To obtain the necessary information of the fuel debris and water leakages in the decommissioning task of Fukushima Daiichi nuclear power plants, an ultrasonic-based investigating method had been proposed towards the future internal investigation of the Primary Containment Vessel (PCV). In this article, we studied the assisting mechanisms and methods for the investigating method, as the rotatable winch mechanism and visual localization method. 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, as assisting information for data combination. We studied the feasibility of the conventional visual odometry method of applying to the situation and performed localizing accuracy evaluating experiments with a mobile robotic platform prototype. Results showed that the visual odometry method could generate intuitive maps from bird’s eye view, and provided the average error rate of 35mm/1500mm, which met the required error rate for grating movement. The adjustable parameter ranges that could provide the required accuracy were also conducted.
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On 13 Oct, 2020
On 28 Sep, 2020
Received 26 Sep, 2020
On 19 Sep, 2020
Received 19 Sep, 2020
On 15 Sep, 2020
Invitations sent on 15 Sep, 2020
On 15 Sep, 2020
On 14 Sep, 2020
On 14 Sep, 2020
Posted 22 May, 2020
Received 07 Aug, 2020
On 07 Aug, 2020
Received 21 Jun, 2020
On 27 May, 2020
Invitations sent on 25 May, 2020
On 25 May, 2020
On 16 May, 2020
On 15 May, 2020
On 15 May, 2020
On 09 May, 2020
On 13 Oct, 2020
On 28 Sep, 2020
Received 26 Sep, 2020
On 19 Sep, 2020
Received 19 Sep, 2020
On 15 Sep, 2020
Invitations sent on 15 Sep, 2020
On 15 Sep, 2020
On 14 Sep, 2020
On 14 Sep, 2020
Posted 22 May, 2020
Received 07 Aug, 2020
On 07 Aug, 2020
Received 21 Jun, 2020
On 27 May, 2020
Invitations sent on 25 May, 2020
On 25 May, 2020
On 16 May, 2020
On 15 May, 2020
On 15 May, 2020
On 09 May, 2020
To obtain the necessary information of the fuel debris and water leakages in the decommissioning task of Fukushima Daiichi nuclear power plants, an ultrasonic-based investigating method had been proposed towards the future internal investigation of the Primary Containment Vessel (PCV). In this article, we studied the assisting mechanisms and methods for the investigating method, as the rotatable winch mechanism and visual localization method. 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, as assisting information for data combination. We studied the feasibility of the conventional visual odometry method of applying to the situation and performed localizing accuracy evaluating experiments with a mobile robotic platform prototype. Results showed that the visual odometry method could generate intuitive maps from bird’s eye view, and provided the average error rate of 35mm/1500mm, which met the required error rate for grating movement. The adjustable parameter ranges that could provide the required accuracy were also conducted.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
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