李永 劉光輝 李虎 李鋼強

【摘 ?要】當前，中國的核電事業(yè)發(fā)展的如火如荼，相比石化能源發(fā)電帶來的環(huán)境污染，核電憑借幾乎無污染的突出特點，促使國家政府加碼投入核電。目前中國內(nèi)地在運核電機組總計446臺，總裝機容量約為390.8GW，年生產(chǎn)核廢料約4000萬噸。隨著裝機容量的持續(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，處理過程中需要使用大量的起重機進行搬運，由于涉及核輻射，此類起重機比較特殊，需要遠程操作或無人操作遠程監(jiān)控。國內(nèi)起重機廠家對這一塊的技術研究起步較晚，很不成熟，采購國外設備，由于涉核的敏感性導致價格極高還附帶許多苛刻條件，比如：進口德國、芬蘭的起重機，需要提供作業(yè)信息、設備定位等等信息，不利于國家核電事業(yè)發(fā)展的保密性及國防的安全性。所以：迫切需要國內(nèi)設備廠商掌握此種起重設備的關鍵技術、擺脫對國外產(chǎn)品的依賴。衛(wèi)華機械工程研究院經(jīng)過多年的研究、積累，成功研制生產(chǎn)出了此種起重機，并在2018年應用到了廣西某核廢料處理廠，至今運行安全、可靠，穩(wěn)定。本文將對此種起重機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.

【關鍵詞】起重機;核廢料;電氣控制;起重機定位;雙目視覺

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

1 引言

對于使用起重機作業(yè)吊裝的核廢料處理車間，當前皆是遠程操作，起重機操作人員通過視頻畫面操作，避免核輻射，容易引起視覺疲勞，一般每小時要休息15分鐘，工作效率很低。如果采用全自動起重機進行自動吊裝，起重機定位是一項關鍵技術，核廢料桶在庫內(nèi)固定成行、列的坐標位置擺放，通過安裝在起重機上的絕對定位裝置，定位在相應的行列位置坐標上，很容易。但是由于起重機在吊裝運行壘桶的過程中，很容易出現(xiàn)位置偏差，缺少視覺判斷系統(tǒng)，起重機吊具自動吊裝過程中會出現(xiàn)夾具夾取位置不準，造成吊裝失敗，或吊起滑落的事故。車間庫內(nèi)的核廢料桶的進庫、出庫、貯存時間需要統(tǒng)計，起重機需要數(shù)據(jù)庫技術。另外：核廢料桶暫存車間密封嚴密，起重機遠程操作、全自動運行、遠程監(jiān)控，如何能夠保證控制、測量信號的穩(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)部用電設備，電源線、信號線、控制線、照明線、視頻線通過埋藏在地下的電纜溝與外界相連。起重機通過外部控制室遠程操作。核廢料桶的出入庫通過雙道特制安全門，使用外部車輛運輸。圖2是作業(yè)起重機的圖片，圖3是遠程操作室的圖片。