Stacked modularized multifunctional radioactivity measuring device

Abstract

The invention discloses a laminated modularized multifunctional radioactivity measuring device which comprises a measuring robot, a temporary storage layer and a plurality of measuring layers, the temporary storage layer and the measuring layers are sequentially arranged on the measuring robot from top to bottom, the measuring layers are connected in a laminated mode, a plurality of temporary storage bins are arranged in the temporary storage layer, and a receding area is formed in the bottom of the measuring robot. The measuring robot moves to the position above a waste bin storing radioactive waste, the waste bin is located in the receding area, the radioactive waste is transferred into the corresponding waste bin according to the measurement result of radioactive measurement, and a camera for positioning and recognizing the waste bin is arranged at the bottom of the measuring robot. The radioactive waste after dose rate preliminary screening can be further classified and subjected to radioactivity measurement, then the radioactive waste is sorted into the corresponding waste barrels based on the measurement result of radioactivity measurement, unmanned and automatic operation is achieved, and the multiple measurement layers meet different radioactivity measurement requirements.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive material processing, and in particular to a stacked modular multifunctional radioactivity measuring device. Background Art

[0002] Minimizing radioactive waste is one of the key factors for the sustainable development of the nuclear industry. It can reduce the burden of radioactive waste treatment and disposal in nuclear power plants and ensure good human health and ecological environment. Radioactive waste sorting is a practical activity based on the characterization of radioactive waste sources (mainly achieved through measurement) to provide appropriate waste differentiation for subsequent management links according to the chemical, physical, biological and radioactive characteristics of radioactive waste. Radioactive waste sorting is a requirement and important means to achieve waste minimization, a need for classified treatment and disposal of radioactive materials, and an effective means to achieve classified treatment and disposal of radioactive waste generated in all links of waste generation based on radioactive waste measurement technology.

[0003] At present, in the task of sorting radioactive waste in nuclear power plants, the measuring devices mainly use single-body radioactive detection equipment, which has low data integration. At the same time, it is limited by the detection method and equipment capacity, and the detection efficiency is low or it is impossible to accurately classify and measure the waste. At the same time, the equipment system used for radioactive sorting tasks currently mainly adopts an assembly line structure and operation method. The overall size of the equipment is large and requires a lot of space in the waste treatment area. In addition, this type of equipment adopts a fixed construction and installation method. For nuclear power plants, the construction and maintenance costs are high, which increases the economic burden during operation. Due to the fixed structure, this type of equipment cannot be deployed quickly, and the production and construction cycle is long. Therefore, it is of great practical significance to develop a new multifunctional, miniaturized and modular radioactive measurement device. Summary of the invention

[0004] The purpose of the present invention is to provide a stacked modular multifunctional radioactive measurement device, which can realize rapid integration and modification deployment for different radioactive waste measurement methods based on the modularization of radioactive measurement functions, thereby reducing construction period and cost.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A stacked modular multifunctional radioactivity measuring device comprises a measuring robot and a temporary storage layer arranged on the measuring robot from top to bottom for caching radioactive waste that has completed initial dose rate screening and a measuring layer for performing radioactivity measurement on the radioactive waste in the temporary storage layer. There are multiple measuring layers that are stacked and connected, and each measuring layer is used for different radioactivity measurement needs. Multiple temporary storage bins are arranged in the temporary storage layer. A yield area is opened at the bottom of the measuring robot. The measuring robot moves to the top of the waste barrel storing the radioactive waste, so that the waste barrel is located in the yield area and the radioactive waste is transferred to the corresponding waste barrel according to the measurement results of the radioactivity measurement. A camera for locating and identifying the waste barrel is arranged at the bottom of the measuring robot.

