Surface pollution measuring device and method based on three-dimensional scanning

Abstract

The surface pollution measuring device comprises a rotating platform, a three-axis mechanical arm, a detection assembly, a three-dimensional imaging module and a control system.In the actual use process, a to-be-detected object is placed on the rotating platform, the rotating platform drives the to-be-detected object to rotate, and the to-be-detected object is positioned on the three-axis mechanical arm; the three-dimensional imaging module performs three-dimensional scanning on a to-be-measured object and realizes three-dimensional modeling, the control system calculates a pollution measurement path according to a three-dimensional model, the three-axis mechanical arm drives the detection assembly to measure pollution according to the path, and meanwhile, the rotating platform drives the to-be-measured object to cooperatively rotate according to the measurement path. The three-dimensional scanning and surface pollution measurement of the to-be-detected article are completed, the pollution area is displayed through the three-dimensional model, the measurement result is directly displayed on the article model through the color difference diagram through system integration calculation, and the method has the advantages of automation, visualization, small personnel exposure dose and more accurate measurement.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of radiation monitoring equipment, and in particular to a surface contamination measurement device and method based on three-dimensional scanning. Background Art

[0002] Surface contamination is the presence of radioactive dust, powder or radioactive liquid on the surface of an object or human body. This contamination may come from the destruction of the radioactive material containment system, the leakage of the radioactive system, and the machining of radioactive objects. For the measurement of surface contamination of personnel, there are currently mature solutions. The whole body contamination monitor can be used to complete the surface contamination monitoring of personnel. Objects come in various shapes. There are currently two forms of measuring surface contamination of objects: the first is a small object contamination meter, which is usually used for tool measurement at the entrance and exit of the control area. It can determine whether the object is contaminated. Since the detection efficiency of small objects is affected by the size, structure, placement, distance from the side detector and bottom detector of the small objects, there are large differences in the detection efficiency of small objects. The small object contamination meter cannot intelligently obtain information such as the size, structure, and placement of small objects. Therefore, there is a large error in the detection efficiency involved in the calculation. Generally, only small objects can be qualitatively measured, and the specific degree of contamination cannot be determined, and there may even be misjudgments. The second measurement method is to manually use a portable surface contamination meter to scan the surface of the object, select several high-dose value positions for recording, and use them as the surface contamination level of the entire object. This method can accurately determine whether an object is contaminated and know the specific degree of contamination, but the amount of data obtained in this way is small, the degree of surface contamination of the object is incomplete, and it consumes more human resources. The decommissioning and maintenance of nuclear power plants will produce large contaminated samples or tools with different structures and sizes, and there will be a large number of surface contamination measurement requirements. The second measurement method is used to carry out surface contamination measurement, which is time-consuming and labor-intensive, and increases the exposure dose to personnel. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides a surface contamination measurement device based on three-dimensional scanning, comprising: a rotating platform, the rotating platform is arranged on the ground or on a mounting platform, the rotating platform is used to place an object to be measured, and the rotating platform can drive the object to be measured to rotate;

[0005] A three-axis mechanical arm, wherein the three-axis mechanical arm is arranged on a rotating platform;

[0006] A detection component, which is arranged on the three-axis mechanical arm, and the detection component achieves the detection component reaching the surface of each position of the object to be detected through the cooperation between the rotating component platform and the three-axis mechanical arm;

[0007] A three-dimensional imaging module, which is disposed at a fixed end of the rotating platform and is used to scan and image the object to be tested;

[0008] A control system is electrically connected to the rotating platform, the three-axis robotic arm, the detection component and the rotating platform.

[0009] A second aspect of the present invention provides a surface contamination measurement method based on three-dimensional scanning.

[0010] In view of this, according to a first aspect of an embodiment of the present application, a surface contamination measurement device based on three-dimensional scanning is proposed, comprising:

[0011] A rotating platform, which is arranged on the ground or on a mounting platform, and is used to place the object to be tested, and the rotating platform can drive the object to be tested to rotate;

[0012] A three-axis mechanical arm, wherein the three-axis mechanical arm is arranged on a rotating platform;

[0013] A detection component, which is arranged on the three-axis mechanical arm, and the detection component achieves the detection component reaching the surface of each position of the object to be detected through the cooperation between the rotating component platform and the three-axis mechanical arm;

[0014] A three-dimensional imaging module, which is disposed at a fixed end of the rotating platform and is used to scan and image the object to be tested;

[0015] A control system is electrically connected to the rotating platform, the three-axis robotic arm, the detection component and the rotating platform.

