Image processng system and method capable of visiualizing the spatial distribution of exposure dose rate and location of radioactive sources in real space

Abstract

The present invention discloses an image processing system and method capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space. The system comprises: a plurality of detectors arranged and installed within a control area to measure the dose rate emitted from a radiation source having radioactive material; a stereo camera that photographs the control area including the plurality of detectors to acquire image data for recognizing objects existing within the control area and the locations of the objects; a laser illumination device that irradiates a laser into the control area to visually display the radiation source within the control area and the spatial dose rate distribution emitted from the radiation source; and an image processing device that receives image data from the stereo camera to acquire spatial coordinate information of the entire control area including objects existing within the control area, detects the location and radioactivity of the radiation source based on dose rate measurements received from the plurality of detectors, and controls the laser illumination device to map the detected location and radioactivity of the radiation source and the spatial dose rate distribution to the spatial coordinate information and display them visually.

Description

Technology Field

[0001] The present invention relates to an image processing system and method capable of visualizing the location of a radiation source and the spatial dose rate distribution in a real space, which detects the location and radioactivity of a radiation source emitting radiation in a real space within a facility or controlled area and visualizes the spatial dose rate distribution based on this so that it can be easily recognized by a worker. Background Technology

[0003] To monitor radiation inside the facility, workers deployed to the site perform radiation exposure management by utilizing radiation measuring instruments such as portable dose rate meters or area monitors fixedly installed in the control area.

[0004] More specifically, a method is employed to establish a preliminary work plan using periodic measurement logs from area monitors around the expected work area, measure individual radiation exposure doses using portable meters or personal dosimeters during work, and prevent radiation exposure through the alarm function of radiation detectors in preparation for unexpected exposure.

[0005] These traditional methods require workers to periodically check the radiation levels in the current work area on the display of a nearby area monitor or verify changes in personal dosimeters through alarms or periodic observations. For this reason, there is a limitation in that workers are exposed first and only realize it later, making a certain amount of exposure unavoidable.

[0006] In particular, there is a problem in that workers cannot accurately determine where radiation is originating in the workspace due to the characteristic that the radiation source is not visible to the naked eye, even when checking the measurement display of the area monitor, in cases where radioactive contaminants are introduced due to a radiation accident, the radiation field within the controlled area changes due to a sudden change in the radioactive source term (type and amount of radionuclides), or the radiation source moves due to changes in the arrangement of radioactive waste.

[0007] Furthermore, even if a notification is triggered by a personal dosimeter, workers cannot directly perceive it; therefore, a certain amount of exposure is inevitable until the detector reacts to radiation and issues a warning. Additionally, work may continue to verify whether the alert is due to a dosimeter malfunction or until measures are taken by the Central Radiation Safety Management Department, potentially leading to further exposure. Moreover, the current system has limitations in that workers cannot even perceive the direction of evacuation, despite being required to maintain the maximum possible distance from radiation sources. Consequently, evacuation for active self-protection is inevitably delayed, or unnecessary exposure occurs.

[0008] Recently, a technology capable of visualizing real space through spatial recognition using Lidar technology as shown in Fig. 1 and a technology capable of displaying the dose rate distribution of a workspace through the combination of radiation field distribution data have been developed, but there is a limitation in that the virtual space is implemented and displayed on a visual information display such as the screen of an electronic device (e.g., a computer or mobile terminal) as exemplified in Fig. 2.

[0009] In this case, there is a disadvantage in that the operator must periodically observe or check the visual information indicator. In particular, when the spatial dose rate distribution is implemented on a computer rather than a mobile terminal, there is a limitation in that the operator deployed to the site cannot check changes in the dose rate in real time and still cannot recognize the direction of evacuation even in situations where evacuation is necessary. Prior art literature

[0011] Korean Patent Publication No. 10-2346124 (Registered Dec. 28, 2021) The problem to be solved

[0012] The present invention aims to solve the aforementioned problems. Its technical objective is to maximize radiation safety management by visualizing the presence of radiation, which cannot be confirmed by human vision, as closely as possible. This is achieved by displaying the location of radiation sources and the distribution of spatial dose rates within actual workspaces as well as electronic devices, displaying a safety level around the worker so that the worker can directly recognize the level of radiation exposure in real time, and displaying a danger level when the exposure level reaches a certain threshold.

