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廃炉環境国際共同研究センター; 大阪大学*
JAEA-Review 2026-009, 81 Pages, 2026/07
JAEA-Review-2026-009.pdf:5.42MB
日本原子力研究開発機構(JAEA)廃炉環境国際共同研究センター(CLADS)では、英知を結集した原子力科学技術・人材育成推進事業を実施している。本事業は、東京電力ホールディングス福島第一原子力発電所の廃炉等をはじめとした原子力分野の課題解決に貢献するため、国内外の英知を結集し、様々な分野の知見や経験を従前の機関や分野の壁を越えて緊密に融合・連携させた基礎的・基盤的研究及び人材育成を推進することを目的としている。本研究は、令和6年度に採択された研究課題のうち、「耐放射線性を有するレーザスキャナとAI・画像処理による3Dモデリング法の開発」の令和6年度分の研究成果について取りまとめたものである。本研究の全体像は、耐放射線性レーザスキャナと作成する点群の高質化に関する技術開発を行うものである。まず、高強度放射線下において半導体素子の利用を排除して耐放射線性を有する電気・機械素子のみで構成されるレーザ走査部と遠隔地の低線量場に設置する制御部が分離した3Dレーザスキャナシステムを開発する。開発した3Dレーザスキャナと商用化されている非耐放射線性3Dレーザスキャナを比較しながら性能を評価する。さらに、開発したスキャナが取得する疎な点群に対して機械学習等により解析し、新たな点群を増強・補完するシステムおよび写真群から対象物の3Dデータを生成するフォトグラメトリ技術により、点群を補完するシステムをそれぞれ開発することによって、信頼度のより高い3Dデータを得るための方法と技術を構築する。令和6年度の成果は以下のとおりである。(1)光学・電子回路系の設計と波形取得・解析ソフトの開発を通じて、耐放射線性3Dレーザスキャナの検出効率を評価する準備を行った。(2)AIを活用した点群補完システムを整備し、高密度化法と補完プロセスの検討を行った。(3)点群とフォトグラメトリ統合のための環境とワークフローを構築し、基準となる3Dモデルを作成した。(4)高線量下でのスキャン手法を分析し、精度比較評価の方法を検討した。(5)各研究項目と関係機関が連携し、計画的に研究を推進した。
中村 啓太; 羽成 敏秀; 松本 拓; 川端 邦明; 八代 大*
Journal of Robotics and Mechatronics, 36(1), p.115 - 124, 2024/02
During the decommissioning activities, a movie was shot inside the reactor building during the investigation of the primary containment vessel by applying photogrammetry, which is one of the methods for three-dimensional (3D) reconstruction from images, to the images from this movie, it is feasible to perform 3D reconstruction of the environment around the primary containment vessel. However, the images from this movie may not be suitable for 3D reconstruction because they were shot remotely by robots owing to limited illumination, high-dose environments, etc. Moreover, photogrammetry has the disadvantage of easily changing 3D reconstruction results by simply changing the shooting conditions. Therefore, this study investigated the accuracy of the 3D reconstruction results obtained by photogrammetry with changes in the camera angle of view under shooting conditions. In particular, we adopted 3D computer graphics software to simulate shooting target objects for 3D reconstruction in a dark environment while illuminating them with light for application in decommissioning activities. The experimental results obtained by applying artificial images generated by simulation to the photogrammetry method showed that more accurate 3D reconstruction results can be obtained when the camera angle of view is neither too wide nor too narrow when the target objects are shot and surrounded. However, the results showed that the accuracy of the obtained results is low during linear trajectory shooting when the camera angle of view is wide.
佐藤 優樹; 寺阪 祐太; 宇津木 弥*; 菊地 弘幸*; 清岡 英男*; 鳥居 建男
Journal of Nuclear Science and Technology, 56(9-10), p.801 - 808, 2019/09
被引用回数：76 パーセンタイル：99.16(Nuclear Science & Technology)The Fukushima Daiichi Nuclear Power Station (FDNPS), operated by Tokyo Electric Power Company Holdings, Inc., went into meltdown in the aftermath of a large tsunami caused by the Great East Japan Earthquake of 11 March 2011. Measurement of radiation distribution inside the FDNPS buildings is indispensable to execute decommissioning tasks in the reactor buildings. We conducted a radiation imaging experiment inside the reactor building of Unit 1 of FDNPS by using a compact Compton camera mounted on a crawler robot and remotely visualized gamma-rays streaming from deep inside the reactor building. Moreover, we drew a radiation image obtained using the Compton camera onto the three-dimensional (3-D) structural model of the experimental environment created using photogrammetry. In addition, the 3-D model of the real working environment, including the radiation image, was imported into the virtual space of the virtual reality system. These visualization techniques help workers recognize radioactive contamination easily and decrease their own exposure to radiation because the contamination cannot be observed with the naked eye.
