JP6285276B2 - Radiation measurement apparatus for ground surface and radiation measurement method using the apparatus - Google Patents

Description

  The present invention relates to a radiation measuring apparatus for measuring radiation on the surface of a farmland or the like and a radiation measuring method using the apparatus.

  In general, in order to measure the radiation dose on the surface of farmland or the like, an airplane equipped with a measuring instrument for measuring radiation is blown over the sky to measure the radiation of the measurement area. However, since there is a distance from the ground surface, there is a problem that fine and accurate measurement of the ground surface cannot be performed. For this reason, conventionally, a radiation measuring device and a measuring method are known in which a radiation detector is mounted on a self-propelled cart and the radiation is measured while the cart travels on a measurement target (Patent Documents 1 to 3). reference.).

  For example, the invention described in Patent Document 1 discloses a method and an apparatus in which detectors are arranged at different heights to determine the depth of a gamma-emitting element below the soil surface. These detectors are provided in a vehicle running on the soil surface. Further, the invention described in Patent Document 2 discloses a radiation monitor device in which an α-ray detector is provided on a self-propelled cart so that the height can be adjusted by an elevator 22. Furthermore, in the invention described in Patent Document 3, a vehicle is equipped with a radiation detector, a GPS receiving unit, and a mobile station, data detected by the radiation detector is associated with measurement location information, A transmitting mobile radiation outdoor measurement system is shown.

Japanese Patent Laid-Open No. 7-294652 Japanese Patent Laid-Open No. 2001-4751 JP 2004-205375 A

  However, in the above-mentioned conventional radiation measuring apparatus, the detectors mounted on the carriage are arranged differently up and down, moved up and down, and fixed, so the measurement of radiation depends on the movement trajectory of the carriage. Radiation can only be measured linearly. For this reason, if precise measurement is to be performed in a wide area to be measured, the density of the movement trajectory of the carriage must be increased and moved back and forth, which takes time and increases costs. was there.

  The present invention has been made to solve the above-described problems, and uses a radiation measuring apparatus and apparatus capable of measuring radiation in a planar shape with respect to a travel locus and improving work efficiency with a simple configuration. The purpose is to provide a radiation measurement method.

According to a first aspect of the present invention, there is provided a ground surface radiation measuring apparatus, a moving means that travels on a measured ground, a detecting means that is provided on the moving means and detects a radiation dose on the ground surface, and a moving means that is provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data A terminal device having a central processing unit that collects and stores the corresponding position information in association with each other, and includes a displacement unit that moves the detection unit in the left-right direction with respect to the traveling direction of the movement unit, during radiation measurement, a by displacing the detection means to the left and right radiation measuring device for measuring radiation, in the terminal apparatus, in advance, the attribute information of the map data and the position Nitsu In addition, a database that correlates data with each other and a GIS (Graphical Information System, Geographic Information System) that includes data processing means for processing data of the information are input in advance, and the terminal device has a display unit If the measurement range and the runway interval are specified and input based on the map of the measured area displayed on the display unit of the terminal device by the GIS, the central processing unit will input the measurement range and the runway. A measurement start position, a measurement end position, and a travel path are determined based on the interval, and the moving body is automatically traveled over substantially the entire measurement range based on position information from the GPS device .

In the ground surface radiation measuring apparatus according to claim 1 of the present invention, a moving means that travels on the measurement target ground, a detecting means that is provided on the moving means and detects a radiation dose on the ground surface, and a moving means that is provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data A terminal device having a central processing unit that collects and stores the corresponding position information in association with each other, and includes a displacement unit that moves the detection unit in the left-right direction with respect to the traveling direction of the movement unit, during radiation measurement, a by displacing the detection means to the left and right radiation measuring device for measuring radiation, in the terminal apparatus, in advance, the attribute information of the map data and the position And a database that correlates data with each other, and a GIS (Graphical Information System, Geographic Information System) that includes data processing means for processing data of the information are input in advance, and the terminal device has a display unit If the measurement range and the runway interval are specified and input based on the map of the measured area displayed on the display unit of the terminal device by the GIS, the central processing unit will input the measurement range and the runway. By determining the measurement start position, the measurement end position, and the travel path based on the interval, and automatically moving the moving body over almost the entire measurement range based on the position information from the GPS device , The number of measurement points can be increased in the left-right direction with respect to the travel locus, and radiation is measured in a planar shape when the moving means is traveling. For this reason, the travel distance of the moving means is shortened to make the measurement work more efficient.

According to a second aspect of the present invention, there is provided a ground surface radiation measuring apparatus comprising: a moving body that travels on a measurement target ground based on a control signal from the outside; a swivel that is pivotally provided on the moving body; A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the device and collects the measurement data measured by the detector and the positional information corresponding to the measurement data in association with each other and collects them and stores them in the storage unit; During measurement of the rays, a swivel base and a radiation measuring device for measuring the radiation is rotated in forward and reverse, the terminal device in advance, and a database that associates the data with each other for the attribute information of the position with the map data GIS (Graphical Information System, Geographic Information System) provided with data processing means for processing data of the information is input in advance, and the terminal device is configured to include a display unit. If the measurement range and the runway interval are specified and entered based on the map of the measured area displayed on the display unit, the central processing unit determines the measurement start position and the measurement end based on the input measurement range and runway interval. determining the position and track, as characterized thereby automatically traveling over substantially the entire surface of the measurement range the moving object based on the position information from the GPS device That.

In the radiation measuring apparatus for the ground surface according to claim 2 of the present invention, there is provided a moving body that travels on the measured ground based on a control signal from the outside, a swivel that is turnably provided on the moving body, and a swivel A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the device and collects the measurement data measured by the detector and the position information corresponding to the measurement data in association with each other and stores them in the storage unit During measurement of radiation, a swivel base and a positive conversely rotated radiation measuring device for measuring the radiation, the terminal device in advance, and a database that associates the data with each other for the attribute information of the position with the map data GIS (Graphical Information System, Geographic Information System) provided with data processing means for processing data of the information is input in advance, and the terminal device is configured to include a display unit. If the measurement range and the runway interval are specified and entered based on the map of the measured area displayed on the display unit, the central processing unit determines the measurement start position and the measurement end based on the input measurement range and runway interval. determining the position and road, it has to be automatically run across the mobile over substantially the entire measurement range based on the position information from the GPS device More, it is possible to travel by unmanned mobile, measurement points in the lateral direction with respect to the traveling locus of the moving object can be increased, when traveling of the moving body, radiation is measured in a plane. For this reason, the travel distance of the moving body is shortened and the measurement work is made efficient. Also, based on the map of the measured area displayed on the display unit of the terminal device, the mobile object can be automatically run and measured simply by inputting the measurement start point and the measurement end point. Increased efficiency.