[0006] In some embodiments of the present invention, each measurement layer has a quick-connect electrical and signal interface for constructing the current measurement layer into a modular radioactivity measurement function; A radioactive measuring mechanism is installed in each measuring layer, and the radioactive measuring mechanism includes a body surface characteristic measuring mechanism, a material weight measuring mechanism, a material dose rate measuring mechanism, a material energy spectrum measuring mechanism, a material gamma ray imaging measuring mechanism, a material X-ray measuring mechanism, a material neutron imaging measuring mechanism, a material source item nuclide identification mechanism, and a specific activity measuring mechanism; Preferably, the specific activity measurement mechanism comprises a square detection cavity formed by four large-area plastic scintillator detectors and a weight sensor located at the bottom of the measurement layer, and each large-area plastic scintillator detector is seamlessly spliced.

[0007] In some embodiments of the present invention, lead plates are installed on the front, rear, left, right and bottom surfaces of the square detection cavity, and the thickness of the lead plates is 50 mm.

[0008] In some embodiments of the present invention, the temporary storage bin includes a bottom plate, a baffle plate surrounding the bottom plate, and a top plate covering the baffle plate.

[0009] In some embodiments of the present invention, a feed port for introducing radioactive waste into the temporary storage bin is provided on the baffle plate or top plate outside the temporary storage bin, and a retractable accordion door or an electric opening and closing door is installed on the feed port.

[0010] In some embodiments of the present invention, a primary screening and classification port is provided on the bottom plate of each temporary storage bin, a discharge port connected to multiple primary screening and classification ports is provided at the bottom of the temporary storage layer, and electric opening and closing doors are installed on the primary screening and classification ports and the discharge port.

[0011] In some embodiments of the present invention, a measurement inlet and a measurement outlet are respectively provided at the top and the bottom of each measurement layer, and both the measurement inlet and the measurement outlet are equipped with electric opening and closing doors.

[0012] In some embodiments of the present invention, the measuring robot includes a robot base and moving wheels installed at the four corners of the robot base. The robot base is provided with an outlet connected to the measurement outlet. The radioactive waste for which the specific activity measurement has been completed in the measuring layer is transferred to the waste bucket in the make way area through the outlet.

[0013] In some embodiments of the present invention, an obstacle avoidance sensor mechanism is provided on the measurement robot, and the obstacle avoidance sensor mechanism is any one or both of a laser radar obstacle avoidance module and an ultrasonic obstacle avoidance module.

[0014] Some embodiments of the present invention further include a control mechanism connected to the measuring robot, the temporary storage layer, the measuring layer, the camera and the obstacle avoidance sensor mechanism respectively. Preferably, the control mechanism is an industrial computer.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention has a simple structure, a scientific and reasonable design, and is easy to use. It realizes automatic measurement and unmanned sorting of radioactive waste based on robots, and has deployment flexibility and automatic operation through the autonomous movement of robots. The present invention can further classify radioactive waste after initial dose rate screening, perform radioactivity measurement on it, and then sort it into corresponding waste bins based on the measurement results of radioactivity measurement, thereby realizing unmanned and automated operation. The present invention meets different radioactivity measurement requirements through multiple stacked measurement layers, and realizes rapid integration and modification deployment based on the modularization of radioactivity measurement functions, thereby reducing construction period and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a diagram of the measurement layer structure of the present invention.

[0018] Figure 3 This is a first structural diagram of the temporary storage warehouse of the present invention.

[0019] Figure 4 This is a second structural diagram of the temporary storage warehouse of the present invention.

[0020] Figure 5 This is a top view of the temporary storage bin of the present invention (top plate is not shown).

[0021] Figure 6 This is a structural diagram of the bottom of the measurement layer of the present invention.

[0022] Figure 7 This is a diagram of the measurement layer structure of the present invention.

[0023] Figure 8 This is a structural diagram of the bottom of the measurement layer of the present invention.

[0024] Fig. 9This is a diagram showing the internal structure of the measurement layer of the present invention.

[0025] Fig.10 This is a structural diagram of the robot base of the present invention.

