摘要
在核设施退役场景中采用机器人替代人员执行相关操作是一种必要且有效的技术手段,核工业机器人设计中的核心技术难点是提高电子学系统在强辐射场所中的耐辐射性能.本文基于耐辐射加固与剂量管理方法,提出了一种在强辐射场所中可以兼顾可达性、可靠性、耐辐射性能和经济性的机电一体化设备耐辐射加固方法;并耦合全景源项搜寻、辐射探测、智能路径规划、越障与稳定控制、自动化场所与辐射热点去污等技术,集成设计了一款适用于核设施退役场所的智能辐射探测与去污机器人.
In the decommissioning scenario of nuclear facilities,it is a necessary and effective technical means to use robots to replace personnelin performing relevant operations.The core technical difficulty in the design of nuclear robots is to improve the radiation resistance of electronic systems in strong radiation fields.Based on the methods of radiation resistance reinforcement and dose management,this paper puts forward a radiation resistance reinforcement method of mechatronics equipment which can take into account accessibility,reliability,radiation resistance and economy in strong radiation fields;An intelligent radiation detection and decontamination robot suitable for decommissioning sites of nuclear facilities is integrated and designed by coupling technologies such as full field source item search,radiation detection,intelligent path planning,obstacle crossing and stability control,automatic sites and radiation hotspot decontamination.
作者
韩毅
王川
王超
池晓淼
梁润成
李国栋
陈法国
沈华亚
孙岩松
HAN Yi;WANG Chuan;WANG Chao;CHI Xiao-miao;LIANG Run-cheng;LI Guo-dong;CHEN Fa-guo;SHEN Hua-ya;SUN Yan-song(China Institute for Radiation Protection,Taiyuan 030000,,China;Nuclear Power Operations Research Institute,Shanghai 200000,China;CNNP Nuclear Power Operations Management Co,Ltd,Jiaxing 314000,China)
出处
《核电子学与探测技术》
CAS
北大核心
2022年第6期992-999,共8页
Nuclear Electronics & Detection Technology
关键词
核设施退役
机器人
耐辐射
decommissioning of nuclear facilities
robot
radiation resistance