Measurement system and method for radiation field dose characteristics

Abstract

The embodiments of this application relate to the field of radiation measurement, specifically to a measurement system for the dose characteristics of a radiation field. The system includes: a detector for detecting the dosimetric characteristics of a radiation field; a clamp for fixing the detector; a robotic arm for fixing the clamp; a moving device configured to move along a predetermined route, and the robotic arm fixed to the moving device; and a control and analysis unit for receiving and analyzing radiation dose data obtained from the detector, and controlling the detector, clamp, robotic arm, and moving device, wherein the moving device is configured to move the robotic arm in both horizontal and vertical directions. The measurement system in the embodiments of this application can improve the efficiency, accuracy, and safety of measuring the dose characteristics of a radiation field. The embodiments of this application also provide a method for measuring the dose characteristics of a radiation field in a specified area.

Description

Technical Field

[0001] The embodiments of this application relate to the field of radiation measurement, specifically to a measurement system and method for measuring the dose characteristics of a radiation field. Background Technology

[0002] There is a widespread need for dose monitoring in fields such as nuclear power, radiation medicine, environmental monitoring, and radioactive waste management. To achieve accurate radiation measurements and ensure the safety of personnel and the environment, it is necessary to conduct regular studies on radiation dose characteristics. However, traditional manual measurement methods cannot meet the requirements for large-scale, high-precision, and high-efficiency measurements.

[0003] Automatic radiation dose characteristic measurement systems can significantly improve measurement efficiency, safety, and accuracy, reduce the risk of personnel exposure to radiation, and also help promote the application and development of automation technology in the field of radiation measurement. Summary of the Invention

[0004] In view of the above problems, this application is made in order to provide a measurement system and method for radiation field dose characteristics.

[0005] Embodiments of this application provide a measurement system for the dose characteristics of a radiation field, comprising: a detector for detecting the dosimetric characteristics of a radiation field; a clamp for fixing the detector; a robotic arm for fixing the clamp; a moving device configured to move along a predetermined route, and the robotic arm fixed to the moving device; and a control and analysis unit for receiving and analyzing data obtained from the detector, and controlling the detector, clamp, robotic arm, and moving device, wherein the moving device is configured to move the robotic arm in both horizontal and vertical directions.

[0006] An embodiment of this application also provides a method for measuring the radiation field dose characteristics of a designated area, which employs the aforementioned measurement system. The method includes the following steps: S10: obtaining the location of the designated area where the radiation field dose characteristics need to be measured and the type of measurement to be performed; S20: obtaining the location of the measurement system; S30: based on the location and measurement type obtained in step S10 and the location obtained in step S20, the measurement system determines the movement route and scan type of the measurement system; S40: based on the movement route and scan type determined by the measurement system in step S30, the measurement system moves to the designated area and measures the radiation field dose characteristics of the designated area according to the scan type.

[0007] The measurement system in the embodiments of this application can improve the efficiency, accuracy and safety of measurement, and the measurement method in the embodiments of this application can improve measurement efficiency. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of a measurement system according to an embodiment of this application;

[0009] Figure 2 This is a schematic diagram of the structure of a horizontal moving mechanism according to an embodiment of this application;

[0010] Figure 3 This is a schematic diagram of the structure of a measurement system according to another embodiment of this application;

[0011] Figure 4 This is a schematic diagram of the locking mechanism according to an embodiment of this application;

[0012] Figure 5 This is a schematic diagram of the measurement results obtained by measuring according to the measurement method of an embodiment of this application.

[0013] In the diagram: 1. Measurement system; 10. Detector; 20. Fixture; 30. Robotic arm; 40. Moving device; 41. Moving device body; 42. Horizontal moving mechanism; 421. Loading platform; 422. Linear guide rail; 423. Horizontal moving drive unit; 4231. Limit sensor; 4232. Horizontal moving drive motor; 4233. Transmission rod; 4234. First drive wheel; 4235. Second drive wheel; 43. Vertical moving mechanism; 431. Installation platform; 432, Vertical movement drive unit; 4321, Lifting machine; 433, Guide shaft; 50, Control and analysis unit; 51, Electrical control box; 52, Electrical control cabinet; 60, Locking mechanism; 61, Locking mechanism body; 611, Rotating wheel; 612, Lead screw; 613, Locking guide shaft; 62, Support arm; 63, Support arm drive unit; 64, Limiting assembly; 641, Limiting assembly body; 642, Expanding limiting wheel; 643, Retracting limiting wheel; 71. 137 Radiation field dose characteristics at 1 meter from a Cs multi-source irradiation device; 72. 60 73. Radiation field dose characteristics of a single-source Co radiation device at 1 meter; 74. Radiation field dose characteristics of a low-energy X-ray machine at 1 meter; 75. Radiation field dose characteristics of a medium- and high-energy X-ray machine at 1 meter.

