CN113427464B - Positioning robot for target instrument detection - Google Patents
Positioning robot for target instrument detection Download PDFInfo
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- CN113427464B CN113427464B CN202110610270.4A CN202110610270A CN113427464B CN 113427464 B CN113427464 B CN 113427464B CN 202110610270 A CN202110610270 A CN 202110610270A CN 113427464 B CN113427464 B CN 113427464B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention provides a positioning robot for target instrument detection, which comprises: the device comprises a horizontal moving platform for performing coarse positioning in the horizontal direction, a horizontal moving component for performing fine positioning in the horizontal direction, a vertical component for performing fine positioning in the height direction, a tray for placing a target instrument and a positioning component for obtaining the position of the target instrument; the horizontal moving part is connected to the middle part of the horizontal moving platform; the vertical component is connected to the upper part of the horizontal moving component; the tray is connected to the upper part of the vertical component; the positioning part is connected with the tray; the horizontal moving platform, the horizontal moving component and the vertical component are made of metal materials; the tray is made of metal or plastic; the positioning component is made of metal and/or plastic.
Description
Technical Field
The invention relates to the field of target instrument detection in laboratories, in particular to a positioning robot for target instrument detection.
Background
In an ionizing radiation standard laboratory, a radiation signal source is placed at a designated position, the energy output by radiation of the radiation signal source is in inverse proportion to the radiation distance, when a target instrument is calibrated and measured, the target instrument needs to be placed on a radiation signal output path of the radiation signal source, and the target instrument needs to be accurately positioned according to the distance designated by the radiation signal source, so that the radiation quantity received by the target instrument is accurately controlled, and the measurement precision of a calibration or measurement instrument is calibrated; in testing, the target instrument is measured at one or more test distances, in which case the problem of how to accurately position the target instrument is involved. In the prior art, a radiation signal source is placed in a laboratory, a track is laid on the ground along the direction of a radiation path of the radiation signal source, a positioning platform carries a target instrument to move along the track so as to adjust the distance between the target instrument and the radiation signal source, at the moment, in order to accurately control the distance between the target instrument and the radiation signal source, a high-precision distance measuring device such as an encoder, a grating ruler, a magnetic grating ruler, a servo code disc and the like needs to be installed on the track or each positioning platform, the track is parallel to the radiation path, and therefore, a lifting device is further arranged on the positioning platform and used for adjusting the height of the carried target instrument. The position of a target instrument and the position of a radiation signal source cannot be directly obtained by the conventional system, when the position of the target instrument is adjusted, the distance variation and the height variation of the target instrument and the radiation signal source need to be respectively calculated and then respectively adjusted according to the respective variation, and accumulated errors are easily introduced by the multi-dimensional respective adjustment and variation mode. Meanwhile, in the prior art, the method for controlling the distance between the positioning platform and the radiation signal source by using the track can reduce the motion dimension of the positioning platform, but simultaneously causes the positioning platform to lose the motion flexibility.
In the process of implementing the invention, the applicant finds that at least the following problems exist in the prior art:
accumulated errors occur in the position information fed back by dimensions, and the positioning position is inaccurate.
Disclosure of Invention
The embodiment of the invention provides a positioning robot for target instrument detection, which solves the problem of inaccurate positioning position caused by accumulated errors of position information of a dimension feedback target instrument when the target instrument is positioned.
To achieve the above object, in one aspect, an embodiment of the present invention provides a positioning robot for target instrument detection, including: the device comprises a horizontal moving platform for performing coarse positioning in the horizontal direction, a horizontal moving component for performing fine positioning in the horizontal direction, a vertical component for performing fine positioning in the height direction, a tray for placing a target instrument and a positioning component for obtaining the position of the target instrument; the positioning component is used for obtaining the position and the posture of a target instrument in the optical three-dimensional motion capture system;
the horizontal moving part is connected to the middle part of the horizontal moving platform;
the vertical component is connected to the upper part of the horizontal moving component;
the tray is connected to the upper part of the vertical component;
the positioning component is connected to the tray;
the horizontal moving platform, the horizontal moving component and the vertical component are made of metal materials;
the tray is made of metal or plastic;
the positioning component is made of metal and/or plastic.
Further, the positioning robot for target instrument detection further includes: the communication device is arranged on the horizontal moving platform;
the communication device is used for controlling the horizontal moving platform, the horizontal moving component and the vertical component to move according to the received control signal, and moving the target instrument placed on the tray to a specified position.
Further, the horizontal moving member includes: a transverse member for performing fine positioning in a horizontal transverse direction and a longitudinal member for performing fine positioning in a horizontal longitudinal direction;
the transverse component and the longitudinal component are connected in a stacked mode, and the moving directions of the transverse component and the longitudinal component are mutually vertical in the horizontal direction.
Further, the cross member includes: a lateral fixing member and a lateral moving member;
the transverse moving part moves along the transverse fixing part;
the longitudinal member comprises; a longitudinal fixing member and a longitudinal moving member;
the longitudinal moving part moves along the longitudinal fixing part;
the transverse component and the longitudinal component are connected in a stacked mode, and the method specifically comprises the following steps:
the transverse fixing part is connected to the middle part of the horizontal moving platform; the longitudinal fixing part is connected to the upper part of the transverse moving part;
alternatively, the first and second liquid crystal display panels may be,
the longitudinal fixing part is connected to the middle part of the horizontal moving platform; the lateral fixing part is connected to an upper portion of the longitudinal moving part.
Further, the vertical member includes: a vertical fixed component and a vertical moving component;
the vertical moving member moves in a vertical direction along the vertical fixing member.
Further, the positioning member includes: at least 4 light-reflecting spheres;
the positioning component is connected to the tray, and specifically comprises: the at least 4 light-reflecting balls are connected to the tray, and the at least 4 light-reflecting balls are distributed on at least two different logic planes in the space.