[0013] Furthermore, another technical objective of the present invention is to provide a method for measuring and monitoring real-time dose rates through multiple detectors, and in the event that the radiation dose rate fluctuates due to the progression of radioactivation, the influx of radioactive contaminants, or changes in the arrangement of waste drums, to re-detect the location and radioactivity of the radiation source in real time and recalculate the spatial dose rate distribution and display it within the control area, thereby enabling a worker to visually recognize and respond to the constantly changing radiation dose distribution.

[0014] Meanwhile, the technical problems to be solved by the present invention are not limited to those mentioned above, and other technical problems will be clearly understood by those skilled in the art to which the present invention belongs from the description below. means of solving the problem

[0016] To solve the technical problem described above, an image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in a real space according to an embodiment of the present invention comprises: a plurality of detectors arranged and installed within a control area and measuring a real-time dose rate emitted from a radiation source having radioactive material; a stereo camera that photographs the control area including the plurality of detectors and acquires image data for recognizing objects existing within the control area and the locations of the objects; a laser illumination device that irradiates a laser into the control area to visually display the radiation source within the control area and the spatial dose rate distribution emitted from the radiation source; and an image processing device that receives image data from the stereo camera to acquire spatial coordinate information of the entire control area including objects existing within the control area, detects the location and radioactivity of the radiation source based on real-time dose rate measurements received from the plurality of detectors, calculates the spatial dose rate within the workspace based on the detected location and radioactivity of the radiation source, and controls the laser illumination device to map the calculated spatial dose rate distribution to the spatial coordinate information and display it visually. At this time, the image processing device includes a source location and dose distribution analysis unit that detects the location and radioactivity intensity and spatial dose rate distribution of the radiation source using dose rate measurements received from two or more different detectors among the plurality of detectors and the locations of the two or more different detectors acquired from the image data.The source location and dose distribution analysis unit continuously monitors whether the dose rate measurement received from the plurality of detectors changes above a certain level, and if, as a result of monitoring, it changes above a certain level and at the same time, the rate of change of the dose rate (or count rate) between the detector that detected above the certain level and at least one adjacent detector changes with the same sign, it switches to a source location determination mode to determine the location and radioactivity of the radiation source and performs an operation to detect the location of the radiation source by the switching operation, and if the dose rate changes, it re-detects the location and radioactivity of the radiation source in real time.

[0017] The above laser lighting device is equipped with a laser oscillator that emits a laser with a changing color and shape, and at this time, the image processing device can control the laser lighting device to display the color and shape of the laser differently according to the radiation intensity of the radiation source and the radiation dose of the worker.

[0018] Additionally, the image processing device further includes a worker location analysis unit that recognizes a worker who has entered the management area and the worker's location through image data received from the stereo camera or a location tracking terminal carried by the worker, and can control the laser lighting device to output a danger indicator around the worker when the worker's location recognized by the worker location analysis unit is located within the danger level boundary.

[0019] In addition, the image processing device can control the laser lighting device to check the worker's residence time when the worker's entry is recognized through the worker location analysis unit, and to output a danger indicator around the worker if the permissible exposure dose according to the residence time is exceeded.

[0020] In addition, the image processing device further includes an evacuation path calculation unit that calculates a safe evacuation path based on the location of the detected radiation source, the intensity of the radioactivity, and the spatial dose rate distribution at the location of the worker recognized through the worker location analysis unit, and can control the laser lighting device to display the safe evacuation path calculated through the evacuation path calculation unit when a danger indication for the worker is output.

[0021] delete

[0022] delete

[0023] In addition, the source location and dose distribution analysis unit divides the control area into grids of a certain interval, calculates the spatial dose rate according to the location of each grid based on the location and radioactivity of the detected radiation source, collects the spatial dose rates, extracts the spatial dose rate distribution of the control area as contour lines, and maps them to the spatial coordinate information.

