JP2013117491A - Remote operation method inside reactor containment vessel - Google Patents

Remote operation method inside reactor containment vessel Download PDF

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JP2013117491A
JP2013117491A JP2011266080A JP2011266080A JP2013117491A JP 2013117491 A JP2013117491 A JP 2013117491A JP 2011266080 A JP2011266080 A JP 2011266080A JP 2011266080 A JP2011266080 A JP 2011266080A JP 2013117491 A JP2013117491 A JP 2013117491A
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containment vessel
reactor containment
remote operation
operation method
partition wall
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JP5728373B2 (en
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Atsushi Suzuki
淳 鈴木
Takeharu Iijima
健晴 飯島
Yasuhiro Yuguchi
康弘 湯口
Ichiro Higashikura
一郎 東倉
Toshihiro Yasuda
年廣 安田
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Toshiba Corp
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Toshiba Corp
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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Abstract

PROBLEM TO BE SOLVED: To provide a method for maintaining the diffusion prevention function of a radioactive substance in a reactor containment vessel, and for executing the remote operation of the inside of the reactor containment vessel.SOLUTION: The embodiment of the remote operation method of the inside of a reactor containment vessel includes; a process of air-tightly arranging a first barrier 21 around a hatch 16 in a work space 20; a process of air-tightly arranging a second barrier 22 outside the first barrier 21; a process of removing a lid 17 of the hatch, and moving a work apparatus 30 from the inside of the first barrier 21 to a CRD housing space 38 along a path 18; and a process of returning the work apparatus 30 to the inside of the first barrier 21 after the end of the work in the CRD housing space 38, and closing the hatch with the lid 17.

Description

本発明は、シビアアクシデントが発生した場合の原子炉格納容器内部の遠隔作業方法に関する。   The present invention relates to a remote working method inside a reactor containment when a severe accident occurs.

炉心溶融等のシビアアクシデントが発生した原子炉においては、プラント状況を早急に把握する必要があり、原子炉格納容器（ＰＣＶ）の内部調査が求められる。しかし、炉心溶融物が原子炉圧力容器（ＲＰＶ）外に漏出した場合やＰＣＶ内に核生成物質が飛散している場合など、ＰＣＶ内へのアクセスが困難な状況が想定される。
また、ＰＣＶは核生成物質の放散防止機能（閉じ込め機能）を有していることから、調査にあたる場合も、この閉じ込め機能を維持する必要がある。 In a nuclear reactor where severe accidents such as core melting have occurred, it is necessary to quickly grasp the plant status, and an internal investigation of the reactor containment vessel (PCV) is required. However, it is assumed that access to the PCV is difficult, for example, when the core melt leaks out of the reactor pressure vessel (RPV) or when the nucleation material is scattered in the PCV.
Further, since PCV has a function of preventing the release of nucleation substances (confinement function), it is necessary to maintain this confinement function even in the case of investigation.

特開平８−１６６４８４号公報JP-A-8-166484

平常時におけるＰＣＶ内部の定期検査は、作業員がこの内部にアクセスする作業が可能である。しかし、シビアアクシデント発生後は、すべての作業を遠隔で行う必要があるが、従来においてそのような状況は想定されていない。   The regular inspection inside the PCV at normal times allows the worker to access the inside. However, after a severe accident occurs, it is necessary to perform all operations remotely, but such a situation has not been assumed in the past.

本発明はこのような事情を考慮してなされたもので、原子炉格納容器における放射性物質の放散防止機能を維持しつつその内部の遠隔作業を実施する方法を提供することを目的とする。   The present invention has been made in view of such circumstances, and an object of the present invention is to provide a method for performing remote work inside the reactor containment vessel while maintaining the function of preventing radioactive material from being released.

