On June 7, 2009, the panic caused by the failure of the source card source in the suburban Limin Irradiation Plant in Jixian County, Henan Province caused a large number of people to flee their homes; August 24, from Southwestern University of Science and Technology of Mianyang and China Engineering Physics The four robots jointly completed by the institute and Guangxi Liugong Machinery Co., Ltd. entered the radiation plant “Missing†and successfully connected the underground demon-cobalt 60, completely eliminating the fault, and the local residents returned to their homes to restore normal production. life.
This is a successful example of the successful application of the robot system developed by Southwest University of Science and Technology to nuclear emergency disposal. Before this, there is no experience in the international community for reference.
1. Xikeda was on the verge of death. Henan Lixian Limin Irradiation Factory is a private enterprise. It was completed in 1997 and is licensed to use Class 1 radioactive sources, mainly for sterilizing garlic, cotton and paprika, thereby killing insects and sterilizing. To extend the shelf life, in the early morning of June 7, several workers used cobalt 60 to irradiate agricultural and sideline products after irradiation. When the source was lowered, the goods piled up in the surrounding area suddenly collapsed and collapsed. Protecting the source cover of the radioactive source causes the source to be unhooked from the wire rope, and the source cannot be properly returned to the source well.
After the card source failure occurred, experts from the Ministry of Environmental Protection and the Henan Provincial Environmental Protection Agency have been discussing the disposal plan intensively. The Minister of Environmental Protection personally presided over the expert argumentation meeting and entrusted a deputy minister to rush to the Lixian Irradiation Factory in Qixian County for on-site inspection.
Since people can't enter the irradiation hall, can they use robots? This idea was immediately and widely recognized. The robotic source reduction program began to be urgently developed.
The Southwest University of Science and Technology, which won the National Robotics Competition and the Asia-Pacific Robotics Competition, was ordered to take up the task of handling the card source failure in Jixian County. As one of the universities located in China Electronic Science and Technology City (Mianyang), Southwest University of Science and Technology has always played an important role in science and technology and intellectual support. For Mianyang, it has made many important contributions to the economic and social development of Sichuan and even the entire western region.
After the crisis was over, Professor Zhang Hua, the person in charge of the project team, rushed to the Limin Irradiation Factory in Jixian County and took a serious look at the scene.
2. Local people talk about cobalt color change According to Professor Zhang Hua, the wall around the irradiation hall is a reinforced concrete structure. The lost road for transporting goods is about 20 meters long, 1.3 meters wide, 1.5-1.8 meters thick and 2.5 meters high. The cobalt 60 radioactive source is usually packed in cans and stored in a safe well of more than 6 meters deep in the irradiation hall, in a safe state. At work, the vegetables are pushed forward by the lost road, the door is closed, and the irradiation hall is completely closed. Then, in the control room, the radioactive source is taken from the water well to the protection source cover above the water well in the control room, and then begins. Irradiate the goods stacked around.
The protection source cover for protecting the radiation source is a cylindrical stainless steel body covered with small holes. The height is about 2 meters, and the radiation source irradiates the goods through the small holes. After the completion, the radiation source is lowered into the water well, and the worker can enter. The irradiation room transports the goods out and so on. Since the cobalt 60 activity in the irradiation hall is as high as 150,000 Curie, the irradiation dose is high and the danger is high, and people cannot enter at all.
On the afternoon of June 14, the pepper powder in the irradiation hall was collected and spontaneously ignited, and the smog began to float out in the lost mouth. The rumors of “nuclear leakage in Jixian County†and “multiple deaths caused by nuclear accident in Jixian County†were once rumored through the Internet and SMS. Spread, causing psychological panic to the masses.