[0016] In a feasible implementation manner, the detection component includes:

[0017] The detector body adopts a semiconductor PIPS (ion-passivated planar silicon) anti-coincidence detector;

[0018] Lead sheet, the lead sheet is wrapped around the detector body, and an incident window is reserved at the front end of the detector body;

[0019] A laser locator is arranged around the lead sheet and is used for visually locating the object to be tested.

[0020] In a feasible implementation manner, it is characterized in that the three-axis robotic arm comprises:

[0021] A base joint, the base joint being connected to a fixed end of the rotating platform;

[0022] A first movable arm, one end of which is connected to the base joint;

[0023] an elbow joint, the elbow joint being connected to the other end of the first movable arm;

[0024] a second movable arm, one end of which is connected to the elbow joint;

[0025] A wrist joint is connected to the other end of the second movable arm, and the wrist joint is connected to the detection component.

[0026] In a feasible implementation manner, the three-dimensional imaging module includes:

[0027] A scanning track, one end of which is disposed at the fixed end of the rotating platform, and the scanning track is an arc-shaped ascending track;

[0028] A three-dimensional imager is arranged on a scanning track, and the three-dimensional imager realizes three-dimensional imaging of an object by moving on the scanning track and rotating the rotating platform.

[0029] In a feasible implementation manner, the rotating platform includes:

[0030] A rotating base, which is a fixed end of the rotating platform, is fixed to the ground or the mounting platform, is electrically connected to the control system, and the three-axis robotic arm and the three-dimensional imaging module are both connected to the rotating base;

[0031] A rotating table is rotatably connected to a rotating base and is used to place an object to be tested.

[0032] In a feasible implementation manner, the detector body adopts a double probe.

[0033] In a feasible implementation manner, a planetary gear structure is used between the rotating base and the rotating platform.

[0034] In a feasible implementation manner, the first movable arm and the second movable arm are made of carbon fiber and aluminum alloy hollow structure arms.

[0035] According to a second aspect of an embodiment of the present application, a surface contamination measurement method based on three-dimensional scanning is proposed, comprising: placing an object to be measured on a rotating platform;

[0036] Start the control system to set up the measurement task;

[0037] The three-dimensional imaging module scans and images the object to be tested;

[0038] After scanning, the control system panes the outer surface of the object and assigns coordinate locations;

[0039] The path algorithm generates the detector path based on the tangent angles of each point on the outer surface of the object and the relative position of the three-axis robot arm;

[0040] The three-axis robot and the rotating platform keep the detection component at a certain distance from the surface of the object to be tested according to the generated path, and perform surface contamination measurement;

[0041] After the measurement is completed, a 3D map is generated based on the measurement results, and the level of contamination on the surface of the object is displayed using color difference.

[0042] In a feasible implementation, it also includes:

[0043] During the surface contamination measurement process, the 3D imaging module rises to the highest position;

[0044] The 3D imaging module monitors the rotating object to be tested and the movement of the robotic arm;

[0045] When the 3D imaging module detects that the distance between the object to be tested and the robotic arm is less than a threshold, an emergency stop is performed.

[0046] Compared with the prior art, the present invention includes at least the following beneficial effects: in actual use, the object to be inspected is placed on a rotating platform, which drives the object to be inspected to rotate, and the three-dimensional imaging module performs a three-dimensional scan on the object to be measured and realizes three-dimensional modeling. The control system calculates the contamination measurement path according to the three-dimensional model, and the three-axis robotic arm drives the detection component to measure the contamination according to the path. At the same time, the rotating platform drives the object to be measured to rotate in coordination with the measurement path, thereby completing the three-dimensional scanning and surface contamination measurement of the object to be inspected, and displaying the contaminated area through the three-dimensional model.

[0047] This surface contamination measurement device is used for radioactive contaminated objects. It obtains the volume size of the object through three-dimensional imaging technology, establishes the detection path of the object surface through algorithms, and controls the detection components, three-axis robotic arms, and rotating platforms to cooperate with each other to automatically measure each point on the surface of the object. Through system integration calculation, the measurement results are directly displayed on the object model through color difference diagrams. It has the advantages of automation, visualization, less exposure to personnel, and more accurate measurement.

