KR102195971B1 - Scabbler using laser for radioactive concrete and scabbling module comprising the same - Google Patents

Abstract

The present invention relates to a technique which removes a contamination portion from radioactive concrete by using a laser. An objective of the present invention is to remove contaminants by a laser without coming in contact with a radiation contamination portion. A radioactive concrete scabbler using a laser comprises a laser unit to emit a laser and a body to accommodate the laser unit. The body includes: a first body having an opening part formed on a portion thereof close to a radioactive concrete side, and including a suction pipe to suck scattering objects exploded and created by the laser by suction power generated by a suction unit; a second body having one end connected to the first body to be fixed, including a guide separated from the outer surface thereof by a preset distance to be extended in a direction in which the other end thereof is extended, and communicating with the internal space of the first body; and a third body which is positioned on the other end side of the second body, is moved in a section between the one end and the other end along the guide while internally or externally coming in contact with the second body to stretch the body length, and allows the laser to be transferred through the opening part of the first body from the laser unit.

Description

Radioactive concrete scabbler using laser and scabling module including the same {SCABBLER USING LASER FOR RADIOACTIVE CONCRETE AND SCABBLING MODULE COMPRISING THE SAME}

The present invention relates to a scabbler for removing contaminants from radioactive concrete using a laser, and a scabling module including the same.

In general, physical or chemical methods have been used to treat or decontaminate objects such as structures contaminated with radioactivity. The chemical method can perform decontamination on the surface of the object to be contaminated. However, when the contaminated site is exposed to the exposed surface as well as the interior due to severe contamination due to long-term exposure to radioactivity, the chemical decontamination method has limitations. Therefore, in some cases, a physical decontamination method has been performed, but this may damage the durability of the entire structure through contact such as shock and vibration, making it difficult to proceed with the decontamination process.

Therefore, in the method of performing radioactive decontamination, there is a need for a method capable of performing decontamination by performing decontamination through non-contact and delivering only local damage to a decontamination object.

Korean Patent Publication No. 10-0962180 (2010. 06. 01)

An embodiment of the present invention is in contact with the radioactive contaminated part is to remove contaminants with a laser.

An embodiment of the present invention aims to remove contaminants while maintaining a predetermined distance between a scavenger and a contaminated part.

The present invention relates to a technology for removing contaminated parts from radioactive concrete using a laser, comprising: a laser unit for irradiating a laser; And a body accommodating the laser unit, wherein the body includes a suction pipe having an opening formed at a portion close to the radioactive concrete side, and allowing the flying product generated by exploding by the laser to be sucked by the suction force generated by the suction unit. The first body; A second body having a first body and one end fixedly connected, spaced apart from an outer surface by a predetermined distance, and a guide extending in a direction in which the other end extends, and communicating with the inner space of the first body; And located at the other end of the second body, and moving in a section between one end and the other end along the guide in a state inscribed or circumscribed to the second body, thereby extending and contracting the body length, and allowing the laser to expand and contract the opening of the first body. A radioactive concrete scavenger using a laser is provided, including a third body that can be transmitted through.

In addition, the body may further include a sensor unit including one or more sensors externally.

In addition, the sensor unit includes four sensors, and the four sensors may be respectively positioned at a vertex on a virtual rectangle.

In addition, the surface of the radiation concrete may be a curved surface, and the virtual square may be a rhombus.

The body is in a predetermined alignment state by the sensing information of the sensor unit and can reach a predetermined distance from the radioactive concrete.

In addition, the third body includes an air supply line inside, and the air supply line is connected to a nozzle formed at a position closer to one side than the laser inside the third body and sprays air at a predetermined angle, so that the flying product is laser It can prevent scattering into wealth.

In addition, the area where the suction force is formed may be an area between the nozzle and the surface of the radioactive concrete.

In addition, the first body may have a shape in which the opening side is relatively protruded.

A laser unit that irradiates a laser; The first body, the first body, and one end including a suction pipe through which an opening is formed toward the radioactive concrete so that the laser irradiated from the laser unit is emitted to the outside, and the flying products generated by exploding by the laser can be sucked by suction force. It is fixedly connected and includes a guide that is spaced apart from the outer surface by a predetermined distance and extends in a direction in which the other end is extended, and is located at the other end of the second body and the second body communicating with the inner space of the first body, and the second It includes a third body that extends and contracts the length of the body by being moved in a section between one end and the other end along the guide in a state inscribed or circumscribed to the body, and allows the laser to be transmitted through the opening of the first body. body; A scavenging module including; a manipulator connected to the body to perform position control of the body is provided.