[0024] In addition, when the above source location and dose distribution analysis unit detects the entry of a worker into the control area, it calculates the exposure dose for the worker using the exposure dose rate according to each grid location and the worker's location and residence time, and at this time, the image processing device can control the laser lighting device to display the calculated real-time exposure dose around the worker.

[0025] In addition, the image processing device is connected to a worker terminal carried by a worker, maps the location of a radiation source, radioactivity, and spatial dose rate distribution detected within the control area with the spatial coordinate information, and provides this information to the worker terminal; and after the worker enters the control area, it can transmit messages regarding the worker's danger indication, safety evacuation route indication, and exposure dose to the worker terminal.

[0026] Meanwhile, an image processing method capable of visualizing the location and radioactivity of a radiation source in real space according to an embodiment of the present invention is an image processing method for visualizing a spatial dose rate distribution calculated based on the location and radioactivity of a radiation source having radioactive material within a control area, comprising: a step in which a stereo camera installed within the control area scans the control area including a plurality of detectors to acquire image data for recognizing an object existing within the control area and the location of the object; a step in which a plurality of detectors arranged and installed within the control area detect a real-time dose rate emitted by a radiation source within the control area; a step in which an image processing device receives image data from the stereo camera and acquires spatial coordinate information of the entire control area including an object existing within the control area; a step in which the image processing device detects the location and radioactivity of the radiation source based on dose rate measurements received from the plurality of detectors; and a step in which the image processing device calculates a spatial dose rate distribution of the control area using the detected location and radioactivity of the radiation source and the spatial coordinate information of the entire control area including the object. The image processing device comprises the step of generating a control signal to map the location and radioactivity of a detected radiation source and the spatial dose rate distribution to the spatial coordinate information and to visually display them in the control area; and the step of a laser illumination device installed in the control area irradiating a laser according to the control signal of the image processing device to visually display the radiation source and the spatial dose rate distribution emitted from the radiation source in the control area in the actual space.In addition, the step of detecting the location and radioactivity of the radiation source is performed by an image processing device using dose rate measurements received from two or more different detectors among the plurality of detectors and the locations of the two or more different detectors obtained from the image data to detect the location and radioactivity intensity and spatial dose rate distribution of the radiation source, and continuously monitoring whether the dose rate measurements received from the plurality of detectors change above a certain level, and if, as a result of monitoring, the dose rate changes above a certain level and at the same time the rate of change of the dose rate (or count rate) between the detector that detected above the certain level and at least one adjacent detector changes with the same sign, the device switches to a source location determination mode to determine the location and radioactivity of the radiation source and performs an operation to detect the location of the radiation source by the switching operation, and can re-detect the location and radioactivity of the radiation source in real time when the dose rate changes.

[0027] In addition, an image processing method capable of visualizing the location of a radiation source and radioactivity in a real space according to an embodiment of the present invention may further include: a step in which the image processing device recognizes a worker who has entered the control area and the location of the worker; a step in which the image processing device remotely controls a laser lighting device of the control area to output a danger indicator around the worker if the location of the recognized worker is located within a danger level boundary; and a step in which the image processing device remotely controls a laser lighting device of the control area to calculate a safe evacuation path based on the location of the worker, the location of the detected radiation source, and the intensity of radioactivity, and output a calculated safe evacuation path indicator around the worker. Effects of the invention

[0029] According to this embodiment of the present invention, by irradiating a laser into an actual workspace to display information regarding the location and dose rate of a radiation source, the presence of a radiation source that could not be confirmed through human vision is implemented as closely as possible, thereby enabling the worker to perceive it.

[0030] In addition, according to an embodiment of the present invention, a worker deployed within a controlled area is recognized, and a safety level is displayed around the worker, allowing the worker to directly recognize the level of radiation exposure in real time. Furthermore, if the exposure level reaches a certain level or higher, it is displayed as a danger level, thereby providing the effect of actively managing the worker's radiation safety.

