Patent Number: 047132124
Section: claims

1. A process for the fully automated supervision and control of loading and unloading operations of groups of combustible nuclear elements into a core of a reactor, a reactor pool and a spent fuel pit by means of a reactor pool loading machine having a telescopic mast, upon the end of which is provided a gripping head with pinchers, for supplying the reactor and the reactor pool having a buffer rack, a fixed deposit station a transfer basket and a plurality of mobile deposit stations, and a deactivation pool handling machine having a telescopic mast, upon the extremity of which is provided a gripping head with pinchers for supplying the spent fuel storage pit containing storage racks and a transfer apparatus assuring the connection between the reactor pool and the spent fuel pit, comprising the steps of: (a) recording a position of each group in the core of the reactor, the storage rack and the buffer rack,  (b) recording a position of the reactor pool loading machine, the deactivation pool handling machine, the transfer apparatus and the mobile deposit stations,  (c) verifying the identification of each group at the moment of gripping and/or at the moment of release of each group in the core of the reactor, in the buffer rack, in the transfer basket, in the storage rack, in the fixed deposit stations, and in the mobile deposit stations,  (d) supplying command and control signals for the manipulation of the reactor pool loading machine, the deactivation pool handling machine, the transfer apparatus and the mobile deposit stations;  (e) comparing the command signals and control signals of each manipulation ordered to the reactor pool loading machine, to the deactivation pool handling machine, to the transfer apparatus, and to each mobile deposit station with recorded signals of a pre-established loading sequence and the position of each group, for producing a signal in one of:  (f) carrying out one of (1) the manipulation of the reactor pool loading machine, the deactivation pool handling machine, the transfer apparatus and the mobile deposit station in response to said signal in said first state, and (2) a blocking of subsequent ordered manipulation by the reactor pool loading machine, by the deactivation pool handling machine, by the transfer apparatus or by any of the mobile deposit stations,  (g) updating the position of the group moved by the ordered manipulation; and  (h) establishing a table of final positions of each group in the core of the reactor, in the storage racks, and in the buffer rack for establishing a plan of disposition of the groups.  (a) a reactor pool loading machine having a telescopic mast upon the end of which is provided a gripping head with pinchers for supplying the reactor and the reactor pool having a buffer storage rack, a fixed deposit station and a mobile deposit station,  (b) a deactivation pool handling machine having a telescopic mast, upon the end of which is provided a gripping head with pinchers for supplying the spent fuel storage pit containing storage racks and a transfer apparatus interconnecting the reactor pool and the spent fuel pit,  (c) at least one memory unit for storing current coordinates and identification marks of each group and coordinates of permanent and temporary obstacles in the core, the reactor pool and the spent fuel pit,  (d) a central calculating unit for determining the absolute position, orientation and speed of displacement of the gripping head mounted at the end of the reactor pool loading machine and the gripping head mounted at the end of the deactivation pool handling machine wherein the degree of opening of the pinchers mounted on the gripping head and the load taken by the reactor pool loading machine and the deactivation pool handling machine are converted to signals,  (e) a treatment unit for receiving said signals wherein current coordinates of the groups, coordinates of the manipulations of the groups and coordinates of permanent obtacles in the core, the reactor pool and the spent fuel pit are stored in the at least one memory unit and transmitted to the central calculating unit, and  (f) a programmable unit for transmitting a pre-established loading sequence to the central calculating unit wherein signals from the treatment unit are transmitted to the central calculating unit for comparison with the pre-established loading sequence and the current coordinates of the groups, and according to the result of this comparison, either recorded in the at least one memory unit indicating coincidence or provides a reactive signal indicating a lack of coincidence. 2. A process according to claim 1 further including the step of storing the command and the control signals of each manipulation carried out by the reactor pool loading machine, the deactivation pool handling machine, the transfer apparatus, and by each mobile deposit station for obtaining a trace of the manipulations carried out. 3. A process according to claim 1 including causing the actuation of motors powering the reactor pool loading machine, the deactivation pool handling machine, and the transfer apparatus according to the pre-established loading sequence. 4. An apparatus for fully automated supervision and control of loading and unloading operations of groups of combustible nuclear elements into a core of a reactor, a reactor pool and a spent fuel pit comprising: 5. A supervision and control apparatus according to claim 4 wherein the pre-established loading sequence furnished by the programmable unit and the signals from the treatment unit are recorded in at least one additional memory unit after transmission to the central calculating unit. 6. A supervision and control apparatus according to claim 4 wherein the reactive signal emitted by the central calculating unit comprises an alarm signal that blocks further manipulation of the reactor pool loading machine upon approaching an obstacle. 7. A supervision and control apparatus according to claim 4 wherein the central calculating unit enables the energizing of motor means for the reactor pool loading machine, the deactivation pool handling machine, the transfer apparatus, and the mobile deposit station, when there is coincidence between the pre-established loading sequence furnished by the programmable unit and the signals received by the treatment unit. 8. A supervision and control appparatus according to claim 4 including a conversational system for introducing the pre-established loading sequence into the programmable unit and for modifying the pre-established loading sequence.