Gamma Radiation Detection Method in Unfamiliar Indoor Scenes

Abstract

The invention discloses a gamma radiation detection method in strange indoor scenes. The gamma radiation detection method is applied to a movable robot. A speedometer, an acceleration sensor, a laser distance measuring radar, a camera, a radiation detector and a computer are carried on the movable robot; the speedometer, the acceleration sensor, the laser distance measuring radar, the camera and the radiation detector are electrically connected with the computer or are in communication with the computer respectively. The detection method includes the steps that S01, a nuclear-radiation detection path of the movable robot in the indoor scenes is automatically planned, wherein A, an environmental map is obtained; B, global path planning is generated; C, global path planning is corrected through local path planning; S02, the position and the strength of a radioactive source are solved, wherein A, data is collected with local radiation detection as a unit; B, whether the radioactive source exists or not is judged according to the collected data; C, the strength and the position of the radioactive source are solved.

Description

technical field [0001] The invention relates to the field of nuclear radiation detection, in particular to a gamma radiation detection method in an unfamiliar indoor scene. Background technique [0002] Radiation detection technology plays an important role in the fields of nuclear emergency, nuclear safety, and decommissioning of nuclear facilities. For nuclear emergency scenarios that require rapid response and nuclear facility decommissioning disposal sites that frequently change the radiation operating environment, it is a feasible solution to use mobile robots equipped with radiation detectors for radiation detection. The detection of radioactive sources avoids the health damage caused by artificial detection of radiation. [0003] Using mobile robots for radiation detection, the environment map is the prior information. Using mobile robots for radiation detection in indoor environments lacking environmental map information, the need to construct an environmental map ...

AI Technical Summary

Problems solved by technology

[0005] 1. Lack of a reliable method for indoor scene localization (including robot state estimation and environment map construction)

[0006] 2. Due to the existence of cosmic rays and natural radioactivity in the environment, all radiation detectors will generate some background signals. During the gamma radiation measurement process, the signal of the radioactive source and the background signal are mixed together, which seriously interferes with the detection accuracy.

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