JP7350692B2 - 2D space measurement system and control method for 2D space measurement system - Google Patents

Description

The present invention relates to a radiation shield, a two-dimensional space measurement system, and a method of controlling a two-dimensional space measurement system.

When transporting radioactive waste in a storage facility with high radiation levels, workers may not be able to enter due to the high radiation level inside the storage facility. In such harsh environments, radioactive waste may be transported unmanned. As such an unmanned transport system, one that is equipped with rails and electromagnetic induction devices embedded in the floor so that the transport vehicle can move along a predetermined trajectory, and a camera that can visually check the front of the transport vehicle is known. .

If the above-mentioned camera is mounted on a carrier as it is, it will cause problems due to radiation, so it is necessary to shield it from radiation. As such a radiation-resistant camera, one having a radiation shielding member that blocks radiation to the image sensor is known, and a robot equipped with this radiation-resistant camera has been proposed (see Japanese Patent Application Laid-Open No. 2019-124747). ).

The conventional radiation-resistant camera described above includes a shielding body that blocks radiation, an imaging optical system that forms an image of the subject, relays that image, and changes the direction of light travel midway through, and an imaging optical system that captures the relayed image. The imaging optical system and the imaging device are arranged in an internal space provided inside the shielding body.

In the radiation-resistant camera, the shielding body has a hemispherical shape so that the amount of radiation reaching the image pickup device etc. from all directions is equal. The radiation-resistant camera is fixed to the robot by a shaft-shaped support member. Further, the robot has a rotation mechanism that can rotate around an axis, and by rotating this support member, it is possible to photograph the surrounding area.

Japanese Patent Application Publication No. 2019-124747

When using the above-mentioned conventional radiation-resistant camera, a rotating mechanism is required to check the surroundings, and the rotating mechanism itself also needs to be shielded from radiation, which tends to increase the weight.

In addition, in recent years, there has been a demand for an unmanned transport system that does not have a fixed trajectory and allows a transport vehicle to recognize its own position and perform flexible transport. In order to make a guided vehicle recognize its own position, it is necessary to make it grasp objects (obstacles) in a two-dimensional space. In the conventional radiation-resistant camera described above, the rotation speed of the rotation mechanism is insufficient, and there is a possibility that the object cannot be sufficiently grasped in two-dimensional space. On the other hand, if an attempt is made to obtain a sufficient rotational speed, the size and weight of the rotation mechanism will further increase.

The present invention has been made based on the above-mentioned circumstances, and provides a small and lightweight radiation shield that can be used in a two-dimensional measuring instrument, a two-dimensional space measurement system using this radiation shield, and a two-dimensional space measurement system using this radiation shield. The purpose is to provide a control method for a two-dimensional space measurement system.

A radiation shielding body according to one aspect of the present invention is a radiation shielding body used in a two-dimensional measuring instrument, in which the two-dimensional measuring instrument uses a reflected wave of an object in an irradiation wave scanned with respect to a two-dimensional space. A shielding wall that can cover the entire two-dimensional measuring device, and a shielding wall that allows the radiation waves from the two-dimensional measuring device covered by the shielding wall to pass through and head toward the outside of the shielding wall. and a slit to enable scanning.

The radiation shield has a slit that allows the irradiation waves from the two-dimensional measuring instrument to pass through and scan towards the outside of the shielding wall, so it is possible to grasp the position of the object in two-dimensional space without rotating the shielding wall. can do. Therefore, the radiation resistance of the radiation shielding body can be increased simply by covering the entire two-dimensional measuring instrument with a shielding wall, so that it can be easily made smaller and lighter.

Preferably, the shielding wall has a hollow cylindrical shape, the slit is provided on a side surface of the shielding wall, and the opening angle of the slit around the central axis of the shielding wall is 60 degrees or more. By setting the aperture angle of the slit to be equal to or greater than the above lower limit in this manner, it is possible to easily grasp the position of objects around the transport vehicle using a small number of two-dimensional measuring instruments.