[0014] It should also be noted that the accompanying drawings are for illustrative purposes only and not of the present application itself. The drawings do not show every aspect of the described embodiments and do not limit the scope of the present application. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only one embodiment of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0016] It should be noted that, unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person with ordinary skill in the art to which this application pertains. Where the terms "first," "second," etc., are used throughout the text, they are used only to distinguish similar objects and should not be construed as indicating or implying their relative importance, order of precedence, or implicitly specifying the number of technical features indicated. It should be understood that the data in the descriptions of "first," "second," etc., can be interchanged where appropriate. Where "and / or" appears throughout the text, it means that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B.

[0017] The inventors of this application have discovered that in the prior art, when determining the radiation field dose characteristics of a specified area, manual measurement is usually used. However, manual measurement is inefficient and can easily threaten the safety of the testing personnel, failing to meet the needs of large-scale, high-precision, and high-efficiency measurement.

[0018] Therefore, embodiments of this application provide a measurement system for radiation field dose characteristics, such as... Figure 1 The schematic diagram shown is of a measurement system according to an embodiment of this application, which includes: a detector 10 for detecting the dosimetric characteristics of a radiation field, such as dose distribution, uniformity, scattered radiation, and energy spectrum; a clamp 20 for fixing the detector 10; a robotic arm 30 for fixing the clamp 20; a moving device 40 configured to move along a predetermined route, and the robotic arm 30 fixed to the moving device 40; and a control and analysis unit 50 for receiving and analyzing data obtained from the detector 10, and controlling the detector 10, clamp 20, robotic arm 30, and moving device 40, wherein the moving device 40 is configured to move the robotic arm 30 in both horizontal and vertical directions. The measurement system provided in this embodiment can realize automated measurement of the dose characteristics of a radiation field, improving measurement efficiency, accuracy, and safety.

[0019] In some embodiments, the mobile device 40 includes a mobile device body 41 and a horizontal moving mechanism 42, the horizontal moving mechanism 42 being fixed to the mobile device body 41; and a robot arm 30 being fixed to the horizontal moving mechanism 42, the horizontal moving mechanism 42 being configured to drive the robot arm 30 to move horizontally.

[0020] In some embodiments, such as Figure 2 The schematic diagram of the horizontal moving mechanism according to an embodiment of this application is shown. The horizontal moving mechanism 42 includes: a loading platform 421, a linear guide rail 422, and a horizontal moving drive unit 423. The robot arm 30 is fixed to the loading platform 421. The loading platform 421 is disposed on the linear guide rail 422. The horizontal moving drive unit 423 is configured to drive the loading platform 421 to move along the linear guide rail 422.

[0021] In some embodiments, the horizontal movement drive unit 423 further includes a limit sensor 4231. When the loading platform 421 moves to a predetermined position, the limit sensor 4231 sends a signal to the control analysis unit 50.

[0022] In some embodiments, the limit sensor 4231 may also be an infrared sensor. When the loading platform 421 moves to a predetermined position, the infrared sensor is triggered and sends a signal to the control and analysis unit 50.

[0023] In some embodiments, the horizontal movement drive unit 423 includes a horizontal movement drive motor 4232 and a transmission rod 4233. The loading platform 421 is disposed on the transmission rod 4233. After driving the horizontal movement drive motor 4232, the horizontal movement drive motor 4232 drives the transmission rod 4233 to rotate, thereby driving the loading platform 421 to move.

[0024] In some embodiments, the transmission rod 4233 can convert rotational motion into linear motion. The transmission rod 4233 can be a ball screw. The outer surface of the transmission rod 4233 is provided with threads. The loading platform 421 can be fixed to the transmission rod 4233 by a nut. When the transmission rod 4233 rotates, the transmission rod 4233 drives the nut of the loading platform 421 to move through the threads on its outer surface. Each rotation of the transmission rod 4233 causes the loading platform 421 to translate by one pitch, where one pitch is the axial distance between two adjacent threads.

