Laser-guided underwater wall climbing robot for reactor pressure vessel inspection
First Claim
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1. A laser guided ultrasonic inspection apparatus, said apparatus comprising:
- an underwater robot for independently moving along a path on an inner wall of a reactor vessel; and
a laser pointer having a laser beam source thereupon, said laser pointer being multi-directionally tiltable from a fixed position relative to an interior of the reactor vessel,wherein said laser pointer guides said underwater robot along the path.
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Abstract
An apparatus for inspection of a reactor pressure vessel uses a laser driven type underwater wall climbing robot guided by a laser pointer. The inspection apparatus uses a small and light underwater wall climbing robot for the quick and adequate inspection of weld lines of a reactor pressure vessel. Position control methods are provided for the stable guidance of the robot to desired three dimensional inspection positions on the reactor pressure vessel.
74 Citations
13 Claims
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1. A laser guided ultrasonic inspection apparatus, said apparatus comprising:
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an underwater robot for independently moving along a path on an inner wall of a reactor vessel; and a laser pointer having a laser beam source thereupon, said laser pointer being multi-directionally tiltable from a fixed position relative to an interior of the reactor vessel, wherein said laser pointer guides said underwater robot along the path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a laser guided inspection apparatus, said method comprising the steps of:
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providing an underwater robot for independently moving along a path on an inner wall of a reactor vessel; providing a laser pointer having a laser beam thereupon and being multi-directionally tiltable from a fixed position relative to an interior of the reactor vessel, said underwater robot being configured to follow a path determined by the laser pointer; controlling the underwater robot by moving the laser pointer along a path, said path being determined by;
##EQU3## where,
space="preserve" listing-type="equation">v.sub.l, v.sub.r ;
left/right wheel velocity,
space="preserve" listing-type="equation">v.sub.c, φ
;
linear and angular velocity of a robot center,
space="preserve" listing-type="equation">e.sub.x, e.sub.y ;
position error to the direction of x, y axes,
space="preserve" listing-type="equation">K.sub.py, K.sub.dy, K.sub.px, K.sub.dx ;
the gain of a corresponding controller.
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Specification