The irradiated wave is a laser beam, and the two-dimensional measuring device includes a light projecting/receiving section that projects the laser beam and receives reflected light from an object, and the laser beam projected from the light projecting/receiving section passes through the slit. and a reflecting plate that changes the traveling direction of the light so as to pass through the light, and is configured such that when the shielding wall covers the two-dimensional measuring instrument, the light emitting and receiving section is located in a blind spot of the slit. Good to have. In a two-dimensional measuring instrument whose irradiation wave is a laser beam, the light emitting/receiving part is easily affected by radiation, and by positioning the light emitting/receiving part in the blind spot of the slit, the amount of radiation that the light emitting/receiving part is directly exposed to can be reduced. can be reduced. Therefore, it is possible to suppress the occurrence of failure of the two-dimensional measuring instrument due to radiation, and to extend the life of the two-dimensional measuring instrument when used in a radiation environment.

A two-dimensional space measurement system according to another aspect of the present invention includes a radiation shielding body of the present invention, a two-dimensional measuring instrument stored in the radiation shielding body, and measuring a radiation dose exposed to the two-dimensional measuring instrument. The radiation measuring device includes a radiation measuring device, and a control unit that controls the two-dimensional measuring device and the radiation measuring device.

Since the two-dimensional space measurement system uses the radiation shielding body of the present invention, the replacement cycle due to exposure to radiation from the two-dimensional measuring instrument is relatively long. In addition, in the two-dimensional space measurement system, since the radiation dose to which the two-dimensional measuring device is exposed is measured by the radiation measuring device, it is possible to grasp the necessity of replacing the two-dimensional measuring device from the accumulated absorbed dose. Therefore, the two-dimensional space measurement system can stably grasp the position of an object in two-dimensional space while reducing the number of times the two-dimensional measuring instrument is replaced.

A method for controlling a two-dimensional space measurement system according to yet another aspect of the present invention is a method for controlling a two-dimensional space measurement system according to the present invention, comprising: measuring a real space dose using the radiation measuring device; a step of measuring the actual operating time of the two-dimensional measuring instrument; a step of calculating the actual integrated dose from the real space dose obtained in the dose measuring step and the actual operating time obtained in the time measuring step; and monitoring that the obtained actual integrated dose does not exceed a predetermined upper limit.

The method for controlling the two-dimensional space measurement system allows the necessity of replacing the two-dimensional measuring instrument to be determined through the above-described steps. Therefore, by using the control method for the two-dimensional space measurement system, it is possible to stably grasp the position of an object in the two-dimensional space while reducing the number of times the two-dimensional measuring instrument is replaced.

Here, "wave" includes light as well as waves such as sound waves and electromagnetic waves. "Covering the entire two-dimensional measuring instrument" means that at least a portion of it is shielded from radiation irradiation in any direction, and means that the two-dimensional measuring instrument is sealed by a shielding wall. It's not something you do.

As described above, the radiation shield of the present invention can be used in a two-dimensional measuring instrument, and is small and lightweight. In addition, the two-dimensional space measurement system of the present invention and the control method for the two-dimensional space measurement system of the present invention use the radiation shield of the present invention, thereby reducing the number of times the two-dimensional measuring device is replaced and stably. It is possible to grasp the position of an object in two-dimensional space.

FIG. 1 is a schematic side view of a radiation shield according to an embodiment of the present invention. FIG. 2 is a schematic horizontal cross-sectional view of the radiation shield shown in FIG. 1 viewed from above along line II-II. FIG. 3 is a schematic side sectional view of the radiation shield shown in FIG. 1 viewed from the side. FIG. 4 is a schematic plan view showing the configuration of a two-dimensional space measurement system according to an embodiment of the present invention. FIG. 5 is a schematic side view showing the configuration of the two-dimensional space measurement system of FIG. 4. FIG. 6 is a flow diagram showing a method for controlling a two-dimensional space measurement system according to an embodiment of the present invention. FIG. 7 is a schematic side view of a radiation shield different from that in FIG. 1. FIG. 8 is a schematic horizontal cross-sectional view of the radiation shield shown in FIG. 7 viewed from above along line VIII-VIII.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.