  The radiation measurement apparatus according to claim 3 of the present invention is characterized in that the height of the detector attached to the free end of the arm is set in accordance with the surface roughness of the measurement site.

  In the radiation measuring apparatus according to claim 3 of the present invention, the height of the detector attached to the free end of the arm is set in accordance with the surface roughness of the measured land, so that the ground surface is like a farmland. Even if there is unevenness on the surface, measurement can be performed while ensuring an appropriate distance between the ground surface and the detector. For this reason, the detector does not hit the ground surface, and measurement can be performed reliably.

  In the radiation measurement apparatus according to claim 4 of the present invention, a distance measurement sensor for measuring a distance from the ground surface and sending a distance measurement signal to the central processing unit is provided at the lower end of the detector. Between the rods, there are provided lifting devices that raise and lower the detector up and down based on a control signal from the central processing unit, and the central processing unit moves up and down based on a distance measurement signal from a distance measurement sensor. The apparatus is operated, and the height of the detector is maintained at a set height.

  In the radiation measurement apparatus according to claim 4 of the present invention, a distance measurement sensor for measuring a distance from the ground surface and sending a distance measurement signal to the central processing unit is provided at the lower end of the detector. Between the rods, there are provided lifting devices that raise and lower the detector up and down based on a control signal from the central processing unit, and the central processing unit moves up and down based on a distance measurement signal from a distance measurement sensor. By operating the device and maintaining the height of the detector at the set height, the detector can be used even when the ground surface is uneven, such as farmland, or when the ground surface is rich in undulations. Since the height of the detector can be adjusted by measuring the distance from the ground surface, measurement can always be performed at a constant distance from the ground surface. For this reason, the radiation dose on the ground surface can be accurately measured.

  In the radiation measuring apparatus according to claim 5 of the present invention, the arm is pivotally supported so as to be rotatable about a horizontal axis center provided on a support column standing on the swivel base and an upper end of the support column. A first joint that has a rotating portion and locks the rotating portion at a desired position, and one end is connected to the rotating portion of the first joint, and the other end is telescopically retractable and locked at a desired forward / backward position. A second rod that is connected to the other end of the rod and is pivotally supported so as to be pivotable about a horizontal axis, and locks the pivot at a desired position. A joint and a tip rod having an upper end connected to the second joint and a detector attached to the lower end are provided.

In the radiation measuring apparatus according to the fifth aspect of the present invention, the arm is pivotally supported around a support column standing on the swivel and a horizontal axis provided at the upper end of the support column. A first joint that has a rotating portion and locks the rotating portion at a desired position, and one end is connected to the rotating portion of the first joint, and the other end is telescopically retractable and locked at a desired forward / backward position. A second rod that is connected to the other end of the rod and is pivotally supported so as to be pivotable about a horizontal axis, and locks the pivot at a desired position. joints and, by its upper end and a distal rod detector is attached to the lower end is connected to the second joint, the arms expansion and contraction of the reciprocating rod or to determine the rotational position of the first and second joint Determine the position and height of the detector attached to the tip rod The distance from or the supporting column can be adjusted freely. For this reason, the width of the displacement in the left-right direction with respect to the traveling direction of the detector can be widened or narrowed in combination with the turning operation of the swivel base.

  In the radiation measuring apparatus according to claim 6 of the present invention, the terminal device includes a communication unit that transmits and receives data through communication with the outside, and the central processing unit receives measurement data measured by the detector and the measurement data. The corresponding position information is transmitted to the center server.

  In the radiation measuring apparatus according to the sixth aspect of the present invention, the terminal device includes a communication unit that exchanges data with the outside through communication, and the central processing unit receives the measurement data measured by the detector and the measurement data. By transmitting the corresponding position information to the center server, the measurement data and the position information corresponding to the measurement data can be obtained from a remote place through the center server in the measurement site with a high radiation dose. For this reason, the safety of the work is improved, and measurement information can be obtained in real time, thereby improving the work efficiency.

The surface radiation measurement apparatus according to claim 7 of the present invention is characterized in that the center server instructs the traveling path of the moving body based on the position information sent from the terminal device.

In the surface radiation measurement apparatus according to claim 7 of the present invention, the center server instructs the traveling path of the moving body based on the position information sent from the terminal device, so that the operator can pass through the center server. Since the traveling of the moving body can be controlled at a remote place, the work can be performed safely even in a measurement place with a high radiation dose.

According to a tenth aspect of the present invention, there is provided a ground surface radiation measuring method, a moving means that travels on a measurement target ground, a detecting means that is provided on the moving means and detects a radiation dose on the ground surface, and a moving means that is provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data together and a terminal device having a central processing unit for storing the corresponding position information and the collected by each associated storage means, provided with displacement means for moving in the lateral direction with respect to the running direction of the moving means detecting means A radiation measurement method using a radiation measurement apparatus, in which a terminal device previously stores data associated with map data and position attribute information in advance. And database, the information GIS (Graphical Information System, Geographic Information System) equipped with a data processing means for performing data processing in conjunction with are input in advance, the terminal apparatus comprises a display unit, the radiation measurement When the radiation is measured by displacing the detection means to the left and right, and specifying the measurement range and the runway interval based on the map of the measured area displayed on the display unit of the terminal device by GIS, the central calculation is performed. The processing device determines the measurement start position, measurement end position, and runway based on the input measurement range and runway interval, and automatically travels the moving body over almost the entire measurement range based on the position information from the GPS device. It is characterized by letting .