[0031] In addition, according to an embodiment of the present invention, when the radiation dose rate changes due to the progression of radioactivation, the inflow of radioactive contaminants, or changes in the arrangement of waste drums, the location of the radiation source and radioactivity are re-detected in real time, and the location of the detected radiation source and the spatial dose rate distribution are displayed on the floor surface within the control area, thereby providing the effect of enabling a worker to visually recognize and respond to radioactivity that changes from moment to moment. Brief explanation of the drawing

[0033] FIG. 1 is a diagram showing a spatial recognition image using LIDAR. Figure 2 is a diagram showing spatial dose rate information displayed on an electronic device screen. FIG. 3 is a configuration diagram showing an image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space according to an embodiment of the present invention. FIG. 4 is a detailed configuration diagram of an image processing device applied to a system according to an embodiment of the present invention. FIG. 5 is a detailed configuration diagram of a source location and dose rate distribution analysis unit applied to an image processing device according to an embodiment of the present invention. FIG. 6 is an example of a display of a spatial dose distribution displayed in real space through a system according to an embodiment of the present invention. FIG. 7 is an overall flowchart illustrating an image processing method capable of visualizing the location and radioactivity of a radiation source in real space according to an embodiment of the present invention. FIGS. 8 and 9 are flowcharts illustrating a method of image processing according to the entry and position of an operator in an image processing method according to an embodiment of the present invention. Specific details for implementing the invention

[0034] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In describing with reference to the accompanying drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof will be omitted.

[0035] As mentioned in this specification, radioactivity refers to the decay of unstable atomic nuclei, and radiation refers to particles or electromagnetic waves (e.g., alpha rays, beta rays, gamma rays, χ rays, etc.) emitted as unstable atomic nuclei decay; radiation dose refers to the amount of energy absorbed by a substance when radiation is applied to a unit mass of the substance; and radiation dose rate refers to the amount of radiation exposure per unit time. A source is also referred to as a radiation source or source term, and a radiation source refers to a device or substance that emits radiation, meaning the origin of radiation.

[0036] Since radiation is invisible to the naked eye, it is impossible to determine its source through human sensory organs; however, the present invention proposes a system configuration that detects the location of such radiation sources and displays them in the actual space, enabling workers to perceive not only the location but also the spatial dose rate distribution within the workspace, with the ultimate goal of maximizing radiation safety management.

[0037] FIG. 3 is a configuration diagram showing an image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space according to an embodiment of the present invention.

[0038] A system according to an embodiment of the present invention basically includes a plurality of detectors (140), a stereo camera (130), a laser illumination device (150), and an image processing device (200) installed within a management area (100). In addition, it may further include a display device (300) and a worker terminal (400) provided independently of the image processing device (200).

[0039] Multiple detectors (140) are installed in a row within a controlled area (100) with multiple detectors (140-1, 140-2, 140-(n-1), 140-n) and measure the real-time radiation dose rate (or dose rate) emitted from a radiation source (110) having radioactive material.

[0040] At this time, several detectors (140-1, 140-2, 140-(n-1), 140-n) have different positions.

[0041] Figure 3 illustrates a structure in which multiple detectors (140-1, 140-2, 140-(n-1), 140-n) are arranged in a line, but is not limited thereto. A single array-type detector in which multiple detectors are arranged may be applied, or multiple area monitors including the function of a detector may be applied. An area monitor is a measuring device that includes a detector and an indicator that displays the dose rate measurement value output from the detector.

[0042] The control area (100) mentioned in this embodiment is an area for handling radioactive materials, and is a shielded area that forms a boundary with the surroundings because people or workers may be exposed to radiation from the radioactive materials. Reference numeral 120 shown in FIG. 3 is a shield installed to block a radiation source (110) on one side from the worker. Radiation emitted from the radiation source (110) is attenuated by this shield (120).

[0043] A plurality of detectors (140) measure the dose rate emitted through the shield (120), and at regular intervals, measure the dose rate emitted by the radiation source (100), and can transmit the measured dose rate value to an image processing device (200) via a wired or wireless communication network. Alternatively, a plurality of detectors (140) measure the real-time dose rate emitted by the radiation source (110) at regular intervals, and when a change in the measured dose rate occurs, can transmit the measured dose rate value to an image processing device (200).