[0025] In some embodiments, the horizontal movement drive unit 423 further includes a first drive wheel 4234 and a second drive wheel 4235. The first drive wheel 4234 is connected to the horizontal movement drive motor 4232, and the second drive wheel 4235 is connected to the transmission rod 4233. The first drive wheel 4234 and the second drive wheel 4235 rotate synchronously. When the horizontal movement drive motor 4232 rotates, the first drive wheel 4234 is driven, which in turn drives the second drive wheel 4235 to rotate synchronously, thereby driving the transmission rod 4233 to rotate. The ball screw converts the rotational motion into linear motion, driving the loading platform 421 to move. In some embodiments, the first drive wheel 4234 and the second drive wheel 4235 are connected by a track.

[0026] In some embodiments, the horizontal movement distance of the horizontal movement drive unit 423 is within 500 mm.

[0027] In some embodiments, such as Figure 3 The schematic diagram of the measurement system according to another embodiment of this application is shown. In this embodiment, the moving device 40 further includes a vertical moving mechanism 43, and a horizontal moving mechanism 42 is fixed to the vertical moving mechanism 43. The vertical moving mechanism 43 drives the horizontal moving mechanism 42 to move along the vertical direction of the measurement system 1.

[0028] In some embodiments, the vertical moving mechanism 43 includes a mounting platform 431 and a vertical moving drive unit 432. The vertical moving drive unit 432 is fixed to the mounting platform 431, and the horizontal moving mechanism 42 is disposed on the vertical moving drive unit 432. The vertical moving drive unit 432 is configured to drive the horizontal moving mechanism 42 to move along the vertical direction of the measuring system 1.

[0029] In some embodiments, the vertical movement drive unit 432 includes a vertical movement drive motor (not shown in the figure), a lifting machine 4321, and a right-angle commutator (not shown in the figure). One end of the lifting machine 4321 is fixed to the mounting platform 431, and the other end is fixed to the horizontal movement mechanism 42. The vertical movement drive motor and the right-angle commutator are fixed to the mounting platform 431. The vertical movement drive motor and the right-angle commutator are connected, and the right-angle commutator is connected to the lifting machine 4321. The vertical movement drive motor transfers power to the right-angle commutator, and then controls the lifting machine 4321 to move up or down along the vertical direction of the measuring system 1 through the right-angle commutator, thereby driving the horizontal movement mechanism 42 to move up or down along the vertical direction of the measuring system 1.

[0030] In some embodiments, the vertical moving mechanism 43 may further include a guide shaft 433, one end of which is fixed to the mounting platform 431 and the other end of which is fixed to the moving device body 41. When the vertical moving drive unit 432 drives the horizontal moving mechanism 42 to move along the vertical direction of the measuring system 1, the guide shaft 433 guides the movement of the horizontal moving mechanism 42 along the vertical direction of the measuring system 1 to prevent the horizontal moving mechanism 42 from deviating in the vertical direction.

[0031] In some embodiments, the measuring system 1 further includes a locking mechanism 60, which has a first working state and a second working state. When the locking mechanism 60 is in the first working state, the measuring system 1 moves on the raised track and is limited by the locking mechanism 60. When the locking mechanism 60 is in the second working state, the measuring system 1 moves on the recessed track and is limited by the locking mechanism 60.

[0032] In some embodiments, such as Figure 4 A schematic diagram of the locking mechanism according to an embodiment of this application is shown. The locking mechanism 60 includes: a locking mechanism body 61, two support arms 62, a support arm drive unit 63, and two limiting components 64. The locking mechanism body 61 is fixed to the moving device body 41, and the support arm drive unit 63 is movably connected to the locking mechanism body 61. One end of each support arm 62 is fixedly connected to the support arm drive unit 63, and the other end of each support arm 62 is fixedly connected to each limiting component 64. The support arm 62 is configured to move along the vertical direction of the measuring system 1. When it moves along one direction of the measuring system 1, it drives the limiting component 64 to move in the direction where the distance between the two limiting components 64 decreases or in the direction where the distance between the two limiting components 64 increases.