According to an embodiment of the present invention, the body is stretched and contracted to remove contaminants with a laser because it is not in contact with the radioactive contaminated part, and a scabbler capable of controlling the transmission output by adjusting the distance to the laser may be provided.

An embodiment of the present invention maintains a predetermined distance between a scavenger and a contaminated part, and provides a scaffolding module capable of maintaining a positional alignment and a distance between contaminated parts through a plurality of sensors configured on one side of the scavenger to remove contaminants. Can provide.

1 is a diagram showing a scavenging module according to an embodiment of the present invention;
2 is a view showing a scavenger according to an embodiment of the present invention, FIG. 2(a) shows a state in which the scabbler is contracted, and FIG. 2(b) shows a state in which the scabbler is extended, 2(c) is a view showing a cross-sectional view in a state in which the scavenger is extended;
3 is a view showing the formation of an air curtain and suction of explosives through a suction pipe according to an embodiment of the present invention;
FIG. 4 is a view showing alignment and distance maintenance by a sensor unit according to an embodiment of the present invention, and FIG. 4(a) shows an example of a scavenger in an inoperative state, and FIG. 4(b) is a A diagram showing an example of a state in which the blur operates with the sensor unit,
5 is a diagram showing examples of an alignment state of a sensor unit according to an embodiment of the present invention, and FIG. 5(a) is a view showing an example of a first alignment state, and FIG. 5(b) is a view showing a second alignment state. drawing,
6 is a diagram showing a detection sequence in a first alignment state according to an embodiment of the present invention;
7 is a diagram showing a detection sequence in a second alignment state according to an embodiment of the present invention;
8 is a view showing a first body according to an embodiment of the present invention, FIG. 8 (a) is a view showing a model applied when the radiation removal target surface is a plane, and FIG. 8 (b) is a radiation removal A drawing showing the model applied when the target surface is a curved surface.

Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings. However, this is only an example and the present invention is not limited thereto.

In describing the present invention, when it is determined that a detailed description of known technologies related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

The technical idea of the present invention is determined by the claims, and the following embodiments are only one means for efficiently describing the technical idea of the present invention to those of ordinary skill in the art.

1 is a diagram showing a scavenging module 10 according to an embodiment of the present invention. Referring to FIG. 1, the scabling module 10 may include a scavenger 100 and a manipulator 200. Here, the manipulator 200 may be connected to the scavenger 100 to move the scavenger 100. For example, it may be moved so that the scabbler 100 can irradiate the laser on the radioactive concrete surface 1 to remove the contaminated part. This movement may be due to manipulation by the control unit 12 and the terminal. For example, the scabling module 10 may drive the scaffolder 100 and the manipulator 200 according to control information previously input to the control unit 12.

In addition, the controller 12 may control the manipulator 200 and the scavenger 100 by generating control information according to a command of the terminal. Basically, a part of the surface of the radioactive concrete can be caused to burst due to high temperature through the laser irradiated from the laser unit 150 included in the scavenger 100. In this process, information such as the temperature or the location of the explosion transmitted from the laser According to this, the scavenger 100 and the manipulator 200 can be driven.

Furthermore, the scavenging module 10 may further include a suction unit 11. The suction unit 11 is connected to a part of the scavenging module 10 and may suck the scattered product scattered by the explosion generated by the laser being transmitted to the radioactive concrete. To this end, the scavenger 100 may have a structure capable of being connected to the suction unit 11. The structure of the scavenger 100 will be described in detail with reference to FIG. 2 below.

2 is a view showing the scabbler 100 according to an embodiment of the present invention, FIG. 2(a) shows a state in which the scabbler 100 is contracted, and FIG. 2(b) is a view showing the scabbler 100 ) Shows an extended state, and FIG. 2(c) is a view showing a cross-sectional view of the scavenger 100 in an extended state. Referring to FIG. 2, the scavenger 100 includes a laser unit 150, a first body 110, a second body 120, and a third body 130. The scabbler 100 is connected to the manipulator 200 through the holder 103 and can be moved.

The first body 110 is a part that is closest to the radioactive concrete, and the opening 101 may be opened toward the radioactive concrete so that the laser irradiated from the laser unit 150 can be emitted. In addition, one or more suction pipes 111 that may be connected to the suction unit 11 described above are included. The fluid passage cross-sectional area of the suction pipe 111 varies depending on the suction force generated by the suction part 11, and the fluid passage cross-sectional area is the sum of the fluid passage cross-sectional areas of each suction pipe 111 when a plurality of suction pipes 111 are included. Can be.

