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KIT – The Research University in the Helmholtz Association www.kit.edu
Institute of Technology and Management in Construction (TMB)
Department of Deconstruction and Decommissioning of Conventional and Nuclear Buildings (RKKB)
Robot system for the mapping
of nuclear facilitiesMartin Brandauer, Stephan Schilp, Sebastian Friedrich,
Patrick Johannes, Franz Hartung, Sascha Gentes
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
2 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Motivation
Significant waste minimization
achieved by clearance of the
existing structure.
Release of the German AtG to
allow conventional demolition.
28.03.2019
Reaktorgebäude
Zwischengebäude
Maschinenhaus
Reaktorgebäude
Zwischengebäude
Maschinenhaus
State after shutdown ...
... after the release from the German AtG
Decommissioning and
dismantling of the plantExample NPP Mülheim-Kärlich:
PWR with 1.302 MWe gross
capacity
First D&D license in 2004,
finalization planned for 2025.
Controlled area comprises
about 860 rooms
~ 200.000 m² of surface
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
3 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Motivation
28.03.2019
Required preparations:
Grouping of rooms
from the control
area
Example of a
releasable area
Ring chambers ZB
Isolation and
conversion into
a monitoring
area
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
4 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Challenges
Planning of the clearance measurements is carried out, among other
things, on the basis of recorded spatial data.
Detailed inventory of surfaces as well as anchors, dowels, etc. must be
recorded individually.
Thus numerous accesses to the control area necessary.
Recorded data is currently manually transferred into the data system
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
5 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Digitalization of the plant
Ultry-high resolution 3D scanner (Faro S150):
3D point cloud
Color information given by HDR camera
Technique:
Rotating mirror in the center of the scanner
In first step distance measurement by laser
Second step color information by photography
Compilation of distance information (x,y,z) and
color information into a 3D point cloud
Scans at different points can be merged into a
big picture
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
6 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Exemplary Scan
28.03.2019
26 Scans of the
intermediate tract
(ZX) in Mülheim-
Kärlich
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
7 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Exemplary Scan
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
8 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Exemplary Scan
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
9 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Added value
Color information enables
counting of the complete
inventory.
Point cloud enables
measuring surfaces.
Evaluation can be done on
a conventional PC
28.03.2019
Detail view of room 008,
wall 002
Close-up view of the shaft (upwards view)
Raumhöhe
13,085 m
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
10 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Robotic platform
Autonomous
drive
Stable
positioning
Collision
detection
Charging
station
Fully
automatic
scanning
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
11 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities
Testing in laboratory scale
28.03.2019
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
12 Institute of Technology and Management
in Construction (TMB)
Robot system for the mapping of nuclear facilities28.03.2019
The Team
Contact:
[email protected] activities sponsored
by the BMBF: 13N14678
Copyright: Kontec Gesellschaft für technische Kommunikation mbH (Kontec GmbH)