本発明の実施形態に係る原子炉格納容器内部の遠隔作業方法は、制御棒駆動機構の収容空間に通じるパスの出入口となるよう原子炉格納容器に設けられたハッチの周囲に第１隔壁を気密に設ける工程と、前記第１隔壁の外側に第２隔壁を気密に設ける工程と、前記ハッチの蓋を取り外し前記パスに沿って前記第１隔壁の内側から前記収容空間まで作業機器を移動させる工程と、前記収容空間における作業の終了後に前記作業機器を前記第１隔壁の内側に戻して前記ハッチを蓋で閉止する工程と、を含むことを特徴とする。   According to an embodiment of the present invention, the remote operation method inside the reactor containment vessel is such that the first bulkhead is hermetically sealed around a hatch provided in the reactor containment vessel so as to be an entrance / exit of a path leading to the accommodation space of the control rod drive mechanism. A step of airtightly providing a second partition wall outside the first partition wall, a step of removing the hatch cover and moving the work equipment from the inside of the first partition wall to the accommodation space along the path And a step of returning the work device to the inside of the first partition wall after the work in the storage space is finished and closing the hatch with a lid.

本発明により、原子炉格納容器における放射性物質の放散防止機能を維持しつつその内部の遠隔作業を実施する方法が提供される。   According to the present invention, there is provided a method for performing remote work inside a nuclear reactor containment while maintaining the function of preventing radioactive material from being diffused.

正常状態を示す原子炉の縦断面図。The longitudinal cross-sectional view of the nuclear reactor which shows a normal state. （Ａ）〜（Ｃ）本発明の実施形態を示す原子炉格納容器内部の遠隔作業方法の工程図。(A)-(C) Process drawing of the remote work method inside the reactor containment vessel which shows embodiment of this invention. （Ｄ）〜（Ｆ）本発明の実施形態を示す原子炉格納容器内部の遠隔作業方法の工程図。(D)-(F) Process drawing of the remote work method inside the reactor containment vessel which shows embodiment of this invention. 本発明の実施形態を示す原子炉格納容器内部の遠隔作業方法のフローチャート。The flowchart of the remote work method inside the reactor containment vessel which shows embodiment of this invention.

以下、本発明の実施形態を添付図面に基づいて説明する。
図１に示す様に、正常状態（シビアアクシデントの発生前）を示す原子炉１０は、核燃料が保持されている炉心１２と、この炉心１２及びその冷却水を密閉収容する圧力容器１１と、収容空間３８に設置された制御棒駆動機構（ＣＲＤ；Control Rod Drive）及び圧力容器１１等を密閉収容する格納容器１３と、この格納容器１３を密閉保持し各種作業空間２０等が設けられる建屋１９とから構成される。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, a nuclear reactor 10 that is in a normal state (before occurrence of a severe accident) includes a reactor core 12 that holds nuclear fuel, a pressure vessel 11 that hermetically accommodates the reactor core 12 and its cooling water, and A storage container 13 that hermetically houses a control rod drive mechanism (CRD; Control Rod Drive) and a pressure vessel 11 installed in the space 38; Consists of

この格納容器１３には、圧力容器１１及びＣＲＤ収容空間３８の外周を覆う放射能遮蔽壁１４と、この収容空間３８に通じるパス１８の出入口となるように設けられたハッチ１６と、が設けられている。   The containment vessel 13 is provided with a radiation shielding wall 14 that covers the outer circumferences of the pressure vessel 11 and the CRD accommodation space 38, and a hatch 16 that is provided as an entrance / exit of the path 18 that leads to the accommodation space 38. ing.

このハッチ１６に設けられる着脱自在の蓋１７は、定期点検時に制御棒駆動機構の収容空間３８にアクセスするために外される場合の他は、装着されている。
パス１８の一端はハッチ１６側に固定され、他端は放射能遮蔽壁１４の開口部１５を貫通してＣＲＤ収容空間３８に位置している。 The detachable lid 17 provided on the hatch 16 is mounted except when it is removed to access the accommodation space 38 of the control rod drive mechanism during periodic inspection.
One end of the path 18 is fixed to the hatch 16 side, and the other end passes through the opening 15 of the radiation shielding wall 14 and is located in the CRD accommodation space 38.

