INSPECTION SYSTEM AND INSPECTION PROCESS UTILIZING MAGNETIC INSPECTION VEHICLE

摘要

An inspection vehicle configured to inspect steam generators includes a front chassis having two independently driven magnetic wheels, a rear chassis having two independently driven magnetic wheels, and a connecting member flexibly connecting the front chassis to the rear chassis to permit relative motion between the front chassis and the rear chassis along at least one axis. The connecting member, front chassis, and rear chassis collectively define a receiving area. The inspection vehicle also includes a navigation camera disposed on the front chassis and a pan and tilt inspection camera assembly including a first rotatable arm driven by a first motor, a second rotatable arm disposed on a distal portion of the first rotatable arm, the second rotatable arm being driven by a second motor, and an inspection camera rotatably disposed on a distal portion of the second arm, the inspection camera being driven by a third motor.