辐射防护2024，Vol.44Issue(z1)：28-34,66,8.
定向探测器协同四足机器人的γ放射源搜寻技术研究
Directional detector worked with four-leg robot for searching gamma-ray source
摘要
Abstract
This article focuses on the task of gamma-ray source searching.A 2×2 CsI(Na)array-based gamma-ray source directional detector was designed,and the spatial orientation algorithm was studied and verified.Based on the ROS(Robot Operating System),the directional detector is integrated with a four-leg robot developed by the company Unitree Robotics.Through the design of PC software,the integration of functions such as communication connection,robot motion control,functional settings for the directional detector,and robot motion status monitoring was achieved.Furthermore,a triangulation algorithm based on matrix operations is developed for gamma-ray source localization,which requires parameters from only two measurement points to achieve spatial localization of the radiation source.Experimental validation shows that,for a milli-curie level 137Cs radioactive source,the total measurement time is within 90 seconds,and the spatial localization error is less than 0.4 meters.关键词
阵列探测器/空间定向/γ放射源搜寻/四足机器人Key words
array detector/spatial orientation/gamma-ray source searching/four-leg robot分类
能源科技引用本文复制引用
黄逸菲,赵倩儒,吴其超,王忠海..定向探测器协同四足机器人的γ放射源搜寻技术研究[J].辐射防护,2024,44(z1):28-34,66,8.