Further, the positioning robot for target instrument detection further includes: a transverse scale for reading the transverse relative position of the instrument with respect to the positioning member, a longitudinal scale for reading the longitudinal relative position of the instrument with respect to the positioning member, and a vertical scale for reading the vertical relative position of the instrument with respect to the positioning member;
the transverse scale and the longitudinal scale are perpendicular to each other;
the transverse scale and the longitudinal scale are parallel to and arranged on the upper surface of the tray;
the vertical scale is vertically arranged on the upper surface of the tray.
Further, the lateral fixing member further includes: the first ball screw is used for pushing the transverse moving component to move along the transverse fixing component, the first driving motor and two parallel transverse linear guide rails are arranged on the upper surface of the horizontal moving platform;
two fixed ends of the first ball screw are connected to the lower surface of the horizontal moving platform, and a rectangular first through hole is formed in the horizontal moving platform and located between the two fixed ends of the first ball screw;
the sliding end of the first ball screw penetrates through the first through hole to be connected with the transverse moving component;
the shell of the first driving motor is fixed on the lower surface of the horizontal moving platform, and a driving shaft of the first driving motor is connected with a driving input end of the first ball screw through gear transmission and is used for driving the first ball screw;
the transverse linear guide rail is connected with the transverse moving component in a sliding way;
the sliding end of the first ball screw drives the transverse moving component to slide along the transverse linear guide rail;
the longitudinal fixing member further includes: the second ball screw is used for pushing the longitudinal moving component to move along the longitudinal fixing component, the second driving motor, the two parallel longitudinal linear guide rails and the longitudinal cabin body;
two fixed ends of the second ball screw are connected to the bottom surface in the longitudinal cabin body;
the sliding end of the second ball screw is connected with the longitudinal moving part;
the outer shell of the second driving motor is connected to the outer side of the side face of the longitudinal cabin, and a driving shaft of the second driving motor is connected to a driving input end of the second ball screw through gear transmission and is used for driving the second ball screw;
the longitudinal linear guide rail is connected to the bottom surface inside the longitudinal cabin and is parallel to the second ball screw;
the longitudinal linear guide rail is connected with the longitudinal moving component in a sliding mode.
Further, the vertical fixing part further includes: the third ball screw, the third driving motor, the columnar guide rail and the vertical cabin body are used for pushing the vertical moving component to move along the vertical fixed component;
the fixed end of the upper end of the third ball screw is connected to the inner side of the top surface of the vertical cabin body, and the fixed end of the lower end of the third ball screw is connected to the inner side of the bottom surface of the vertical cabin body;
the upper side surface of the sliding end of the third ball screw is connected with a vertical supporting column, and the vertical supporting column penetrates through a through hole in the top surface of the vertical cabin body and is connected with the vertical moving component;
the columnar guide rail penetrates through the sliding end of the third ball screw, the upper end of the columnar guide rail is connected with the inner side of the top surface of the vertical cabin, and the lower end of the columnar guide rail is connected with the inner side of the bottom surface of the vertical cabin;
and the shell of the third driving motor is connected to the outer side of the side vertical surface of the vertical cabin body, and the driving shaft of the third driving motor is connected to the driving input end of the third ball screw through gear transmission and is used for driving the third ball screw.
Further, the horizontal moving platform is a wheel type horizontal moving platform.
Further, the tray is connected to the upper portion of the vertical component, specifically:
the tray is connected to an upper portion of the vertical moving member.
Further, the tray further includes: a plurality of mounting holes for securing a target instrument; the plurality of mounting holes are arranged on the upper side surface of the tray and penetrate through the upper side surface and the lower side surface of the tray.
Further, the horizontal movement platform comprises: the first universal wheel, the second universal wheel, the first steering wheel and the second steering wheel;
the first universal wheel and the second universal wheel are respectively arranged at a first oblique diagonal position of the horizontal moving platform;
the first steering wheel and the second steering wheel are respectively arranged at a second diagonal position of the horizontal moving platform.
Furthermore, a groove line for positioning a target instrument is arranged on the upper surface of the tray, the groove line is perpendicular to the longitudinal scale, and one end of the groove line is aligned with a designated scale line of the longitudinal scale; or grid grooves for positioning a target instrument are formed in the upper surface of the tray, longitudinal grooves in the grid grooves are perpendicular to the transverse scale and are aligned with the scale marks on the transverse scale, and transverse grooves in the grid grooves are perpendicular to the longitudinal scale and are aligned with the scale marks on the longitudinal scale.
