李永 劉光輝 李虎 李鋼強(qiáng)

【摘 ?要】當(dāng)前，中國(guó)的核電事業(yè)發(fā)展的如火如荼，相比石化能源發(fā)電帶來(lái)的環(huán)境污染，核電憑借幾乎無(wú)污染的突出特點(diǎn)，促使國(guó)家政府加碼投入核電。目前中國(guó)內(nèi)地在運(yùn)核電機(jī)組總計(jì)446臺(tái)，總裝機(jī)容量約為390.8GW，年生產(chǎn)核廢料約4000萬(wàn)噸。隨著裝機(jī)容量的持續(xù)增加，核廢料也將按比例增加，數(shù)量如此巨大的核廢料每年都需要處理，處理過(guò)程中需要使用大量的起重機(jī)進(jìn)行搬運(yùn)，由于涉及核輻射，此類起重機(jī)比較特殊，需要遠(yuǎn)程操作或無(wú)人操作遠(yuǎn)程監(jiān)控。國(guó)內(nèi)起重機(jī)廠家對(duì)這一塊的技術(shù)研究起步較晚，很不成熟，采購(gòu)國(guó)外設(shè)備，由于涉核的敏感性導(dǎo)致價(jià)格極高還附帶許多苛刻條件，比如：進(jìn)口德國(guó)、芬蘭的起重機(jī)，需要提供作業(yè)信息、設(shè)備定位等等信息，不利于國(guó)家核電事業(yè)發(fā)展的保密性及國(guó)防的安全性。所以：迫切需要國(guó)內(nèi)設(shè)備廠商掌握此種起重設(shè)備的關(guān)鍵技術(shù)、擺脫對(duì)國(guó)外產(chǎn)品的依賴。衛(wèi)華機(jī)械工程研究院經(jīng)過(guò)多年的研究、積累，成功研制生產(chǎn)出了此種起重機(jī)，并在2018年應(yīng)用到了廣西某核廢料處理廠，至今運(yùn)行安全、可靠，穩(wěn)定。本文將對(duì)此種起重機(jī)的電氣控制做深入的探討。

At present，the development of nuclear power in China is in full swing.Compared with the environmental pollution caused by petrochemical power generation，the prominent feature of almost no pollution in nuclear power has prompted the national government to increase investment in nuclear power.At present，there are a total of 446 nuclear power units in operation in the Chinese mainland，with a total installed capacity of about 390.8GW and an annual production of about 40 million tons of nuclear waste.With the continuous increase of installed capacity，nuclear waste will also be increased proportionally.Such a huge amount of nuclear waste needs to be disposed of every year，and a large number of cranes are needed to carry it out in the process of disposal.Due to the nuclear radiation involved，such cranes are relatively special and require remote operation or unmanned remote monitoring.Domestic crane manufacturers started late this part of the technology research，very immature，purchasing foreign equipment，due to the sensitivity of the nuclear involved，the price is extremely high and there are many harsh conditions，such as：imported German，F(xiàn)innish cranes，need to provide operational information Information such as equipment positioning is not conducive to the confidentiality of the development of the national nuclear power industry and the security of national defense.Therefore：domestic equipment manufacturers are urgently required to master the key technologies of such lifting equipment and get rid of dependence on foreign products.After years of research and accumulation，Weihua Mechanical Engineering Research Institute successfully developed and produced such a crane.It was applied to a nuclear waste treatment plant in Guangxi in 2018.It has been safe，reliable and stable.This article will make an in-depth discussion on the electrical control of this type of crane.

【關(guān)鍵詞】起重機(jī);核廢料;電氣控制;起重機(jī)定位;雙目視覺(jué)

Crane;Nuclear waste;Electrical control;Crane positioning;Binocular vision

1 引言

對(duì)于使用起重機(jī)作業(yè)吊裝的核廢料處理車間，當(dāng)前皆是遠(yuǎn)程操作，起重機(jī)操作人員通過(guò)視頻畫面操作，避免核輻射，容易引起視覺(jué)疲勞，一般每小時(shí)要休息15分鐘，工作效率很低。如果采用全自動(dòng)起重機(jī)進(jìn)行自動(dòng)吊裝，起重機(jī)定位是一項(xiàng)關(guān)鍵技術(shù)，核廢料桶在庫(kù)內(nèi)固定成行、列的坐標(biāo)位置擺放，通過(guò)安裝在起重機(jī)上的絕對(duì)定位裝置，定位在相應(yīng)的行列位置坐標(biāo)上，很容易。但是由于起重機(jī)在吊裝運(yùn)行壘桶的過(guò)程中，很容易出現(xiàn)位置偏差，缺少視覺(jué)判斷系統(tǒng)，起重機(jī)吊具自動(dòng)吊裝過(guò)程中會(huì)出現(xiàn)夾具夾取位置不準(zhǔn)，造成吊裝失敗，或吊起滑落的事故。車間庫(kù)內(nèi)的核廢料桶的進(jìn)庫(kù)、出庫(kù)、貯存時(shí)間需要統(tǒng)計(jì)，起重機(jī)需要數(shù)據(jù)庫(kù)技術(shù)。另外：核廢料桶暫存車間密封嚴(yán)密，起重機(jī)遠(yuǎn)程操作、全自動(dòng)運(yùn)行、遠(yuǎn)程監(jiān)控，如何能夠保證控制、測(cè)量信號(hào)的穩(wěn)定性也是本文探討的重要內(nèi)容。圖1是某核廢料桶裝車間的圖片。核廢料桶裝車間與外界通過(guò)0.5～1m厚的鋼筋混凝土內(nèi)嵌防輻射材料隔絕，內(nèi)部用電設(shè)備，電源線、信號(hào)線、控制線、照明線、視頻線通過(guò)埋藏在地下的電纜溝與外界相連。起重機(jī)通過(guò)外部控制室遠(yuǎn)程操作。核廢料桶的出入庫(kù)通過(guò)雙道特制安全門，使用外部車輛運(yùn)輸。圖2是作業(yè)起重機(jī)的圖片，圖3是遠(yuǎn)程操作室的圖片。