[0048] Compared with manual measurement methods, this technical solution greatly saves human resources, measures surface contamination of objects more accurately and comprehensively, and reduces the risk of workers being exposed to radioactive environments. At the same time, this technical solution uses three-dimensional imaging technology and a three-axis robotic arm to enable the device to measure the surface of complex objects, and the results obtained are more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0050] Figure 1 A three-dimensional structural diagram of a surface contamination measurement device based on three-dimensional scanning according to an embodiment of the present application;

[0051] Figure 2 This is a result output diagram of a surface contamination measurement device based on three-dimensional scanning according to an embodiment of the present application.

[0052] in, Figure 1 The corresponding relationship between the reference numerals and the component names is as follows:

[0053] 100, rotating platform; 200, three-axis robotic arm; 300, detection component; 400, three-dimensional imaging module;

[0054] 110. rotating base; 120. rotating table;

[0055] 210, base joint; 220, first movable arm; 230, elbow joint; 240, second movable arm; 250, wrist joint;

[0056] 410. Scanning track; 420. Three-dimensional imager. DETAILED DESCRIPTION

[0057] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0058] like Figure 1As shown, according to the first aspect of the embodiment of the present application, a surface contamination measuring device based on three-dimensional scanning is proposed, including: a rotating platform 100, the rotating platform 100 is arranged on the ground or an installation platform, the rotating platform 100 is used to place the object to be measured, and the rotating platform 100 can drive the object to be measured to rotate; a three-axis robotic arm 200, the three-axis robotic arm 200 is arranged on the rotating platform 100; a detection component 300, the detection component 300 is arranged on the three-axis robotic arm 200, and the detection component 300 achieves reaching the surface of each position of the object to be measured through the mutual cooperation of the rotating component platform and the three-axis robotic arm 200; a three-dimensional imaging module 400, the three-dimensional imaging module 400 is arranged at the fixed end of the rotating platform 100, and the three-dimensional imaging module 400 is used to scan and image the object to be measured; a control system, the control system is electrically connected to the rotating platform 100, the three-axis robotic arm 200, the detection component 300 and the rotating platform 100.

[0059] The embodiment of the present application provides a surface contamination measurement device based on three-dimensional scanning, including a rotating platform 100, a three-axis mechanical arm 200, a detection component 300, a three-dimensional imaging module 400 and a control system.

[0060] Among them, the rotating platform 100 includes a fixed end and a rotating end. The fixed end is fixedly connected to the ground or the mounting platform, and the rotating end is rotatably connected to the fixed end. The object to be inspected is placed on the rotating end, and the rotating end can drive the object to be inspected to rotate. Through the setting of the rotating platform 100, the rotation of the inspected object can be driven, thereby realizing three-dimensional detection of the inspected object.

[0061] The three-axis robot arm 200 has three movable connecting shafts, and the three-axis robot arm 200 is connected to the fixed end of the rotating platform 100 through one of the connecting shafts.

[0062] Among them, the detection component 300 is connected to the three-axis robotic arm 200 through one of the movable connecting axes. The three-axis robotic arm 200 can drive the detection component 300 to move in a vertical plane, so that the detection component 300 can detect the inspected object at any height within the range, and cooperate with the rotating platform 100 to achieve three-dimensional detection of the inspected object.

[0063] Among them, the three-dimensional imaging module 400 is set at the fixed end of the rotating platform 100. When the rotating platform 100 drives the inspected object to rotate, the three-dimensional imaging module 400 can perform a three-dimensional scan on the inspected object and complete the modeling, thereby facilitating the positioning when detecting pollution and displaying the pollution location.

[0064] During actual use, the object to be inspected is placed on the rotating platform 100, which is driven by the rotating platform 100 to rotate. The three-dimensional imaging module 400 performs a three-dimensional scan on the object to be measured and realizes three-dimensional modeling. The control system calculates the contamination measurement path according to the three-dimensional model, and the three-axis robotic arm 200 drives the detection component to measure the contamination according to the path. At the same time, the rotating platform 100 drives the object to be measured to rotate according to the measurement path, thereby completing the three-dimensional scanning and surface contamination measurement of the object to be inspected, and displaying the contaminated area through the three-dimensional model.