[0026] The names corresponding to the reference numerals are: 1- measuring robot, 2- temporary storage layer, 3- measuring layer, 4- temporary storage bin, 5- giving way area, 6- camera, 7- obstacle avoidance sensing mechanism, 8- control mechanism, 11- robot base, 12- moving wheel, 13- export port, 21- material outlet, 30- specific activity measurement mechanism, 31- large area plastic scintillator detector, 32- weight sensor, 33- lead plate, 34- measuring inlet, 35- measuring outlet, 41- bottom plate, 42- baffle, 43- top plate, 44- material inlet, 45- primary screening and classification port. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore they cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc., are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; of course, it can also be a mechanical connection or an electrical connection; in addition, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] like Figure 1-10As shown, the stacked modular multifunctional radioactivity measurement device provided by the present invention includes a measuring robot 1 and a temporary storage layer 2 which is arranged on the measuring robot 1 from top to bottom for caching radioactive waste that has completed the initial dose rate screening and a measuring layer 3 for performing radioactivity measurement on the radioactive waste in the temporary storage layer 2. There are multiple measurement layers 3 and they are stacked and connected. Each measurement layer 3 is used for different radioactivity measurement needs. Multiple temporary storage bins 4 are arranged in the temporary storage layer 2. A yield area 5 is opened at the bottom of the measuring robot 1. The measuring robot 1 moves to the top of the waste barrel for storing radioactive waste, so that the waste barrel is located in the yield area 5 and the radioactive waste is transferred to the corresponding waste barrel according to the measurement result of the radioactivity measurement. A camera 6 for locating and identifying the waste barrel is arranged at the bottom of the measuring robot 1. The radioactive waste after the initial dose rate screening is cached in different temporary storage bins 4 of the temporary storage layer 2 according to its dose rate after the initial screening, and then the radioactive waste in the temporary storage bins 4 falls from the bottom into different measuring layers 3 in the lower layer in sequence. Different radioactivity measurements are performed on the radioactive waste in a single temporary storage bin 4 at different measuring layers 3 to obtain measurement values, and then the measuring robot 1 moves to find a waste barrel for storing the radioactive waste, and puts the radioactive waste into the corresponding waste barrel according to the measurement values.

[0031] The present invention can achieve the depth measurement and transfer and barreling operations of radioactive waste within the range after the initial screening and classification of the dose rate. The present invention realizes the automatic measurement and unmanned sorting of radioactive waste based on robots, and through the autonomous movement of the robots, it has deployment flexibility and automatic operation. The radioactive waste after the initial dose rate screening is further classified and the radioactivity is measured, and then sorted into the corresponding waste barrels based on the measurement results of the radioactivity measurement, thereby realizing unmanned and automated operations. The present invention meets different radioactivity measurement requirements through multiple stacked measurement layers, and realizes rapid integration and modification deployment based on the modularization of radioactivity measurement functions, thereby reducing construction period and cost.

[0032] In one embodiment, each measurement layer 3 has a quick-connect electrical and signal interface for constructing the current measurement layer 3 as a modular radioactive measurement function, and the quick-connect electrical and signal interface facilitates the modular construction of different radioactive measurement functions. A radioactive measurement mechanism is installed in each measurement layer 3 to meet different radioactive measurement requirements. According to actual needs, the measurement layer 3 equipped with different radioactive measurement mechanisms can be configured to flexibly deploy new measurement requirements. The radioactive measurement mechanism includes a body surface characteristic measurement mechanism, a material weight measurement mechanism, a material dose rate measurement mechanism, a material energy spectrum measurement mechanism, a material γ-ray imaging measurement mechanism, a material X-ray measurement mechanism, a material neutron imaging measurement mechanism, a material source item nuclide identification mechanism, and a specific activity measurement mechanism 30. The body surface characteristic measurement mechanism and the material weight measurement mechanism can also be combined to achieve the measurement of average density. The body surface characteristic measurement mechanism, the material weight measurement mechanism, the material dose rate measurement mechanism, the material energy spectrum measurement mechanism, the material γ-ray imaging measurement mechanism, the material X-ray measurement mechanism, the material neutron imaging measurement mechanism, and the material source item nuclide identification mechanism are all existing measurement mechanisms and can be directly purchased, so they are not described in detail. Preferably, the specific activity measurement mechanism 30 includes a square detection cavity formed by four large-area plastic scintillator detectors 31 and a weight sensor 32 located at the bottom of the measurement layer 3. Each large-area plastic scintillator detector 31 is seamlessly spliced ​​and has no detection dead zone. The weight sensor 32 is installed on the bottom of the square detection cavity, that is, below the bottom detector, and can weigh the mass of the object to be measured. Combined with the total activity measurement result measured by the detector, the gamma specific activity (Bq / kg) value of the object to be measured, that is, the specific activity, is obtained. Each large-area plastic scintillator detector 31 adopts a modular design and is mainly composed of a plastic scintillator, a photomultiplier tube and a data acquisition module. More preferably, the front, back, left, right and bottom surfaces of the square detection cavity are all installed with lead plates 33, the thickness of the lead plates 33 is 50 mm, and the lead plates 33 can be lead shielded, so that the square detection cavity maintains a low background level. Furthermore, an electromagnetic door is arranged on the upper part of the measurement layer 3 to ensure that the measurement layer 3 cannot be opened during normal measurement.