佐藤 優樹; 小澤 慎吾*; 谷藤 祐太; 鳥居 建男
Journal of Instrumentation (Internet), 13(3), p.P03001_1 - P03001_8, 2018/03
被引用回数：7 パーセンタイル：27.84(Instruments & Instrumentation)The Fukushima Daiichi Nuclear Power Station (FDNPS), operated by Tokyo Electric Power Company Holdings, Inc., went into meltdown after the large tsunami caused by the Great East Japan Earthquake of March 11, 2011. Radiation distribution measurements inside FDNPS buildings are indispensable to execute decommissioning tasks in the reactor buildings. We have developed a method of three-dimensional (3-D) image reconstruction for radioactive substances using a compact Compton camera. We also succeeded in visually recognize the position of the radioactive substances on the real space by integration of the 3D radiation image and the 3D photo-model created by photogrammetry.
中村 啓太*; 馬場 啓多*; 渡部 有隆*; 松本 拓; 羽成 敏秀; 川端 邦明
no journal, ,
本研究では、QRコードを用いた写真測量による立体復元結果の部分間レジストレーションによる統合手法を提案する。写真測量で獲得した復元結果は、復元ごとにスケーリングが異なるため統合が困難である。この問題を解決するために、大きさが既知のQRコードを復元対象環境に配置し、QRコードの大きさに基づいて復元結果をスケーリングし、スケーリングした復元結果をQRコードのマーカに基づいて統合する。本提案手法を検証するため、全画像から復元した結果と複数の復元結果を統合した結果の精度を比較した。検証結果から、精度を維持しつつ写真測量による3Dマッピングに要する時間の短縮に有効であることが示された。
佐藤 優樹
no journal, ,
The Fukushima Daiichi Nuclear Power Station (FDNPS), operated by Tokyo Electric Power Company Holdings, Inc., went into meltdown after the occurrence of a large tsunami caused by the Great East Japan Earthquake of March 11, 2011. The radiation distribution measurements inside the FDNPS are indispensable to execute decommissioning tasks. We have conducted the radiation imaging experiment inside the FDNPS building using the compact Compton camera. The high-dose contamination (up to 3.5 mSv/h) was visualized using the Compton camera in the turbine building of Unit 3 of the FDNPS. We also created a three-dimensional (3D) radiation distribution map inside the turbine building by integrating the radiation image obtained by the Compton camera into the point cloud data of the experimental environment acquired using the scanning laser range finder. In addition, we introduce the photogrammetry technique to create the 3D structural model of the experimental environment. The image of the radioactive hotspot is superimposed on the 3D structural model of inside the reactor building of Unit 1 of the FDNPS created using the photogrammetry. In the presentation, our recent study about the radiation imaging technology for measurements of the distribution of radioactive substances inside the FDNPS is discussed.
佐藤 優樹; 寺阪 祐太; 冠城 雅晃; 谷藤 祐太; 鳥居 建男
no journal, ,
We visualized a hotspot from the sky over the waste storage space inside the Fukushima Daiichi Nuclear Power Station using a remote radiation imaging system consisting of a drone equipped with a Compton camera. By superimposing the images of the hotspots on the 3D building model of the waste storage space created using a photogrammetry, we succeeded in drawing the map that can easily recognize the positions of the hotspots in the actual working environment.
佐藤 優樹; 寺阪 祐太; 宇津木 弥*; 菊地 弘幸*; 高平 史郎*; 鳥居 建男
no journal, ,
The Fukushima-Daiichi Nuclear Power Station (FDNPS), operated by Tokyo Electric Power Company Holdings, Inc., went into meltdown after the occurrence of a large tsunami caused by the Great East Japan Earthquake on March 11, 2011. The radiation distribution measurements inside the site of the FDNPS are indispensable to execute decommissioning tasks. We have developed a three-dimensional (3D) radiation imaging technique for grasping the location of the high-dose rate region (hotspot) using a compact Compton camera and a photogrammetry technique to create 3D optical images. We succeeded in detecting the hotspot in a waste storage space inside the FDNPS using the Compton camera. We also created the 3D structural model of the waste storage space in the virtual space by using the photogrammetry and superimposed the image of the hotspot on the 3D structural model. Furthermore, we are developing a system that imports the 3D structural model including the image of the hotspot into the virtual reality and allows workers to experience the actual working environment. We believe that these visualization techniques help workers to easily recognize the hotspot at the actual working environment and to decrease their own exposure. These visualization techniques are also effective for planning decontamination and eventually accelerating the decommissioning of the FDNPS.