In the surface radiation measurement method according to the tenth aspect of the present invention, a moving means for traveling on the measurement target ground, a detecting means for detecting the radiation amount of the ground surface provided on the moving means, and a moving means provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data together and a terminal device having a central processing unit for storing the corresponding position information and the collected by each associated storage means, provided with displacement means for moving in the lateral direction with respect to the running direction of the moving means detecting means A radiation measurement method using a radiation measurement device, wherein the terminal device previously associates the map data with the position attribute information. And database, the information GIS (Graphical Information System, Geographic Information System) equipped with a data processing means for performing data processing in conjunction with are input in advance, the terminal apparatus comprises a display unit, the radiation measurement When the radiation is measured by displacing the detection means to the left and right, and specifying the measurement range and the runway interval based on the map of the measured area displayed on the display unit of the terminal device by GIS, the central calculation is performed. The processing device determines the measurement start position, measurement end position, and runway based on the input measurement range and runway interval, and automatically travels the moving body over almost the entire measurement range based on the position information from the GPS device. by the cause way, it is possible to increase the measurement point in the left-right direction with respect to the travel locus of the moving means, during traveling of the mobile unit, release the surface Line is measured. For this reason, the travel distance of the moving means is shortened to make the measurement work more efficient.

The ground radiation measurement method according to claim 11 of the present invention is characterized in that, during radiation measurement, the movement of the moving means is stopped and the radiation is measured by the detection means.

According to a twelfth aspect of the present invention, there is provided a radiation measurement method for a ground surface, wherein the radiation is measured by the detection means while the movement means is traveling.

According to claim 13 of the present invention, there is provided a surface radiation measurement method comprising: a moving body that travels on a measured ground based on a control signal from the outside; a swivel that is turnable on the moving body; A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the device and collects the measurement data measured by the detector and the position information corresponding to the measurement data in association with each other and stores them in the storage unit A radiation measurement method according to configure the radiation measurement device, the terminal device in advance, data processing means for performing a database which associates the data with each other for the attribute information of the position with the map data, the data processing of such information GIS (Graphical Information System, Geographic Information System) equipped with a terminal is configured in advance, and the terminal device is configured with a display unit, and when measuring radiation, the swivel is rotated forward and backward to emit radiation. When the measurement range and the runway interval are specified and input based on the map of the measured area displayed on the display unit of the terminal device by the GIS, the central processing unit determines the input measurement range and the runway interval. Based on the position information from the GPS device, determine the measurement start position, measurement end position and runway based on the position information from the GPS device It is characterized in that to the automatic travel over.

In the radiation measurement method for the ground surface according to the thirteenth aspect of the present invention, there is provided a moving body that travels on the measurement target ground based on a control signal from the outside, a swivel that is turnably provided on the moving body, and a swivel A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the apparatus and collects the measurement data measured by the detector and the position information corresponding to the measurement data in association with each other and stores them in the storage unit A radiation measurement method according to radiation measurement apparatus constituted Te, the terminal device in advance, the data processing performed and database that associates the data with each other for the attribute information of the position with the map data, the data processing of such information GIS (graphical information system, geographic information system) provided with means is input in advance, and the terminal device is configured to include a display unit, and when measuring radiation, the swivel is rotated in the forward and reverse directions to provide radiation. When the measurement range and the runway interval are specified and input based on the map of the measurement site displayed on the display unit of the terminal device by the GIS, the central processing unit inputs the measured range and the runway interval. The measurement start position, the measurement end position, and the runway are determined based on the position of the mobile object based on the position information from the GPS device. By which is adapted to automatically travel across, it is possible to travel by unmanned mobile, it is possible to increase the measurement point in the left-right direction with respect to the traveling locus of the moving object, during traveling of the moving body, Radiation is measured in a plane. For this reason, the travel distance of the moving body is shortened and the measurement work is made efficient.

In the radiation measurement method for the ground surface according to claim 14 of the present invention, a distance measurement sensor for measuring a distance from the ground surface and sending a distance measurement signal to the central processing unit is provided at the lower end of the detector. A lifting device that moves the detector up and down based on a control signal from the central processing unit is provided between the arm end rod and the central processing unit based on the distance measurement signal from the distance measurement sensor. The radiation measuring method by the radiation measuring device configured to operate the lifting device and hold the height of the detector at a set height, and when the mobile body travels, the height of the detector is set in advance It is characterized in that the height is set according to the surface roughness of the measurement site.

In the radiation measurement method for the ground surface according to claim 14 of the present invention, a distance measurement sensor for measuring a distance from the ground surface and sending a distance measurement signal to the central processing unit is provided at the lower end of the detector. A lifting device that moves the detector up and down based on a control signal from the central processing unit is provided between the arm end rod and the central processing unit based on the distance measurement signal from the distance measurement sensor. The radiation measuring method by the radiation measuring device configured to operate the lifting device and hold the height of the detector at a set height, and when the mobile body travels, the height of the detector is set in advance By maintaining the height set according to the surface roughness of the measured area, even if the ground surface is uneven or the ground surface is rich like a farmland, the detector and the ground Measure by measuring the distance to the surface Since the height of the vessel can be adjusted, between the ground surface detector to ensure an appropriate distance, you can always perform measurement from the ground surface at a certain distance. For this reason, the detector does not hit the ground surface, can be measured reliably, and the radiation dose on the ground surface can be accurately measured.

In the radiation measurement method for ground surface according to claim 15 of the present invention, the terminal device includes a communication unit for exchanging data through communication with the outside, and the central processing unit detects when measuring radiation. The measurement data measured by the instrument and the position information associated with the measurement data are respectively transmitted to the center server in real time.

In the surface radiation measurement method according to claim 15 of the present invention, the terminal device is configured to include a communication unit that exchanges data through communication with the outside, and the central processing unit detects when measuring radiation. The measurement data measured by the instrument and the position information associated with the measurement data are transmitted to the center server in real time. And position information corresponding to the measurement data can be obtained. For this reason, the safety of the work is improved, and measurement information can be obtained in real time, thereby improving the work efficiency.

According to a first aspect of the present invention, there is provided a ground surface radiation measuring apparatus, a moving means that travels on a measured ground, a detecting means that is provided on the moving means and detects a radiation dose on the ground surface, and a moving means that is provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data A terminal device having a central processing unit that collects and stores the corresponding position information in association with each other, and includes a displacement unit that moves the detection unit in the left-right direction with respect to the traveling direction of the movement unit, during radiation measurement, a by displacing the detection means to the left and right radiation measuring device for measuring radiation, in the terminal apparatus, in advance, the attribute information of the map data and the position Nitsu In addition, a database that correlates data with each other and a GIS (Graphical Information System, Geographic Information System) that includes data processing means for processing data of the information are input in advance, and the terminal device has a display unit If the measurement range and the runway interval are specified and input based on the map of the measured area displayed on the display unit of the terminal device by the GIS, the central processing unit will input the measurement range and the runway. The measurement start position, measurement end position and runway are determined based on the interval, and the moving body is automatically driven over almost the entire measurement range based on the position information from the GPS device , improving work efficiency. Can be achieved.

