移动式在役核管沟检测机器人系统的设计

摘要

针对核设施的安全检测,研制了适用于核工业在役管沟检测的移动式机器人系统.该系统由机器人本体、控制系统、图像采集系统等组成,在核工业在役管沟中的现场检测结果表明,该系统在一般的核污染环境下可正常工作,且能有效保障现场人员的安全;对于环境不明且存在隐患的管沟,采用移动式机器人检测能尽快排除隐患,这也是目前实现在役管沟检测的最有效途径之一;检测数据将为核工业在役管沟的整改以及下一代管沟的设计提供重要依据.%For the safety inspection of nuclear facilities, a mobile robot system was developed to examine the inuse pipe trench in nuclear industry. The system consists of robot, control system and image acquisition system.The inspection results of in-use pipe trench in nuclear industry show that this system can work normally under general nuclear contamination, and can also protect the related workers efficiently. For the pipe trench with unknown situation and latent danger, mobile robot's inspection can eliminate danger as soon as possible, which is regarded as one of the most efficient ways of examining in-use pipe trench. The inspection would provide critical reference not only for the rectification of pipe trench, but also for the design of the future generation of pipe trench.