[0033] In one embodiment, the temporary storage bin 4 includes a bottom plate 41, a baffle plate 42 surrounding the bottom plate 41, and a top plate 43 covering the baffle plate 42. Each temporary storage bin 4 is a mutually isolated bin body. Preferably, a feed port 44 for introducing radioactive waste into the temporary storage bin 4 is provided on the baffle plate 42 or the top plate 43 outside the temporary storage bin 4, and the feed port 44 is equipped with a retractable accordion door or an electric opening and closing door to control the opening and closing of the temporary storage bin 4. The radioactive waste of the initial dose rate screening enters the corresponding temporary storage bin 4 through the feed port 44. The temporary storage layer 2 can store radioactive waste within multiple dose rate ranges, and at least one temporary storage bin 4 is set with a dose rate range. When there are too many radioactive wastes within the same dose rate range, multiple temporary storage bins 4 can also be used to cache radioactive wastes within the same dose rate range. The number of temporary storage bins 4 is set according to actual needs. The temporary storage bin 4 can further sort the radioactive waste of the initial dose rate screening according to the dose rate, so as to facilitate subsequent radioactivity measurement.

[0034] After the radioactive waste is sorted in the temporary storage bin, the radioactive waste in a single temporary storage bin 4 falls from the bottom into the lower measurement layer 3 to enter the measurement link. In one embodiment, the bottom plate 41 of each temporary storage bin 4 is provided with a primary screening and classification port 45, and the bottom of the temporary storage layer 2 is provided with a discharge port 21 connected to multiple primary screening and classification ports 45, and the primary screening and classification ports 45 and the discharge port 21 are installed with electric opening and closing doors. The primary screening and classification port 45 and the discharge port 21 of the temporary storage bin 4 to be measured are opened at the same time, and the radioactive waste in the bin falls into the lower measurement layer 3 under the action of gravity, and the electric opening and closing door can control the opening and closing of the primary screening and classification port 45 and the discharge port 21.

[0035] In one embodiment, each measurement layer 3 is provided with a measurement inlet 34 and a measurement outlet 35 at the top and bottom, respectively, and both the measurement inlet 34 and the measurement outlet 35 are equipped with electric opening and closing doors. The radioactive waste after the measurement in each measurement layer 3 is led out from the bottom of the current measurement layer 3 to the next measurement layer 3, and the radioactive waste after the measurement in the last measurement layer 3 is led out from the measurement outlet 35 at the bottom. At the same time, the measurement robot 1 moves to the top of the waste barrel storing the radioactive waste, so that the waste barrel is located in the clearance area 5 and transfers the radioactive waste to the corresponding waste barrel according to the measurement results of the radioactive measurement.