The technical scheme has the following beneficial effects: the target instrument is roughly positioned and then finely positioned by combining a roughly-positioned moving platform, a finely-positioned horizontal moving component and a finely-positioned vertical component, so that the positioning efficiency is improved under the condition of keeping the positioning accuracy; the positioning component arranged on the tray can be used for accurately determining the position and the posture of a wood target instrument in the optical three-dimensional motion capture system, the position and the posture of the target instrument cannot be directly obtained in the prior art, the prior art can only control the movement amount to indirectly position the target instrument from a plurality of dimensions through an encoder, a grating ruler, a magnetic grating ruler or a servo code disc arranged on a track or a positioning platform, and compared with the prior art, the position information of the target instrument can be directly and accurately obtained according to the positioning component in the optical three-dimensional motion capture system. Under the functions of the WYSIWYG target instrument position and the guarantee of high-efficiency positioning of positioning accuracy by the combination of coarse positioning and fine positioning, the technical scheme realizes the high-efficiency positioning of high positioning accuracy of the WYSIWYG target instrument position. Furthermore, the positioning robot is controlled through the communication device, the positioning robot is allowed to be directly and manually pushed to realize manual positioning, and the communication device can be used for remotely controlling the positioning robot to realize remote positioning of an operator in a radiation environment, so that the operator is prevented from contacting radiation. Furthermore, the mobile platform moves through the wheels arranged at the bottom of the mobile platform, a fixed track is not needed, the moving flexibility of the positioning robot is improved, a plurality of positioning robots are conveniently deployed in an experimental environment to respectively detect a plurality of target instruments, the positioning robot is not limited by the track, and can be freely moved to an appointed position manually or remotely, so that batch sequential measurement of the plurality of target instruments is realized, and the times of entering a radiation environment by operators are further reduced. The operation safety of operators is obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a right side view of a positioning robot in accordance with one embodiment of the present invention;
FIG. 2 is a schematic view of a prior art rail-based positioning platform;
FIG. 3 is a left side view of the positioning robot with vertical cabin side covers and longitudinal cabin top covers removed in accordance with one embodiment of the present invention;
fig. 4 is a bottom view of a positioning robot in accordance with one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In an ionizing radiation standard laboratory, as shown in fig. 2, in the prior art, in order to position a target instrument at a specified distance from a radiation signal source, a positioning platform based on a guide rail needs to accurately measure the distance that the positioning platform moves on the guide rail, and meanwhile, a lifting device is required to accurately control the height of the target instrument and the radiation signal of the radiation signal source to be at the same height on the positioning platform. The positioning platform loses flexibility due to the moving mode based on the guide rail, when a plurality of instruments are measured, the positioning platform moving based on the guide rail needs to frequently disassemble and assemble target instruments or replace the positioning platform on the guide rail so as to be replaced by other target instruments, and the operation is too complex; in addition, technicians find that the distance and the height are respectively calculated and adjusted according to the calculation results, accumulated errors are easily introduced, and the target instrument is inaccurately positioned; the following embodiments of the present invention are provided to solve the above problems.
In one aspect, as shown in fig. 1, an embodiment of the present invention provides a positioning robot for target instrument detection, for positioning a target instrument in an optical three-dimensional motion capture system, including: the device comprises a horizontal moving platform 1 for performing coarse positioning in the horizontal direction, a horizontal moving component 2 for performing fine positioning in the horizontal direction, a vertical component 3 for performing fine positioning in the height direction, a tray 4 for placing a target instrument and a positioning component 5 for obtaining the position of the target instrument; the positioning component 5 is used for obtaining the position information of the target instrument in the optical three-dimensional motion capture system;
the horizontal moving part 2 is connected to the middle part of the horizontal moving platform 1;
the vertical component 3 is connected to the upper part of the horizontal moving component 2;
the tray 4 is connected to the upper part of the vertical component 3;
the positioning component 5 is connected to the tray 4;
the horizontal moving platform 1, the horizontal moving component 2 and the vertical component 3 are made of metal materials;
the tray 4 is made of metal or plastic;
the positioning component 5 is made of metal and/or plastic;
the positioning robot is used for positioning the target instrument to a specified target position;
the horizontal moving platform 1 is used for positioning a target instrument into a specified neighborhood taking a target horizontal position in a target position as a center according to the real-time position of the target instrument obtained in the optical three-dimensional motion capture system;
the horizontal moving component 2 and the vertical component 3 are used for positioning the target instrument to a target position according to the real-time position of the target instrument obtained in the optical three-dimensional motion capture system;
the real-time position comprises a real-time horizontal position and a real-time height;
the target position comprises a target horizontal position and a target height;
the real-time position and the target position are specified in a spatial coordinate system defined by the optical three-dimensional motion capture system.
In one embodiment, the positioning robot consists of a roughly positioning horizontal moving platform, a precisely positioning horizontal moving component, a precisely positioning vertical component, a tray and a positioning component which are arranged on the roughly positioning horizontal moving platform. The horizontal moving platform 1 can include, but is not limited to, a wheeled moving platform and a crawler-type moving platform, and any driving manner that can drive the moving platform to move horizontally can be used to implement the horizontal moving platform 1; coarse positioning moves the target instrument to within and including 10 millimeters of the target location as a center; fine positioning moves the target instrument to within 0.1 mm and including 0.1 mm of the target position as a center; for example, the fine positioning can be realized by pushing the sliding part to slide on the linear guide rail by a ball screw; in order to position the target instrument at a specified distance and height in front of a radiation signal source, the direction and distance that the positioning robot needs to move can be determined according to the real-time position information of the target instrument and the position information of the radiation signal source, which are obtained from the optical three-dimensional motion capture system, and then the positioning robot is moved to the position near a target horizontal position in the target position through the horizontal moving platform 1 capable of performing coarse positioning according to the obtained direction and distance to complete coarse positioning; and then, on the basis of coarse positioning, accurate positioning is carried out through the horizontal moving component and the vertical component, and finally, accurate positioning of the target instrument is achieved. The horizontal moving platform for coarse positioning of the positioning robot can move transversely, longitudinally or obliquely in the horizontal direction; the horizontal moving platform can be moved by manual pushing or remote control; the roughly positioned horizontal moving platform of the positioning robot can move quickly or slowly so as to carry the target instrument to the vicinity of the target position; the three-dimensional capturing system establishes a space coordinate system of a space where the positioning robot is located; in the three-dimensional capturing system, the position information of a target instrument in a space coordinate system can be accurately determined based on a positioning part arranged on a tray of a positioning robot; the positioning robot is moved in a manual pushing or remote control mode, specifically, during rough positioning, the moving platform is pushed or remotely controlled to move, during precise positioning, the horizontal moving component and/or the vertical component are pushed or remotely controlled to move, meanwhile, the real-time position of the target instrument obtained through the three-dimensional capturing system is observed and compared with the target position, during rough positioning, when the real-time horizontal position in the real-time position of the target instrument is within a specified range taking the target horizontal position in the target position as the center, the moving platform can be stopped being pushed, and at the moment, the rough positioning is finished; on the basis of rough positioning, the target instrument carried on the tray of the positioning robot is accurately positioned through the movement of the horizontal moving component and the vertical component which are accurately positioned.