[0044] A stereo camera (130) is installed within the management area (100).

[0045] A stereo camera (130) scans a control area (100) including a plurality of detectors (140) to acquire image data for recognizing objects and the locations of objects present within the control area (100). Here, the objects may be a wall, equipment, piping, building structure (control area structure), a plurality of detectors, a worker, a shield (120), a radiation source (110), etc., fixedly installed within the control area.

[0046] The laser illumination device (150) irradiates a laser into the control area (100) to visually display the radiation source within the control area and the spatial dose rate distribution emitted from the radiation source.

[0047] The laser illumination device (150) is equipped with a laser oscillator that emits a laser with a changing color and shape, so that the color and shape of the laser can be displayed differently according to the contour lines according to the spatial dose rate distribution in the management area and the radiation dose of the worker. In addition, the location of the worker in the management area can be identified and displayed by the color and shape of the laser, and this laser display method is performed by the control of the image processing device (200).

[0048] For example, Figure 6 shows an example in which the colors of the laser are distinguished and displayed on the floor surface of the actual space.

[0049] Referring again to FIG. 3, the image processing device (200) is provided spaced apart from the management area (100) and is connected to a plurality of detectors (140), a stereo camera (130), and a laser lighting device (150) within the management area (100) via wired and wireless communication networks.

[0050] Here, wired and wireless communication networks can be applied in various ways regardless of the communication method, such as wired communication networks connected using internal communication lines, wireless LAN communication using Wi-Fi, internal wireless communication networks using Bluetooth or internal protocols, and mobile communication networks.

[0051] The image processing device (200) basically receives image data from a stereo camera (130) to obtain spatial coordinate information of the entire management area, including objects existing within the management area, and detects the location and radioactivity of a radiation source based on real-time dose rate measurements received from a plurality of detectors (140). Then, the image processing device (200) remotely controls a laser lighting device (150) to map the detected location and spatial dose rate distribution of the radiation source to the spatial coordinate information and visually display it in the corresponding management area.

[0052] Additionally, the image processing device (200) is connected to a worker terminal (400) carried by a worker, and can map the location of a radiation source detected within the control area (100) and the spatial dose rate distribution with spatial coordinate information and provide them to the worker terminal (400). After the worker enters the control area, the image processing device (200) can transmit messages regarding the worker's danger indication, safety evacuation route indication, and exposure dose to the worker terminal (400). Through this, the image processing device (200) can perform active radiation safety management by providing and displaying a radiation dose rate corresponding to the three-dimensional space to the worker terminal (400) in addition to displaying the radiation dose rate in the actual space.

[0053] The worker terminal (400) is a portable terminal carried by the worker, and may be a personal mobile terminal or a terminal specifically provided for radiation safety.

[0054] Specifically, the detailed configuration of the image processing device (200) is illustrated in FIGS. 4 and FIGS. 5.

[0055] FIG. 4 is a detailed configuration diagram of an image processing device applied to a system according to an embodiment of the present invention, and FIG. 5 is a detailed configuration diagram of a source location and dose rate distribution analysis unit applied to an image processing device according to an embodiment of the present invention.

[0056] First, referring to FIG. 4, an image processing device (200) according to an embodiment of the present invention may be implemented with a spatial information acquisition unit (210), a source location and dose distribution analysis unit (220), a laser illumination control unit (230), a worker location analysis unit (240), an evacuation path calculation unit (250), a control unit (260), and a display device (300).

[0057] The spatial information acquisition unit (210) recognizes the overall structure of the management area, objects existing within the management area and the locations of objects from image data received from the stereo camera (130 in FIG. 3), and collects the spatial coordinate information of the entire management area as raw data to be electronically drawn.