[0036] The measuring robot of the present invention is an omnidirectional mobile measuring robot. In one embodiment, the measuring robot 1 includes a robot base 11 and moving wheels 12 installed at the four corners of the robot base 11. The robot base 11 is provided with an outlet 13 connected to the measuring outlet 35. The radioactive waste that has completed the specific activity measurement in the measuring layer 3 is transferred to the waste bucket in the clearance area 5 through the outlet 13. Preferably, a chassis driver is provided on the robot base 11, and the chassis driver is connected to the moving wheel to drive the moving wheel to run. The robot base 11 adopts any one of a differential chassis, an Ackerman chassis, an omnidirectional motion chassis based on a Mecanum wheel, and an omnidirectional motion chassis based on a steering wheel. The load is calculated to be about 300kg. Under the premise of ensuring the chassis load and power, the chassis weight is minimized as much as possible. At the same time, a high-precision servo motor is selected as the actuator of the chassis drive to ensure the motion accuracy of the base. Preferably, the ground projection size of the robot base 11 is intended to be limited to 1.5m×1.5m. The measuring robot 1 is powered by a large-capacity lithium battery, and the power supply system is integrated in the robot base 11, which provides power to the temporary storage layer and the measuring layer and performs signal exchange.

[0037] A camera 6 is provided at the bottom of the measuring robot 1, specifically located around the outlet 13, for identifying the target waste barrel. The measuring robot needs to realize automatic barrel loading operation, and there are different target waste barrels for the radioactive waste currently measured. For the target waste barrel with a determined position, the measuring robot moves directly to the top of the waste barrel and unloads the material through the outlet 13. When the position of the target waste barrel is uncertain, the measuring robot first moves freely to find the waste barrel. The random waste barrel is located by the camera, and then the color or graphic mark of the current waste barrel is identified, and the barrel color and barrel mark of the target waste barrel are matched to determine whether it is the target waste barrel. If it is the target waste barrel, unload the material, otherwise continue to look for the waste barrel. In this process, the measuring robot needs to obtain prior information based on different classification standards, that is, the barrel color and barrel mark of different waste barrels, before it can match the waste barrels.

[0038] In one embodiment, the measuring robot 1 is provided with an obstacle avoidance sensor mechanism 7, which is either a laser radar obstacle avoidance module or an ultrasonic obstacle avoidance module or both. Based on the obstacle avoidance sensor mechanism 7, the measuring device can avoid obstacles during operation.

[0039] In one embodiment, the measuring device further comprises a control mechanism 8 connected to the measuring robot 1, the temporary storage layer 2, the measuring layer 3, the camera 6 and the obstacle avoidance sensor mechanism 7 respectively. Preferably, the control mechanism 8 is an industrial computer. The industrial computer has a CPU frequency of Ghz level to meet the computing requirements. The industrial computer also integrates a wireless network connection function (WiFi). The measuring robot 1 is provided with a vehicle-mounted wireless communication system, and the industrial computer communicates with the vehicle-mounted wireless communication system through WiFi or 915Mhz Lora.

[0040] The camera 6, large-area plastic scintillator detector 31, weight sensor 32, retractable accordion door, electric opening and closing door, laser radar obstacle avoidance module, ultrasonic obstacle avoidance module, and industrial computer used in the present invention are all existing known electrical equipment and can be directly purchased and used on the market. Their structures, circuits, and control principles are all existing known technologies. Therefore, the structures, circuits, and control principles of the above electrical equipment will not be elaborated here.

[0041] Finally, it should be noted that the above embodiments are only preferred embodiments of the present invention to illustrate the technical solutions of the present invention, rather than limiting them, and certainly not limiting the patent scope of the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. In other words, any changes or modifications made to the main design concept and spirit of the present invention that have no substantive significance, and the technical problems they solve are still consistent with the present invention, should be included in the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention in other related technical fields is also included in the patent protection scope of the present invention.