[First embodiment]
[Radiation shield]
A radiation shield 10 shown in FIGS. 1, 2, and 3 is a radiation shield used in a laser scanner, which is a two-dimensional measuring instrument 20. The radiation shield 10 includes a shielding wall 11 and a slit 12. Note that a two-dimensional measuring device is a device that grasps the position of surrounding objects based on reflected waves of objects in irradiated waves scanned in a two-dimensional space.

<Laser scanner>
In this embodiment, in the two-dimensional measuring instrument 20, the irradiation wave is a laser beam. The laser scanner, which is a two-dimensional measuring instrument 20, includes a light emitting/receiving section 21 that projects the laser beam and receives reflected light from an object, and the laser beam projected from the light emitting/receiving section 21 passes through a slit 12, which will be described later. It has a reflecting plate 22 that changes its direction of movement, and a casing 23 that houses the light emitting/receiving section 21 and the reflecting plate 22.

In the two-dimensional measuring instrument 20, a light emitting/receiving section 21 includes a laser and a light receiving element. In the two-dimensional measuring instrument 20, the laser beam emitted from the laser of the light projecting/receiving section 21 is reflected by the reflecting plate 22 and changes its traveling direction. This laser light passes through the slit 12 and is emitted to the outside, and if there is an object in the direction of travel, it will be reflected by that object. This reflected light passes through the slit 12 again, and is directed by the reflecting plate 22 in the direction of travel toward the light receiving element of the light projecting/receiving section 21, where it is detected by the light receiving element. The distance to the reflected object can be determined from the time difference between when this laser light is emitted from the laser and when it is detected by the light receiving element. On the other hand, if there is no object in the traveling direction of the laser beam emitted to the outside through the slit 12, the reflected light will not return, indicating that no object exists.

The reflecting plate 22 is configured to be rotatable at a constant speed by, for example, a motor. The reflecting plate 22 may rotate 360 degrees in one direction, or may reciprocate within a certain angular range (aperture angle). Further, even if the reflection plate 22 rotates 360 degrees, the configuration may be such that irradiation is performed only within a certain angular range.

<Shielding wall>
The shielding wall 11 can cover the entire two-dimensional measuring instrument 20. Specifically, the shielding wall 11 has a hollow cylindrical shape.

The shielding wall 11 is composed of a shielding body that attenuates radiation. The thickness of the shielding wall 11 is appropriately determined based on its attenuation rate and the radiation dose to which it is exposed, but from the viewpoint of weight reduction, it should be within a range where the radiation dose reaching the two-dimensional measuring instrument 20 is below a desired size. The thinner the better.

The shielding wall 11 is preferably configured such that the light emitting/receiving section 21 is located in a blind spot of the slit 12 when the two-dimensional measuring instrument 20 is covered. That is, as shown in FIG. 3, the light emitting/receiving section 21 is arranged at a position where it is not directly hit by the radiation passing through the slit 12 and proceeding straight. Since the radiation passes through the relatively thin reflecting plate 22, the amount of radiation reflected by the reflecting plate 22 and substantially directly hitting the light emitting/receiving section 21 is small. Further, the radiation reflected by the shielding wall 11 and indirectly hitting the light emitting/receiving section 21 is attenuated. Therefore, by locating the light emitting/receiving section 21 in the blind spot of the slit 12, the amount of radiation that the light emitting/receiving section 21 is exposed to can be reduced. In the two-dimensional measuring instrument 20 whose irradiation wave is a laser beam, the light emitting/receiving section 21 is a part that is easily affected by radiation. It is possible to suppress the occurrence of failures due to radiation and extend the life of the two-dimensional measuring instrument 20 when used in a radiation environment.

<Slit>
The slit 12 allows the irradiation wave from the two-dimensional measuring device 20 covered with the shielding wall 11 to pass therethrough, and allows scanning toward the outside of the shielding wall 11 . Specifically, the slit 12 is provided on the side surface of the shielding wall 11. The slit 12 is linear in the horizontal direction and has a fan shape in plan view.