The embodiment of the invention has the following technical effects: the target instrument is roughly positioned and then finely positioned by combining a roughly-positioned moving platform, a finely-positioned horizontal moving component and a finely-positioned vertical component, so that the positioning efficiency is improved under the condition of keeping the positioning accuracy; the positioning component arranged on the tray can be used for accurately determining the position and the posture of a wood target instrument in an optical three-dimensional motion capture system, the position and the posture of the target instrument cannot be directly obtained in the prior art, the movement amount can be respectively controlled from multiple dimensions to indirectly position the target instrument only through an encoder, a grating ruler, a magnetic grating ruler or a servo code disc which are arranged on a track or a positioning platform in the prior art, compared with the prior art, the position information of the target instrument can be directly and accurately obtained according to the positioning component in the optical three-dimensional motion capture system, and the position information of the target instrument directly obtained in the technical scheme is the position of the target instrument which is obtained through seeing, so that the accumulated error of the movement amount in each dimension in the prior art does not exist. Under the functions of the visible-to-be-obtained target instrument position and the guarantee of high-efficiency positioning of positioning accuracy by combining coarse positioning and fine positioning, the technical scheme realizes the high-efficiency positioning of high positioning accuracy of the visible-to-be-obtained target instrument position.
Further, a positioning robot for target instrument detection, further comprising: a communication device 6 arranged on the horizontal moving platform 1;
the communication device 6 is used for controlling the movement of the horizontal moving platform 1, the horizontal moving part 2 and the vertical part 3 according to the received control signal, and moving the target instrument placed on the tray 4 to a designated position.
In one embodiment, the positioning robot is provided with a communication device 6 on the horizontal moving platform 1, and an operator can remotely control the horizontal moving platform 1 to perform coarse positioning and remotely control the horizontal moving component 2 and the vertical component 3 to perform precise positioning through the communication device 6, so that a target instrument is positioned at a specified target position. The embodiment of the invention has the following technical effects: in an ionizing radiation standard laboratory, a radiation signal source is used as auxiliary calibration or measurement equipment to detect a target instrument, so that more or less radiation can be generated in the environment; the technical scheme of the embodiment of the invention can obviously reduce the frequency of entering the radiation environment by the operator, and the operator can remotely control the positioning robot in the safe environment, so that the positioning robot positions the target instrument to the target position in the radiation environment, thereby obviously improving the operation safety of the operator.
The communication device 6 can be fixed on the upper surface of the horizontal moving platform 1;
preferably, the communication device 6 is fixed on the lower surface of the horizontal moving platform 1;
as shown in fig. 1, the communication device 6 is fixed on the lower surface of the horizontal moving platform 1, so that a wired cable can be conveniently connected to the communication device 6 through the bottom of the moving platform, and a control and power line can be conveniently arranged from the communication device 6 to the respective driving devices of the horizontal moving platform 1, the horizontal moving component and the vertical component after passing through the horizontal moving platform 1, the horizontal moving component and the vertical component, thereby avoiding various cables from being exposed outside or on the upper part of the positioning robot. Meanwhile, the communication device 6 is fixed on the lower surface of the horizontal moving platform 1, so that the bottom space of the horizontal moving platform 1 is fully utilized, the upper surface space of the horizontal moving platform 1 is saved, and the saved upper surface space can be temporarily used as the storage space of other equipment in practical use.
Further, as shown in fig. 1, the horizontal moving member 2 includes: a transverse member 21 finely positioned in the horizontal transverse direction and a longitudinal member 22 finely positioned in the horizontal longitudinal direction;
the transverse member 21 and the longitudinal member 22 are connected in a stacked manner, and the moving directions of the transverse member 21 and the longitudinal member 22 are mutually perpendicular in the horizontal direction.
In one embodiment, the horizontal moving member 2 is composed of a transverse member 21 and a longitudinal member 22, and can perform accurate positioning of the target instrument in the transverse and longitudinal directions in the horizontal direction. The transverse member 21 may be arranged on the upper part of the longitudinal member 22 or the longitudinal member 22 may be arranged on the upper part of the transverse member 21.
The embodiment of the invention has the following technical effects: on the basis of the coarse positioning of the horizontal moving platform, the real-time position of the target instrument is close to the target position, the difference between the real-time position and the target position is within the range in which the transverse component 21 and the longitudinal component 22 can be accurately moved and positioned, and the target instrument is accurately positioned to the target position through the accurate positioning of the transverse component 21 and the longitudinal component 22. The coarse positioning is used during long-distance movement, the fine positioning is used during short-distance movement, and the accurate positioning device only needs to be deployed in a shorter distance range, so that the cost of deploying the accurate positioning device in a long distance can be reduced, the positioning precision can be ensured, and the positioning efficiency is improved.
Further, as shown in fig. 1, the cross member 21 includes: a lateral fixing member and a lateral moving member 211;
the lateral moving member 211 moves along the lateral fixing member;
the longitudinal member 22 includes; a longitudinal fixing member and a longitudinal moving member 221;
the longitudinal moving member 221 moves along the longitudinal fixing member;
the transverse component 21 and the longitudinal component 22 are connected in a laminated manner, specifically:
the transverse fixing part is connected to the middle part of the horizontal moving platform 1; the longitudinal fixing member is connected to an upper portion of the lateral moving member 211; alternatively, the first and second electrodes may be,
the longitudinal fixing part is connected to the middle part of the horizontal moving platform 1; the lateral fixing member is connected to an upper portion of the longitudinal moving member 221.
In one embodiment, the horizontal moving platform 1 completes the coarse positioning in the horizontal direction; the transverse fixing part is fixed in the middle of the horizontal moving platform 1, and the transverse moving part 211 horizontally moves along the transverse fixing part and is used for realizing accurate positioning in the transverse direction after coarse positioning; the longitudinal direction fixing member is fixed to an upper portion of the lateral direction moving member 211, and the longitudinal direction moving member 221 moves horizontally along the longitudinal direction fixing member, and simultaneously carries the longitudinal direction member 22 to move in the lateral direction when the lateral direction moving member 211 moves.