Claims

1. A multifunctional radioactivity measurement device of stacked modular type, characterized in that: The invention comprises a measuring robot (1) and a temporary storage layer (2) arranged on the measuring robot (1) from top to bottom for caching radioactive waste that has completed the initial dose rate screening, and a measuring layer (3) for measuring the radioactivity of the radioactive waste in the temporary storage layer (2). The measuring layers (3) are multiple and are stacked and connected. Each measuring layer (3) is used for different radioactivity measurement needs. The temporary storage layer (2) is provided with multiple temporary storage bins (4). The bottom of the measuring robot (1) is provided with a clearance area (5). The measuring robot (1) moves to the top of a waste barrel storing radioactive waste, so that the waste barrel is located in the clearance area (5) and transfers the radioactive waste to the corresponding waste barrel according to the measurement result of the radioactivity measurement. The bottom of the measuring robot (1) is provided with a camera (6) for locating and identifying the waste barrel.

2. The stacked modular multifunctional radioactivity measurement device according to claim 1, characterized in that: Each measurement layer (3) has a quick-connect electrical and signal interface for constructing the current measurement layer (3) into a modular radioactivity measurement function; A radioactive measurement mechanism is installed in each measurement layer (3), and the radioactive measurement mechanism includes a body surface characteristic measurement mechanism, a material weight measurement mechanism, a material dose rate measurement mechanism, a material energy spectrum measurement mechanism, a material gamma ray imaging measurement mechanism, a material X-ray measurement mechanism, a material neutron imaging measurement mechanism, a material source item nuclide identification mechanism, and a specific activity measurement mechanism (30); The specific activity measurement mechanism (30) comprises a square detection cavity formed by four large-area plastic scintillator detectors (31) and a weight sensor (32) located on the bottom surface of the measurement layer (3), wherein each large-area plastic scintillator detector (31) is seamlessly spliced.

3. The stacked modular multifunctional radioactivity measurement device according to claim 2, characterized in that: Lead plates (33) are installed on the front, rear, left, right and bottom surfaces of the square detection cavity, and the thickness of the lead plates (33) is 50 mm.

4. The stacked modular multifunctional radioactivity measurement device according to claim 1, characterized in that: The temporary storage bin (4) comprises a bottom plate (41), a baffle plate (42) surrounding the bottom plate (41), and a top plate (43) covering the baffle plate (42).

5. The stacked modular multifunctional radioactivity measurement device according to claim 4, characterized in that: A feed port (44) for introducing radioactive waste into the temporary storage bin (4) is provided on the baffle plate (42) or the top plate (43) outside the temporary storage bin (4), and the feed port (44) is provided with a telescopic accordion door or an electric opening and closing door.

6. The stacked modular multifunctional radioactivity measurement device according to claim 4, characterized in that: The bottom plate (41) of each temporary storage bin (4) is provided with a primary screening and classification port (45), the bottom of the temporary storage layer (2) is provided with a discharge port (21) connected to the plurality of primary screening and classification ports (45), and the primary screening and classification ports (45) and the discharge port (21) are provided with electric opening and closing doors.

7. The stacked modular multifunctional radioactivity measurement device according to claim 1, characterized in that: A measurement inlet (34) and a measurement outlet (35) are respectively provided at the top and bottom of each measurement layer (3), and both the measurement inlet (34) and the measurement outlet (35) are equipped with electric opening and closing doors.

8. The stacked modular multifunctional radioactivity measurement device according to claim 7, characterized in that: The measuring robot (1) comprises a robot base (11) and moving wheels (12) mounted at four corners of the robot base (11). The robot base (11) is provided with a guide outlet (13) connected to a measuring outlet (35). Radioactive waste for which specific activity measurement has been completed in the measuring layer (3) is transferred to a waste bucket in a clearance area (5) through the guide outlet (13).

9. The stacked modular multifunctional radioactivity measurement device according to claim 1, characterized in that: The measuring robot (1) is provided with an obstacle avoidance sensing mechanism (7), and the obstacle avoidance sensing mechanism (7) is any one or both of a laser radar obstacle avoidance module and an ultrasonic obstacle avoidance module.

10. The stacked modular multifunctional radioactivity measurement device according to claim 9, characterized in that: It also includes a control mechanism (8) connected to the measuring robot (1), the temporary storage layer (2), the measuring layer (3), the camera (6) and the obstacle avoidance sensor mechanism (7) respectively. Preferably, the control mechanism (8) is an industrial computer.

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