Specification (Summary version for reference)

Transcription

1 Specification (Summary version for reference) 1. Item name Robot 1, for investigating the wall surfaces of the torus room (the detailed design of a device for investigating the underwater wall surfaces of the torus room and the triangular corners [traveling robot]) 2. Implementation details The remote-controlled survey equipment shall be so designed and manufactured that the investigation method that the ordering party specifies can be implemented. The successful bidder shall perform the following: 2.1 Design of a verification test device The successful bidder shall design the equipment in accordance with the conditions shown below. The verified result shall be prepared in the design specifications of the equipment and submitted to the ordering party Objectives of the equipment and general system (1) The first objective of the equipment to be developed consists of checking for any leaks from the penetration areas of the wall surfaces of the torus rooms and triangular corners in the basement of the nuclear reactor building. (2) The second objective of the equipment to be developed consists of monitoring the remotely operated vehicle underwater that is used to visually inspect the torus rooms and triangular corners in the basement of the nuclear reactor building. (3) Preparation work, such as the removal of rubble and obstacles on or around the route used to bring the equipment into the torus rooms, along with other ancillary tasks such as the installation, recovery, etc., of other devices, shall be separately carried out, such that these tasks are not included in the scope of the development of the equipment. (4) The successful bidder shall develop the entire investigation system. The bidder shall establish the basic system, taking into account working efficiency and operation at the site, and shall verify that the relevant system can be applicable to the actual remotely operated survey equipment (feasibility evaluation on the actual unit). (5) The existing robots may be used for checking the surrounding situations and removal of obstacles an existing remotely operated underwater vehicle equipped with an underwater camera shall be used.

2 2.1.2 Investigation target The survey equipment shall be directed to investigate unit No. 1 through No. 3 at Fukushima Daiichi Nuclear Power Plant Scope of investigation This survey equipment shall be directed to investigate the wall surfaces of the torus rooms and triangular corners; to be more specific, the investigation target shall be the penetration areas of the underwater wall surfaces where the torus room contacts the Turbine Building (T/B) and Radioactive Waste Disposal Building (RW/B) Environment conditions (1) The environmental temperature shall be as follows: Temperature: 50 C at maximum (tentative) and 0 C at minimum (2) Radioactivity resistance shall be considered. Instantaneous dose rate: 10 Sv/h (tentative) Cumulative dose: 200 Sv (tentative) (3) The water pressure resistance shall be considered. Water depth: 10 meters Specifications The dimensions, weight, and configuration of the entire system are as shown below. Figure 1 shows an overview of the device configuration. - Dimensions Moving unit shall be able to move through the passage at a width of 492 mm at the triangular corner Moving unit shall be able to move through the space (approx. 660 mm) between the floor surfaces of the torus room and the suppression chamber (S/C) Moving unit shall be able to move through a hole measuring 600 mm square and 700 mm long

3 - Weight Shall be 40 kg or below (2) Investigation device Outside this public bid Control unit (4) Cable winding /unwinding device (3) Control unit (1) Moving unit Fig. 1: Overview of the survey equipment - Equipment configuration (1) Moving unit (2) Investigation device (3) Control unit (4) Cable winding/unwinding device Moving unit The moving unit is used to carry the investigation device and for moving around the torus rooms and triangular corners underwater. The control unit and the cable winding/unwinding unit shall be installed near the install position. However, note that the investigation device and its control unit are outside the scope of this public bid. The public bids for these items will be announced separately. (a) Accessibility The survey equipment shall be installed so as to move through a hole measuring 600 mm square and 700 mm long, or alternatively, to be carried in from a triangular corner to the intermediate underground floor and then set into the water. The survey equipment shall be so structured as to move half around the periphery of the torus room from the point where it is set in (cable length: approx. 80 meters).

4 (b) Moving performance The survey equipment shall be able to stably travel on the floor surface of the torus room while avoiding obstacles such as rubble and obstacles. The survey equipment shall be able to move on the floor surface while carrying the investigation device. Cameras shall be mounted to the front and rear of the survey equipment, respectively. The cameras shall be of a pan-tilt type and shall provide visibility in the traveling direction. (c) Power supply Electric power shall be supplied in a wired manner. (d) Communications The moving unit shall be able to transmit and receive control signals and investigation data in a wired manner. (e) Investigation The survey equipment shall be able to freely turn on/off the thruster and crawler when taking measurements. The moving unit shall be equipped with a tilting unit of the ultrasonic sensor (sonar, etc.). *1 The ultrasonic sensor (sonar, etc.) is outside this public bid. The public bids for this item will be announced separately, and the detailed specifications will be determined upon the date of the public bid being fixed. (Dimensions, weight, cable length, tilt range (30 degrees ± 45 degrees) (Tentative)) Investigation device (outside this public bid) The investigation device shall consist of an ultrasonic sensor (sonar) that can measure the shapes of things near the measurement location and check the penetration area to be measured. Moreover, the device shall be able to measure the flow of water using the fine particles, etc., that are floating near the measurement location as tracers so as to detect the presence/absence of leakage. The investigation device shall be composed of a sensor, cable, and control unit.