[0033] In some embodiments, the limiting component 64 includes: a limiting component body 641, one end of which is rotatably connected to the moving device body 41; an expanding limiting wheel 642, which is disposed at the other end of the limiting component body 641; and a contracting limiting wheel 643, which is detachably disposed at the lower end of the expanding limiting wheel 642; wherein, the support arm 62 is fixed to the limiting component body 641, and when the support arm 62 moves along the vertical direction of the measuring system 1, it drives the limiting component body 64 to move, so that the expanding limiting wheels 642 of each limiting component body 641 move in a direction that reduces the distance between them or moves in a direction that increases the distance between them.

[0034] In some embodiments, when the locking mechanism 60 is in the first working state, the measuring system 1 moves on the raised track. At this time, the retraction limiting wheel 643 is set at the lower end of the expansion limiting wheel 642, driving the support arm drive unit 63 to move upward along the vertical direction of the measuring system 1, and driving the end of the support arm 62 connected to the support arm drive unit 63 to move upward along the vertical direction of the measuring system 1. This causes the expansion limiting wheels 642 of each limiting component body 641 to move in the direction of decreasing relative distance to each other, until the retraction limiting component 64 clamps the outer edge of the raised track, limiting the movement of the measuring system 1, ensuring the stability of the measuring system 1 during movement, and enhancing the safety of the measurement process.

[0035] In some embodiments, when the locking mechanism 60 is in the second working state, the measuring system 1 moves on the recessed track. At this time, the retraction limiting wheel 643 is not set at the lower end of the expansion limiting wheel 642, or the retraction limiting wheel 643 set at the lower end of the expansion limiting wheel 642 is disassembled. The support arm drive unit 63 is driven to move downward along the vertical direction of the measuring system 1, and the end of the support arm 62 connected to the support arm drive unit 63 is driven to move downward along the vertical direction of the measuring system 1. This causes the expansion limiting wheel 642 of each limiting component body 641 to move in a direction that increases the distance between them, until the expanded limiting component 64 abuts against the inner edge of the recessed track, limiting the movement of the measuring system 1, ensuring the stability of the measuring system 1 during movement, and enhancing the safety of the measurement process.

[0036] In some embodiments, the locking mechanism body 61 includes a rotating wheel 611 and a lead screw 612. The rotating wheel 611 is fixed to the lead screw 612, and the support arm drive part 63 is movably fixed to the lead screw 612. When the rotating wheel 611 rotates, it drives the lead screw 612 to rotate, thereby driving the support arm drive part 63 to move along the vertical direction of the measuring system 1. In some embodiments, the rotating wheel 611 can rotate counterclockwise to drive the support arm drive part 63 to move upward along the vertical direction of the measuring system 1, and rotate clockwise to drive the support arm drive part 63 to move downward along the vertical direction of the measuring system 1. In some embodiments, the rotating wheel 611 can also rotate counterclockwise to drive the support arm drive part 63 to move downward along the vertical direction of the measuring system 1, and rotate clockwise to drive the support arm drive part 63 to move upward along the vertical direction of the measuring system 1. This application does not limit this.

[0037] In some embodiments, when the locking mechanism 60 is in the first working state, the measuring system 1 moves on the raised track. At this time, the retraction limiting wheel 643 is placed at the lower end of the expansion limiting wheel 642. The rotating wheel 611 is rotated, causing the rotating wheel 611 to drive the lead screw 612 to rotate, thereby driving the support arm drive unit 63 to move upward along the vertical direction of the measuring system 1, and driving the end of the support arm 62 connected to the support arm drive unit 63 to move upward along the vertical direction of the measuring system 1. This causes the expansion limiting wheels 642 of each limiting component body 641 to move in a direction where the distance between them decreases until the retraction limiting component 64 clamps the outer edge of the raised track, limiting the movement of the measuring system 1, ensuring the stability of the measuring system 1 during movement, and enhancing the safety of the measurement process.

[0038] In some embodiments, when the locking mechanism 60 is in the second working state, the measuring system 1 moves on the recessed track. At this time, the contraction limiting wheel 643 is not set at the lower end of the expansion limiting wheel 642, or the contraction limiting wheel 643 set at the lower end of the expansion limiting wheel 642 is disassembled. The rotating wheel 611 is rotated, causing the rotating wheel 611 to drive the lead screw 612 to rotate, driving the support arm drive part 63 to move downward along the vertical direction of the measuring system 1, and driving the end of the support arm 62 connected to the support arm drive part 63 to move downward along the vertical direction of the measuring system 1. This causes the expansion limiting wheels 642 of each limiting component body 641 to move in a direction that increases the distance between them, until the expanded limiting component 64 abuts against the inner edge of the recessed track, limiting the movement of the measuring system 1, ensuring the stability of the measuring system 1 during movement, and enhancing the safety of the measurement process. In some embodiments, the locking mechanism body 61 may further include a locking guide shaft 613, and the support arm drive part 63 is movably fixed on the locking guide shaft 613. When the lead screw 612 rotates with the rotation of the rotating wheel 611, the locking guide shaft 613 remains stationary, guiding the movement of the support arm drive part 63 in the vertical direction and preventing the movement of the support arm drive part 63 in the vertical direction from deviating.