本発明に係る原子炉格納容器内部の遠隔作業方法の実施形態は、図２（Ａ）に示す様に、作業空間２０におけるハッチ１６の周囲に第１隔壁２１を気密に設ける工程と、この第１隔壁２１の外側に第２隔壁２２を気密に設ける工程と、図２（Ｂ）に示す様にハッチ１６の蓋１７を取り外しパス１８に沿って第１隔壁２１の内側からＣＲＤ収容空間３８まで作業機器３０を移動させる工程と、図３（Ｅ）（Ｆ）に示す様にＣＲＤ収容空間３８における作業の終了後に作業機器３０を第１隔壁２１の内側に戻してハッチ１６を蓋１７で閉止する工程と、を含む。   As shown in FIG. 2A, the embodiment of the remote operation method inside the reactor containment vessel according to the present invention includes a step of airtightly providing a first partition wall 21 around the hatch 16 in the work space 20, and A step of airtightly providing the second partition wall 22 outside the first partition wall 21, and removing the lid 17 of the hatch 16 as shown in FIG. 2B from the inside of the first partition wall 21 to the CRD accommodating space 38 along the path 18. As shown in FIGS. 3E and 3F, after the work in the CRD accommodation space 38 is completed, the work equipment 30 is returned to the inside of the first partition 21 and the hatch 16 is closed with the lid 17. And a step of performing.

図２（Ａ）に示す様に、第１隔壁２１は、その縁端を作業空間２０の側面とフロア面に密着させることで気密性と耐圧性を有し、開閉扉２１ａが作業機器３０等を搬入・搬出するために設けられている。
この第１隔壁２１の内側には、作業機器３０を無線操作するためのアンテナ２５と、作業機器３０に付着した放射性物質を除染するためのスプレー２４（例えば、洗浄水を噴出する）と、作業監視カメラ２６とが設けられている。 As shown in FIG. 2 (A), the first partition wall 21 has airtightness and pressure resistance by bringing its edge into close contact with the side surface of the work space 20 and the floor surface. Is provided to carry in and out.
Inside the first partition wall 21, an antenna 25 for operating the work equipment 30 wirelessly, a spray 24 for decontaminating radioactive substances attached to the work equipment 30 (for example, spraying washing water), A work monitoring camera 26 is provided.

第１隔壁２１の内側は、ハッチの蓋１７が取り外されると、大気圧よりも高圧である格納容器１３の内部圧力と同じ圧力となる。そして、この格納容器１３の内部に放射性物質が存在していればこの放射性物質が第１隔壁２１の内側に侵入する。
この第１隔壁２１の内側に侵入した放射性物質は局所排風設備（図示略）により除去され、スプレー２４により除染された放射性物質を含む廃液は排水管（図示略）を経由して外部に排出される。
なお、ハッチの蓋１７の取り外し及び取り付け作業は、詳細な説明を省略するが、専用機器を用いて遠隔操作により自動的に行われる。 When the hatch lid 17 is removed, the inside of the first partition wall 21 has the same pressure as the internal pressure of the storage container 13 that is higher than atmospheric pressure. If a radioactive substance is present inside the storage container 13, the radioactive substance enters the first partition 21.
The radioactive material that has entered the inside of the first partition wall 21 is removed by a local exhaust system (not shown), and the waste liquid containing the radioactive material decontaminated by the spray 24 is discharged to the outside through a drain pipe (not shown). Discharged.
Although detailed description of the removal and attachment of the hatch lid 17 is omitted, it is automatically performed by remote operation using a dedicated device.

第２隔壁２２は、その縁端を作業空間２０の側面とフロア面に密着させることで第１隔壁２１と形成する空間の気密性と耐圧性を維持し、開閉扉２２ａが作業機器３０等を搬入・搬出するために設けられている。
この第２隔壁２２には、その内側圧力を第１隔壁２１の内側圧力よりも高く設定する圧力調整部２３が設けられている。
これにより、第１隔壁２１の内側に侵入した放射性物質を閉じ込めて、外部漏洩することを防止する。 The second partition wall 22 maintains the airtightness and pressure resistance of the space formed with the first partition wall 21 by bringing the edge of the second partition wall into close contact with the side surface and the floor surface of the work space 20, and the opening / closing door 22 a connects the work device 30 and the like. It is provided for loading and unloading.
The second partition wall 22 is provided with a pressure adjusting unit 23 that sets the inner pressure higher than the inner pressure of the first partition wall 21.
Thereby, the radioactive substance that has entered inside the first partition wall 21 is confined to prevent external leakage.