According to a second aspect of the present invention, there is provided a ground surface radiation measuring apparatus comprising: a moving body that travels on a measurement target ground based on a control signal from the outside; a swivel that is pivotally provided on the moving body; A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the device and collects the measurement data measured by the detector and the positional information corresponding to the measurement data in association with each other and collects them and stores them in the storage unit; During measurement of the rays, a swivel base and a radiation measuring device for measuring the radiation is rotated in forward and reverse, the terminal device in advance, and a database that associates the data with each other for the attribute information of the position with the map data GIS (Graphical Information System, Geographic Information System) provided with data processing means for processing data of the information is input in advance, and the terminal device is configured to include a display unit. If the measurement range and the runway interval are specified and entered based on the map of the measured area displayed on the display unit, the central processing unit determines the measurement start position and the measurement end based on the input measurement range and runway interval. determining the position and track. Thus is automatic travel across the mobile over substantially the entire measurement range based on the position information from the GPS device, It is possible to improve the efficiency of the shortened running distance of the moving object measurement tasks.

According to a tenth aspect of the present invention, there is provided a ground surface radiation measuring method, a moving means that travels on a measurement target ground, a detecting means that is provided on the moving means and detects a radiation dose on the ground surface, and a moving means that is provided on the moving means. Position information detecting means having a GPS device for detecting and outputting the position information, and controlling the operations of the detecting means and the position information detecting means, and measuring radiation data measured by the detecting means and the measurement data together and a terminal device having a central processing unit for storing the corresponding position information and the collected by each associated storage means, provided with displacement means for moving in the lateral direction with respect to the running direction of the moving means detecting means A radiation measurement method using a radiation measurement apparatus, in which a terminal device previously stores data associated with map data and position attribute information in advance. And database, the information GIS (Graphical Information System, Geographic Information System) equipped with a data processing means for performing data processing in conjunction with are input in advance, the terminal apparatus comprises a display unit, the radiation measurement When the radiation is measured by displacing the detection means to the left and right, and specifying the measurement range and the runway interval based on the map of the measured area displayed on the display unit of the terminal device by GIS, the central calculation is performed. The processing device determines the measurement start position, measurement end position, and runway based on the input measurement range and runway interval, and automatically travels the moving body over almost the entire measurement range based on the position information from the GPS device. As a result, work efficiency can be improved.

According to claim 13 of the present invention, there is provided a surface radiation measurement method comprising: a moving body that travels on a measured ground based on a control signal from the outside; a swivel that is turnable on the moving body; A swivel base drive device that rotates in the forward and reverse directions, an arm that can be bent and extended on the swivel base, a free end that extends around the movable body, and a height of the free end can be adjusted, and a free end of the arm. A detector that measures the radiation dose attached, a GPS device that is attached to the moving body, detects the position of the moving body and outputs position information, and is electrically connected to the detector and the GPS device, respectively. A terminal device having a central processing unit that controls the operation of the device and collects the measurement data measured by the detector and the position information corresponding to the measurement data in association with each other and stores them in the storage unit A radiation measurement method according to configure the radiation measurement device, the terminal device in advance, data processing means for performing a database which associates the data with each other for the attribute information of the position with the map data, the data processing of such information GIS (Graphical Information System, Geographic Information System) equipped with a terminal is configured in advance, and the terminal device is configured with a display unit, and when measuring radiation, the swivel is rotated forward and backward to emit radiation. When the measurement range and the runway interval are specified and input based on the map of the measured area displayed on the display unit of the terminal device by the GIS, the central processing unit determines the input measurement range and the runway interval. Based on the position information from the GPS device, determine the measurement start position, measurement end position and runway based on the position information from the GPS device Since so as to automatically travel across, it is possible to improve the efficiency of the shortened running distance of the moving body measurement tasks.

FIG. 1 is an overall configuration diagram showing a radiation measuring apparatus according to an embodiment of the present invention. Example 1 FIG. 2 is a side view showing the radiation measuring apparatus of FIG. FIG. 3 is an explanatory view showing a swivel of the radiation measuring apparatus of FIG. 4A to 4C are a top view showing an arm of the radiation measuring apparatus of FIG. 1, a rear view showing a first joint of the arm, and a front view showing a second joint and a tip rod, respectively. is there. FIGS. 5A and 5B are explanatory views showing the lock portion of the first joint and the lock portion of the second joint of the arm, respectively. FIG. 6 is an explanatory diagram showing the position of the detector with respect to the ground surface when the measured area measures a rough and uneven place such as farmland. (A) and (B) of FIG. 7 respectively show the travel locus of the self-propelled vehicle and the detector when the radiation is measured, when the self-propelled vehicle stops and when the self-propelled vehicle measures radiation while traveling. It is explanatory drawing which shows a movement locus | trajectory, respectively.

  A mobile body that travels on the measured ground based on a control signal from the outside, and the mobile body is provided so as to be able to swivel with the purpose of measuring radiation in a plane with respect to the travel locus and improving work efficiency. A swivel, a swivel drive that rotates the swivel forward and backward, and an arm that is provided on the swivel so as to be able to bend and stretch, and whose free end is extended around the movable body and the height of the free end can be adjusted. A detector attached to the free end of the arm for measuring the radiation dose, a GPS device attached to the moving body for detecting the position of the moving body and outputting position information, and a detector and the GPS device electrically A central processing unit that is connected and controls the operation of the detector and the GPS device and collects the measurement data measured by the detector and the positional information corresponding to the measurement data in association with each other and stores them in the storage unit And a terminal device that, when measuring the radiation, and the swivel slide is rotated in the forward and reverse achieved by which is adapted to measure the radiation.