The lower limit of the opening angle (θ in FIG. 2) formed by the slit 12 around the central axis of the shielding wall 11 is preferably 60 degrees, more preferably 90 degrees, and even more preferably 120 degrees. If the aperture angle θ of the slit 12 is less than the above lower limit, the range that the two-dimensional measuring instrument 20 can scan in two-dimensional space will be limited, and it may be difficult to grasp the position of surrounding objects or There is a possibility that a large number of two-dimensional measuring instruments 20 are required to grasp the position of the object. On the other hand, the upper limit of the aperture angle θ is not particularly limited.

Note that the aperture angle θ formed by the slit 12 preferably matches the scan angle range of the two-dimensional measuring instrument 20 (the angle range in which the reflection plate 22 rotates). If the aperture angle θ formed by the slit 12 is less than the scan angle range of the two-dimensional measuring device 20, the position of the object can be grasped using the entire range that the two-dimensional measuring device 20 can scan in the two-dimensional space. become unable to do so. On the other hand, if the aperture angle θ of the slit 12 exceeds the scan angle range of the two-dimensional measuring instrument 20, the amount of radiation passing through the slit 12 and entering the shielding wall 11 increases unnecessarily, and the two-dimensional measuring instrument There is a possibility that the lifespan of 20 will be shortened.

<Advantages>
In the radiation shielding body 10, the slit 12 allows the irradiation wave from the two-dimensional measuring device 20 to pass through and scanning toward the outside of the shielding wall 11. Therefore, the radiation shielding body 10 can be scanned in two-dimensional space without rotating the shielding wall 11. It is possible to grasp the position of objects. Therefore, the radiation resistance of the radiation shield 10 can be increased simply by covering the entire two-dimensional measuring instrument 20 with the shielding wall 11, so that it can be easily made smaller and lighter.

[Two-dimensional space measurement system]
The two-dimensional space measurement system shown in FIGS. 4 and 5 includes a radiation shield 10 which is an embodiment of the present invention shown in FIGS. 1 to 3, a two-dimensional measuring instrument 20 stored in the radiation shield 10, The radiation measuring device 30 includes a radiation measuring device 30 that measures the radiation dose that the two-dimensional measuring device 20 receives, and a control unit (not shown) that controls the two-dimensional measuring device 20 and the radiation measuring device 30.

The two-dimensional space measurement system is used, for example, in a transport vehicle X that transports waste L in a radioactive waste storage facility. In the example of FIGS. 4 and 5, four sets of radiation shielding bodies 10, two-dimensional measuring instruments 20, and radiation measuring instruments 30 are mounted. In addition, the said control part may be provided individually with respect to each radiation shield 10, the two-dimensional measuring device 20, and the radiation measuring device 30, and may be provided one in common.

<Radiation shield and two-dimensional measuring instrument>
The radiation shield 10 and the two-dimensional measuring instrument 20 are the same as those described above, and therefore their individual explanations will be omitted.

The arrangement of the radiation shield 10 in which the two-dimensional measuring device 20 is stored is determined by taking into account the angular range that the stored two-dimensional measuring device 20 can scan, the range that cannot be seen due to the transport vehicle X itself being an obstacle, etc. However, as shown in FIG. 4, for example, it is preferable to arrange them at the front, rear, left and right sides of the transport vehicle X. By arranging it in this way, it is possible to grasp the positions of surrounding objects in all directions.

<Radiation measuring device>
The radiation measuring instrument 30 is arranged near the radiation shielding body 10, more precisely, near the two-dimensional measuring instrument 20 stored in the radiation shielding body 10.

Although one radiation measuring instrument 30 can be provided in common for the four two-dimensional measuring instruments 20, as shown in FIGS. 4 and 5, each of the two-dimensional measuring instruments 20 may be provided with Preferably, a radiation measuring device 30 is provided. As shown in FIGS. 4 and 5, the transportation vehicle There is no guarantee that you will be exposed to a certain amount of radiation. Therefore, by providing a radiation measuring device 30 in the vicinity of each two-dimensional measuring device 20, it is possible to improve the measurement accuracy of the radiation dose exposed to the two-dimensional measuring device 20. On the other hand, when one radiation measuring instrument 30 is provided in common for the four two-dimensional measuring instruments 20, the two-dimensional space measuring system can be made smaller and lighter.