作業機器３０は、固定レール３２及びパス１８上の敷設レール４１に沿って移動する移動体３１と、多関節アームから構成されるマニピュレータ３３と、このマニピュレータ３３の先端に設けられ作業目的に応じて交換可能なエンドエフェクタ３４と、無線操作するための電波を受信するアンテナ３５と、を搭載している。具体的にエンドエフェクタ３４は、炉心溶融物１２ａを採取したり、障害物を切断等したりするツールである。   The work device 30 includes a movable body 31 that moves along the fixed rail 32 and the laying rail 41 on the path 18, a manipulator 33 that includes an articulated arm, and a manipulator 33 that is provided at the tip of the manipulator 33 according to the work purpose. A replaceable end effector 34 and an antenna 35 for receiving radio waves for wireless operation are mounted. Specifically, the end effector 34 is a tool for collecting the core melt 12a or cutting an obstacle.

これにより、作業機器３０は、図２（Ｂ）に示す様に、レール４１を敷設してパス１８を自走することができる。
なお、作業機器３０は、図示した実施形態に限定されるものではなく、ハッチの蓋１７を取り外した後に、パス１８に沿って第１隔壁２１の内側からＣＲＤ収容空間３８まで移動可能なものであればよい。 As a result, the work equipment 30 can self-travel the path 18 by laying the rail 41 as shown in FIG.
The working device 30 is not limited to the illustrated embodiment, and can be moved from the inside of the first partition wall 21 to the CRD accommodating space 38 along the path 18 after the hatch lid 17 is removed. I just need it.

さらに作業機器３０は、バッテリー（図示略）を積載し、そのエネルギーによりパス１８を移動し、図３（Ｄ）に示す様に、第１隔壁２１の内側には、バッテリーの充電器４２が設けられている。   Further, the work equipment 30 is loaded with a battery (not shown) and moves along the path 18 by its energy. As shown in FIG. 3D, a battery charger 42 is provided inside the first partition wall 21. It has been.

なお、マニピュレータ３３及びエンドエフェクタ３４の操作は、これらに設置された作業カメラ（図示略）又はこれらにより格納容器１３の内壁に設置された作業カメラ（図示略）の映像を監視しながら実施する。
作業機器３０の制御は、マスタロボットである操縦装置をオペレータが操作し、スレーブロボットである作業機器３０がその動きに倣って作業するマスタスレーブ制御を採用することができる。 The manipulator 33 and the end effector 34 are operated while monitoring images of a work camera (not shown) installed therein or a work camera (not shown) installed on the inner wall of the storage container 13 using these.
The control of the work equipment 30 can employ master-slave control in which an operator operates a control device that is a master robot, and the work equipment 30 that is a slave robot performs work following the movement.

図４のフローチャートに基づいて、原子炉格納容器内部の遠隔作業方法の作業手順を説明する（適宜、図１，図２，図３参照）。
原子炉建屋の作業空間２０におけるハッチ１６の周囲に第１隔壁２１を気密に設ける（Ｓ１１）。続いて、この第１隔壁２１の外側に第２隔壁２２を気密に設ける（Ｓ１２）。 Based on the flowchart of FIG. 4, the work procedure of the remote working method inside the reactor containment vessel will be described (see FIGS. 1, 2 and 3 as appropriate).
A first partition wall 21 is airtightly provided around the hatch 16 in the work space 20 of the reactor building (S11). Subsequently, the second partition wall 22 is airtightly provided outside the first partition wall 21 (S12).

開閉扉２１ａ，２１ｂを開放して作業機器３０等を搬入し設置する（Ｓ１３）。開閉扉２１ａ，２１ｂを閉鎖し（Ｓ１４）、第２隔壁２２の内側でかつ第１隔壁２１の外側の空間を昇圧し、第１隔壁２１の内側よりも高圧に設定する（Ｓ１５）。
ハッチの蓋１７を取り外して（Ｓ１６）、作業機器３０を格納容器１３に挿入し（Ｓ１７）、パス１８上にレール４１を敷設する（Ｓ１８）。 The open / close doors 21a and 21b are opened, and the work equipment 30 and the like are carried in and installed (S13). The open / close doors 21a and 21b are closed (S14), the space inside the second partition wall 22 and outside the first partition wall 21 is increased, and the pressure is set higher than that inside the first partition wall 21 (S15).
The hatch lid 17 is removed (S16), the work device 30 is inserted into the storage container 13 (S17), and the rail 41 is laid on the path 18 (S18).