The suction unit 11 may generate a suction force in order to cause the radioactive concrete to be exploded by laser irradiation and to inhale the flying products caused by the explosion. Here, since it is difficult to form the scattering direction of the fly product, a plurality of suction pipes 111 may be provided for effective suction of the fly product. For example, as shown in FIG. 2, four may be provided.

Meanwhile, the first body 110 may be fixedly connected to the second body 120. Here, as an example of the fixed connection, the first body 110 and the second body 120 may be flanged to each other. As one end of the first body 110 and the second body 120 is coupled by flange coupling, rotation or expansion or contraction in the extension direction may be restricted.

In addition, the second body 120 may extend a predetermined section from one end to the other end. The other end may be coupled to the third body 130, where the coupling may be a flexible coupling rather than a fixed coupling. As a specific example of the flexible coupling, the third body 130 is not a coupling between the ends of the second body 120 and the third body 130, but in a section from one end to the other end of the second body 120 It may be a combination that allows it to be moved. This is a linear reciprocating motion and is a non-fixed coupling, and in this coupling state, it can be constrained for movement such as rotation or bending.

More specifically, the second body 120 may have a flange-shaped structure at one end and the other end, respectively, and two or more bar-shaped guides 121 are connected between the two flanges to provide the guide 121. Accordingly, the third body 130 may be moved. Here, the driving force for movement is provided from the outside, and may be in accordance with a command from the control unit 12 or the terminal described above. In addition, the third body 130 may be linearly reciprocated along the guide 121 in a state in which it is inscribed or circumscribed to the second body 120. According to the present embodiment, the third body 130 may be coupled to each other in a flexible manner in a state in which the third body 130 is inscribed with the second body 120.

As shown in FIG. 2(a), the third body 130 is guided by the guide 121 to move to one side of the second body 120 to have a reduced overall body length. As shown in b), the third body 130 may be guided by the guide 121 to move to the other side of the second body 120, thereby extending the entire length of the body. The length of this extension may be determined according to the distance between one end to the other end of the second body 120, but if it is longer than necessary, the time required for laser transmission efficiency and control increases and the weight increases, so it can be determined that it is stretched and contracted by an appropriate length. have. The power to be stretched and contracted may be generated by the servo motor 105.

For example, the length of the stretch may be 200 mm. Here, the length of 200 mm may be determined according to a predetermined temperature to be transmitted to the radioactive concrete surface 1 through a laser. That is, depending on the laser irradiation angle, the moving distance due to stretching may be increased or decreased. In addition, since it is determined according to the temperature range for causing the explosion, it is not limited to the stretchable length of 200 mm and may be changed according to the above conditions.

Meanwhile, the laser unit 150 is positioned within the third body 130 as shown in FIG. 2(c) and may be fixedly connected to the inside of the third body 130. This means that the laser unit 150 is connected to the inside of the third body 130, so that access to the vicinity of one end of the second body 120 is possible by stretching. Specifically, the laser irradiated from the laser unit 150 is emitted to the outside of the scavenger 100 through the opening 101 of the first body 110, and the emitted laser can reach the surface of the radioactive concrete. . At this time, when the irradiation angle of the laser irradiated from the laser unit 150 is not adjusted during irradiation and is a fixed value, since the laser incident angle is not formed at a right angle with respect to the radioactive concrete surface 1, the approach of the laser unit 150 Alternatively, the output of the laser can be adjusted according to the separation. That is, as the radioactive concrete surface 1 approaches the laser focus point formed by the laser irradiation angle, the delivery temperature may increase.

3 is a view showing the formation of an air curtain and the suction of explosives (flying products) through the suction pipe 111 according to an embodiment of the present invention. Referring to FIG. 3, the third body 130 may be approached to the one end of the second body 120 in accordance with a predetermined condition. After the approach, laser irradiation may be performed by the laser unit 150, and the irradiated laser may reach the radioactive concrete through the opening 101 formed in the first body 110.

At this time, when an appropriate temperature (means the temperature at which the explosion occurs, and may vary depending on the condition of concrete, the user's monitoring may be required, and the temperature cannot be specified) is transmitted through the laser, the concrete surface. Silver explodes may occur and exploded flying products may be scattered. Since the flying product is scattered in an unpredictable direction, at least while irradiating the laser, the suction force generated from the suction unit 11 is applied to the inside of the first body 110 through the suction pipe 111. Through this, the suction area A may be formed in the body.

