• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    The digital induced current probe with positioning system for steam generators or other tubes in nuclear power plants comprises one or more sensors (203) of eddy currents, an electronics (100) of data acquisition that digitizes these, analyzes them and marks them with the spatial position indicated by a positioning subsystem (106) in the probe (1), all of them carried in a set of blocks (201, 203 ', 205, 207, 209) joined by a flexible element (208). In this way, the applied test method allows the digitized data to be directly marked with the position of the probe, optionally including the angular position. This positioning subsystem (106) also makes it possible to identify the tested tube by a method with redundancy. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2676036A1
    申请号:ES201730033
    申请日:2017-01-13
    公开日:2018-07-16
    发明作者:Jerónimo HERNÁNDEZ RIOJA；Jorge RODRIGO GARCÍA
    申请人:Tecnatom SA；
    IPC主号:
    专利说明:

    Digital induced current probe with positioning system and applied method
    SECTOR OF THE TECHNIQUE
    The present invention applies to the inspection sector and refers to a digital induced current probe with positioning system for inspection of tubes or pipes such as those used in steam generators or other heat exchangers in nuclear power plants. This probe performs non-destructive tests using the induced currents technique, from inside the pipes.
    It also refers to the method of checking the tubes using the probe.
    STATE OF THE TECHNIQUE
    The inspection of critical components such as the steam generator tubes of a nuclear power plant requires that the data obtained be of high quality and low noise to ensure that the detected signals reflect, without a doubt, the actual situation of the tube inspected.
    The probes currently used for the inspection of steam generator tubes are mostly composed of two coils that are connected to coaxial cables and these cables, with analog information, are sent to the data acquisition equipment that It is located outside the generator. The displacement of the probe through the tube is done with a mechanical system located at one end of the tube. This system pushes the probe all the way through the tube until the probe exits the other end of the tube and then pulls it in the opposite direction to pick it up. An example can be seen in CN104749242.
    The length of the probe, therefore, has to be such that it allows the entire tube to be traversed, so 30m lengths are common for this type of probes. There may also be situations in which the data acquisition equipment cannot be placed right next to the generator but must be located outside the containment building, in these cases an extension cable is used that extends the connection of the other probe 30m The great length of the cables attached to an extremely sensitive sensor in an industrial environment, with machinery of all kinds around, makes this totally analog probe and cable assembly vulnerable to noise, causing sometimes acquired data to be unreliable.
    On the other hand, in the specific case of the inspection of steam generators there is a large number of tubes (usually in inverted "U") which by their arrangement makes each one have a length and a turning radius in its curved area that It is different from one tube to another. The movement of the probe inside the tube is conditioned, above all, by that turning radius. The friction of the plastic that carries the probe to contain the cables and at the same time help in its mechanical drive makes the tubes of greater diameter pass easily but those whose turning radius is very small present difficulties to the movement of the probe having to resort To different strategies such as reducing the speed of the motor that moves the probe, use specific probes with a special design only for these tubes or inspect the tube in two pieces by introducing the probe first at one end of the tube and then at the other end.
    Occasionally, the initial inspection performed with the probe indicates that there is a defect in some area of the tube. Depending on the area of the tube and to obtain more information about the defect found, it may be necessary to perform a second inspection on that area using another type of probe (for example rotary). In these cases it is very useful to know the axial position of the defect inside the tube so that the probe used in the second inspection automatically goes to that position. In current systems, this position is obtained through the position sensors associated with the motor that moves the probe or through sensors that detect the movement of the plastic tube that the probe carries to protect the cables. In either case, the detection of the position becomes very far from the position of the sensor of the probe, which translates into significant positioning errors and which are only valid to indicate the approximate area where the defect is located.
    The probe usually used in tube inspection is formed by a sensor that covers the entire circumferential surface of the tube. The defects detected with these probes allow to know the axial dimension of the defect, but not the circumferential one since the sensor averages all the data seen in the 3600 of the tube. To solve this problem, probes are often used with several individual sensors that rotate
    mechanically inside the tube or multi-element probes with many miniature sensors located along a circular line. These two types of probes allow axial and circumferential dimensioning of defects, but they are not able to position them with an absolute reference inside the tube.
    As for the circumferential position, the problem lies in the fact that the probe when moving inside the tube can perform a turning movement that is accentuated the further it advances within the tube. The push system is located, in some cases, up to 30m from the sensor, so that the rotation of the probe inside the tube is an impossible to control movement, changing from one tube to another and totally unknown to the data processing system .
    These situations, long cables with possible noise problems, difficulties to move through small radius tubes and lack of positioning accuracy, make it difficult to reduce the time that the inspection lasts and, as a consequence, the time that the central or unit where these pipes are installed is not working.
    The applicant knows no solution equivalent to the invention.