Since the radiation measuring device 30 itself has high radiation resistance, it does not necessarily need to be placed inside a shielding body, as shown in FIGS. 4 and 5, and can be directly mounted on the transport vehicle X. By directly mounting it in this way, the radiation measuring instrument 30 and, by extension, the two-dimensional space measuring system can be made smaller and lighter. In this case, the radiation dose measured by the radiation measuring device 30 is the dose in the real space outside the radiation shielding body 10, so the two-dimensional measuring device 20 takes into account the attenuation of the radiation when passing through the radiation shielding body 10. The amount of radiation that people are exposed to will be measured. Specifically, for example, the actual measured value may be multiplied by an attenuation coefficient in the control section. Alternatively, it is also possible to use actual measured values directly. The actual measurement value is the value obtained by multiplying the radiation dose exposed to the two-dimensional measuring instrument 20 by a proportional coefficient (the reciprocal of the attenuation coefficient), so even if the actual measured value is used, it is actually the radiation dose exposed to the two-dimensional measuring instrument 20. It is equivalent to measuring. In this case it is not necessary to calculate the damping coefficient.

Alternatively, the radiation measuring device 30 may be covered with a shielding body equivalent to the radiation shielding body 10. In this configuration, since the radiation measuring device 30 measures the radiation dose inside the shielding body, there is no need to adjust the measured value using an attenuation coefficient or the like. Moreover, since the radiation measuring device 30 and the radiation shielding body 10 in which the two-dimensional measuring device 20 is housed are separate bodies, the degree of freedom in arrangement when mounting on the carrier vehicle X is increased.

Alternatively, the radiation measuring device 30 may be included in the radiation shielding body 10 itself. According to this configuration, the radiation dose to which the two-dimensional measuring instrument 20 is exposed can be measured with higher accuracy.

Note that the radiation dose results measured by the radiation measuring device 30 are transferred to the control section.

<Control unit>
The control unit calculates the actual integrated dose by time integration of the radiation dose measured by the radiation measuring instrument 30, and monitors the actual integrated dose until it reaches a predetermined upper limit. When the upper limit is reached, the control section issues a warning to prompt replacement of the two-dimensional measuring device 20, for example. If the control unit detects that the two-dimensional measuring device 20 has been replaced, it initializes the actual integrated dose and continues monitoring the replaced two-dimensional measuring device 20.

A method for controlling the two-dimensional space measurement system by the control section will be described in detail below.

<Control method of two-dimensional space measurement system>
The control method for a two-dimensional space measurement system shown in FIG. 6 is a control method for a two-dimensional space measurement system according to the present invention. The control method for the two-dimensional space measurement system includes a dose measurement step S1, a time measurement step S2, an integrated dose calculation step S3, and a monitoring step S4.

(Dose measurement process)
In the dose measurement step S1, the radiation measuring device 30 measures the real space dose.

The measured dose of the radiation measuring device 30 is sent to the control section. Further, as described above, when the radiation measuring instrument 30 measures the dose in the real space outside the radiation shield 10, the value multiplied by the attenuation coefficient by the radiation shield 10 may be used as the real space dose, The real space dose itself may be used as an index of the radiation dose to which the two-dimensional measuring device 20 is exposed.

This real space dose increases, for example, when the transport vehicle X approaches the stored waste L, and increases significantly when the waste L is lifted up, so it is necessary to measure it sequentially. Note that "sequential measurement" includes cases in which measurements are performed intermittently at fixed time intervals.

(Time measurement process)
In the time measurement step S2, the actual operating time of the two-dimensional measuring device 20 is measured. This process is performed simultaneously in parallel with the dose measurement process S1.

The two-dimensional measuring instrument 20 is considered to be operating when the guided vehicle X is in a movable state, that is, when the system power of the guided vehicle X is turned on. On the other hand, if the system power of the conveyance vehicle X is not turned on, the conveyance vehicle You can consider excluding it from .

This time measurement step S2 is preferably performed by the control section. It is easy to correlate the measured time with the real space dose measured in the dose measurement step S1, and the integrated dose can be easily calculated in the next step, the integrated dose calculation step S3.