In one embodiment, the horizontal moving platform 1 completes the coarse positioning in the horizontal direction; the longitudinal fixing part is fixed in the middle of the horizontal moving platform 1, and the longitudinal moving part 221 moves horizontally along the longitudinal fixing part and is used for realizing accurate positioning in the longitudinal direction after coarse positioning; the lateral fixing member is fixed to an upper portion of the longitudinal moving member 221, and the lateral moving member 211 moves horizontally along the lateral fixing member, and simultaneously carries the lateral member 21 to move in the longitudinal direction while the longitudinal moving member 221 moves.
The embodiment of the invention has the following technical effects: on the basis of the rough positioning of the horizontal moving platform, the real-time position of the target instrument is close to the target position, the difference between the real-time position and the target position is within the range that the transverse component 21 and the longitudinal component 22 can be accurately moved and positioned, and the target instrument is accurately positioned to the target position through the accurate positioning of the transverse component 21 and the longitudinal component 22. The coarse positioning is used during long-distance movement, the fine positioning is used during short-distance movement, and the accurate positioning device only needs to be deployed in a shorter distance range, so that the cost of deploying the accurate positioning device in a long distance can be reduced, the positioning precision can be ensured, and the positioning efficiency is improved.
Further, as shown in fig. 1, the vertical member 3 includes: a vertical fixing part and a vertical moving part 31;
the vertical moving member 31 moves in the vertical direction along the vertical fixing member.
In one embodiment, the horizontal moving part 2 carries the vertical part 3 to perform accurate positioning in the horizontal direction, and then the target instrument is accurately positioned in the height direction by adjusting the movement of the vertical moving part 31 along the vertical fixing part; when the positioning needs to be explained, the vertical component 3 can be adjusted to complete the accurate positioning in the height direction, and then the horizontal moving component 2 can be adjusted to complete the accurate positioning in the horizontal direction.
The embodiment of the invention has the following technical effects: the coarse positioning is used during long-distance movement, the fine positioning is used during short-distance movement, and the accurate positioning device only needs to be deployed in a shorter distance range, so that the cost of deploying the accurate positioning device in a long distance can be reduced, the positioning precision can be ensured, and the positioning efficiency is improved.
Further, as shown in fig. 1, the positioning member 5 includes: at least 4 light-reflecting spheres;
the positioning part 5 is connected to the tray 4, and specifically comprises: at least 4 reflective balls are connected to the tray 4, and at least 4 reflective balls are distributed on at least two different logical planes in space.
In one embodiment, the optical three-dimensional motion capture system establishes a spatial coordinate system in an ionizing radiation standard laboratory, and determines the position information of the target instrument by capturing the position information of the positioning component 5 in the spatial coordinate system; the positioning component 5 comprises at least 4 light-reflecting balls or light-reflecting pastes, the three-dimensional coordinates and the attitude information of the target instrument in a space coordinate system can be obtained through the positioning component 5, and the attitude information can comprise a pitch angle, a course angle and a roll angle; the positioning part 5 can be composed of at least 4 reflecting balls supported by a bracket; in one embodiment, a longitudinal center line notch or a longitudinal center reference mark line may be formed on the tray, and when the target instrument is placed on the tray, the center line of the target instrument may be aligned with the longitudinal center line, so that the target instrument may be more easily and conveniently fixed on the tray accurately; in another embodiment, one of the pellets may preferably be aligned with the longitudinal centerline of the tray; the positioning component may also have various structures, which are in accordance with the limitations of the present embodiment on the positioning component as long as the position coordinates and the posture information of the positioning component can be determined in the optical three-dimensional capturing system. The above-described embodiments regarding the positioning member structure and the placement position serve to more simply determine the positional information of the center line of the tray by the spatial coordinate system, thereby more simply determining the positional information of the target instrument.
The positioning robot can be collected by the optical three-dimensional motion capture system through the combined action of the positioning component, the horizontal moving platform, the horizontal moving component, the vertical component, the tray and other structures, so that the positioning robot can acquire position information (the position information can comprise position coordinates and posture information) and further can acquire the real-time position information of a target instrument in real time through the optical three-dimensional motion capture system; when the positioning robot is moved, the difference between the real-time position information of the target instrument and the target position information can be obtained in real time, the movement of the positioning robot is controlled according to the difference, the what you see is what you get of the position information of the target instrument is achieved, and accumulated errors between the position of the target instrument and the expected position due to the fact that movement of all dimensions is adjusted respectively cannot occur. The above-described preferred positioning means is preferably configured and arranged so that it is easier to obtain the position information of the target instrument in the optical three-dimensional movement step system, and it is also easier to accurately position the target instrument on the tray, thereby reducing errors occurring when fixing the target instrument, and further improving the accuracy of the obtained position information of the target instrument.
Further, a positioning robot for target instrument detection, further comprising: a lateral scale for reading a lateral relative position of the instrument with respect to the positioning member 5, a longitudinal scale for reading a longitudinal relative position of the instrument with respect to the positioning member 5, and a vertical scale for reading a vertical relative position of the instrument with respect to the positioning member 5;
the transverse scale and the longitudinal scale are mutually vertical;
the transverse scale and the longitudinal scale are parallel to and arranged on the upper surface of the tray 4;
the vertical scale is vertically arranged on the upper surface of the tray 4.
In one embodiment, the longitudinal scale and the transverse scale are arranged on the tray 4, so that when a target instrument is placed on the tray 4, the target instrument can be placed more flexibly, and as long as the relative position information of the target instrument and the positioning component 5 is read through the longitudinal scale and the transverse scale after the target instrument is fixed, the position information of the target instrument can be accurately obtained through the optical three-dimensional motion capture system.
