搜寻放射源机器人系统的设计  

Design of Robot System for Locating Gamma Radiation Source

作　　者：姜明明[1] 赵永国[1] 刘成业[1] 孙洁[1] 朱琳[1] JIANG Ming-ming ZHAO Yong-guo LIU Cheng-ye SUN Jie ZHU Lin(Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology,Institute of Automation, Shandong Academy of Science,Jinan 250014,China)

机构地区：[1]山东省科学院自动化研究所山东省机器人与制造自动化技术重点试验室,济南250014

出　　处：《自动化与仪表》2017年第9期69-72,76,共5页Automation & Instrumentation

基　　金：国际合作项目(2014DFR10620)

摘　　要：该文介绍了一种针对伽马放射源丢失而进行搜寻处理的机器人。该机器人采用六轮悬挂移动平台,通过搭载核寻源传感器A和传感器B采集放射源的剂量率和所处的角度值,使用三角定位法实现放射源的定位。该机器人系统由操作盒构成的规划级和车载端构成的控制级组成,可完成放射源的自主定位导航或者人工远程搜索放射源的功能。利用Cs-137对核寻源传感器A和传感器B进行了辐射场试验,结果表明该传感器定位精度高,可用于寻源机器人;在非辐射场对车体性能进行了试验,试验结果表明该系统运行稳定、可靠。研究的机器人可保证寻源过程中搜索人员的安全。A kind of robot for locating lost gamma radiation source is introduced.The six-wheel suspended mobile robot,equipped with the gamma-search sensor A and sensor B to acquire the information of gamma radiation source,and using the triangle positioning method to locate gamma radiation source.The robot is mainly composed of control stage and programming stage,and it can search the gamma radiation source automatically or manually.The experimental study is done by using Cs-137,and the results show that the sensor A and sensor B have high positioning precision.The results of non radiation field experimental study show that the system operation is stable and reliable.The designed robot can protect radiation source seeking persons from radiation harm.

关 键 词：专用机器人 搜寻放射源机器人 规划级 控制级 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]