[0039] In some embodiments, the locking mechanism 60 can be detached from the retraction limit wheel 643 and the expansion limit wheel 642, and the measuring system 1 can be used in locations where no track exists.

[0040] In some embodiments, the control analysis unit 50 may include an electronic control box 51, which is disposed on the mobile device body 41 and is used to control the mobile device 40.

[0041] In some embodiments, the control and analysis unit 50 may include an electrical control cabinet 52, which is connected to the robot arm 30 to enable the robot arm 30 to perform actions such as rotating and translating the gripper 20.

[0042] Embodiments of this application also provide a method for measuring the radiation field dose characteristics of a designated area, which employs the measurement system in any of the above embodiments. The method includes the following steps: S10: obtaining the location of the designated area where the radiation field dose characteristics need to be measured and the type of measurement to be performed; S20: obtaining the location of the measurement system; S30: based on the location and measurement type obtained in step S10 and the location obtained in step S20, the measurement system determines the movement route and scan type of the measurement system; S40: based on the movement route and scan type determined in step S30, the measurement system moves to the designated area and measures the radiation field dose characteristics of the designated area according to the scan type. The measurement method provided by the embodiments of this application enables automated measurement of the radiation field dose characteristics of a designated area, accurately measuring the radiation field dose characteristics of the designated area while improving measurement efficiency and saving measurement time.

[0043] In some embodiments, in step S30, the movement route of the measurement system is determined using a pre-set movement route in the measurement system based on the location obtained in step S10, the type of measurement, and the location obtained in step S20.

[0044] In some embodiments, in step S30, after determining the scan type, control instructions for the mobile device and the robot are also determined, and the mobile device and the robot are controlled according to the control instructions.

[0045] In some embodiments, in step S40, the position of the moving device and the robot is initialized before the measurement system performs the measurement.

[0046] In some embodiments, step S40 further includes: sending measurement data of the radiation field dose characteristics of the designated area and the location information of the measurement system to the measurement system, and the measurement system processing the measurement data and the location information.

[0047] In some embodiments, step S40 further includes: determining that the measurement data is greater than a predetermined threshold, and displaying the measurement data in a predetermined manner to prompt external operators to pay attention to the information fed back by the measurement data.

[0048] In some embodiments, step S10 further includes: detecting the communication connection between the detector, robot arm, moving device and control analysis unit of the measurement system, and determining the communication connection between the detector, robot arm, moving device and control analysis unit.

[0049] like Figure 5 The diagram shown illustrates the measurement results obtained by the measurement method according to an embodiment of this application. 137Figure 71 shows the radiation field dose characteristics at 1 meter from the Cs multi-source irradiation device. 60 Figure 72 shows the radiation field dose characteristics at 1 meter for a Co single-source irradiation device, Figure 73 shows the radiation field dose characteristics at 1 meter for a low-energy X-ray machine, and Figure 74 shows the radiation field dose characteristics at 1 meter for a medium- and high-energy X-ray machine. In the above characteristic figures, the horizontal axis represents the position of the radiation field at 1 meter in the irradiation field of view, in centimeters, and the vertical axis represents the relative air kerma rate, in percentage.