[0058] Additionally, the spatial information acquisition unit (210) can acquire information regarding objects such as walls, equipment, and pipes fixedly installed in the management area through user input, and can provide material information of the object by recognizing personnel, tools, and equipment. Alternatively, it can acquire information by calling up BIM (Building Information Modeling) information stored in a library, and if a material with a radioactive material mark attached is scanned, it can acquire this as location information of the radiation source.

[0059] The source location and dose distribution analysis unit (220) detects the location and radioactivity of the radiation source based on real-time dose rate measurements received from a plurality of detectors (140 in FIG. 3).

[0060] Specifically, the source location and dose distribution analysis unit (220) detects the location and radioactivity of a radiation source by using real-time dose rate measurements received from two or more different detectors and the locations of two or more different detectors obtained from image data of a stereo camera.

[0061] In particular, the source location and dose distribution analysis unit (220) continuously monitors whether the dose rate measurement received from multiple detectors changes above a certain level, and as a result of monitoring, if the dose rate measurement changes above a certain level and the rate of change of the dose rate of at least one other detector adjacent to the detector that detected above a certain level changes with the same sign, it switches to a source location determination mode to determine the location and intensity (radioactivity) of the source. The monitoring operation can be seen as a process of confirming whether the location and dose rate of a radiation source that has already been detected in advance changes due to the progress of activation, movement of contaminants, changes in the arrangement of waste drums, etc.

[0062] The source location and dose distribution analysis unit (220) re-detects the location and radioactivity of the radiation source by switching to a source location determination mode, at which time the source location and dose distribution analysis unit (220) measures by separating multiple detectors (140). That is, the location and radioactivity of the radiation source are detected by using dose rate measurements obtained using two or more different detectors among the multiple detectors (140) and the locations of two or more different detectors obtained from image data.

[0063] Accordingly, the source location and dose distribution analysis unit (220) primarily detects the location and radioactivity of the radiation source, and subsequently, if the dose rate changes through monitoring, it re-detects the location and radioactivity of the radiation source in real time.

[0064] In addition, the source location and dose distribution analysis unit (220) divides the control area into grids of equal intervals and calculates the spatial dose rate distribution according to the location of each grid based on the location and radioactivity of the radiation source detected in advance. Then, the spatial dose rate calculated for the control area is extracted in the form of contour lines and mapped to spatial coordinate information.

[0065] Additionally, the source location and dose distribution analysis unit (220) calculates the exposure dose for the worker using the exposure dose rate at the worker's location according to the spatial dose rate distribution, the worker's location, and the time of residence when the entry of the worker into the control area is recognized.

[0066] Accordingly, the control unit (260) controls the laser lighting device to display the calculated exposure dose around the worker.

[0067] The laser lighting control unit (230) controls the lighting operation of a laser lighting device (150 in FIG. 3), such as a laser projector. Here, the laser lighting control unit (230) converts the signal into a signal system that is easy to control the operation of the laser lighting device. How the lighting operation is controlled is performed by the control unit (260).

[0068] For example, the laser lighting control unit (230) stores a control signal for a lighting operation mode to be operated according to the situation, and when the control unit (260) receives a control signal determined by the situation recognition as to which lighting operation mode to operate, the laser lighting control unit (230) selects the corresponding lighting operation mode and transmits the control signal for the selected lighting operation mode to a remote laser lighting device (150 in FIG. 3) to control it.

[0069] The worker location analysis unit (240) recognizes the location of the worker who has entered the management area and the location of the worker through image data received from the stereo camera (130 in FIG. 3) or a location tracking terminal carried by the worker.

[0070] The evacuation route calculation unit (250) calculates a safe evacuation route based on the location of the radiation source, the radiation intensity, and the spatial dose rate distribution detected by the source location and dose distribution analysis unit (220). Typically, the safe evacuation route is calculated to head toward the workplace exit via the shortest route, which consists of a path away from the location of the radiation source and a path with a low dose rate.

[0071] The control unit (260) controls the overall operation of the image processing device.

[0072] Basically, the control unit (260) transmits a control signal to the laser lighting control unit (230) to map the location of the radiation source and the radiation detected by the source location and dose distribution analysis unit (220) onto the spatial coordinates acquired by the spatial information acquisition unit (210) and to visually display them in the corresponding management area. This instructs the control of a laser lighting device located in a remote area.

