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

作　　者：黄逸菲 赵倩儒 吴其超 王忠海 HUANG Yifei;ZHAO Qianru;WU Qichao;WANG Zhonghai(College of physics,Sichuan University,Chengdu 610065)

机构地区：[1]四川大学物理学院,成都610065

出　　处：《辐射防护》2024年第S01期28-34,66,共8页Radiation Protection

摘　　要：本文围绕γ放射源搜寻任务,研制了2×2CsI(Na)阵列的γ放射源定向探测器,研究并验证了空间定向算法;基于ROS机器人操作系统,将定向探测器与国产宇树公司开发的四足机器人相结合,通过上位机软件设计,实现了集成通信连接、机器人运动控制、定向探测器功能设置、机器人运动状态监控等功能;开发了基于矩阵运算的放射源三角定位算法,仅需两个测量点的参数信息即可实现对放射源的空间定位。经实验验证,对于mCi级的^(137)Cs放射源,总测量时间在90 s以内,空间定位误差小于0.4 m。This article focuses on the task of gamma-ray source searching.A 2×2 CsI(Na)array-based gammaray 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 ^(137)Cs 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 

分 类 号：TL816.2[核科学技术—核技术及应用]