(Integrated dose calculation process)
In the integrated dose calculation step S3, the actual integrated dose is calculated from the real space dose obtained in the dose measurement step S1 and the actual operating time obtained in the time measurement step S2.

Specifically, the actual integrated dose can be calculated by numerically integrating the real space dose expressed as a function of time measured in the time measurement step S2. This real space dose approximates the radiation dose to which the two-dimensional measuring instrument 20 is exposed.

(Monitoring process)
In the monitoring step S4, it is monitored that the actual integrated dose obtained in the calculation step S3 does not exceed a predetermined upper limit.

The above upper limit value can be determined by confirming the integrated dose at which the two-dimensional measuring device 20 operates normally through an irradiation test using radiation in advance. This upper limit value may be a fixed value regardless of the intensity of the radiation to which the radiation is applied, but it may also be a different upper limit value depending on the average dose per unit time (for example, per hour). The actual average dose can be calculated by dividing the actual integrated dose calculated in the integrated dose calculation step S3 by the total operating time obtained in the time measurement step S2. Therefore, it is possible to determine and monitor the upper limit value from this actual average dose.

In the two-dimensional space measurement systems shown in FIGS. 4 and 5, a radiation measuring device 30 is provided for each two-dimensional measuring device 20, so this monitoring is performed independently for each two-dimensional space measuring system. be able to. On the other hand, in a case where one radiation measuring instrument 30 is provided for a plurality of two-dimensional measuring instruments 20, the plurality of two-dimensional measuring instruments 20 are monitored as one group.

Note that when the upper limit is reached, the control unit may issue a warning to prompt the two-dimensional measuring device 20 to be replaced, for example, as described above. By replacing the two-dimensional measuring instrument 20 based on this warning, it is possible to suppress the occurrence of failures due to radiation.

<Advantages>
Since the two-dimensional space measuring system uses the radiation shielding body 10 of the present invention, the replacement cycle due to exposure to radiation from the two-dimensional measuring instrument 20 is relatively long. Furthermore, in the two-dimensional space measurement system, since the radiation measuring device 30 measures the radiation dose to which the two-dimensional measuring device 20 is exposed, it is possible to determine whether the two-dimensional measuring device 20 needs to be replaced from the accumulated absorbed dose. Therefore, the two-dimensional space measurement system can stably grasp the position of an object in two-dimensional space while reducing the number of times the two-dimensional measuring instrument 20 is replaced.

Furthermore, the control method for the two-dimensional space measurement system can determine the necessity of replacing the two-dimensional measuring device 20 through the above-described steps. Therefore, by using the control method for the two-dimensional space measurement system, it is possible to stably grasp the position of an object in the two-dimensional space while reducing the number of times the two-dimensional measuring instrument is replaced.

[Second embodiment]
[Radiation shield]
The radiation shield 40 shown in FIGS. 7 and 8 is a radiation shield used in a laser scanner, which is the two-dimensional measuring instrument 20. The radiation shield 40 includes a shield wall 41 and a slit 42 . The two-dimensional measuring instrument 20 is the same as the two-dimensional measuring instrument 20 in the first embodiment, so the same reference numerals are given and the description thereof will be omitted.

In the radiation shielding body 40, slits 42 are provided all around the circumference except for the four pillars 41a that constitute a part of the shielding wall 41. In other words, the slit 42 is configured as a slit with an opening angle of 360 degrees separated by four pillars 41a.

The support column 41a is plate-shaped. If a slit with an opening angle of 360 degrees is configured as is, the shielding wall 41 will be completely divided into upper and lower parts, and the shape of the radiation shielding body 40 will not be maintained. The pillars 41a are provided to maintain the shape of the radiation shield 40 even in a slit having an opening angle of 360 degrees. Note that even if the opening angle does not reach 360 degrees, if the opening angle exceeds 180 degrees, for example, the strength of the shielding wall 41 may be insufficient and the slit portion may be easily crushed in the height direction. Even in such a case, it is preferable to provide a support 41a in a part of the slit to reinforce it.