[0073] Additionally, the control unit (260) can control the laser light control unit (230) to display different colors and shapes of the laser according to the radiation intensity of the radiation source and the radiation dose of the worker.

[0074] Additionally, when the worker's location recognized by the worker location analysis unit (240) is within the danger level boundary, the control unit (260) transmits a corresponding control signal to the laser lighting control unit (230) to output a danger indicator around the worker. This instructs the laser lighting device located at a remote location to be controlled.

[0075] Additionally, when the worker's entry is detected through the worker position analysis unit (240), the control unit (260) checks the worker's residence time and, if the permissible exposure dose (pre-entered dose) based on the residence time is exceeded, transmits a corresponding control signal to the laser lighting control unit (230) to output a danger indicator around the worker.

[0076] Additionally, when the control unit (260) instructs the output of a danger indicator around the worker, it transmits a corresponding control signal to the laser lighting control unit (230) in conjunction with the evacuation route calculation unit (250) to output the safety evacuation route calculated by the evacuation route calculation unit (250) to the management area. Through this, the worker can check the safety evacuation route guide line displayed on the floor of the management area and take appropriate action.

[0077] Additionally, when the worker's entry is recognized through the worker position analysis unit (240), the control unit (260) receives the worker's exposure dose calculated through the source position and dose distribution analysis unit (220) and transmits the corresponding control signal to the laser lighting control unit (230) to display the worker's exposure dose around the worker.

[0078] Additionally, the control unit (260) is connected to the display device (300) and matches the location and radiation intensity of the radiation source detected through the source location and dose distribution analysis unit (220), and the spatial dose rate distribution, etc., with three-dimensional spatial coordinates and displays them on the display device (300), and can display the exposure dose, etc., for workers working in each control area through the display device (300).

[0079] The display device (300) may be provided integrally with the image processing device (200) or as a separate, independent display.

[0080] To control the above operation, the control unit (260) must ensure that the spatial coordinate information, the position of the worker in the actual space, the control position for irradiating the laser around the worker in the actual space, the indication position of the laser lighting device installed in the actual management area, and the position of the divided grid of the source position determination mode all match.

[0081] Accordingly, the control unit (260) unifies the spatial coordinates oriented in three ways through the following method.

[0082] By moving the indicator point of the laser light device, the actual management area is scanned by aiming at two or more vertices on the floor and one or more vertices on the ceiling within the actual management area. At this time, the positions of multiple detectors can be manually entered into the scan information, and the distance between each vertex is manually entered to match the physical distance between the actual management area and the scanned virtual space. This assumes the case of a rectangular indoor space; if the structure is not rectangular, additional aiming and scanning operations are required. Through this, (r, θ, φ) corresponding to each grid is determined from the indicator point of the light device.

[0083] Accordingly, the system of the present invention configured as described above calculates the radiation dose rate in real time for the progress of radioactivity, movement of contaminants, and changes in the arrangement of waste drums, and implements an image that displays the corresponding radiation dose rate in three-dimensional space on an electronic device, and for real space, uses a laser lighting device (150) to display a warning level by risk level in the corresponding management area so that a worker can recognize it visually.

[0084] Next, referring to FIG. 5, the source location and dose rate distribution analysis unit (220) of the image processing device (200) according to an embodiment of the present invention is configured to include a dose rate measurement value receiving unit (221), a monitoring unit (223), a source location detection unit (225), and a validity verification unit (227).

[0085] The dose rate measurement receiving unit (210) receives image data from the stereo camera (130) and recognizes the positions of the plurality of detectors (140). At this time, the monitoring terminal (200) can recognize the positions of the plurality of detectors (140) by dividing the management area image included in the image data into a grid at regular intervals (e.g., 10 cm intervals) and matching them on the grid.

[0086] Additionally, the dose rate measurement receiving unit (210) receives dose rate measurements from a plurality of detectors (140).

