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

article

Zhenyu Wang¹  Gen Endo¹  Masashi Takahashi²  Hiroyuki Nabae¹  Koichi Suzumori¹  Nobuyoshi Tsuzuki³  Hideharu Takahashi¹  Kazushi Kimoto⁴  Tomonori Ihara⁵  Hiroshige Kikura¹ 

[1] Department of Mechanical Engineering, Tokyo Institute of Technology;ViewPLUS Inc.;The Institute of Applied Energy;Okayama University;Tokyo University of Marine Science and Technology

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

DOI  :  10.1186/s40648-020-00184-z

学科分类：社会科学、人文和艺术（综合）

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