Apparatus and method of wireless underwater inspection robot for nuclear power plants

Patent metadata

Field	Value
Publication number	US-10421192-B2
Application number	US-201113287424-A
Country	US
Kind code	B2
Filing date	Nov 2, 2011
Priority date	Apr 11, 2011
Publication date	Sep 24, 2019
Grant date	Sep 24, 2019

Abstract

An inspection robot for inspecting a nuclear reactor that includes a hull and an on-board control mechanism that controls the operation of the inspection robot. The on-board control mechanism controls one or more sensors used to inspect one or more structures in the nuclear reactor as well as the movement by the inspection robot. A gimbal mechanism rotates the inspection robot hull by shifting the center-of-mass so that gravity and buoyancy forces generate a moment to rotate the hull in a desired direction. A camera is coupled to the gimbal mechanism for providing visual display of the one or more structures in the nuclear reactor. The camera is allowed to rotate about an axis using the gimbal mechanism. The inspection robot communicates its findings with respect to the inspection tasks using the wireless communication link.

First claim

What is claimed is:

1. An inspection robot for inspecting a nuclear reactor comprising:
an inspection hull;
an on-board control mechanism that controls the operation of the inspection robot, the on-board control mechanism controls one or more sensors of the inspection robot to inspect one or more structures in the nuclear reactor as well as the movement by the inspection robot, said inspection robot includes a smooth outer surface, said inspection robot includes said one or more sensors;
a gimbal mechanism that rotates the hull by shifting the center-of-mass so that gravity and buoyancy forces generate a moment to rotate the hull in a desired direction;
a camera that is coupled to the gimbal mechanism to provide visual display of the one or more structures in the nuclear reactor, the camera rotates about an axis using the gimbal mechanism; and
a wireless communication link, which allows the inspection robot to communicates wirelessly to an operator at a remote station, the operator issues commands to the inspection robot using the wireless communication link so as to perform various inspection tasks using the on-board control mechanism, the gimbal mechanism, and the camera, wherein the inspection robot communicates its findings with respect to the inspection tasks to the operator using the wireless communication link to determine if the internal components of the inspection robot fail during an inspection, wherein if a failure occurs the inspection robot uses a homing procedure to return to its original position prior to the inspection.

2. The inspection robot of claim 1 , wherein the wireless communication link comprises radio communication, acoustical communication, or optical communication as the wireless communication between the inspection robot and the remote station.

3. The inspection robot of claim 1 further comprising one or more intermediate robots that are used for relaying communication signals between the inspection robot and the remote station.

4. The inspection robot of claim 3 , wherein the inspection robot communicates with the one or more intermediate robots using radio communication, acoustical communication, or optical communication.

5. The inspection robot of claim 4 , wherein the one or more intermediate robot communicate with the remote station using radio communication, acoustical communication, or optical communication.

6. The inspection robot of claim 1 further comprising a fail-safe mechanism to perform, facilitate, or enable the rescue of the inspection robot in case of failure.

7. The inspection robot of claim 6 , wherein the on-board control is capable of detecting a failure of the inspection robot.

8. The inspection robot of claim 7 , wherein the fail-safe mechanism performs the homing procedure to allow the inspection robot to go back to the original start point of the inspection robot.

9. The inspection robot of claim 8 , wherein the fail-safe mechanism detects a failure in the wireless communication with the remote station and activates the emergency homing procedure.

10. The inspection robot of claim 1 , wherein the gimbal mechanism generates two orthogonal axes of body rotations by moving a mass in two directions.

Assignees

• Asada Haruhiko Harry
• Mazumdar Anirban
• Rust Ian C
• Fujita Jun
• Massachusetts Inst Technology
• Mitsubishi Heavy Ind Ltd

Inventors

• Asada Haruhiko Harry
• Mazumdar Anirban
• Rust Ian C
• Fujita Jun

Classifications

• G21C17/013

  Inspection vehicles · CPC title

• B25J13/006 Primary

  by means of a wireless system for controlling one or several manipulators · CPC title

• Y02E30/30

  Nuclear fission reactors · CPC title