A novel inspection robot for nuclear station steam generator secondary side with self-localization

摘要

Nuclear energy is one of the most important clean energy on earth presently. The steam generator secondary side is the key device of nuclear power station. As an important branch of special robot, nuclear robot is the most convenient and effective mean to inspect the steam generator. This paper describes one robot system which could help users inspecting tubes and locating the robot inside the steam generator. The main part of this system is a climbing robot which can move inside the steam generator carrying a PT or telescopic arm. Four cameras are installed on the robot and PT to send real-time videos back for analysis. Experiments show that this system works stably and the localization is accuracy and effective.