核能電廠無線監測系統之研究

A Study of Wireless Monitoring System for Nuclear Power Plants

鍾炤宇(Chao-Yu Chung)

指導教授 ： 林顯易

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2012年)

https://doi.org/10.6841/NTUT.2012.00547

摘要

本論文的動機是基於在核能電廠環境中，人類並不會隨時去偵測自身周圍的輻射劑量，若進入高輻射環境底下時，很可能就會造成傷害。而若使用攜帶型輻射偵檢器(Electronic Personal Dosemeter, EPD)雖然可以知道目前的環境輻射含量狀況，但卻無法即時的讓核電廠的監控端人員掌握已發生危險的區域。
本論文提出利用ZigBee無線網路結合攜帶型輻射偵檢器做工作人員的安全監控，同時可以做人員定位並得知人員所接受到的輻射劑量。若配合使用安裝輻射偵檢器的移動式機器人做巡邏，可取代人類去做核能電廠各個可能危險區域的輻射狀況檢測並提供區域輻射資料至系統端，協助監控廠內各區域輻射濃度狀況，以確保工作人員安全，並且可省去另外添購大量的輻射偵檢器安置在核能電廠環境中的成本。
本論文使用ZigBee模組之無線訊號接收強度與移動機器人身上的攝影機配合粒子濾波器(Particle Filter)對移動式機器人的位置做估測模擬。在避免人類接觸的環境區域，例如低放射性廢棄物的場所，可利用RFID(Radio Frequency Identification，RFID)管制低放射性廢棄物，而機器人巡邏完核電廠之後，也可切換為人員操作的方式過去查看廢棄物放置區域的狀況，透過RFID讀取器得知貼附在廢棄物桶上標籤的詳細資訊內容。
本論文實際去龍門電廠測試無線訊號的傳遞狀況，評估人員定位的可行性，並模擬測試移動機器人利用無線訊號強度做自我定位，得到不錯的結果。最後對核能電廠將使用的RFID系統做低放射性廢棄物管理的RFID標籤做初步的實驗與評估。

關鍵字

無線感測網路 ； 粒子濾波器 ； 移動式機器人 ； 核能電廠 ； 無線射頻辨識系統

並列摘要

Interest in this study is inspired by the fact that under the environment of nuclear power plants it would be harmful to expose human bodies to the high radiation situations since people cannot all the time to detect the hazards of surroundings. The use of the Electronic Personal Dosemeter (EPD) may afford the count of radiation in present situation, yet cannot immediately alert the monitors in nuclear power plants about where the real danger lies.
In this study, the suggestion is advanced that the ZigBee wireless network combined with the EPD can be employed not only to monitor the staff’s safety but also to identify the staff’s positions and received radiation dose. While mobile robots equipped with the combined EPDs patrol in a nuclear power plant, they can replace humans to detect radioactive states in the potentially hazardous zones, transmit the local radiation information to the system side, assist in monitoring the regional radiation intensity, and ensure the safety of staff, as well as make the costs cut back dramatically on purchasing and setting up masses of EPDs.
In this thesis, the position of a mobile robot is estimated through both the Received Signal Strength Indication (RSSI) of the ZigBee module and the camera carried by the robot aligned with the Particle Filter. In the area where people strictly avoid to be exposed, such as the low-level radioactive waste yard, the Radio Frequency Identification (RFID) can be used to control low-level radioactive waste. After patrolling a nuclear power plant, robots can be replaced by humans to check the conditions of the waste yard through the RFID reader to get access to the detailed information which trash bins are tagged with.
By testing the transmission of wireless signals, assessing the feasibility of staff’s positioning, and examining the self-positioning of the mobile robot via wireless signal on-site in the Lungmen Nuclear Power Plant, this study acquires positive conclusions. Finally, the RFID system that will be used to control low-level radioactive waste in the nuclear power plant is also experimented and evaluated preliminarily.

並列關鍵字

Mobile Robot ； ZigBee ； RFID ； Particle Filter ； Friedman test

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