The four pillars 41a are arranged radially from the rotation axis of the reflecting plate 22 so as to form an angle of 90 degrees with the adjacent pillars 41a, that is, at equal angular intervals. By arranging it in this way, the pillar 41a maintains the shape of the shielding wall 41 and is less likely to interfere with the irradiation of the laser beam, which is the irradiation wave of the two-dimensional measuring instrument 20. In addition, in the radiation shielding body 40 shown in FIGS. 7 and 8, the shape of the shielding wall 41 is maintained by four pillars 41a, but the number of pillars 41a may be three or five or more. .

Since the shielding wall 41 and the slit 42 can be configured in the same manner as the shielding wall 11 and the slit 12 in the first embodiment except for the above-mentioned configuration, other explanations will be omitted.

In the radiation shield 40, the slits 42 are provided all around the circumference except for the pillar 41a, so that it can be effectively used for the two-dimensional measuring instrument 20 that irradiates the entire circumference (360 degrees).

[Other embodiments]
Note that the present invention is not limited to the above embodiments.

In the above embodiment, a case has been described in which the two-dimensional measuring instrument is a laser scanner, but the two-dimensional measuring instrument is not limited to a laser scanner. A scanner using another light source may be used, or a scanner using other waves such as sound waves or X-rays may be used.

In the embodiment described above, the shielding wall is cylindrical, but the shape of the shielding wall is not limited to the cylindrical shape. The shielding wall may have another shape, such as a rectangular prism shape.

In the above embodiment, a case has been described in which the slit is provided on the side surface of the shielding wall, but the slit is provided at a position through which the irradiation wave of the two-dimensional measuring device can pass, and the position is limited to the side surface of the shielding wall. It's not a thing.

The radiation shield of the present invention can be used in a two-dimensional measuring instrument, and is small and lightweight. In addition, the two-dimensional space measurement system of the present invention and the control method for the two-dimensional space measurement system of the present invention use the radiation shield of the present invention, thereby reducing the number of times the two-dimensional measuring device is replaced and stably. It is possible to grasp the position of an object in two-dimensional space.

10 Radiation shielding body 11 Shielding wall 12 Slit 20 Two-dimensional measuring instrument 21 Light projecting/receiving section 22 Reflector plate 23 Housing 30 Radiation measuring instrument 40 Radiation shielding body 41 Shielding wall 41a Support column 42 Slit X Transport vehicle L Waste

Claims (4)

a radiation shield;
a two-dimensional measuring instrument stored in the radiation shield;
a radiation measuring device that measures the radiation dose exposed to the two-dimensional measuring device;
A control unit that controls the two-dimensional measuring instrument and the radiation measuring instrument ,
The two-dimensional measuring instrument grasps the position of surrounding objects by the reflected waves of the objects in the irradiated waves scanned in the two-dimensional space,
The radiation shielding body is
a shielding wall capable of covering the entire two-dimensional measuring instrument;
a slit that allows the irradiation wave of the two-dimensional measuring device covered on the shielding wall to pass through and scan toward the outside of the shielding wall;
A two-dimensional space measurement system equipped with The shielding wall has a hollow cylindrical shape,
The slit is provided on a side surface of the shielding wall,
The two-dimensional space measurement system according to claim 1, wherein the opening angle of the slit around the central axis of the shielding wall is 60 degrees or more. The irradiated wave is a laser beam,
The above two-dimensional measuring instrument is
a light emitting/receiving unit that projects the laser beam and receives the reflected light from the object;
and a reflecting plate that changes the traveling direction of the laser beam projected from the light projecting/receiving section so that it passes through the slit,
The two-dimensional space measurement system according to claim 1 or 2, wherein when the shielding wall covers the two-dimensional measuring device, the light projecting and receiving section is located in a blind spot of the slit. A method for controlling a two-dimensional space measurement system according to any one of claims 1 to 3 ,
a step of measuring real space dose with the radiation measuring instrument;
a step of measuring the actual operating time of the two-dimensional measuring instrument;
Calculating an actual integrated dose from the real space dose obtained in the dose measurement step and the actual operating time obtained in the time measurement step;
A method for controlling a two-dimensional spatial measurement system, comprising: monitoring that the actual integrated dose obtained in the calculation step does not exceed a predetermined upper limit.

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