[0065] The surface contamination measuring device is applied to radioactive contaminated objects. The volume size of the object is obtained through three-dimensional imaging technology, and the detection path of the object surface is established through an algorithm. The control system controls the detection component 300, the three-axis robot arm 200, and the rotating platform 100 to cooperate with each other to automatically measure each point on the surface of the object. Through system integration calculation, the measurement result is directly displayed on the object model through a color difference diagram. It has the advantages of automation, visualization, less exposure dose to personnel, and more accurate measurement.

[0066] Compared with manual measurement methods, this technical solution greatly saves human resources, measures surface contamination of objects more accurately and comprehensively, and reduces the risk of workers being exposed to radioactive environments. At the same time, this technical solution uses three-dimensional imaging technology and a three-axis robotic arm 200 to enable the device to measure the surface of complex objects, and the results obtained are more accurate.

[0067] like Figure 1 As shown, the detection component 300 includes: a detector body, which adopts a semiconductor PIPS (ion-passivated planar silicon) anti-coincidence detector; a lead sheet, which is wrapped around the detector body and an incident window is reserved at the front end of the detector body; a laser locator, which is arranged around the lead sheet and is used to visually locate the object to be detected.

[0068] In this technical solution, the detection assembly 300 includes a detector body, a lead sheet and a laser locator.

[0069] Among them, the detector body adopts a semiconductor PIPS anti-coincidence detector, which has the advantages of high energy resolution, durability and low leakage current. In this technical solution, the use of this semiconductor PIPS anti-coincidence detector can make the detection component 300 more accurate and stable when inspecting radioactive contamination.

[0070] Among them, lead sheet is wrapped around the detector body, and interference of gamma rays is reduced by lead shielding, which further increases the measurement accuracy of this technical solution, and an incident window is reserved at the front end of the detector body to prevent the lead sheet from affecting the detection of the detector body.

[0071] Among them, the laser locator is arranged around the detector body. In this embodiment, the laser locator is arranged around the lead sheet. The landing point of the laser emitted by the laser locator on the object to be detected is the same as the position detected by the detector body. The laser locator is used to visualize the position detected by the detector body, thereby improving the usability of this technical solution.

[0072] like Figure 1 As shown, the three-axis robotic arm 200 includes: a base joint 210, the base joint 210 is connected to the fixed end of the rotating platform 100; a first movable arm 220, one end of the first movable arm 220 is connected to the base joint 210; an elbow joint 230, the elbow joint 230 is connected to the other end of the first movable arm 220; a second movable arm 240, one end of the second movable arm 240 is connected to the elbow joint 230; a wrist joint 250, the wrist joint 250 is connected to the other end of the second movable arm 240, and the wrist joint 250 is connected to the detection component 300.

[0073] In this technical solution, the three-axis robot arm 200 includes a base joint 210, an elbow joint 230, a wrist joint 250, a first movable arm 220 and a second movable arm 240, wherein the base joint 210 connects the fixed end of the rotating platform 100 and the first movable arm 220, the elbow joint 230 connects the first movable arm 220 and the second movable arm 240, and the wrist joint 250 connects the second movable arm 240 and the detection component 300. This arrangement achieves the rotational freedom, pitch freedom and extension freedom of the robot arm. During use, the arrangement of the three-axis robot arm 200 enables the detection component 300 to detect the object to be detected from various angles. For surfaces with complex shapes, the three-axis robot arm 200 can also achieve detection in cooperation with the detection component 300. This arrangement effectively improves the flexibility of the surface contamination measuring device.

[0074] like Figure 1 As shown, the three-dimensional imaging module 400 includes: a scanning track 410, one end of which is arranged at the fixed end of the rotating platform 100, and the scanning track 410 is an arc-shaped ascending track; a three-dimensional imager 420, which is arranged on the scanning track 410, and the three-dimensional imager 420 realizes three-dimensional imaging of the object by moving on the scanning track 410 and rotating the rotating platform 100.

[0075] In this technical solution, the three-dimensional imaging module 400 includes a scanning track 410 and a three-dimensional imager 420 .

[0076] The scanning track 410 is an arc track with one end connected to the fixed end of the rotating platform 100 .

[0077] Among them, the three-dimensional imager 420 can be slidably connected to the scanning track 410. The three-dimensional imager 420 can realize the detection of the Y-axis direction of the detected object by moving on the scanning track 410. By cooperating with the rotating platform 100 to drive the detected object to rotate, three-dimensional imaging of the detected object can be realized, and a three-dimensional model of the detected object can be established through the control system.