Meanwhile, an air providing line 131 positioned close to the inner surface may be disposed within the third body 130. The air supply line 131 allows the air of a high pressure (for example, 20 bar) relatively higher than the atmospheric pressure to be injected while a fluid compressed by a compressor or the like from the outside is injected into the atmosphere, and the air supply line 131 The end of may be connected to the nozzle 132 formed on the third body 130. The nozzle 132 is formed so that air can be radially sprayed toward the first body 110, and a plurality of nozzles 132 may be formed on the third body 130. For example, as in this example, when four air supply lines 131 are connected to the corresponding nozzles 132 and air is radiated radially, an air curtain may be formed as the spray ranges between the air overlap.

Due to the effect of forming the air curtain, in the suction area A beyond the air curtain, the flying product may be entrained in a vortex generated by the air current or may be moved in the suction direction SD formed toward the suction pipe 111. That is, the moving direction MD of the flying product is atypical at the time of exploding, but the flying product may be discharged to the outside of the first body 110 through the suction pipe 111. That is, it is possible to prevent a phenomenon in which the scattering product is scattered and touches the irradiation unit 152 of the laser unit 150 to cause damage to the laser unit 150 or to remain in the path to which the laser is irradiated and make the transmission output uneven, The collection of contaminated fly products makes it possible to treat radioactive substances more effectively.

4 is a view showing alignment and distance maintenance by the sensor unit 170 according to an embodiment of the present invention, and FIG. 4(a) shows an example of the scavenger 100 in an inactive state, and FIG. 4(b) is a diagram showing an example of a state in which the scavenger 100 operates together with the sensor unit 170.

Referring to FIG. 4, the scavenger 100 may further include a sensor unit 170. The sensor unit 170 may be arranged such that the scabbler 100 faces the radioactive concrete surface 1 in a front direction when the scavenger 100 is operated. Here, the arrangement facing the front means that the opening 101 and the radioactive concrete surface 1 face each other.

The sensor unit 170 may include at least three or more sensors. For example, it may include four sensors as in this example. Each sensor may be located on a surface parallel to the open surface of the opening 101. That is, in a state in which the planar radioactive concrete surface 1 is opposed and disposed, each sensor may be separated by the same distance as the radioactive concrete. That is, when the sensor unit 170 is not driven as shown in FIG. 4(a), the distance between each sensor and the radioactive concrete surface 1 may be different, but as shown in FIG. 4(b), the sensor unit 170 When driven, the distance between each sensor and the radioactive concrete surface 1 can be equally aligned. Thereby, the arrangement state can be achieved.

Furthermore, this arrangement may be different when the radioactive concrete surface 1 is flat and curved. In this regard, it will be described in detail with reference to FIG. 5 below.

5 is a diagram showing examples of an alignment state of the sensor unit 170 according to an embodiment of the present invention, and FIG. 5(a) is a view showing an example of a first alignment state, and FIG. 5(b) is a second It is a drawing showing the alignment state. As described above, it is advantageous for alignment that the sensor unit 170 includes three or more sensors.

First, referring to FIG. 5A, the sensor unit 170 may include a first sensor 171, a second sensor 172, a third sensor 173, and a fourth sensor 174. Here, for alignment, the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 may be disposed in a form facing front to the radioactive concrete surface 1 , The distance between the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 and the radioactive concrete surface 1 may be kept the same. Thereby, the scavenger 100 can be disposed with respect to the radioactive concrete surface (1). However, this may be limited when the radioactive concrete surface 1 is flat.

That is, this corresponds to the first alignment state, and when the radioactive concrete surface (1) is flat, the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 It can be recognized that the detection distance of) is the same as the normal arrangement.

On the other hand, referring to FIG. 5(b), as representing the second alignment state, the alignment state corresponding to the curved radioactive concrete surface 1 may be obtained. Even in the second alignment state, the sensor unit 170 may include a first sensor 171, a second sensor 172, a third sensor 173, and a fourth sensor 174, and the first sensor for alignment (171), the second sensor 172, the third sensor 173, and the fourth sensor 174 may be disposed in a form facing the radioactive concrete surface (1) in front. However, the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 do not all detect the same distance, and the first sensor 171 and the third sensor ( 173 may detect the same distance, and the second sensor 172 and the fourth sensor 174 may sense the same distance. Here, the curved surface means a surface in the case of a straight line in the vertical direction, concave or convex in the horizontal direction, and a case in which the surface is concave according to the present embodiment will be described as an example.