The embodiment of the invention has the following technical effects: the tray on the same positioning robot can be suitable for various target instruments with different shapes or sizes, and the use efficiency of the positioning robot is improved.
Further, as shown in fig. 1 and 3, the lateral fixing member further includes: a first ball screw 212 for pushing the transverse moving component 211 to move along the transverse fixing component, a first driving motor 213 and two parallel transverse linear guide rails 214 arranged on the upper surface of the horizontal moving platform 1;
as shown in fig. 4, two fixed ends of the first ball screw 212 are connected to the lower surface of the horizontal moving platform 1, and a rectangular first through hole 11 is formed between the two fixed ends of the first ball screw 212 of the horizontal moving platform 1;
the sliding end 215 of the first ball screw shaft 212 is connected to the lateral moving member 211 through the first through hole 11;
the housing of the first driving motor 213 is fixed on the lower surface of the horizontal moving platform 1, and the driving shaft of the first driving motor 213 is connected to the driving input end of the first ball screw 212 through a gear transmission for driving the first ball screw 212;
the transverse linear guide 214 is connected with the transverse moving component 211 in a sliding way;
the sliding end 215 of the first ball screw 212 drives the transverse moving component 211 to slide along the transverse linear guide rail 214;
as shown in fig. 3, the longitudinal fixing member further includes: a second ball screw 222 for pushing the longitudinal moving component 221 to move along the longitudinal fixed component, a second driving motor 223, two parallel longitudinal linear guide rails 224, a longitudinal cabin 225;
two fixed ends of the second ball screw 222 are connected to the bottom surface inside the longitudinal cabin 225;
the sliding end of the second ball screw 222 is connected to the longitudinal moving member 221;
the housing of the second driving motor 223 is connected to the outside of the lateral surface of the longitudinal cabin, and the driving shaft of the second driving motor 223 is connected to the driving input end of the second ball screw 222 through gear transmission for driving the second ball screw 222;
a longitudinal linear guide 224 is connected to the bottom surface of the interior of the longitudinal cabin 225 and is parallel to the second ball screw 222;
the longitudinal linear guide 224 is slidably connected to the longitudinal moving member 221.
In one embodiment, the first and second drive motors may be stepper motors or servo motors, and by pulse positioning, the distance per pulse may be set, preferably, 0.01 mm per pulse may be achieved; the driving motor is used for driving the ball screw to push the transverse moving component 211 or the longitudinal moving component 221 to move, so that high-precision moving distance change can be realized, the positioning precision during precise positioning is ensured, and particularly, the positioning precision can be limited within the range of [ -0.1 millimeter, 0.1 millimeter ].
Further, as shown in fig. 3, the vertical fixing member further includes: a third ball screw 32, a third driving motor 33, a columnar guide rail 34 and a vertical cabin 35 for pushing the vertical moving component 31 to move along the vertical fixed component;
the fixed end of the upper end of the third ball screw 32 is connected to the inner side of the top surface of the vertical cabin 35, and the fixed end of the lower end of the third ball screw 32 is connected to the inner side of the bottom surface of the vertical cabin 35;
the upper side surface of the sliding end 36 of the third ball screw 32 is connected with a vertical supporting column, and the vertical supporting column passes through a through hole on the top surface of the vertical cabin body and is connected with the vertical moving component 31;
the columnar guide rail 34 penetrates through a sliding end 36 of the third ball screw 32, the upper end of the columnar guide rail 34 is connected with the inner side of the top surface of the vertical cabin 35, and the lower end of the columnar guide rail 34 is connected with the inner side of the bottom surface of the vertical cabin 35; the sliding end 36 of the third ball screw 32 slides along the cylindrical guide rail 34; wherein preferably, the cylindrical guide rails 34 are four in number, evenly distributed and pass through the sliding ends 36 of the third ball screws 32.
The housing of the third driving motor 33 is connected to the outer side of the vertical cabin 35, and the driving shaft of the third driving motor 33 is connected to the driving input end of the third ball screw 32 through a gear transmission for driving the third ball screw 32.
In one embodiment, the third driving motor may be a stepping motor or a servo motor, and by pulse positioning, the distance per pulse may be set, and preferably, 0.01 mm per pulse may be realized; the driving motor is used for driving the ball screw to push the vertical moving component 31 to move, so that the change of the moving distance with higher precision can be realized, the positioning precision during accurate positioning is ensured, and particularly, the positioning precision can be limited in the range of [ -0.1 millimeter, 0.1 millimeter ]. The columnar guide rail is used for limiting the posture of the sliding end of the third ball screw, the sliding end of the third ball screw can be ensured to keep a horizontal state and slide stably, the problem that the sliding end of the third ball screw inclines due to gravity or loaded unbalanced pressure is avoided, the sliding end of the third ball screw is prevented from being locked with the third ball screw when moving, and meanwhile, the accuracy of the horizontal angle of a target instrument is ensured
Further, as shown in fig. 4, the horizontal movement platform 1 is a wheeled horizontal movement platform.
In one embodiment, compared with a positioning platform based on a track, the wheel-type horizontal moving platform of the embodiment enables the positioning robot to move more flexibly in a laboratory space, for a scene in which a target instrument of a stage needs to be measured in sequence, the positioning robot to be tested can be moved to any place outside a radiation path of a radiation source, the positioning robot after testing can be moved away conveniently when testing is performed, and the positioning robot to be tested is moved to the radiation path of the radiation source. The positioning robot can be flexibly moved outside the field by remote control without the limitation of a track by combining with a communication device, and a new target instrument does not need to be installed again or a positioning platform on the track needs to be replaced manually when the new target instrument is tested each time.