  Hereinafter, the present invention will be described with reference to embodiments shown in the drawings. 1 and 2 are an overall configuration diagram and a side view, respectively, showing a radiation measuring apparatus according to an embodiment of the present invention. The radiation measuring apparatus 2 according to the present embodiment is provided in a self-propelled vehicle (moving means, moving body) 3 that travels in a measurement area based on a control signal from the outside, and the self-propelled vehicle 3 is turnable. A swivel base (displacement means) 4, a swivel base drive device (displacement means) (not shown) that drives the swivel base to rotate forward and backward, and an arm (displacement means) 5 that is provided on the swivel base 4 so as to be able to bend and stretch. ing. The self-propelled vehicle 3 is configured by turning a crawler 9 around a driving wheel 6 and rotating wheels 7 and 8 at the lower and lower portions of the chassis, and the driving wheel 6 is driven by a control signal from the outside and travels on the instructed traveling route. It is like that. The swivel 4 is rotated by a swivel drive (not shown) when the self-propelled vehicle 3 is running or stopped so that the arm 5 is swung so as to draw an arcuate locus. . The arm 5 is attached to the outer peripheral side of the swivel 4.

As shown in FIGS. 2 and 4, the arm 5 is supported by a support column 10 erected on the swivel base 4, and is pivotally supported around an axis in the horizontal direction provided at the upper end of the support column 10. A first joint 12 having a cylindrical rotating portion 11, an advancing / retracting rod 13 having one end connected to the rotating portion 11 of the first joint 12 and the other end being freely movable, and the other end of the advancing / retracting rod 13. And a second joint 15 having a rotating portion 14 rotatably supported about a horizontal axis. The upper end of the tip rod 16 is connected to the second joint 15 to the cylindrical rotating portion 14, and the radiation amount is measured and output to the lower end of the tip rod 16 via the lifting device 20. A detector (detection means) 21 is attached. The lifting device 20 moves the detector 21 up and down based on a control signal from the outside. A distance measurement sensor 22 that measures the distance between the ground surface G and the detector 21 and outputs distance data is attached to the lower end of the detector 21. Each detector 21 and the distance measuring sensor 22 is the terminal device 40 and electrically connected to be described later, the distance data between the measurement data and surface G of the measured radiation and outputs it to the terminal device 40.

  As shown in FIG. 5, each of the rotating parts 11 and 14 of the first and second joints 12 and 15 has radial through holes 17 at equal intervals (an angle of 15 degrees) in the circumferential direction on the outer circumferential surface. 18 is drilled. The rotating portions 11 and 14 are locked by inserting bolts 19 with washers or spring washers into the through holes 17 and 18 at desired rotating positions at intervals of 15 degrees. These through holes 17 and 18 and bolts 19 constitute the lock portions of the first and second joints 12 and 15. The advancing / retracting rod 13 includes an outer cylinder 13A having one end connected to the first joint 12, and a slider 13B housed in the outer cylinder 13A so as to be slidable and having an extendable end connected to the second joint 15. Configured. A through-hole 13C is formed at the end of the outer cylinder 13A on the accommodation opening side. When the slider 13B protrudes from the outer cylinder 13A of a desired length, a bolt (not shown) is screwed into the through-hole 13C, and the slider 13B It is designed to be fixed at the protruding position. These through holes 13C and bolts (not shown) constitute a lock portion for the advance / retreat rod 13.

  Since the arm 5 is configured as described above, when the rotational positions of the first and second joints 12 and 15 are determined and locked, and the expansion and contraction positions of the advance and retreat rod 13 are determined and locked, the distal end rod The height of the detector 21 attached to 16 and the distance from the support column 10 can be freely adjusted. For this reason, the width of the displacement in the left-right direction with respect to the traveling direction of the detector 21 can be widened or narrowed in combination with the turning operation of the turntable 4.

  The self-propelled vehicle 3 is equipped with a GPS device (position information detecting means) 30 that detects the position of the self-propelled vehicle 3 and outputs position information, and a terminal device 40 that is electrically connected to the GPS device 30. . These GPS device 30 and terminal device 40 are housed in a self-propelled vehicle 3 in a transparent acrylic case (not shown). The terminal device 40 includes a driving wheel driving device (not shown), a lifting device 20, a detector 21, a distance measuring sensor 22, a GPS device 30, and a swivel table driving device (not shown) that independently drive the left and right driving wheels 6 of the self-propelled vehicle 3. And are electrically connected to each other. The terminal device 40 controls the operations of the drive wheel drive device (not shown), the lifting device 20, the detector 21, the distance measurement sensor 22, the GPS device 30, and the turntable drive device (not shown), and the measurement is performed by the detector 21. There is a central processing unit 41 that collects the measured data D1 and the positional information Dp1 corresponding to the measured data D1 in association with each other and stores them in a storage unit (storage means) 42.

  In addition, the terminal device 40 includes a display unit 43 that displays information and the like subjected to data processing on a screen, and a communication unit 44 that exchanges information and data through communication with the outside. Further, the terminal device 40 incorporates an application 45 such as a geographic information system (GIS, graphical information system, hereinafter referred to as GIS). In this built-in GIS, information that correlates map data and position attribute information with each other in advance is registered in the storage unit 42, the storage unit 42 serves as a database, and the central processing unit 41 In addition, it plays a role as a data processing means for performing data processing of such information.

  As shown in FIGS. 7A and 7B, the worker is positioned at the four corner positions A1 of the measured site based on the map of the measured site displayed on the display unit 43 of the terminal device 40 by the GIS. When -A4 and the runway interval L1 are designated, the terminal device 40 determines the measurement start position S1, the measurement end position F1, and the runway R1. The terminal device 40 controls the drive of the driving wheel drive device (not shown) of the self-propelled vehicle 3 based on the input measurement range data and the position information from the GPS device 30, and the specified measurement range. It is designed to run unattended in the measurement area. That is, when the worker specifies the four corner positions A1 to A4 and the runway interval L1 on the measurement target area on the GIS screen displayed on the display unit 43 of the terminal device 40, the measurement start position S1 and the measurement end position F1 Is input to the terminal device 40. The terminal device 40 moves the unmanned self-propelled vehicle 3 to the measurement start position S1, and when the self-propelled vehicle 3 moves to the measurement start position S1, the terminal device 40 is automatically operated according to the determined track R1. Radiation is continuously measured by traveling, and when the measurement end position F1 is reached, the radioactivity distribution of the measurement site is derived.

  Further, when the terminal device 40 measures the distance between the ground surface G and the detector 21 from the distance measurement sensor 22 and receives the distance data (distance measurement signal), the terminal device 40 operates the lifting device 20 based on the distance measurement signal. Thus, the height H of the detector 21 is held at a preset height Hg. That is, the detector 21 that measures the radiation dose is preferably measured at a position as close to the ground surface G as possible. However, for example, when the ground surface G has unevenness on the ground surface, such as farmland, or the ground surface is rough. If it is rich in undulations, if it is too close to the ground surface G, the detector 21 may hit the ground surface G and be damaged. For this reason, the distance between the ground surface G and the detector 21 is adjusted by measuring the distance between the ground surface G and the detector 21 by the distance measuring sensor 22, and an appropriate distance is secured between the ground surface G and the detector 21. To measure. By doing in this way, it can always measure at a fixed distance from the ground surface, the detector 21 does not hit the ground surface G, and can be reliably measured.