    BRIEF EXPLANATION OF THE INVENTION
    The invention consists of a probe according to the claims.
    On the one hand, this probe represents an important technological challenge of miniaturization of all electronics in an extremely small space, on the other hand, the benefit of having a product of these characteristics is very significant in terms of improving signal quality and the reduction of inspection times.
    According to the invention, the digital induced current probe with positioning system applicable for steam generators, especially in nuclear power plants, comprises one or more induced current sensors (for simplicity of the text, hereinafter "sensor" will always be indicated in the singular, regardless of the number used in the probe), a data acquisition electronics that digitize these and mark them with the position indicated by a positioning subsystem installed in the probe itself and a communication interface of this data to a device
    external. All these elements are carried in a set of blocks that form the body of the probe, joined by a flexible element.
    The positioning subsystem is an inertial module that can include the possibility of measuring angular position. In that case, several sensors corresponding to a multi-element induced current device with several coils can be installed.
    The body of the probe can have several improved features, such as centering (at least near the sensor), an initial pointed block or a last expandable or interchangeable block to adjust its size to the tube and thus plug it to facilitate it to move by compressed air.
    The sensor can generate induced current signals, and detect its variations, with different frequencies and / or amplitude.
    For its part, the method of checking tubes, for example steam generators, involves introducing and running the probe successively through each tube of the steam generator, checking for the presence of defects. As an essential feature, the probe automatically analyzes the data taken by the sensor and digitized by the data acquisition electronics, with a communication interface that can send them directly to the outside or store them internally and wait for a physical connection, with the position defined by the positioning subsystem (inertial module) present in the probe. Its operation may be with temporal or spatial periodicity during its route through the tube.
    As a complement that simplifies data collection, the concrete tube can be identified by the spatial position of its initial end measured by the probe, and its identification verified by measuring the size of a curve present in the tube by the probe and its comparison with a table stored in memory.
    If the sensors are arranged in array, the position marked to the data will include the angular position, allowing to specify in which position of the tube (longitudinal and angular) a possible defect is located.
    DESCRIPTION OF THE DRAWINGS For a better understanding of the invention, the following figures are included.
    FIG 1 is a schematic diagram of the electronics of an example probe.
    FIG 2 is an image with two possible schematic configurations of the probe.
    FIG 3 is a schematic image of an embodiment of the probe within a tube of a generator in the curved area.
    FIG 4 is the block diagram of the probe electronics to which an array sensor is added and the elements necessary for its control.
    EMBODIMENTS OF THE INVENTION
    Next, an embodiment of the invention will be briefly described as an illustrative and non-limiting example thereof.
    The probe (1) of the invention comprises one or more sensors (203) and all the electronics
    (100) of data acquisition allowing the digitalization of the information measured by the sensor (203), the automatic analysis of the same and the marking of each data with its real spatial position, thanks to a positioning subsystem (106). All this makes it possible to eliminate the vulnerability to noise of information of an analog nature measured by the sensor (203).
    The sensor (203) will be of induced currents (Eddy current), and will have an electronic generation of the signals that generate the magnetic fields, and one or more receivers of the signal to detect the variations thereof. The conditioning, demodulation, filtering and any other type of operation on the data subsystem is incorporated in the data acquisition electronics (100). Likewise, the association of an alarm with the data after an automatic analysis of the same can be done in the probe (1) or in a subsequent treatment prior to its presentation to the inspection personnel.
    Including all the electronics (100) inside the probe (1) and very close to the sensor (203) allows avoiding the reduction in the quality of the analog information measured by the
    sensor (203) due to noise, thanks to the information being transmitted digitally.
    5 Similarly, by including the positioning subsystem (106) in the central axis of theprobe (1), in the center of the electronics (100) and very close to the sensor (203) allowsaccurately know the position, making the system used to displacethe probe (1) inside the tube is not now a critical factor in determining theposition. This system can be compressed air or a carrier cable. When I do not know
    10 the carrier cable is applied, the plastic cable guide tube that generates the friction with the tube can also be eliminated, making it difficult for the probe to pass through the tubes of small radius of curvature.
    Using this same idea you can make the sensors (203) correspond to a
    15 equipment of multi-element induced currents or array (116) composed of several coils (20) instead of a single element. Adding to the electronics the necessary circuits to handle the different elements of the sensor, multiplexers and control, we eliminate the large number of cables that are currently used to handle this type of probes.
    An example of a probe (1) used for inspection appears in Figure 1. This probe
    (1) can be formed by two coils (20) configured either in differential mode, in which the signal of one coil (20) is acquired with respect to the other, or absolute, in which the signal of one is acquired coil (20) with respect to a reference, which is the
    25 usual case in the inspection of steam generator tubes. But it also supports the power to connect 1 or 2 coils (20) in any differential configuration, absolute, transmitter-receiver.
