Design of Control System for Inspection Robot of In-Containment Refueling Water Storage Tank

Aiming at the underwater inspection requirements of in-containment refueling water storage tank (IRWST) during the in-service overhaul of nuclear power unit and minimizing personnel radiation dose, a remote-controlled inspection robot is developed. Through the analysis of the IRWST inspection requirements, the function of the robot is defined, and the overall structure of the robot control system is designed. In order to meet the requirements of miniaturization of robot, the robot driver board, video coding board and decoding board based on embedded system are designed, and the upper and lower computer software of humanized operation is developed. The results show that the developed inspection robot can quickly and stably complete the video inspection and foreign object salvage tasks of various components of IRWST, which further improves the intelligent operation and maintenance level of robot in the nuclear industry.