[0078] Through the three-dimensional model, firstly, the control system can be used to formulate the operation route of the subsequent detection component 300 and the rotating platform 100. At the same time, the pollution can be displayed on the three-dimensional model through coloring differences, which is convenient for determining the location and intensity of the pollution.

[0079] like Figure 1 As shown, the rotating platform 100 includes: a rotating base 110, which is a fixed end of the rotating platform 100, the rotating base 110 is fixed to the ground or the mounting platform, the rotating base 110 is electrically connected to the control system, the three-axis robot 200 and the three-dimensional imaging module 400 are both connected to the rotating base 110; a rotating table 120, the rotating table 120 is rotatably connected to the rotating base 110, and the rotating table 120 is used to place the object to be tested.

[0080] In this technical solution, the rotating platform 100 includes a rotating base 110 and a rotating table 120 .

[0081] Among them, the rotating base 110 is the fixed end of the rotating platform 100, the rotating table 120 is the rotating end of the rotating platform 100, the rotating base 110 is fixedly connected to the ground or the mounting platform, the three-axis robotic arm 200 and the three-dimensional imaging module 400 are also connected to the rotating base 110. In this embodiment, the base joint 210 of the three-axis robotic arm 200 and one end of the scanning track 410 of the three-dimensional imaging module 400 are connected to the rotating base 110.

[0082] The rotating platform 120 is rotatably connected to the rotating base 110 . The rotation of the rotating platform 120 is controlled by a control system. The object to be inspected is placed on the rotating platform 120 .

[0083] like Figure 1 As shown, the detector body adopts double probes.

[0084] In this technical solution, the detector body adopts dual probes to further eliminate interference from gamma rays, enhance resistance to gamma rays, and further improve stability and accuracy in pollution measurement.

[0085] like Figure 1 As shown, a planetary gear structure is used between the rotating base 110 and the rotating platform 120 .

[0086] In this technical solution, the setting of the planetary gear reduces the motor torque requirement, reduces the required motor power, and correspondingly weakens the electromagnetic interference, further improving the stability and accuracy of pollution measurement.

[0087] like Figure 1 As shown, the first movable arm 220 and the second movable arm 240 are made of carbon fiber and aluminum alloy hollow structure arms.

[0088] In this technical solution, the use of carbon fiber and aluminum alloy hollow structure arms can effectively reduce the weight of the robotic arm, reduce the motor power of each joint, make the operation of the three-axis robotic arm 200 more stable, and further reduce electromagnetic interference.

[0089] like Figure 1 As shown, according to the second aspect of the embodiment of the present application, a surface contamination measurement method based on three-dimensional scanning is proposed, which is applied to any of the surface contamination measurement devices based on three-dimensional scanning described above, including:

[0090] Placing the object to be tested on the rotating platform 100;

[0091] Start the control system to set up the measurement task;

[0092] The three-dimensional imaging module 400 scans and images the object to be tested;

[0093] After scanning, the control system panes the outer surface of the object and assigns coordinate locations;

[0094] The path algorithm generates the detector path based on the tangent angles of each point on the outer surface of the object and the relative position of the three-axis robot arm 200;

[0095] The three-axis robot arm 200 and the rotating platform 100 keep the detection component 300 at a certain distance from the surface of the object to be tested according to the generated path, and perform surface contamination measurement;

[0096] After the measurement is completed, a 3D map is generated based on the measurement results, and the level of contamination on the surface of the object is displayed using color difference.

[0097] In this technical solution, a three-dimensional image is first generated for the object to be tested, and the outer surface of the object is windowed and assigned coordinate positions based on the three-dimensional image. This setting can make the detection path simpler, avoid detection omissions, and make the algorithm more streamlined.

[0098] The path is generated by the tangent angles of each point on the outer surface of the object, so that the detection component 300 can always inspect the object to be inspected from an effective angle, thereby increasing the accuracy of the detection result.

[0099] Use color difference to display the pollution location and pollution level on a three-dimensional map, making the display of results more concise and intuitive.

[0100] like Figure 1 As shown, the surface contamination measurement method based on three-dimensional scanning further includes: during the surface contamination measurement process, the three-dimensional imaging module 400 rises to the highest position;

[0101] The three-dimensional imaging module 400 monitors the movement of the rotating object to be tested and the three-axis robot arm 200 and the detection assembly 300;

[0102] When the three-dimensional imaging module 400 detects that the distance between the object to be detected and the three-axis robot arm 200 and the detection component 300 is less than a threshold value, an emergency stop is performed.