The embodiment of the invention has the following technical effects: before the test, can install the target instrument on a plurality of positioning robot, after the test begins, can be based on seeing promptly the position information removal positioning robot that obtains in a flexible way, more swiftly set up the target instrument setting to the target location accurately, reduce the time that personnel expose under the environment that has the radiation residual, furtherly, use together with communication device, can realize all operating outside the field in whole test procedure, need not get into the test environment during the test of a plurality of target instruments, can accomplish the test by the remote control, radiation exposure time with operating personnel has been reduced to minimum, show the improvement operation security.
Further, as shown in fig. 1, the tray 4 is connected to the upper portion of the vertical component 3, specifically:
the tray 4 is connected to an upper portion of the vertical moving member 31.
In one embodiment, a tray 4 is fixed on the upper portion of the vertically movable member 31, the tray is used for placing the target instrument, and each movable member below the tray drives the tray and the target instrument thereon to reach the designated target position under the respective movement. The trays 4 are detachably connected with the vertical moving part 31, and when different target instruments are aimed at, the corresponding trays 4 can be selected, so that the applicability of the positioning robot to various target instruments is further increased.
Further, as shown in fig. 3, the tray 4 further includes: a plurality of mounting holes for securing a target instrument; the plurality of mounting holes are arranged on the upper side of the tray 4 and penetrate through the upper side and the lower side of the tray 4.
In one embodiment, the tray 4 is provided with mounting holes for fixing a target instrument, providing a simple and accurate method of fixing a target instrument.
Further, as shown in fig. 4, the horizontal moving platform 1 includes: the first universal wheel, the second universal wheel, the first steering wheel and the second steering wheel;
the first universal wheel and the second universal wheel are respectively arranged at a first diagonal position of the horizontal moving platform 1;
the first steering wheel and the second steering wheel are respectively arranged at a second diagonal position of the horizontal moving platform 1.
In one embodiment, the horizontal moving platform is driven by universal wheels and steering wheels, and can flexibly realize horizontal, longitudinal and oblique movement in the horizontal direction.
Furthermore, a groove line for positioning a target instrument is arranged on the upper surface of the tray 4, the groove line is perpendicular to the longitudinal scale, and one end of the groove line is aligned with a designated scale line of the longitudinal scale; or grid grooves for positioning a target instrument are arranged on the upper surface of the tray 4, longitudinal grooves in the grid grooves are perpendicular to the transverse scale and are aligned with scale marks on the transverse scale, and transverse grooves in the grid grooves are perpendicular to the longitudinal scale and are aligned with scale marks on the longitudinal scale.
In one embodiment, the notch line aligned with the scale is arranged on the upper surface of the tray 4, so that the target instrument can be conveniently and accurately fixed, the relative position information between the target instrument and the positioning component 5 can be accurately read, the efficiency of fixing the target instrument is improved, and the accuracy of the acquired position information of the target instrument is improved.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. To those skilled in the art; various modifications to these embodiments will be readily apparent, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A positioning robot for target instrument detection for positioning a target instrument in an optical three-dimensional motion capture system, comprising: the device comprises a horizontal moving platform (1) for performing coarse positioning in the horizontal direction, a horizontal moving part (2) for performing fine positioning in the horizontal direction, a vertical part (3) for performing fine positioning in the height direction, a tray (4) for placing a target instrument and a positioning part (5) for obtaining the position of the target instrument; the positioning component (5) is used for obtaining the position information of the target instrument in the optical three-dimensional motion capture system;
the horizontal moving part (2) is connected to the middle part of the horizontal moving platform (1);
the vertical component (3) is connected to the upper part of the horizontal moving component (2);
the tray (4) is connected to the upper part of the vertical component (3);
the positioning component (5) is connected to the tray (4);
the horizontal moving platform (1), the horizontal moving part (2) and the vertical part (3) are made of metal materials;
the tray (4) is made of metal or plastic;
the positioning part (5) is made of metal and/or plastic;
the positioning robot is used for positioning the target instrument to a specified target position;
the horizontal moving platform (1) is used for positioning the target instrument into a specified neighborhood taking the target horizontal position in the target position as the center according to the real-time position of the target instrument obtained in the optical three-dimensional motion capture system;
the horizontal moving component (2) and the vertical component (3) are used for positioning the target instrument to a target position according to the real-time position of the target instrument obtained in the optical three-dimensional motion capture system;
the real-time position and the target position are specified in a spatial coordinate system defined by the optical three-dimensional motion capture system.
2. A positioning robot for target instrument detection as defined in claim 1, further comprising: a communication device (6) arranged on the horizontal moving platform (1);
the communication device (6) is used for controlling the horizontal moving platform (1), the horizontal moving component (2) and the vertical component (3) to move according to the received control signal, and moving the target instrument placed on the tray (4) to a specified position.
3. The positioning robot for target instrument detection according to claim 1, characterized in that the horizontal moving means (2) comprises: a transverse member (21) for performing fine positioning in a horizontal transverse direction and a longitudinal member (22) for performing fine positioning in a horizontal longitudinal direction;
the transverse component (21) and the longitudinal component (22) are connected in a stacked mode, and the moving directions of the transverse component (21) and the longitudinal component (22) are mutually perpendicular in the horizontal direction.
4. A positioning robot for target instrument detection as defined in claim 3,
the cross member (21) comprises: a lateral fixing member and a lateral moving member (211);
the lateral moving part (211) moves along the lateral fixing part;
the longitudinal part (22) comprises; a longitudinal fixing member and a longitudinal moving member (221);
the longitudinal moving part (221) moves along the longitudinal fixing part;
the transverse component (21) and the longitudinal component (22) are connected in a stacked manner, and specifically, the transverse component comprises:
the transverse fixing part is connected to the middle part of the horizontal moving platform (1); the longitudinal fixing part is connected to the upper part of the transverse moving part (211); alternatively, the first and second electrodes may be,
the longitudinal fixing part is connected to the middle part of the horizontal moving platform (1); the lateral fixing part is connected to an upper portion of the longitudinal moving part (221).