In response to the rumors of constant flooding and the once out-of-control situation, party committees and governments at all levels responded quickly and held press conferences to clarify the truth and calm down the rumors. At the same time, Chen Ling, a professor at the China Institute of Atomic Energy, was in the 60-radiation source of Jixian County. At the scene, and issued an authoritative report "no radiation source leakage", the Henan Provincial Environmental Protection Department defined the incident according to the national regulations on radiation accident classification: this card source situation is not a radiation accident, it is a card in the production process. Source failure. Li Mingzhe, the county magistrate of Lixian County, stood on the scene and shouted "It is very safe" in front of the TV camera. However, due to the lack of relevant knowledge and lack of judgment, the general public is so ignorant of the discoloration of the cobalt. The spread spread and quickly escalated. Some of the masses who were not familiar with the truth began to flee from the county, and there was a "ten room, nine empty" trend in the county town of that night.
According to Prof. Zhang Hua, the temperature of cobalt 60 in air can reach more than 360 degrees. Since the cargo is exposed to radiation for a long time and the temperature is rising, so spontaneous combustion occurs. After that, the fire department injected about 400 tons into the irradiation hall. The fire water only extinguished the fire source, but this made the situation more complicated and complicates the handling of the latter.
After in-depth analysis of many technical difficulties and other unfavorable factors in the handling of card source faults, on June 26, the project team quickly determined to cooperate with China Academy of Engineering Physics and Liugong Machinery Co., Ltd. to develop robots for remote control machinery. The plan for the disposal of the source. On August 9th, the Ministry of Environmental Protection hosted a review meeting on robotic source reduction disposal plan in Chengdu. The experts and representatives at the meeting agreed that the disposal plan formulated by Southwest University of Science and Technology was operational and was finally determined as the positive selection plan. In order to ensure that nothing is lost, the Ministry of Environmental Protection designated the China Institute of Atomic Energy to prepare an alternative plan and pass expert review.
According to Professor Zhang Hua, the three parties have had many cooperations before. Guangxi Liugong is a small sports machine body. The China Academy of Engineering Physics is the trump card unit for nuclear radiation protection and monitoring in China. The Southwest University of Science and Technology is in the field of robotics and electromechanical systems. Have their own advantages. The project team is responsible for the independent development of the "brain" and "eye" parts of the robot. Liugong is responsible for the manufacture of the mechanical body, and the project team can perform the equivalent irradiation experiment of the robot in the high-risk environment at the China Academy of Engineering Physics.
3. Emergency development of four robots According to Professor Zhang Hua, a specialist in the disposal group of Southwest University of Science and Technology, there are four technical difficulties in the handling of card source faults: First, the activity of cobalt 60 in the irradiation hall is as high as 150,000 Curies, irradiation. The dosage is high and the risk is high; the second is that the disposal environment is complicated and the amount of goods handled is large. There are 11 trolleys in the irradiation hall, as well as a large pile of goods, more than 400 tons of fire water wash, which makes the situation more complicated, the ground is scattered with muddy paprika, and the cables and steel ropes inside are intertwined; It is the size and working size of the robot itself that is severely limited. Since the puzzle is only 1.3 meters wide and 20 meters long, and all are curved, the scope of robot operation is very limited, which brings great difficulties to the development of the robot. Fourth, the time requirement is extremely urgent. The design, experiment, processing and commissioning time of the robot is less than one month.
According to the design requirements of the Southwest University of Science and Technology project team, after the production of the miniature special forklift and mini-transporter developed by Guangxi Liugong Machinery Co., Ltd., the project team completed the commissioning and transformation of the robot in just over half a month. In total, there are 4 robots, among which the computing system and the video system are all reinforced by strong radiation. Among them, “Siyuan†and “Ziqiang†are specially developed special forklifts and trucks for on-site clearing work. Wang Wei, a member of the project team, introduced the name “Siyuan†and “self-improvementâ€. First, he was grateful to the people of Henan and Kaifeng for their selfless assistance to the earthquake-stricken areas. The second was to encourage themselves, strive for self-improvement, and strive for innovation. The “self-strengthening†robot is responsible for the rescue of the problematic working robot. In addition, Southwest University of Science and Technology has independently developed a robotic arm robot "Xike" and a holographic camera acquisition system robot.
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