordinates x.sub.1i, y.sub.1i, z.sub.1i of the locations for these groups in the core 2, the buffer rack 12, and the fixed resting station 26 of the reactor pool 3 are permanently registered in a permanent memory unit 32. The permanent memory unit 32 also receives fixed coordinates x.sub.2i, y.sub.2i, z.sub.2i of the storage rack 15 of the spent fuel pit 14. By contrast, the coordinates of the movable resting station 25, the transfer basket 22, the dams of the reactor pool 3, as well as the identification marks of the groups and their position occupied in the core 2 and in the storage racks 15 are registered in a temporary manner in a temporary memory unit 33. At the time of the first loading, there takes place for the first initiation the recordation of the coordinates of all of the sites provided for these groups, as well as the initial position and the identification of each group and the introduction of these values into the memory units 32 and 33. As for the loading sequence, there is furnished a programmable unit 34. The signals treated in the different units 31, 32, 33 and 34, which constitute the information processor 30, are then transmitted to a central calculating unit 35 which is connected with a conversational system 36. Upon unfolding of the loading sequence, each executed step is registered in a control box 37 which serves as a reference as well as a specialized organism charged with the surveillance of the fuel in the power plant, as well as for the personnel of the power plant for proceeding with verifications or controls of manipulation. At each instant the central calculating unit 35 compares the values furnished by the permanent memory unit 32, by the temporary memory unit 33, and by the programmable unit 34 with the values issuing from the treatment unit 31 for determining the ways of displacement of the handling heads of the machines 7 and 16 while taking into consideration permanent and temporary obstacles. In addition, while comparing the values furnished by the temporary memory unit 33 and by the permanent memory unit 32 to those values furnished by the programmable unit 34, the central calculating unit 35 may, according to the result of the comparison, authorize or refuse the step of the sequence engaged, and place into memory all valid calculations at the time in the temporary memory unit 33, and in the conversational system 36, for taking into consideration the evolution of the loading sequence. The central calculating unit 35 establishes at each instant a comparison between the researched position and the actual position of the manipulated group. If for example, the central calculating unit 35 verifies that the handling machine 16 is at the point of lowering a group into an erroneous site, the central calculating unit 35 sends a negative signal which annuls the requested order. That is translated by an alarm and eventually by a blockage of the lowering movement in such a manner as to avoid serious consequences resulting, for example, from the resting of a second group on a first already in place swinging the second group and risking destruction of the groups. This new process offers the advantage of recording the actual movements of the loading machine 7 and of the handling machine 16. It stores the actual successive positions occupied by the groups in their pools and the reactor, and not the desired positions in a sequence of administrative orders. In other words, the preestablished sequence furnishes to the programmable unit 34 and transmitted to the central calculating unit 35 permits making a blank test, that is, a simulation of the preestablished loading sequence, in order to verify if it will effectively lead to the specified charging plan. This characteristic clearly represents a significant advantage for operators of nuclear power plants. The orders admitted by the central calculating unit 35 are memorized in two different manners. A first memory called a control box 37 faithfully registers all of the movements executed in order to permit, in the event it is needed, the making of a detailed analysis of the different operations. A second memory installed in the temporary memory unit 33 is conceived for remembering the last position achieved by each group while erasing the previously occupied positions. In this manner, at the end of a loading sequence, it gives the new loading plan effectively achieved while reproducing exactly the placement and identification of each group in the core and in the storage rack 15. Obtained on the basis of control of operations which have been effectively executed, the new loading plan gives a total guarantee of the exactitude of the configuration. A summary of this aforementioned process in flowchart form is shown in FIG. 5. In the conversational system 36, there is at one's disposal video screens and keyboards for the introduction of given information in order to permit: dialogue between operating personnel and the information processor 30; PA1 visualization of orders for execution of movement; evolution, at any moment, of the loading plan giving the place and the identification of all of the groups, in order to know in the example being negotiated, in the core 2, in the buffer rack 12, in the mobile resting station 25, in the basket 22, in the fixed resting station 26, in the stockpile rack 15; PA1 the visualization of the schematic of each pool giving the position of obstacles, of handling heads, and even the way of displacing the gripping heads; the introduction in the loading sequence, furnished previously to the programmable unit 34, of a modification of the sequence in order to respond to a new need. In a more advanced system, one can achieve an entirely automatic loading operation. It is sufficient to bring under control the motorizing of machines in the preestablished sequence. The automatic operation can involve the choice and the execution of the most appropriate routes for movement of the gripping heads of the machines 7 and 16.