5. The positioning robot for target instrument detection according to claim 1, characterized in that the vertical component (3) comprises: a vertical fixed member and a vertical moving member (31);
the vertical moving part (31) moves in a vertical direction along the vertical fixing part.
6. The positioning robot for target instrument detection according to claim 1, characterized in that the positioning means (5) comprises: at least 4 light-reflecting spheres;
the positioning component (5) is connected to the tray (4), and specifically comprises: the at least 4 light-reflecting balls are connected to the tray (4), and the at least 4 light-reflecting balls are distributed on at least two different logical planes in space.
7. A positioning robot for target instrument detection as recited in claim 1, further comprising: a transverse scale for reading the transverse relative position of the instrument with respect to the positioning part (5), a longitudinal scale for reading the longitudinal relative position of the instrument with respect to the positioning part (5), and a vertical scale for reading the vertical relative position of the instrument with respect to the positioning part (5);
the transverse scale and the longitudinal scale are perpendicular to each other;
the transverse scale and the longitudinal scale are parallel to and arranged on the upper surface of the tray (4);
the vertical scale is vertically arranged on the upper surface of the tray (4).
8. A positioning robot for target instrument detection as recited in claim 4, wherein the lateral securing component further comprises: a first ball screw (212) for pushing the transverse moving component (211) to move along the transverse fixing component, a first driving motor (213) and two parallel transverse linear guide rails (214) arranged on the upper surface of the horizontal moving platform (1);
two fixed ends of the first ball screw (212) are connected to the lower surface of the horizontal moving platform (1), and a rectangular first through hole (11) is formed between the two fixed ends of the first ball screw (212) of the horizontal moving platform (1);
a sliding end (215) of the first ball screw (212) passes through the first through hole (11) to be connected with the transverse moving member (211);
the shell of the first driving motor (213) is fixed on the lower surface of the horizontal moving platform (1), and the driving shaft of the first driving motor (213) is connected with the driving input end of the first ball screw (212) through gear transmission and is used for driving the first ball screw (212);
the transverse linear guide rail (214) is connected with the transverse moving component (211) in a sliding way;
the sliding end (215) of the first ball screw (212) drives the transverse moving component (211) to slide along the transverse linear guide rail (214);
the longitudinal fixing member further includes: the second ball screw (222) is used for pushing the longitudinal moving component (221) to move along the longitudinal fixing component, the second driving motor (223), two parallel longitudinal linear guide rails (224) and a longitudinal cabin body (225);
two fixed ends of the second ball screw (222) are connected to the bottom surface in the longitudinal cabin body (225);
the sliding end of the second ball screw (222) is connected to the longitudinal moving part (221);
the outer shell of the second driving motor (223) is connected to the outer side of the longitudinal cabin, and the driving shaft of the second driving motor (223) is connected to the driving input end of the second ball screw (222) through gear transmission so as to drive the second ball screw (222);
the longitudinal linear guide rail (224) is connected to the bottom surface inside the longitudinal cabin body (225) and is parallel to the second ball screw (222); the longitudinal linear guide rail (224) is connected with the longitudinal moving component (221) in a sliding mode.
9. A positioning robot for target instrument detection as recited in claim 5, wherein the vertical fixation component further comprises: the third ball screw (32), the third driving motor (33), the columnar guide rail (34) and the vertical cabin body (35) are used for pushing the vertical moving component (31) to move along the vertical fixing component;
the fixed end of the upper end of the third ball screw (32) is connected to the inner side of the top surface of the vertical cabin body (35), and the fixed end of the lower end of the third ball screw (32) is connected to the inner side of the bottom surface of the vertical cabin body (35);
the upper side surface of the sliding end (36) of the third ball screw (32) is connected with a vertical supporting column, and the vertical supporting column penetrates through a through hole in the top surface of the vertical cabin body and is connected with the vertical moving component (31);
the columnar guide rail (34) penetrates through a sliding end (36) of the third ball screw (32), the upper end of the columnar guide rail (34) is connected with the inner side of the top surface of the vertical cabin body (35), and the lower end of the columnar guide rail (34) is connected with the inner side of the bottom surface of the vertical cabin body (35); the sliding end (36) of the third ball screw (32) slides along the cylindrical guide rail (34);
the outer shell of the third driving motor (33) is connected to the outer side of the vertical cabin body (35), and a driving shaft of the third driving motor (33) is connected to a driving input end of the third ball screw (32) through gear transmission and is used for driving the third ball screw (32).
10. The positioning robot for target instrument detection according to claim 1, characterized in that the horizontal moving platform (1) is a wheeled horizontal moving platform.
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| CN202027725U (en) * | 2011-04-01 | 2011-11-09 | 上海优益基医疗器械有限公司 | Positioning reference frame of surgical navigation system capable of being repeatedly installed and removed |
| CN102540242B (en) * | 2011-12-30 | 2015-02-11 | 同方威视技术股份有限公司 | Carrying vehicle for carrying detecting instruments, and radiation absorbed dose measuring device |
| CN104101892B (en) * | 2014-07-09 | 2016-08-31 | 中国计量科学研究院 | X-ray and guide rail parallel system |
| CN106405627A (en) * | 2016-10-28 | 2017-02-15 | 中国计量科学研究院 | Platform system |
| ES2681094B1 (en) * | 2017-02-10 | 2019-10-21 | Consejo Superior Investigacion | SYSTEM AND METHOD FOR VOLUMETRIC AND ISOTOPIC IDENTIFICATION OF DISTRIBUTIONS OF RADIOACTIVE SCENES |
| CN209946405U (en) * | 2019-04-23 | 2020-01-14 | 上海市计量测试技术研究院(中国上海测试中心、华东国家计量测试中心、上海市计量器具强制检定中心) | Performance detection device of vehicle-mounted radioactivity detection system |
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