Boundary protection method and system of radiation detection robot

Patent metadata

Field	Value
Publication number	US-11938639-B2
Application number	US-202117333886-A
Country	US
Kind code	B2
Filing date	May 28, 2021
Priority date	May 29, 2020
Publication date	Mar 26, 2024
Grant date	Mar 26, 2024

Abstract

A boundary protection method and system of a radiation detection robot. The boundary protection method comprises: a first laser radar and a second laser radar are arranged diagonally, a first marking rod and a second marking rod are arranged diagonally; a boundary of an interlocking zone is defined by the first laser radar, the second laser radar, the first marking rod and the second marking rod; the object to be detected is placed in the interlocking zone; the radiation detection robot uses rays to detect the object to be detected in the interlocking zone; an early warning zone is provided outside the interlocking zone; wherein when it is detected that a person or object has intruded into the interlocking zone, the radiation detection robot stops emitting rays; and when it is detected that a person or object has intruded into the early warning zone, a warning is issued directly.

First claim

What is claimed is:

1. A boundary setting method for a boundary protection system of a radiation detection robot, wherein the boundary protection system comprises a first laser radar, a second laser radar, a first marking rod and a second marking rod;
the first laser radar and the second laser radar are arranged diagonally, and the first marking rod and the second marking rod are arranged diagonally, thereby defining a boundary of an interlocking zone; and
the interlocking zone is used to place an object to be detected;
wherein the method comprises:
the first laser radar and/or the second laser radar detect whether a range of the interlocking zone meets radiation protection requirements, and detect whether a shape of arrangement of the interlocking zone meets predetermined shape requirements, and
if the range is too large or too small or the shape does not meet the requirements, the radiation detection robot is prompted to re-arrange the first laser radar, the second laser radar, the first marking rod and the second marking rod.

2. The boundary setting method according to claim 1 , wherein detecting whether the range and/or shape of the interlocking zone meets radiation protection requirements comprises:
performing calculation based on azimuth angles of the marker rods and corresponding distance data obtained by scanning of the first laser radar and the second laser radar in combination with positions of the first laser radar and the second laser radar themselves to obtain an area and shape of the interlocking zone, and
judging whether the shape meets the requirements by comparing a current shape of the interlocking zone with an expected shape, and judging whether the range of the interlocking zone meets the radiation protection requirements based on a current area of the interlocking zone, a radiation dose transmitted by the radiation detection robot, and a safe radiation dose tolerable to human body.

3. A boundary protection method of a radiation detection robot, wherein a first laser radar and a second laser radar are arranged diagonally, a first marking rod and a second marking rod are arranged diagonally;
a boundary of an interlocking zone is defined by the first laser radar, the second laser radar, the first marking rod and the second marking rod;
an object to be detected is placed in the interlocking zone;
the radiation detection robot uses rays to detect the object to be detected in the interlocking zone;
an early warning zone is provided outside the interlocking zone;
wherein when a person or object is detected as having intruded into the interlocking zone, the radiation detection robot stops emitting rays; and
when a person or object is detected as having intruded into the early warning zone, a warning is issued directly, or a determination is made as to whether to issue a warning according to an approach speed and/or approach distance of the intruded person or object.

4. The boundary protection method according to claim 3 , wherein a warning is issued when the approach speed of the intruded person or object is greater than a speed threshold.

5. The boundary protection method according to claim 3 , wherein a warning is issued when the approaching distance of the intruded person or object is less than a distance threshold.

6. The boundary protection method according to claim 3 , wherein the area of the interlocking zone is set according to a safe radiation dose tolerable to human body.

7. The boundary protection method according to claim 3 , wherein whether a person or object is detected as having intruded into the interlocking zone and concurrently whether a person or object is detected as having intruded into the early warning zone; or, first whether a person or object is detected as having intruded into the interlocking zone, and when judged that no person or object has intruded into the interlocking zone, whether a person or object is detected as having intruded into the early warning zone.

8. The boundary protection method according to claim 3 , wherein a distance from the boundary of the early warning zone to a corresponding boundary of the interlocking zone is 2 meters to 20 meters.

9. The boundary protection method according to claim 3 , wherein the first laser radar and/or the second laser radar are used to determine whether a person or object is approaching the interlocking zone, and determine the approach speed and approach distance.

10. The boundary protection method according to claim 3 , wherein a plurality of marking points are arranged at edges of the early warning zone, and the marking points are marking points set on a ground location or four virtual points set in a map by the first laser radar and the second laser radar.

11. A boundary protection system of a radiation detection robot, wherein the system comprises a first laser radar, a second laser radar, a first marking rod and a second marking rod;
the first laser radar and the second laser radar are arranged diagonally, and the first marking rod and the second marking rod are arranged diagonally, thereby defining a boundary of an interlocking zone;
the first laser radar and the second laser radar further determine a boundary range of an early warning zone; and
the first laser radar and the second laser radar perform real-time scanning on a person or object entering the early warning zone and the interlocking zone.

12. The boundary protection system according to claim 11 , wherein the system communicates with the radiation detection robot through a control center, or communicates directly with the robot.

Assignees

• Univ Tsinghua
• Nuctech Co Ltd

Inventors

• Chen Zhiqiang
• Cui Jin
• Hu Bin
• Lin Dong
• Wu Huawei

Classifications

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J13/087

  for sensing other physical parameters, e.g. electrical or chemical properties · CPC title

• G01T1/1606

  with other specified detectors not provided for in the other subgroups of G01T1/16 · CPC title

• G08B21/182

  Level alarms, e.g. alarms responsive to variables exceeding a threshold · CPC title

• G08B21/22

  responsive to presence or absence of persons · CPC title