The problem of developing robotic systems for radiation measurements at industrial facilities

Abstract

The use of automated systems when working in hazardous conditions allows saving human life and health, reducing operating costs when conducting such measurements, as well as significantly speeding up the speed of such work. There is an urgent problem of decommissioning various facilities of the nuclear industry, an important part of this process is to conduct radiation measurements at the facility and draw up a map of the radiation background based on the results obtained. Currently, in Russia, work on measuring the radiation background at nuclear industry facilities is usually carried out by people without the use of automated systems. This paper presents a conceptual architecture of a system that could solve such a problem. The system consists of a mobile robotic platform, organized according to a modular principle, which allows expanding the functionality of the system without its complete processing, providing components that are also used at the facility during the operation of the complex and a single information system that aggregates measurement data from all measuring complexes. A single information system can process and store the received data, provides a convenient interface for working with these data. The paper discusses and proposes solutions to many problems that arise during the development of such complexes, such as determining the absolute position of the platform in space, communication and control systems, collecting, sending and processing data, issues of pollution control and decontamination, and others. Various options for using the complex and different scenarios for the interaction of measuring modules with a single information system are given.