このレール敷設の過程で、パス１８上に障害物が存在する場合は（Ｓ１９；Ｙｅｓ）、作業機器３０を第１隔壁２１の内側に戻し、マニピュレータ３３に取り付けるエンドエフェクタ３４を障害物撤去用のものに交換し（Ｓ２０）、この障害物を撤去する(Ｓ２１)。そして、再び第１隔壁２１の内側に戻ってレール敷設用のエンドエフェクタ３４に交換してレール敷設を再開する。   In the course of this rail laying, if an obstacle is present on the path 18 (S19; Yes), the work device 30 is returned to the inside of the first partition wall 21, and the end effector 34 attached to the manipulator 33 is used for removing the obstacle. The object is replaced (S20), and the obstacle is removed (S21). And it returns to the inner side of the 1st partition 21, and it replaces with the end effector 34 for rail construction, and rail construction is restarted.

パス１８に沿って作業機器３０をＣＲＤ収容空間３８に移動させ各種作業を実行させる（Ｓ２２）。なお、作業中に、作業機器３０のバッテリー残量が少なくなった場合は、第１隔壁２１の内側に戻して充電器４２で充電する。
そして、ＣＲＤ収容空間３８における作業が終了した後は、作業機器３０を第１隔壁２１の内側に撤収させて（Ｓ２３）、ハッチ１６を蓋１７で閉止する（Ｓ２４）。
そして、スプレー２４により作業機器３０を除染してから（Ｓ２５）、開閉扉２１ａ，２１ｂを開放して作業機器３０等を搬出する（Ｓ２６）。 The work equipment 30 is moved to the CRD accommodation space 38 along the path 18 to execute various operations (S22). When the remaining battery level of the work device 30 is reduced during the work, the battery is returned to the inside of the first partition wall 21 and charged by the charger 42.
After the work in the CRD accommodation space 38 is completed, the work device 30 is withdrawn inside the first partition wall 21 (S23), and the hatch 16 is closed with the lid 17 (S24).
And after decontaminating the work equipment 30 with the spray 24 (S25), the doors 21a and 21b are opened and the work equipment 30 and the like are carried out (S26).

以上述べた少なくともひとつの実施形態の原子炉格納容器内部の遠隔作業方法によれば、ハッチの外側に気密性かつ耐圧性を有する二重の隔壁を設置することにより、ＰＣＶ内部の汚染物質を建屋内に拡散させることなく遠隔操作によりＰＣＶ内部の状況調査及び作業が可能となる。   According to the remote operation method inside the reactor containment vessel according to at least one embodiment described above, the contaminants inside the PCV are built by installing the airtight and pressure resistant double partition wall outside the hatch. The situation investigation and work inside the PCV can be performed by remote control without spreading indoors.

本発明のいくつかの実施形態を説明したが、これらの実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更、組み合わせを行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれると同様に、特許請求の範囲に記載された発明とその均等の範囲に含まれるものである。   Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, changes, and combinations can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

１０…原子炉、１１…圧力容器、１２…炉心、１２ａ…炉心溶融物、１３…格納容器、１４…放射能遮蔽壁、１５…開口部、１６…ハッチ、１７…蓋、１８…パス、１９…建屋、２０…作業空間、２１…第１隔壁、２１ａ…開閉扉、２２…第２隔壁、２２ａ…開閉扉、２３…圧力調整部、２４…スプレー、２５…アンテナ、２６…作業監視カメラ、３０…作業機器、３１…移動体、３２…固定レール、３３…マニピュレータ、３４…エンドエフェクタ、３５…アンテナ、３８…ＣＲＤ収容空間、４１…レール、４２…充電器。   DESCRIPTION OF SYMBOLS 10 ... Reactor, 11 ... Pressure vessel, 12 ... Core, 12a ... Core melt, 13 ... Containment vessel, 14 ... Radioactivity shielding wall, 15 ... Opening, 16 ... Hatch, 17 ... Lid, 18 ... Pass, 19 ... Building, 20 ... Work space, 21 ... First partition, 21a ... Opening / closing door, 22 ... Second partition, 22a ... Opening / closing door, 23 ... Pressure adjusting unit, 24 ... Spray, 25 ... Antenna, 26 ... Work monitoring camera, DESCRIPTION OF SYMBOLS 30 ... Work equipment, 31 ... Moving body, 32 ... Fixed rail, 33 ... Manipulator, 34 ... End effector, 35 ... Antenna, 38 ... CRD accommodation space, 41 ... Rail, 42 ... Charger.

