3:15 PM - 3:30 PM
[1G10] Development of Technologies for Virtual Reality Simulation under Remote Operation for Decommissioning of Nuclear Power Plants
Keywords:Decommissioning, Computer Graphics, Digital Twin
Before deploying a robot controlled remotely to the site under the high dose rate environment in the nuclear power plant, it is necessary to confirm the operation plan's validity and grasp the robot's position and posture in the actual operation. In this study, we have developed a method to check that the robot operates without interfering with surrounding structures, equipment and piping in a virtual environment consisting of a mesh model created based on the 3D measured Point cloud data of the site and calculates the working time data. In addition, we have developed a function to transmit the posture of a robot to a virtual environment display program for remote control support and display angles of various images. And then, the mesh model was converted from the point cloud data, and it was possible to check the dynamic interference with the robot. It was confirmed that the working time could be calculated. Moreover, it was confirmed that the self-positional recognition data that the noise superimposed was smoothed with a digital filter, and a dynamically stable robot posture can be visualized.