【摘要】 为了提高建筑物终态辐射测量效率、减少测量人员遭受放射性照射的风险、降低工作强度，设计研发了一台辐射巡测机器人，完成了辐射巡测机器人控制系统设计。控制系统结合机器人运动学逆解算法，以微型计算机作为下位机主控制器，实现了机器人按照自动规划的路径进行运动，实现了探测器数据的采集，实现了终态建筑物地面、墙面和天花板的表面污染自动测量和终态建筑物内的空间γ剂量率测量。运行结果表明，辐射巡测机器人控制系统设计合理、运行稳定。更多还原

【Abstract】 At present, the final state radiation measurement of decommissioned buildings mainly adopts the measurement method of scanning and fixed-point measurement with hand-held portable radiation measurement instruments. This method is inefficient. In order to improve the efficiency of building final state radiation measurement, reduce the risk of radiation exposure to the measuring worker, reduce the working intensity, a radiation measurement robot was developed. The control system of the radiation measurement robot was designed in this paper. The control system based on the inverse kinematics solution algorithm of the robot, used microcomputer as the master controller of the slave machine. The radiation measurement robot can move according to the automatically planned path. The control system realized the collection of the radiation measurement data, realized the automatic measurement of floor, wall and ceiling of the final building room and the measurement of γ dose rate of the final building room. The run test results show that the control system of the radiation measurement robot is reasonable and stable.更多还原