[0103] In this technical solution, the risk of collision between the monitored object and other components is further avoided through monitoring by the three-dimensional imaging module 400, thereby increasing the stability of the contamination measuring device.

[0104] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0105] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0106] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surface contamination measurement device based on three-dimensional scanning, characterized in that: include: A rotating platform, which is arranged on the ground or on a mounting platform, and is used to place the object to be tested, and the rotating platform can drive the object to be tested to rotate; A three-axis mechanical arm, wherein the three-axis mechanical arm is arranged on a rotating platform; A detection component, which is arranged on the three-axis mechanical arm, and the detection component achieves the detection component reaching the surface of each position of the object to be detected through the cooperation between the rotating component platform and the three-axis mechanical arm; A three-dimensional imaging module, which is disposed at a fixed end of the rotating platform and is used to scan and image the object to be tested; A control system is electrically connected to the rotating platform, the three-axis robotic arm, the detection component and the rotating platform.

2. The surface contamination measuring device based on three-dimensional scanning according to claim 1 is characterized in that: The detection component comprises: The detector body adopts a semiconductor PIPS (ion-passivated planar silicon) anti-coincidence detector; Lead sheet, the lead sheet is wrapped around the detector body, and an incident window is reserved at the front end of the detector body; A laser locator is arranged around the lead sheet and is used for visually locating the object to be tested.

3. The surface contamination measuring device based on three-dimensional scanning according to claim 1, characterized in that: The three-axis robotic arm comprises: A base joint, the base joint being connected to a fixed end of the rotating platform; A first movable arm, one end of which is connected to the base joint; an elbow joint, the elbow joint being connected to the other end of the first movable arm; a second movable arm, one end of which is connected to the elbow joint; A wrist joint is connected to the other end of the second movable arm, and the wrist joint is connected to the detection component.

4. The surface contamination measuring device based on three-dimensional scanning according to claim 1, characterized in that: The three-dimensional imaging module comprises: A scanning track, one end of which is disposed at the fixed end of the rotating platform, and the scanning track is an arc-shaped ascending track; A three-dimensional imager is arranged on a scanning track, and the three-dimensional imager realizes three-dimensional imaging of an object by moving on the scanning track and rotating the rotating platform.

5. The surface contamination measuring device based on three-dimensional scanning according to claim 1, characterized in that: The rotating platform comprises: A rotating base, which is a fixed end of the rotating platform, is fixed to the ground or the mounting platform, is electrically connected to the control system, and the three-axis robotic arm and the three-dimensional imaging module are both connected to the rotating base; A rotating table is rotatably connected to a rotating base and is used to place an object to be tested.

6. The surface contamination measuring device based on three-dimensional scanning according to claim 2 is characterized in that: The detector body adopts double probes.

7. The surface contamination measuring device based on three-dimensional scanning according to claim 5, characterized in that: A planetary gear structure is used between the rotating base and the rotating platform.

8. The surface contamination measuring device based on three-dimensional scanning according to claim 3 is characterized in that: The first movable arm and the second movable arm are made of carbon fiber and aluminum alloy hollow structure arms.

9. A surface contamination measurement method based on three-dimensional scanning, characterized in that: The surface contamination measuring device based on three-dimensional scanning applied to any one of claims 1 to 8 above comprises: Place the object to be tested on the rotating platform; Start the control system to set up the measurement task; The three-dimensional imaging module scans and images the object to be tested; After scanning, the control system panes the outer surface of the object and assigns coordinate locations; The path algorithm generates the detector path based on the tangent angles of each point on the outer surface of the object and the relative position of the three-axis robot arm; The three-axis robot and the rotating platform keep the detection component at a certain distance from the surface of the object to be tested according to the generated path, and perform surface contamination measurement; After the measurement is completed, a 3D map is generated based on the measurement results, and the level of contamination on the surface of the object is displayed using color difference.

10. The surface contamination measurement method based on three-dimensional scanning according to claim 9, characterized in that: The surface contamination measurement method based on three-dimensional scanning also includes: During the surface contamination measurement process, the 3D imaging module rises to the highest position; The 3D imaging module monitors the rotating object to be tested and the movement of the three-axis robotic arm and detection components; When the three-dimensional imaging module detects that the distance between the object to be tested and the three-axis robotic arm and the detection component is less than a threshold, an emergency stop is performed.

Images