基于四足机器人的EAST γ辐射巡检系统开发
Development of an EAST γ-Radiation Inspection System Based on a Quadruped Robot
钟国强 1徐坤 2杨亚军 3何锦妙 3李子昂3
作者信息
- 1. 中国科学院等离子体物理研究所
- 2. 中国科学院合肥物质科学研究院
- 3. 安徽理工大学
- 折叠
摘要
EAST托卡马克聚变装置进行氘氘放电运行时会产生硬X射线、伽马射线和2.45 MeV聚变中子等辐射，在停机期间会产生感生伽马射线。为监测其辐射环境，EAST已经建立了一套基于固定点位的辐射监测系统来。在此基础上，开发了一种基于四足机器人的移动辐射巡检系统，提升现有辐射监测系统的监测范围和灵活性。该系统集成了Unitree Go2四足机器人、三维激光雷达（3D LiDAR）与γ剂量仪等硬件设备，搭建并开发了数据采集与导航巡检平台及局域通讯网络等软件系统，实现了EAST大厅环境内“定位-建图-导航-辐射监测”的一体化作业。经现场测试，该系统软硬件运行良好，建图精度误差在0.996 %，平均定位误差为4.7 cm，系统巡检完EAST大厅一圈耗时6 min 分28 s秒，在EAST停机三个半小时后采集到了大厅内的伽马辐射剂量。结果验证了基于四足机器人巡检方案在聚变装置复杂辐射环境监测与巡检任务的可行性，为未来聚变装置辐射场的动态监测提供了新技术手段和实践参考。
Abstract
[Background] The EAST tokamak fusion device generates radiation including hard X-rays, gamma rays, and 2.45 MeV fusion neutrons during deuterium-deuterium plasma operations, and induced gamma rays during shutdown periods. [Purpose] This study aims to enhance radiation monitoring system at EAST by adding a quadruped-robot mobile inspection system, increasing the coverage and flexibility. [Methods] A Unitree Go2 quadruped robot equipped with a 3D LiDAR and a gamma dosimeter as the mobile inspection platform. Based on ROS 2, a Cartographer-based SLAM module and a Navigation2-based autonomous navigation module were developed to realize 2D grid mapping, real-time localization, global path planning and local obstacle avoidance. Meanwhile, a data acquisition program and a local wireless network were deployed to maintain wireless communication between the robot and the PC, and to receive the returned gamma dose-rate data and robot status informationTo monitor the radiation environment, a fixed-point radiation monitoring system has been established at EAST. On this basis, a mobile radiation inspection system based on a quadruped robot has been developed to extend the monitoring coverage and enhance the flexibility of the existing system. [Methods] This integrated system incorporates hardware components such as the Unitree Go2 quadruped robot, a 3D LiDAR, and a gamma dosimeter, along with software systems including a data acquisition and navigation inspection platform and a local communication network. It enables seamless "positioning-mapping-navigation-radiation monitoring" operations within the EAST experimental hall. [Results] Field tests show reliable hardwaresoftware operation: the mapping error was 0.996%, the average localization error was 4.7 cm, and the system completed a full inspection loop of the EAST hall in 6 minutes and 28 seconds, with its linear and angular velocities capped at 1.0 m/s-1 and 1.0 rad/s-1 respectively. [Conclusions] This study demonstrates the feasibility of the quadruped robot-based inspection solution for monitoring task in the complex radiation environment of fusion devices, providing a novel technical approach and practical reference for future dynamic radiation field monitoring关键词
聚变实验装置/移动机器人/自主导航/同步定位与地图构建Key words
Fusion Experimental Device/Mobile Robot/Autonomous Navigationn/Simultaneous Localization And Mapping引用本文复制引用
钟国强,徐坤,杨亚军,何锦妙,李子昂.基于四足机器人的EAST γ辐射巡检系统开发[EB/OL].(2026-06-04)[2026-06-11].https://chinaxiv.org/abs/202606.00058.学科分类
辐射防护/粒子探测技术、辐射探测技术、核仪器仪表/自动化技术、自动化技术设备