Claims (8)

制御棒駆動機構の収容空間に通じるパスの出入口となるよう原子炉格納容器に設けられたハッチの周囲に第１隔壁を気密に設ける工程と、
前記第１隔壁の外側に第２隔壁を気密に設ける工程と、
前記ハッチの蓋を取り外し前記パスに沿って前記第１隔壁の内側から前記収容空間まで作業機器を移動させる工程と、
前記収容空間における作業の終了後に前記作業機器を前記第１隔壁の内側に戻して前記ハッチを蓋で閉止する工程と、を含むことを特徴とする原子炉格納容器内部の遠隔作業方法。 A step of airtightly providing a first partition wall around a hatch provided in the reactor containment vessel so as to be an entrance / exit of a path leading to a storage space of the control rod drive mechanism;
Providing a second partition airtightly outside the first partition;
Removing the hatch cover and moving the work equipment from the inside of the first partition wall to the accommodation space along the path;
And a step of returning the work equipment to the inside of the first partition wall after the work in the accommodating space and closing the hatch with a lid. 請求項１に記載の原子炉格納容器内部の遠隔作業方法において、
前記作業機器は、マニピュレータを搭載し、前記パスに自走するためのレールを敷設することを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to claim 1,
The work equipment includes a manipulator and lays a rail for self-propelled in the path. 請求項２に記載の原子炉格納容器内部の遠隔作業方法において、
前記マニピュレータは、作業目的に応じてエンドエフェクタを交換することを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to claim 2,
The manipulator replaces the end effector according to the work purpose, and the remote working method inside the reactor containment vessel. 請求項１から請求項３のいずれか１項に記載の原子炉格納容器内部の遠隔作業方法において、
前記作業機器は、積載したバッテリーのエネルギーにより前記パスを移動し、
前記第１隔壁の内側には、前記バッテリーの充電器が設けられていることを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to any one of claims 1 to 3,
The work equipment moves the path by the energy of the loaded battery,
The remote working method inside a reactor containment vessel, wherein the battery charger is provided inside the first partition wall. 請求項１から請求項４のいずれか１項に記載の原子炉格納容器内部の遠隔作業方法において、
前記第１隔壁の内側には、前記作業機器を無線操作するためのアンテナが設けられていることを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to any one of claims 1 to 4,
A remote working method inside a reactor containment vessel, wherein an antenna for wirelessly operating the work equipment is provided inside the first partition wall. 請求項１から請求項５のいずれか１項に記載の原子炉格納容器内部の遠隔作業方法において、
前記第１隔壁の内側には、前記作業機器に付着した放射性物質を除染するためのスプレーが設けられていることを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to any one of claims 1 to 5,
A remote operation method inside a reactor containment vessel, wherein a spray for decontaminating radioactive material attached to the work equipment is provided inside the first partition wall. 請求項１から請求項６のいずれか１項に記載の原子炉格納容器内部の遠隔作業方法において、
前記第２隔壁の内側の圧力を前記第１隔壁の内側の圧力よりも高く設定することを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to any one of claims 1 to 6,
A remote working method inside a reactor containment vessel, wherein the pressure inside the second partition is set higher than the pressure inside the first partition. 請求項２から請求項７のいずれか１項に記載の原子炉格納容器内部の遠隔作業方法において、
前記マニピュレータの操作をマスタスレーブ制御で行うことを特徴とする原子炉格納容器内部の遠隔作業方法。 In the remote operation method inside the reactor containment vessel according to any one of claims 2 to 7,
A remote operation method inside a reactor containment vessel, wherein the manipulator is operated by master-slave control.
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