제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Tele-Operated Mobile Robot for Visual Inspection of a Reactor Head

  • Choi, Chang-Hwan (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Jeong, Kyung-Min (Nuclear Robotics Lab., Korea Atomic Energy Research Institute) ;
  • Kim, Seung-Ho (Nuclear Robotics Lab., Korea Atomic Energy Research Institute)
  • Published : 2003.10.22
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Abstract

The control rod drive mechanisms in a reactor head are arranged too narrow for a human worker to approach. Moreover, the working environment is in high radiation area. In order to inspect defections in the surfaces of the reactor head and welding parts, a visual inspection device that can approach such a narrow and high radiation area is required. This paper introduces a tele-operated mobile robot for visual inspection of a reactor head, which has pan/tilt camera, fixed rear camera, ultrasonic collision detection system, and so on. Moreover, the host controller and digital video logging system are developed and integrated control software is also developed. The robot is operated by a wireless control, which gives flexibility for the inspection.

Keywords