托卡马克实验装置的实验大厅移动辐射监测机器人设计  

Design of Mobile Radiation Monitoring Robot in Experimental Advanced Superconducting Tokamak Hall

作　　者：吴斌[1] 杨振 吴欣扬 陈玉庆 李军[1] 谢远来 胡纯栋[1] WU Bin;YANG Zhen;WU Xinyang;CHEN Yuqing;LI Jun;XIE Yuanlai;HU Chundong(Institute of Plasma Physics Chinese Academy of Science,Hefei 230031,China;Hefei No.9 High School,Hefei 230001,China)

机构地区：[1]中国科学院等离子体物理研究所,安徽合肥230031 [2]安徽省合肥市第九中学,安徽合肥230001

出　　处：《同位素》2021年第3期201-207,共7页Journal of Isotopes

基　　金：国家自然科学基金资助项目(11875290,11705229和11905142);中国科学院合肥大科学中心协同创新培育基金资助项目(2019HSC-CIP015,2020HSCCIP016)。

摘　　要：托卡马克实验装置(experimental advanced superconducting tokamak, EAST)在进行聚变等离子体放电实验时,随着中性束注入、低杂波电流驱动、电子回旋波共振加热等大功率辅助加热系统投入运行,等离子体中子出射强度可达10(14) n/s,这导致大厅及窗口区域的中子光子剂量率明显增加。为了保证工作人员及维护人员的安全,需要及时了解不同位置处的辐射剂量。本研究基于六轮移动救援机器人底盘,研制EAST实验大厅移动辐射监测机器人,并搭载X、γ辐射在线监测仪,通过同步定位与建图技术(SLAM)构建环境地图自主移动或通过高清图像远程控制及数据传输系统,将大厅内不同位置的辐射剂量值传递给上位机。通过巡测路径上的剂量率异常,可向周围的工作人员及时发出警示,以此确保实验人员的辐射安全和判断现场维护人员的滞留时间。With the operation of high-power auxiliary heating systems such as neutral beam injection,low clutter current drive and electron cyclotron resonance heating,the plasma neutron emission intensity can reach 1014 n/s in the experimental facility of experimental advanced superconducting tokamak(EAST),which leads to a significant increase in the neutron photon dose rate in the hall and window area.In order to ensure the safety of staff and maintenance staff,it is necessary to know the radiation dose at different locations in time.Based on the six-wheeled mobile rescue robot chassis,a mobile radiation monitoring robot in EAST experimental hall was developed,which was equipped with X andγonline radiation monitors.The robot built environmental map for autonomous movement through simultaneous localization and mapping(SLAM)or transmitted radiation dose values at different positions in the hall to the upper computer through high-definition image remote control and data transmission system.Through the abnormal dose rate on the inspection path,timely warning can be sent to the nearby staff,so as to ensure the radiation safety of the laboratory personnel and judge the retention time of the field maintenance personnel.

关 键 词：辐射防护 辐射监测机器人 救援机器人 

分 类 号：O536[理学—等离子体物理] O532[理学—物理]