定向探测器协同四足机器人的γ放射源搜寻技术研究

Abstract

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 functionssuch 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.

Key words: array detector, spatial orientation, gamma-ray source searching, four-leg robot

CLC Number:

TL816+.2

HUANG Yifei, ZHAO Qianru, WU Qichao, WANG Zhonghai. Directional detector worked with four-leg robot for searching gamma-ray source[J].RADIATION PROTECTION, 2024, 44(S1): 28-34.

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Directional detector worked with four-leg robot for searching gamma-ray source

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