Construction of a Compton camera-equipped robotic system capable of moving autonomously towards the radiation source

放射線源に向かって自律移動可能なコンプトンカメラ搭載ロボットシステムの構築

佐藤 優樹  ; 角藤 壮*; 田中 孝幸*; 嶋野 寛之*

Sato, Yuki; Kakuto, Takeshi*; Tanaka, Takayuki*; Shimano, Hiroyuki*

In decommissioning the Fukushima Daiichi Nuclear Power Station, understanding the distribution of radioactive substances is crucial to developing detailed decontamination plans and minimizing worker exposure. In this study, an autonomous mobile radiation source detection system based on a mecanum wheel robot equipped with a Compton camera was constructed. The Compton camera visualizes the radiation source, and software embedded in the robot system reads the results to recognize the radiation source and move the robot toward it. If the robot's depth camera detects an obstacle while moving, it changes direction, visualizes the radiation source again using the Compton camera, and repeats moving the robot toward the radiation source. Furthermore, two demonstration tests were conducted in the laboratory using a Cs radiation source to confirm that the robot can reach it where there are obstacles or a narrow region. We have also summarized issues that must be identified to apply this system to actual decommissioning sites.