  The terminal device 40 is used when the self-propelled vehicle 3 travels while the radiation is measured by the detector 21 (see FIG. 7A), or when the self-propelled vehicle 3 travels and stops intermittently. When the radiation is measured by the detector 21 (see FIG. 7B), the swivel base drive device (not shown) is driven in the forward and reverse directions to rotate the swivel base 4 in the forward and reverse directions, and the detector at the tip of the arm 5 is detected. 21 is swung so as to draw an arcuate locus. A trajectory T1 shown in FIG. 7A shows a trajectory of the detector 21 when the self-propelled vehicle 3 continuously performs measurement while the detector 21 swings in an arc shape. In FIG. 7B, the trajectory T2 indicates the trajectory of the detector 21 when the self-propelled vehicle 3 is intermittently stopped while the vehicle is running and the measurement is performed by swinging the detector 21 in an arc shape when stopped. . In this way, the runway R1 can be measured in a planar shape. For this reason, compared with the case where it measures linearly, the runway space | interval L1 can be taken wide, a travel distance can be shortened and an operation | work can be shortened.

  In addition, as shown in FIG. 1, the terminal device 40 exchanges data and information with a remote management center side center server 50 through communication by a communication unit 44. Therefore, the terminal device 40 stores the data D1 + Dp1 collected in association with the measurement data D1 measured by the detector 21 through the central processing unit 41 and the position information Dp1 corresponding to the measurement data D1, in the storage unit 42. At the same time, it is also transmitted to the center server 50. Further, the center server 50 can instruct the traveling path of the self-propelled vehicle 3 based on the position information Dp1 sent from the terminal device 40. For this reason, the self-propelled vehicle 3 can be run unattended in the measurement area where the radiation dose is high, and the measurement data D1 and the position information Dp1 corresponding to the measurement data D1 can be obtained from the remote location through the center server 50. As a result, the measurement information can be obtained in real time, and the work is made more efficient.

  Next, the ground surface radiation measurement method using the radiation measurement apparatus 2 according to the above embodiment will be described based on the operation of the radiation measurement apparatus 2. In the radiation measurement method using the radiation measurement apparatus 2 according to the present embodiment, the operator can check the four corners of the measurement area with respect to the map screen of the measurement area of the GIS displayed on the display unit 43 of the terminal device 40. When the positions A1 to A4 and the runway interval L1 are specified, the terminal device 40 operates the GPS device 30 to determine the measurement start position S1, the measurement end position F1, and the runway R1, and operates a driving wheel drive device (not shown). An unmanned self-propelled vehicle 3 is automatically driven. From this time, the terminal device 40 may operate the distance measuring sensor 22 and the lifting device 20 so that the detector 21 does not hit the unevenness or undulation of the ground surface G.

  When the unmanned self-propelled vehicle 3 reaches the measurement start position S1, the terminal device 40 determines from the position information received from the GPS device 30 that the measurement start position S1 has been reached. When the terminal device 40 determines that the self-propelled vehicle 3 has reached the measurement start position S1, the driving wheel driving device (not shown), the lifting device 20, the detector 21, the distance measuring sensor 22, the GPS device 30, and the swivel platform driving device (not shown) As shown in FIG. 7A, the self-propelled vehicle 3 is automatically driven according to the determined runway R1. Then, the terminal device 40 collects the measurement data D1 measured by the detector 21 and the position information Dp1 corresponding to the measurement data D1 in association with each other while automatically traveling the self-propelled vehicle 3 and stores the data in the storage unit 42. In addition, the data D1 + Dp1, D2 + Dp2,... Dn + Dpn (n is an arbitrary integer) are transmitted to the external center server 50 through the communication unit 44. The center server 50 can collect data in real time, can perform work separately from work on site, and the work is made efficient.

  By the way, when measuring radiation while traveling the self-propelled vehicle 3, the terminal device 40 operates a swivel base drive device (not shown), rotates the swivel base 4 in the forward and reverse directions, and swings the detector 21. Radiation is measured by the detector 21 while being displaced so as to draw an arcuate locus in the left-right direction with respect to the traveling direction of the self-propelling vehicle 3 (see the locus T1 of the detector 21 in FIG. 7A). . For this reason, since it can measure, displacing runway R1 to the left-right direction, it can measure in planar shape. For this reason, compared with the case where it measures linearly, the runway space | interval L1 can be taken wide, a travel distance can be shortened, and an operation | work can be shortened.

  Further, when the self-propelled vehicle 3 is intermittently stopped at a predetermined travel distance and the radiation is measured by the detector 21 at the time of the stop, the terminal device 40 stops the self-propelled vehicle 3 and stops the swivel drive device (not shown). The swivel 4 is rotated forward and backward to swing the detector 21 to measure the radiation (see the locus T2 of the detector 21 in FIG. 7B). In this case as well, the measurement can be performed while shifting in the left-right direction with respect to the runway R1 in the same manner as the measurement during traveling, so that the measurement can be performed in a planar shape, that is, according to the length of the stop interval, that is, the stop interval. By increasing the distance, the work efficiency can be improved, and by shortening the distance between the stops, the measurement can be performed more finely.

  Thus, when the self-propelled vehicle 3 continuously measures radiation by automatic traveling according to the determined traveling path R1, and reaches the measurement end position F1, the terminal device 40 uses the position information received from the GPS device 30 to determine the measurement end position F1. The radiation measurement operation is terminated. The worker collects the terminal device 40 mounted on the self-propelled vehicle 3 and processes the collected data to derive the radioactivity distribution of the measurement target area. This radioactivity distribution can be registered as GIS attribute information. As described above, in the ground surface radiation measurement method using the radiation measurement apparatus 2 according to the present embodiment, the number of measurement points can be increased in the left-right direction with respect to the travel locus of the travel path R1 of the self-propelled vehicle 3. When traveling 3, the radiation is measured in a planar shape. For this reason, the travel distance of the self-propelled vehicle 3 is shortened, and the measurement work is made efficient. In addition, since the self-propelled vehicle 3 can be unmanned and traveled, the work time in the measurement area where the radiation dose is high can be shortened.

