Study of a robotic system to detect water leakage and fuel debris-System proposal and feasibility study of visual odometry providing intuitive bird’s eye view-

ROBOMECH Journal

Koichi Suzumori¹  Hiroyuki Nabae¹  Zhenyu Wang¹  Hiroshige Kikura¹  Gen Endo¹  Hideharu Takahashi¹  Kazushi Kimoto²  Nobuyoshi Tsuzuki³  Tomonori Ihara⁴  Masashi Takahashi⁵ 

[1] Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1, Oookayama, Meguro-ku, 152-8550, Tokyo, Japan;Okayama University, 1-1-1, Tsushima-Naka, Kita-ku, 700-8530, Okayama, Japan;The Institute of Applied Energy, 1-14-2, Nishi-Shinbashi, Minato-ku, 105-0003, Tokyo, Japan;Tokyo University of Marine Science and Technology, 2-1-6, Etchujima, Koto-ku, 135-8533, Tokyo, Japan;ViewPLUS Inc., 1-8-1, Kojimachi, Chiyoda-ku, 102-0083, Tokyo, Japan;

关键词: Decommissioning;    Fuel debris;    Fukushima Daiichi nuclear;    Ultrasonic;    Visual odometry;   

DOI  :  10.1186/s40648-020-00184-z

来源: Springer

【 摘 要 】

To obtain the necessary information on fuel debris and water leakages during the decommissioning task of the Fukushima Daiichi Nuclear Power Plant, an ultrasonic-based method was proposed for future internal investigation of the primary containment vessel (PCV). In this article, we describe the rotatable winch mechanism and visual localization method, which were used to aid the investigation. We used the rotatable winch mechanism to adjust the height and orientation of the ultrasonic sensor and localized the robot with cameras to localize the sensor, to provide assisting information for data combination. We studied the feasibility of the conventional visual odometry method for application to the situation and performed localizing accuracy evaluation experiments with a mobile robotic platform prototype. The results showed that the visual odometry method could generate intuitive bird’s-eye-view maps, and provided an average error rate of 35 mm/1500 mm, which met the required maximum error rate of 100 mm/1500 mm for the grating movement. Experiments were also conducted with adjustable parameter ranges that could provide the required accuracy.

【 授权许可】

CC BY