That is, the sensing distance of the first sensor 171 and the third sensor 173 may be formed longer than the sensing distance between the second sensor 172 and the fourth sensor 174. Of course, when the surface of the curved surface is convex rather than concave, the relative sensing distance can be reversed.

Hereinafter, a detection procedure according to an example of the above-described sensor unit 170 will be described.

6 is a diagram illustrating a detection sequence in a first alignment state according to an embodiment of the present invention. Referring to FIG. 6, a case disposed on the radioactive concrete surface 1 which is the plane of FIG. 5 (a) described above will be described as an example.

First, the sensor unit 170 randomly disposed with respect to the radioactive concrete surface 1 may perform distance sensing (S10). It may be determined whether the distances sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 are the same (S20). In this process, it may be a process of being arranged in a direction facing the radioactive concrete surface (1). If the distance sensed by each sensor is different, the scavenger 100 may be rearranged through the distance compensation S5. Here, the distance compensation may be controlled by driving the manipulator 200 through the controller 12. The scavenger 100 relocated through distance compensation may be again sensed and sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 It can be judged again if the distances are the same.

The process may be repeated until the distances sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 become the same. When the distances detected by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 become the same, the scavenger 100 may be approached (S30) to the contaminated part. have. At this time, the distances sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 may be simultaneously decreased or increased at the same speed. Here, the approach to the contaminated part does not come into contact with the contaminated part, but is approached so as to be spaced apart by a predetermined separation distance. The predetermined distance may be several mm. Therefore, if it is located closer than the predetermined separation distance, the first The distances sensed by the sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 may be increased by a predetermined level.

Therefore, it is determined whether or not the distance detected by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 has reached a predetermined separation distance (S40). It can be repeated until a predetermined separation distance is reached. When a state in which the scavenger 100 has been moved is recognized at a predetermined separation distance, the movement of the scavenger 100 may be stopped (S50).

7 is a diagram illustrating a detection sequence in a second alignment state according to an embodiment of the present invention. Referring to FIG. 7, a case disposed on the radioactive concrete surface 1 which is the curved surface of FIG. 5(b) described above will be described as an example. At least 4 sensors are required here.

First, the sensor unit 170 arranged at random with respect to the radioactive concrete surface 1 may perform distance detection P10. When the first sensor 171 and the third sensor 173 are referred to as the same group, and the second sensor 172 and the fourth sensor 174 are the same group, whether the detected distances within the same group are the same Can be determined (P20). In this process, it may be a process of being arranged in a direction facing the radioactive concrete surface (1). If the distance sensed by each sensor is different, the scavenger 100 may be rearranged through the distance compensation P5. Here, the distance compensation may be controlled by driving the manipulator 200 through the controller 12. The scavenger 100 relocated through distance compensation may perform distance sensing again, and it may be determined again whether the detected distances within the same group are the same.

The above process may be repeated until the detected distances within the same group become the same. If the detected distance within the same group becomes the same, the scavenger 100 may be approached to the contaminated part. At this time, the distances sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 may be simultaneously decreased or increased at the same speed. Here, the approach to the contaminated part (P30) does not come into contact with the contaminated part, but is approached so as to be separated by a predetermined separation distance, but the predetermined distance may be several mm. Therefore, if it is located closer than the predetermined separation distance, it is not possible to approach it. For this reason, the distances sensed by the first sensor 171, the second sensor 172, the third sensor 173, and the fourth sensor 174 may be increased by a predetermined level.

Therefore, whether the distance sensed by the second sensor 172 and the third sensor 173 closer to the radioactive concrete surface 1 than the first sensor 171 and the third sensor 173 reaches a predetermined separation distance It may be repeated until a predetermined separation distance is reached by determining whether or not (P40). When a state in which the scavenger 100 has been moved is recognized at the predetermined separation distance, the movement of the scavenger 100 may be stopped (P50).

8 is a view showing the first body (110a, 110b) according to an embodiment of the present invention, Figure 8 (a) is a view showing a model applied when the radiation removal target surface is a plane, Figure 8 ( b) is a diagram showing a model applied when the radiation removal target surface is a curved surface.

