To evaluate the characteristics of radioactive waste from permanently shut down nuclear power plants for decommissioning, there is a method of directly analyzing samples and, on the other hand, a computerized evaluation method based on operation history. Even if the radioactivity of the structures or radioactive wastes in the nuclear power plant is analyzed by the computerized evaluation method, a method of directly analyzing the sample must be accompanied in order to more accurately know the characteristics of the nuclear power plant’s radioactive waste material. In order to obtain such samples, we need a way to collect materials from radioactive waste. However, in the case of a permanently shut down nuclear power plant with a long operating history, human access is limited due to radiation of the material. In this study, we propose a method of remotely collecting samples that guarantees radiation protection and worker safety at the site where radioactive waste is located.