[0050] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. A system for measuring dose characteristics of a radiation field, characterized by, The application relates to a radiation field dose measurement system, comprising: a detector for detecting the dosimetric characteristics of a radiation field; a clamp for fixing the detector; a manipulator for fixing the clamp; a moving device arranged to move along a predetermined route, and the manipulator is fixed to the moving device; a control analysis unit receiving and analyzing data obtained from the detector, and the control analysis unit controls the detector, the clamp, the manipulator and the moving device, wherein the moving device is arranged to move the manipulator in horizontal and vertical directions; a locking mechanism having a first working state and a second working state, when the locking mechanism is in the first working state, the measuring system moves along a convex track, the locking mechanism clamps the outer edge of the convex track, limits the movement of the measuring system to ensure the stability of the measuring system during movement; when the locking mechanism is in the second working state, the measuring system moves along a concave track, the locking mechanism abuts against the inner edge of the concave track, limits the movement of the measuring system to ensure the stability of the measuring system during movement; wherein the locking mechanism comprises: a locking mechanism body, two support arms, a support arm driving part and two limiting assemblies; the locking mechanism body is fixed to the moving device body, the support arm driving part is movably connected to the locking mechanism body, one end of each support arm is fixedly connected to the support arm driving part, and the other end of each support arm is fixedly connected to each limiting assembly, wherein the support arm is arranged to move along the vertical direction of the measuring system, and when it moves in one direction of the measuring system, it drives the limiting assemblies to move in the direction of reducing the distance between the two limiting assemblies or in the direction of expanding the distance between the two limiting assemblies.

2. The measurement system of claim 1, wherein, The moving device comprises a moving device body and a horizontal moving mechanism fixed to the moving device body; the manipulator is fixed to the horizontal moving mechanism, and the horizontal moving mechanism is arranged to drive the manipulator to move horizontally.

3. The measurement system of claim 2, wherein, The horizontal moving mechanism comprises: a carrying platform, a linear guide rail and a horizontal moving driving part, the manipulator is fixed to the carrying platform, the carrying platform is arranged on the linear guide rail, the horizontal moving driving part is arranged to drive the carrying platform to move along the linear guide rail.

4. The measurement system of claim 3, wherein, The horizontal moving driving part further comprises a limiting sensor, the carrying platform moves to a predetermined position, and the limiting sensor sends a signal to the control analysis unit.

5. The measurement system of claim 1, wherein, The limiting assembly comprises: a limiting assembly body, one end of the limiting assembly body is rotatably connected to the moving device body; an expansion limiting wheel arranged at the other end of the limiting assembly body; a contraction limiting wheel detachably arranged at the lower end of the expansion limiting wheel; The support arm is fixed to the limiting component body, and when the support arm moves along the vertical direction of the measurement system, it drives the limiting component body to move, so that the expansion limiting wheels of each limiting component body move in the direction of reducing the distance between each other or in the direction of expanding the distance between each other.

6. The measurement system of any one of claims 2-4, wherein, The moving device further comprises a vertical moving mechanism, and the horizontal moving mechanism is fixed to the vertical moving mechanism, and the vertical moving mechanism drives the horizontal moving mechanism to move along the vertical direction of the measurement system.

7. A method of measuring the dose characteristics of a radiation field in a specified area using the measuring system according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: S10: acquiring the position of a specified area where the radiation field dose characteristic needs to be measured and the type of measurement needed; S20: acquiring the position of the measurement system; S30: according to the position acquired in S10, the type of measurement, and the position acquired in S20, the measurement system determines the moving route of the measurement system and the scanning type; S40: according to the moving route and the scanning type determined by the measurement system in S30, the measurement system moves to the specified area and measures the radiation field dose characteristic of the specified area according to the scanning type.

8. The measurement method according to claim 7, wherein, In S30, According to the position acquired in S10, the type of measurement, and the position acquired in S20, the moving route of the measurement system is determined by using the pre-set moving route in the measurement system.

9. The measurement method according to claim 7, wherein, In S30, After determining the scanning type, the control instructions of the moving device and the mechanical arm are also determined, and the moving device and the mechanical arm are controlled according to the control instructions.

10. The measurement method according to claim 7, wherein, In S40, Before the measurement system measures, the positions of the moving device and the mechanical arm are initialized.

11. The measurement method according to claim 7, wherein, In S40, it further comprises: The measurement data of the radiation field dose characteristic of the specified area and the position information of the measurement system are sent to the measurement system, and the measurement data and the position information are processed by the measurement system.

12. The measuring method according to claim 11, wherein, In S40, it further comprises: It is determined that the measurement data is greater than a predetermined threshold, and the measurement data is displayed in a predetermined manner to prompt the external operator to pay attention to the information feedback by the measurement data.

13. The measurement method according to claim 7, wherein, In S10, it further comprises: The communication connection between the detector, the mechanical arm, the moving device, and the control analysis part of the measurement system is detected, and it is determined that the detector, the mechanical arm, the moving device, and the control analysis part are in communication connection.

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