Referring to FIG. 8(a), when the previously radioactive concrete surface (1) is flat, one surface of the first body (110a) facing the radioactive concrete surface (1) may be flat or parallel like the opening (101a). have. This is because the scavenger 100 is moved in the horizontal direction and scabling is possible, and there may be a difference from the case where the radioactive concrete surface 1 is a curved surface.

Referring to FIG. 8(b), since the opening 101 needs to move along a curved surface in a state that is approached to the radioactive concrete surface 1 in order to proceed with the scavenging, the opening 101b protrudes and the opening 101b The periphery may be formed farther from the radioactive concrete surface 1 than the opening 101b. This is to block harmful light by minimizing exposure of the laser to the outside. In the case of FIG. 8(b), the protrusion distance toward the opening 101b may vary according to the curvature of the radioactive concrete surface 1.

Although the exemplary embodiments of the present invention have been described in detail above, those of ordinary skill in the art to which the present invention pertains will understand that various modifications may be made to the above-described embodiments without departing from the scope of the present invention. . Therefore, the scope of the present invention is limited to the described embodiments and should not be determined, and should not be determined by the claims to be described later, but also by those equivalents to the claims.

10: scabling module
11: suction unit
12: control unit
13: terminal
100: scabbler
101: discharge port
103: holder
105: servo motor
110: first body
111: suction pipe
115a: planar proximity
115b: curved proximity
120: second body
121: guide
130: third body
150: laser unit
152: investigation department
160: camera
170: sensor unit
200: Manipulate
A: suction area
S5: Distance compensation
S10: Distance detection
S20: Determine whether the sensing distance is the same
S30: Access to pollution
S40: Comparison with the predetermined distance
S50: Scabler stop
P5: Distance compensation
P10: Distance detection
P20: Determine whether the sensing distance is the same
P30: Access to pollution
P40: Comparison with pre-determined distance
P50: Scabler stop

Claims (9)

A laser unit that irradiates a laser; And
Including; a body accommodating the laser unit,
The body,
A first body including a suction pipe having an opening formed at a portion close to the radioactive concrete side and allowing the flying product generated by exploding by the laser to be sucked by the suction force generated by the suction unit;
A second body having one end fixedly connected to the first body, spaced apart from an outer surface by a predetermined distance, and a guide extending in a direction in which the other end extends, and communicating with the inner space of the first body; And
It is located on the other end side of the second body, and moves in a section between the one end and the other end along the guide in a state in which the second body is inscribed or circumscribed, so that the length of the body is expanded and contracted, and the A radioactive concrete scavenger using a laser comprising a third body that allows a laser to be transmitted through the opening of the first body.
The method according to claim 1,
The body further comprises a sensor unit including at least one sensor on the outside, radioactive concrete scavenger using a laser.
The method according to claim 2,
The sensor unit includes four sensors, and the four sensors are respectively positioned at vertices on a virtual square, a radioactive concrete scavenger using a laser.
The method of claim 3,
The radioactive concrete scabbler using a laser, wherein the surface of the radioactive concrete is a curved surface and the virtual square is a rhombus.
The method of claim 3,
The body is in a predetermined alignment state by the sensing information of the sensor unit, and reaches a predetermined distance from the radioactive concrete, a radioactive concrete scavenger using a laser.
The method according to claim 1,
The third body includes an air supply line inside, and the air supply line is connected to a nozzle formed at a position closer to the one end than the laser inside the third body to inject air at a predetermined angle, Radioactive concrete scavenger using a laser to prevent scattering of flying products to the laser unit.
The method of claim 6,
The area in which the suction force is formed is an area between the nozzle and the surface of the radioactive concrete, a radioactive concrete scavenger using a laser.
The method according to claim 1,
The first body has a relatively protruding shape at the opening side, a radioactive concrete scavenger using a laser.
A laser unit that irradiates a laser;
A first body including a suction pipe through which an opening opening toward the radioactive concrete is formed so that the laser irradiated from the laser unit is emitted to the outside, and the flying product generated by exploding by the laser is sucked by a suction force, the first body The second body and the other end side of the second body and the first body and one end are fixedly connected, the outer surface and the other end includes a guide extending in a direction extending by a predetermined distance, and communicating with the inner space of the first body Is located in the second body and in a state in which the second body is inscribed or circumferentially moved along the guide in a section between the one end and the other end so that the length of the body is extended and contracted, and the laser from the laser unit A body including a third body capable of being transmitted through the opening; And
Containing, a manipulator connected to the body to control the position of the body.

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