    The control block (107) of the probe (1) digitally generates a sinusoidal signal
    30 which is converted to analog by means of the transmitter (102) which is responsible for feeding the corresponding sensor (203). Several sinusoidal signals can be generated in parallel to vary the depth, resolution, etc. of the induced current and detect different types of defects. Each of these signals would have independent parameters with which each one is configurable in frequency, amplitude
    35 and phase. The possibility of generating several signals means that, with a single pass of the probe through the tube, a subsequent analysis of the data can be carried out eliminating the need for several passes through the tube with the consequent saving of time.
    The control block (107) collects the signal received by the sensor (203) at the receiver (105). This is amplified, filtered and converted to digital in the control block (107), which comprises the conditioning subsystem. There they are processed according to the frequency and phase parameters, performing demodulation, filtering and analysis. They also include any correction and adjustment to compensate for the linearity errors of the analog blocks. In the event of a defect in the inspected material there is a variation in the currents induced on the material and this variation is detected by the sensor (203). A signal analysis can be included in the control block (107) to signal an alarm.
    The positioning subsystem (106) allows to calculate the position of the probe (1) inside the tube, both axially and circumferentially and add that position to the data frame. Thus, the acquisition electronics (100) retain the measurements taken with the exact position, which allows the defects to be associated with the sensor position
    (203) at every moment.
    Knowing the dynamics of movement of the probe (1) or its position allows several working modes:
    A first mode may be to configure the probe (1) to take data at a fixed sampling rate controlled by an internal timer. In this way, each X msec acquires a sensor data (203) for each of the programmed frequencies and to this data the spatial position obtained by means of the positioning subsystem (106) is added. In this case, and because the displacement of the probe (1) inside the tube is not constant due to friction problems and that the thrust system is located very far from the sensor, we would have a series of data obtained at regular intervals of time but irregular in space, being in any case both (time and distance) known.
    A second mode of operation would be to first obtain the spatial position by means of the positioning subsystem (106) and configure the probe (1) to generate a trigger signal every X mm in axial displacement along the tube. This trigger signal would be the one that initiates the sequence of acquisition of a sensor data (203) for each of the programmed frequencies. In this way we would have a series of data acquired at regular intervals in distance, but possibly irregular in time.
    The positioning subsystem (106) can also allow calculating the angular position of the probe (1) inside the tube. Therefore, when array type sensors (203) (116) formed by multiple coils (20) are used, it allows to know the position of the defects within the tube with respect to a starting reference.
    For inspection of steam generator tubes, the ASME standard is followed, which determines that, to ensure that no defects are lost, at least 30 data per inch or, what is the same, 1.18 data per mm must be acquired. . The inclusion of the actual position of the sensor in the data frame obtained by means of the positioning subsystem (106) makes it possible to ensure that current regulations are being complied with and that the number of points per mm is as required. Any anomaly in this regard is calculated in real time and added to the data frame as an alarm, so you can know exactly where the fault occurs in the tube, for how long and, in any case, it would allow you to return to repeat the inspected tube.
    Another use of the positioning subsystem (106) is the automatic identification of the analyzed tube. Within the steam generator the tubes are distributed in rows and in the same row all the pipes have the same length and, therefore, the same radius in the curved area. To identify the tube, a redundant system is used using the position in space and the rotation made in the curve, both values detected by the positioning subsystem (106). These values are compared with a table stored in memory, either as part of the acquisition electronics (108) or in the unit controlled by the operator.
    In operation, with the first tube to be inspected, the positioning subsystem (106) is initialized in all directions and spatial angles. Each time the mechanical or robotic system advances to the next tube, the x and y coordinates of the positioning subsystem (106) are updated with a new value. These coordinates x, y correspond to the initial end of a tube with a radius in the given curved area. By measuring the time it takes for the probe to pass the curve and the speed used, the length of the curve can be obtained. Specifically, while the probe (1) goes up the straight section, it can only rotate along the longitudinal axis. On the other hand, when taking the curve, at least one of the other position angles varies, so the time it takes to vary or the distance between the start and end point of the variation can be measured. Therefore the identification of the tube is known by the coordinates of its initial end and the length of its curve. If both identifications do not match, an error signal may be issued.
    The data frame can be stored in the acquisition electronics (100) by means of the memory (108) or sent digitally through a communications module (110). This can be wireless or an electrical interface.
    The probe (1) has a power system, which may or may not be included in the electronics (100), appropriate to its mode of operation, either by batteries or by means of the cable. The different voltages and currents necessary to power the probe (1) are obtained from the power block responsible for, from the battery voltage, generating these feeds and also responsible for controlling the charging process.
