Cooling Water Intake Dredging Robot
In seawater intake channels used for cooling at nuclear and thermal power plants, foreign substances such as silt, shell debris, suspended sediment, and discarded fishing nets frequently accumulate, leading to a loss of intake functionality. To address this issue, divers currently perform dredging operations using air suction methods; however, these procedures pose significant safety risks to the workers involved.
To address safety concerns and improve operational efficiency, we have developed a remotely controlled mud removal robot that can effectively remove mud without the need for divers. This robot is designed for easy deployment in narrow intake spaces and is optimized in size and functionality to match the shape and characteristics of the intake system. By utilizing ultrasonic sensors, the robot prevents collisions with existing structures, and with the application of a 3D SLAM algorithm, it can accurately recognize its surroundings even in environments with limited visibility.
Through the development of a prototype robot, we have verified the effectiveness of the hydraulic robotic arm(Hydra-UW3). However, we have identified the need for improvements in the crawler-based mobility system when operating in the mud environment of the west coast. Moving forward, we plan to address this issue by implementing a snowmobile structure or a legged robot design to enhance mobility in muddy terrain.