Remote Visual Inspection System and Remote Visual Inspection Method for internals of CANDU type reactor

摘要

The object of the present invention is to provide a remote inspection system for heavy water reactors for the visual inspection of internal components of a heavy water reactor (calandria), which is a high-level radiation environment with limited personnel access. In order to accomplish the above object, there is provided a robot arm comprising: a robot arm configured by a multi-jointed robot arm according to the present invention; and an illumination and internal radiation camera installed at an end of the robot arm of the robot arm, And a controller for setting the coordinate system between the grid tube and the robot arm and aligning the robot arm according to the set coordinate value; And a control unit for synchronizing the joint drive information and the image information and remotely controlling the robot unit.