Research status and key technologies analysis of operating robots for nuclear environment

Feng Chang; Wang Congzheng; Zhao Jianping; Cheng Yong; Cai Gen; Dou Pu; Liao Libin

doi:10.12086/oee.2020.200338

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Feng C, Wang C Z, Zhao J P, et al. Research status and key technologies analysis of operating robots for nuclear environment[J]. Opto-Electron Eng, 2020, 47(10): 200338. doi: 10.12086/oee.2020.200338

Citation:

Feng C, Wang C Z, Zhao J P, et al. Research status and key technologies analysis of operating robots for nuclear environment[J]. Opto-Electron Eng, 2020, 47(10): 200338. doi: 10.12086/oee.2020.200338

Research status and key technologies analysis of operating robots for nuclear environment

1.
Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, Sichuan 610209, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

Fund Project: Supported by West Light Foundation of the Chinese Academy of Sciences (YA17K003)

More Information

Author Bio: Feng Chang, E-mail: fc407@ioe.ac.cn

Received Date 28 August 2020

Revised Date 26 September 2020

Published Date 15 October 2020

Abstract

Abstract

To introduce and analyze the development history and research status of operating robots for nuclear environment at home and abroad, the common system structure and classification based on main functions for operating robots for nuclear environment are summarized. Based on the application requirements of operating robots for nuclear environment, it is concluded that the key technologies in urgent need of breakthrough for nuclear robots are radiation reinforcement, communication method, photoelectric detection, intelligent control technology, etc. Finally, with the increasing scale of China's nuclear industry and the increasing demand for safety assurance, the application scenarios of operating robots for nuclear environment are condensed, and the future development trend of operating robots for nuclear environment is predicted.
- nuclear environment /
- robot /
- radiation hardening /
- photoelectric detection

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References

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Overview

Overview

Overview: The photon counting LiDAR plays an important role in the long distance measurement because of the high sensitivity to a single photon and the ability of providing accurate photon arrival time. It uses statistical sampling technology which needs to accumulate enough photon events to establish a statistical histogram and extract echo information through the histogram. However, the process will greatly reduce the measurement speed of the system. If there is a relative movement between the system and target, the laser pulses of multiple cycles will have different flight time. Then it can be difficult to extract the distance of the target as the echo signals are difficult to reflect the clustering characteristics in time. In order to solve this problem, a macro/sub-pulse coded photon counting LiDAR is proposed. The measurement speed of the macro/sub-pulse method is determined by the total time of all sub-pulses in the period. Compared with pulse accumulation, the macro/sub-pulse method can realize fast measurement. In the system, the emitting pulse is divided into two parts by a proportional beam splitter, one part is directly detected by PIN and used as the transmitting reference signal, and the other part is used to detect targets. Echo signals scattered by the target are received by optical system and detected by GM-APD (Geiger-mode avalanche photodiode). It should be pointed out that in the macro/sub-pulse LiDAR system, any two sub-pulses have different pulse intervals, which can effectively avoid distance blur. In this paper, the theoretical model of macro/sub-pulse coded photon counting LiDAR is established. To obtain the distance of the target, a method which accumulates the sub-pulses with different time shift operations was proposed in this article. For the time-shifted pulse accumulation method, there is no special requirement for the received signal, but the sub-pulse interval of the transmitted signal needs to be known in advance. To meet this requirement, a PIN detector is used to record the transmitting sequence. Within a period, the echo signals detected by GM-APD detector are shifted sequentially according to the interval of sub-pulses, and the sequentially shifted echo signals are accumulated. The position of the cumulative peak corresponds to the flight time of the sub-pulse. Also, in the third part of this article, the influence of false alarm probability and detection probability were analyzed. The effectiveness of macro/sub-pulse coded photon counting LiDAR is verified by Monte Carlo simulation and experiment.