  In the above embodiment, the positions A1 to A4 of the four corners of the measurement site and the runway interval L1 are specified on the work site through the terminal device 40 mounted on the self run vehicle 3, and the runway R1 of the self run vehicle 3 is specified. However, the present invention is not limited to this, and the self-propelled vehicle 3 is arranged in the vicinity of the measurement target area, and the four corner positions A1 to A4 of the measurement target area and the runway interval L1 are determined through the center server 50. You may make it designate. Further, in the above embodiment, the measurement data D1 measured by the detector 21 and the position information Dp1 corresponding to the measurement data D1 are collected in association with each other and stored in the storage unit 42. The associated data D1 + Dp1, D2 + Dp2,... Dn + Dpn (n is an arbitrary integer) is transmitted to the external center server 50, but the present invention is not limited to this. Only 50 may be transmitted. Furthermore, the arm 5 is swung by the swivel 4 but is not limited to this. The displacement means of the detector 21 is provided with a slide bar extending in the left-right direction on the self-propelled vehicle. A drive device for moving the slider attached in a slidable manner in the left-right direction may be provided, and a detector may be provided on the slider.

2 Radiation measurement device 3 Self-propelled vehicle
4 swivel (displacement means)
21 Detector (detection means)
30 GPS device (position information detection means)
40 Terminal Device 41 Central Processing Unit 42 Storage Unit (Storage Unit)
D1 Radiation measurement data Dp1 Position information corresponding to radiation measurement data G Ground

Claims (15)

