基于激光雷达SLAM的核电站高放过滤器滤芯转运机器人研究

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[摘    要]核电站高放过滤器通常每个燃料循环更换一次，滤芯剂量高，转运路径复杂，路程远，人工转运面临高辐照风险，对高放过滤器滤芯的转运研究开发一种基于激光雷达SALM技术的滤芯转运机器人。

[关键词]高放过滤器;滤芯转运;激光雷达;SLAM

[中图分类号]TP242 [文献标志码]A [文章编号]2095–6487（2021）01–00–03

Research on the Transfer Robot for High-Level Filter Element of Nuclear

Power Plant based on Laser radar SLAM

Zhang Hong，Zhao A-peng，Luo Gang，Chen Shao-nan，Wang Guo-he

[Abstract]Nuclear power plant high-level filter is usually replaced once per fuel cycle. The filter element dose is high， the transport path is complicated， and the distance is long. Manual transport faces high radiation risks. The transport of high-level filter elements is researched and developed based on lidar SALM technology. Filter transfer robot.

[Keywords]high-amplification filter; filter element transfer; lidar; SLAM

核电站系统设备结构复杂，设备本身或其运行环境具有放射性，为保证设备安全可靠，核电站需周期性进行停堆检修，及时发现并更换老化、故障设备，并对废弃核装置进行去污和拆卸等，以保证核电站的安全运行。（剩余4075字）

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