PCV内部調査におけるペネトレーション近郊踏破用ロボット

This paper describes the development of a remotely operated robot for internal exploration and sample debris collection in the primary containment vessel (PCV) for the purpose of participating in the 9th Decommissioning Creative Robot Contest. The developed robot has a crawler-based moving mechanism with a four-link mechanism and a sample debris collection mechanism at the front. The robot is remotely operated via wired LAN cable communication, and is equipped with USB cameras in the front and rear as well as an omni-directional camera to ensure a wide field of view, which is necessary for tele-operation. Furthermore, it has a cable drum for deploying LAN cables, providing excellent cable management during transportation. After building a test field and conducting a trial run with the robot, The robot was entered in the main Robocon competition. The results confirmed that the robot performed as designed and also revealed unexpected issues.