Development of a swim-type ROV for narrow space inspection

The swim-type remotely operated vehicle (ROV) for inspection of narrow spaces in nuclear power plants has been developed. Many structures are crowded in a confined space at regular intervals in the bottom area of a reactor. So, the thickness of the ROV shape is an important design point to ensure that the ROV can move in the space. The developed ROV has a three-dimensional swimming mechanism using six thrusters, three cameras for observing the position while moving and for making inspections easily, and a localization system. The localization system combines two elements: a gyroscope to detect the progression direction; and a slit laser that detects the progression distance using the optical cutting method. The localization method is called the modified inertial navigation (MIN) method and it was evaluated in a mock-up examination. The ROV was able to move smoothly using the MIN method and its position could be detected without making a mistake in the route followed.