5 (a) Dimensions The investigation device shall be such that it can be mounted on the moving unit (150 mm wide, 70 mm deep, 70 mm high or less) (tentative) (b) Weight The investigation device shall be such that it can be mounted on the moving unit (weight underwater: 1.5 kg or below) (c) Cable The cable shall be a neutral buoyancy cable with enough stiffness and diameter (approximately 10 mm) to be towed by the moving unit. The cable length shall be such that it satisfies the specifications and the observation performance mentioned above Control unit Since the survey device accesses locations inaccessible by humans, the device shall be allowed to be remotely operated. The survey equipment shall consist of a control box (mounted on the moving unit), an operating unit, and a control panel. The images taken by all cameras mounted on the survey device shall be displayed on the operating unit. The data of thermometer, water level indicator, clinometers and dosimeters (instantaneous/cumulative) mounted on the moving unit shall be monitored on the operation unit by operator. In addition, a logging function for the measurement data shall be provided Cable winding/unwinding unit The cables of both the ultrasonic sensor (sonar, etc.) and the equipment shall simultaneously be wound/unwound. The cables shall be wound/unwound along with movement of devices, and the remaining length of each cable shall be indicated. The cable shall be a neutral buoyancy cable and so structured as to move half around the periphery of the torus room from the one point where the unit is set in (cable length: approx.

6 80 meters). The diameter of the cable shall be 10 mm or less, so that it would not interrupt the operation of the moving unit, and shall be easy to visually recognize Technologies incorporated In development, the equipment needs to be placed into the field as early as possible. For this purpose, the optimum specification meeting the target shall be considered. Elemental development as well as existing technology, proven products (including catalogue parts), or a combination of elemental technologies shall be positively reviewed Reliability (1) Highly reliable parts and software that have already been proven shall be incorporated as much as possible. (2) Assuming the stop of the system or any disabled operation (failure of the cart, etc.) in advance, a method to collect the entire device (i.e., by fastening a wire to the equipment to tow the equipment) shall be considered and preparation shall be made Safety (1) The equipment shall be designed to prevent the fall of the investigation device. (2) The system shall be designed considering the prevention of the fall of fastened parts and system safety when a fall might occur Man-machine interface (1) The operation for basic movement/moving the unit shall be easy. For the operation of the investigation device, instructions or training shall be performed by the successful bidder. (2) Operation from a low-dose area such as outside the nuclear reactor building shall be allowed. (3) Considering operation at the site, the equipment shall be able to be handled using rubber gloves. (4) If multiple driving carriages are used, operations for the basic movements (forward/backward) shall be common to each another. (5) The monitoring screen shall be easily and clearly visible. (6) The system shall have good operability for maintenance or start-up Maintenance of the survey equipment (common items regarding the components) (1) The survey equipment shall be able to be maintained by workers. (2) When the survey equipment is contaminated during the investigation, it shall be able to be

7 decontaminated or cleaned. (3) Use of small parts such as bolts and nuts shall be minimized, and parts shall be easily replaced. Considering the items below, maintenance or repair of the device shall be performed in a short time. Such parts shall be selected as much as possible so as to be supplied in a short period of time instead of using a part with long delivery time. Especially, parts requiring frequent replacement (cameras, control boards, etc.) shall be easily procurable. The equipment parts must be considered in conformity with Japanese standards and shall be able to be handled using tools commonly available in the marketplace Other requirements (1) The equipment and the system shall be as compact and lightweight as possible. (2) The above shall be so designed that they can be operated from an important anti-seismic building. (3) Temperature shall be able to be obtained regarding the condition of the investigation device. 3. Enforcement period From the date of agreement, until February 28, Other conditions (1) Assume that in principle, the supplier who received the order of this device design in the current fiscal year shall carry out also about the equipment manufacture of the enforcement plan in the next fiscal year.