A position provided with a moving means that travels on the measured ground, a detecting means provided on the moving means for detecting a radiation dose on the ground surface, and a GPS device provided on the moving means for detecting and outputting position information of the moving means. Controls the operation of the information detection means, the detection means and the position information detection means, and collects radiation measurement data measured by the detection means and position information corresponding to the measurement data in association with each other and stores them in the storage means And a terminal device having a central processing unit to be stored, and a displacement means for moving the detection means in the left-right direction with respect to the traveling direction of the movement means,
A radiation measurement device that measures radiation by displacing the detection means to the left and right during radiation measurement ,
In the terminal device, a GIS (Graphical Information System, Geographic Information System) including a database in which map data and position attribute information are associated with each other in advance, and data processing means for performing data processing of the information is provided. ) And the terminal device is configured to include a display unit,
When the measurement range and the runway interval are specified and input based on the map of the measurement site displayed on the display unit of the terminal device by GIS, the central processing unit starts measurement based on the input measurement range and the runway interval A radiation measurement apparatus for a ground surface, which determines a position, a measurement end position, and a running path, and automatically moves a moving body over substantially the entire measurement range based on position information from a GPS apparatus. A moving body that travels in the measurement area based on a control signal from the outside, a swivel that is turnable on the moving body, a swivel drive device that rotates the swivel forward and backward, and the swivel The free end is extended around the movable body and the height of the free end can be adjusted, the detector attached to the free end of this arm to measure the radiation dose, and the movable body A GPS device that detects the position of the mobile object and outputs position information, and is electrically connected to each of the detector and the GPS device, controls the operation of the detector and the GPS device, and measures by the detector And a terminal device having a central processing unit that associates and collects data and position information corresponding to the measurement data and stores the data in a storage unit. radiation A radiation measuring device for measuring,
In the terminal device, a GIS (Graphical Information System, Geographic Information System) including a database in which map data and position attribute information are associated with each other in advance, and data processing means for performing data processing of the information is provided. ) And the terminal device is configured to include a display unit,
When the measurement range and the runway interval are specified and input based on the map of the measurement site displayed on the display unit of the terminal device by GIS, the central processing unit starts measurement based on the input measurement range and the runway interval A radiation measurement apparatus for a ground surface, which determines a position, a measurement end position, and a running path, and automatically moves a moving body over substantially the entire measurement range based on position information from a GPS apparatus.   The surface radiation measurement apparatus according to claim 2, wherein the height of the detector attached to the free end of the arm is set according to the surface roughness of the measurement target ground.   At the lower end of the detector, a distance measurement sensor that measures the distance to the ground surface and sends a distance measurement signal to the central processing unit is provided between the detector and the arm end rod from the central processing unit. A lifting device that moves the detector up and down based on the control signal is provided, and the central processing unit operates the lifting device based on the distance measurement signal from the distance measurement sensor, and the height of the detector is set. 4. The surface radiation measuring apparatus according to claim 3, wherein the radiation measuring apparatus is held at a height.   The arm has a support column erected on the swivel base, and a rotation unit provided at the upper end of the support column and pivotally supported around a horizontal axis so that the rotation unit is a desired one. A first joint that locks in position, an advancing / retracting rod that has one end connected to the pivoting portion of the first joint and the other end telescopically retractable and locked in a desired advancing / retreating position; A second joint that is connected and pivotally supported so as to be pivotable about a horizontal axis, and that locks the pivot at a desired position, and an upper end coupled to the second joint and a lower end The surface radiation measuring apparatus according to claim 4, further comprising a tip rod to which a detector is attached.   The terminal device includes a communication unit that exchanges data through communication with the outside, and the central processing unit transmits measurement data measured by the detector and position information corresponding to the measurement data to the center server. The ground radiation measurement apparatus according to claim 2, wherein the radiation measurement apparatus is a surface radiation measurement apparatus. The surface radiation measuring apparatus according to claim 6 , wherein the center server instructs a traveling path of the moving body based on position information transmitted from the terminal device. Positioning means for detecting and outputting position information of the moving means provided in the moving means, a detecting means provided with the moving means for traveling on the measurement ground, a detector for detecting the radiation dose on the ground surface provided in the moving means Controls the operation of the information detection means, the detection means and the position information detection means, and collects radiation measurement data measured by the detection means and position information corresponding to the measurement data in association with each other and stores them in the storage means And a terminal device having a central processing unit to be stored, and a displacement means for moving the detection means in the left-right direction with respect to the traveling direction of the movement means,
A radiation measurement device that measures radiation by displacing the detection means to the left and right during radiation measurement ,
The displacing means includes a swivel base that can be swiveled on the moving means, a swivel base drive device that drives the swivel to rotate in the forward and reverse directions, and a free end that is freely bent on the swivel base. An arm that is extended and adjustable in height at the free end,
At the lower end of the detector, a distance measurement sensor that measures the distance to the ground surface and sends a distance measurement signal to the central processing unit is provided between the detector and the arm end rod from the central processing unit. A lifting device that moves the detector up and down based on the control signal is provided, and the central processing unit operates the lifting device based on the distance measurement signal from the distance measurement sensor, and the height of the detector is set. Configured to set the height of the detector attached to the free end of the arm according to the surface roughness of the measured area,
The arm has a support column erected on the swivel base, and a rotation unit that is provided at the upper end of the support column and pivotally supported around the horizontal axis so that the rotation unit is desired. A first joint that locks in position, an advancing / retracting rod that has one end connected to the pivoting portion of the first joint and the other end telescopically retractable and locked in a desired advancing / retreating position; A second joint that is connected and pivotally supported so as to be pivotable about a horizontal axis, and that locks the pivot at a desired position, and an upper end coupled to the second joint and a lower end A radiation measuring apparatus for ground surface comprising a tip rod having a detector attached to the surface. A moving body that travels in the measurement area based on a control signal from the outside, a swivel that is turnable on the moving body, a swivel drive device that rotates the swivel forward and backward, and the swivel The free end is extended around the movable body and the height of the free end can be adjusted, the detector attached to the free end of this arm to measure the radiation dose, and the movable body A GPS device that detects the position of the mobile object and outputs position information, and is electrically connected to each of the detector and the GPS device, controls the operation of the detector and the GPS device, and measures by the detector And a terminal device having a central processing unit that associates and collects data and position information corresponding to the measurement data and stores the data in a storage unit. radiation A to that Radiation measuring apparatus measuring,
At the lower end of the detector, a distance measurement sensor that measures the distance to the ground surface and sends a distance measurement signal to the central processing unit is provided between the detector and the arm end rod from the central processing unit. A lifting device that moves the detector up and down based on the control signal is provided, and the central processing unit operates the lifting device based on the distance measurement signal from the distance measurement sensor, and the height of the detector is set. Configured to set the height of the detector attached to the free end of the arm according to the surface roughness of the measured area,
The arm has a support column erected on the swivel base, and a rotation unit that is provided at the upper end of the support column and pivotally supported around the horizontal axis so that the rotation unit is desired. A first joint that locks in position, an advancing / retracting rod that has one end connected to the pivoting portion of the first joint and the other end telescopically retractable and locked in a desired advancing / retreating position; A second joint that is connected and pivotally supported so as to be pivotable about a horizontal axis, and that locks the pivot at a desired position, and an upper end coupled to the second joint and a lower end A radiation measuring apparatus for ground surface comprising a tip rod having a detector attached to the surface. A position provided with a moving means that travels on the measured ground, a detecting means provided on the moving means for detecting a radiation dose on the ground surface, and a GPS device provided on the moving means for detecting and outputting position information of the moving means. Controls the operation of the information detection means, the detection means and the position information detection means, and collects radiation measurement data measured by the detection means and position information corresponding to the measurement data in association with each other and stores them in the storage means A radiation measurement method using a radiation measurement apparatus provided with a displacement means for moving the detection means in the left-right direction with respect to the traveling direction of the movement means, including a terminal device having a central processing unit to be stored .
In the terminal device, a GIS (Graphical Information System, Geographic Information System) including a database in which map data and position attribute information are associated with each other in advance, and data processing means for performing data processing of the information is provided. ) And the terminal device is configured to include a display unit,
When measuring radiation by measuring the radiation by displacing the detection means to the left and right at the time of radiation measurement, and specifying the measurement range and the runway interval based on the map of the measurement site displayed on the display unit of the terminal device, The central processing unit determines a measurement start position, a measurement end position, and a runway based on the input measurement range and runway interval, and moves the moving body over almost the entire measurement range based on the position information from the GPS device. A method for measuring radiation on the surface of the earth, characterized in that it automatically runs . The radiation measurement method for a ground surface according to claim 10 , wherein during the radiation measurement, the traveling of the moving unit is stopped and the radiation is measured by the detection unit. The radiation measurement method for the ground surface according to claim 10 , wherein the radiation is measured by the detection means while running the moving means during the radiation measurement. A moving body that travels in the measurement area based on a control signal from the outside, a swivel that is turnable on the moving body, a swivel drive device that rotates the swivel forward and backward, and the swivel The free end is extended around the movable body and the height of the free end can be adjusted, the detector attached to the free end of this arm to measure the radiation dose, and the movable body A GPS device that detects the position of the mobile object and outputs position information, and is electrically connected to each of the detector and the GPS device, controls the operation of the detector and the GPS device, and measures by the detector radiation measurement method der by radiation measuring apparatus constructed by a terminal device having a central processing unit for storing data and the position information corresponding to the measurement data on the collected storage unit in association respectively Te,
In the terminal device, a GIS (Graphical Information System, Geographic Information System) including a database in which map data and position attribute information are associated with each other in advance, and data processing means for performing data processing of the information is provided. ) And the terminal device is configured to include a display unit,
When measuring radiation, the swivel is rotated forward and backward to measure radiation, and the measurement range and runway interval are specified and input based on the map of the measurement site displayed on the display unit of the terminal device by GIS. Then, the central processing unit determines the measurement start position, the measurement end position, and the runway based on the input measurement range and the runway interval, and moves the moving body over almost the entire measurement range based on the position information from the GPS device. A method for measuring radiation on the surface of the earth, characterized in that it automatically runs across . At the lower end of the detector, a distance measurement sensor that measures the distance to the ground surface and sends a distance measurement signal to the central processing unit is provided between the detector and the arm end rod from the central processing unit. A lifting device that moves the detector up and down based on the control signal is provided, the central processing unit is operated based on the distance measurement signal from the distance measurement sensor, and the height of the detector is set. A radiation measurement method using a radiation measurement device configured to be held at a height ,
During traveling of the moving body, the height of the detector, the surface of the radiation meter measuring method according to claim 13, characterized in that to hold in advance the height set according to the surface roughness of the measured locations. The terminal device includes a communication unit that transmits and receives data through communication with the outside.
The measurement of radiation, the central processing unit according to claim 13 or 14, characterized in that transmits the position information associated with the measurement data and the measurement data measured by the detector to the center server in real time, respectively the surface of the radiation meter measuring how.

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