    Figure 2 shows two examples of probe structure (1), with and without cable, formed by different blocks (201, 203 ', 205, 207, 209). In both examples, it has an initial block (201) with a pointed end to facilitate the entry into the tube and the monitoring of its curves. It also includes centers (202) to keep the sensor (203) at a constant distance from the wall. The centers (202) will be mainly near the sensor (203) in the second block (203 '), but they can be for the entire length of the probe. The data acquisition electronics (100) will be placed in a third block (205) next to the sensor (203) to reduce the risk of noise. If the size of the probe (1) and the components allows it, the acquisition electronics (100) will go in the same block as the sensor (203). The batteries and / or the electrical interface are located in any of the remaining blocks. The last block (207) must plug the pipe if the probe travels by compressed air. To do this, it can be expandable by any method, and have conical or corresponding geometry. It can also be adjustable or interchangeable.
    All the blocks of the probe are connected to each other by means of a hollow flexible element (208) that allows the passage of cables inside. This flexible element (208) is flexible enough to allow the entire probe to pass through the small diameter tubes, but with sufficient rigidity for the drive system to transmit its force on the probe and push it forward. In your case, you can have ball joints (204) that favor the mobility of the probe (1) on tubes with reduced radius of curvature.
    5 The element (230) of the second example may be an electrical interface, with the appropriate characteristics for the passage of digitized and / or power data, or a carrier wire to collect the probe (1) from the insertion point. In the case of an electrical interface, it will carry communications between the operator and the probe (1). This solution allows to obviate the memory of the acquisition electronics (108). This solution
    10 is intended for occasions where the content of the probe (1) should be greatly reduced, as several of the elements of the probe are removed, those occasions when the battery cannot be recharged, or those that include so much data to take that overflows the capacity of memory or battery.
    15 Figure 4 shows the scheme of an array probe (116) with multiple coils (20) with a series of multiplexers (115, 117) necessary to connect the transmitter (102) and the control block (107) with the array coils (116). The synchronization of the position of each multiplexer (115, 117) and, therefore, of the coil
    (20) that is being used to generate the magnetic or array field (116) to
    20 receiving it, is made from the control block (107) and is carried out taking into account the number of frequencies used for the inspection. For the processing of received data, demodulation and filtering, the position of the multiplexer (115, 117) is also taken into account.
    权利要求:
    Claims (1)
    [1]
    1-Probe of digital induced currents with positioning system for tube inspection, especially in nuclear power plants, characterized in that it comprises one or more sensors (203) of induced currents, an electronic (100) data acquisition that digitizes these and marks them with the position indicated by a positioning subsystem (106) by means of an inertial module arranged in the probe (1), all of them carried in a set of blocks (201, 203 ', 205, 207, 209) joined by a flexible element (208) and a communication interface with an external device.
    2-Probe according to claim 1, wherein the flexible element (208) has ball joints (204) to favor the mobility of the probe (1) on tubes with reduced radius of curvature.
    3-Probe according to claim 1, whose last block (207) is expandable, adjustable or interchangeable.
    4-Probe according to claim 1, which has centers (202) at least close to each sensor (203).
    5-Probe according to claim 1, whose sensor (203) corresponds to a multi-element induced current set with several coils (20) forming an array (116).
    6-Probe according to claim 1, which emits signals from induced currents with different configurable frequencies and / or amplitudes.
    7-Method of induced currents for checking tubes, especially for nuclear power plants, comprising successively introducing and running the probe of claim 1 in the steam generator tubes, checking for the presence of defects, characterized in that the probe (1 ) has one or more induced current sensors (203) and an electronic data acquisition (100) that digitizes them and marks them with the position defined by a positioning subsystem (106) formed by an inertial module present in the probe ( one).
    8-Method according to claim 7, wherein the probe (1) performs the verification periodically.
    9-Method according to claim 7, wherein the probe (1) performs the spatial periodicity check according to the position detected by the positioning subsystem (106).
    10-Method according to claim 7, wherein the tube is identified by the spatial position of its initial end measured by the probe (1).
    11-Method according to claim 10, wherein the identification of the tube 10 is checked by measuring the size of a curve present in the tube by the probe (1) and its comparison with a table stored in memory.
    12-Method according to claim 7, wherein the data is kept in the electronics
    (100) acquisition.
    13-Method according to claim 7, wherein the sensors (203) are arranged in arfay
    (116) and the position marked to the data of each coil (20) includes the angular position measured by the positioning subsystem (106).
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    同族专利:
    公开号 | 公开日
    ES2676036B2|2019-03-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5174164A|1991-09-16|1992-12-29|Westinghouse Electric Corp.|Flexible cable|
    EP2315018A1|2009-10-20|2011-04-27|Westinghouse Electric Company LLC|Eddy current inspection probe|
    US20120006133A1|2010-07-12|2012-01-12|General Electric Company|Low row steam generator inspection probe|
    法律状态:
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