[0087] The monitoring unit (220) monitors whether the dose rate measurement received by the dose rate measurement receiving unit (210) changes above a certain level, and if the monitoring result shows that it changes above a certain level and the rate of change of the dose rate (or count rate) of at least one detector adjacent to the detector that detected above the certain level changes with the same sign, it switches to a source location determination mode to determine the location and intensity (radioactivity) of the source.

[0088] The source location detection unit (230) performs the operation of detecting the location of a radiation source by switching the monitoring unit (220) to a source location determination mode. At this time, the location of the radiation source and radioactivity are detected using the dose rate measurement value obtained using two or more different detectors among the plurality of detectors (140) and the location of two or more different detectors obtained from image data.

[0089] Additionally, the crew position detection unit (230) can be repeated for a pre-set periodic time interval (e.g., every 10 seconds) while conditions are maintained at a level above a certain threshold after entering the crew position determination mode.

[0090] The source location detection unit (230) detects the location of the radiation source by assuming that there is only one radiation source (110) within the control area (100) initially, unless a special setting is specified for the radiation source (110).

[0091] For example, when there is only one radiation source (110), the location of the radiation source can be detected using the dose rate measurement value measured through the first detector (140-1) placed at one end and the nth detector (140-n) placed at the other end of a plurality of detectors (140) arranged in a row, and the positions of the first and nth detectors (140-1, 140-n).

[0092] For example, if there are two radiation sources (110), the source location detection unit (230) can detect the location of the radiation source using the dose rate measurements taken at the first detector (140-1) placed at one end of a plurality of detectors (140) arranged in a row, the nth detector (140-n) placed at the other end, and the cth detector (140-2 or 140-(n-1) placed in the center, respectively, and the locations of the first, cth, and nth detectors.

[0093] In this way, when there are two or more radiation sources (110), the source location detection unit (230) performs the operation of detecting the location of the radiation source by including one or more of the first and nth detectors (140-1, 140-n) and the detector (140-2 or 140-(n-1)) placed between the first and nth detectors (140-1, 140-n) in a plurality of detectors (140) arranged in a row.

[0094] The location of mobile objects or shields within the control area required to calculate the location of the crew, material information of the shields, and the locations of multiple detectors can be acquired using a stereo camera.

[0095] In the crew position determination mode, the following mathematical formula can be applied to calculate the crew term.

[0096]

[0097] Here, E is the dose rate, Г is the gamma constant of the source, s is the radioactivity of the source, (μ / ρ)m is the mass attenuation coefficient of material m existing between the source and the detector, dm is the penetration thickness of material m existing in a straight line between the source and the detector, ρm is the density of material m, to is the working time, and r is the separation distance between the source and the detector at working time t.

[0098] By applying the above mathematical formula, the source location detection unit (230) calculates the unknown s from the dose rate measurement value (E) measured through two or more different detectors in a plurality of detectors, thereby calculating the location and radioactivity of the source.

[0099] Additionally, the source location detection unit (230) can again divide the control area into smaller units, half the size of the previous grid interval, and repeat the operation of detecting the source location and radioactivity described above. This operation is repeated by dividing the grid interval into smaller, denser units after verifying the validity of the source location and radioactivity detected at the previous grid interval, if the validity verification fails.

[0100] If the calculation of the location and intensity of the source exceeds the validity error range during this re-execution process and the validity verification fails, the grid spacing of the control area is divided more densely by half, and the calculation process is repeated. At this time, if the number of repetitions exceeds a certain number, the number of sources is increased sequentially for calculation.

[0101] The maximum number of sources is (n-1). Here, n is the number of detectors. For example, if the number of sources is 3, at least 4 detectors are required to detect them.

[0102] Assuming there are two sources, at least three detectors are required to detect the location of the sources. In the example of FIG. 3, the location of the sources and the calculation of radioactivity are performed again from the initial grid division step using the dose rate information measured by the first detector (140-1) and the nth detector (140-n) at both ends and the cth detector in the center.

[0103] Thus, when determining the location and radioactivity of a source through the source term calculation process, the source location and dose distribution analysis unit (220) according to an embodiment of the present invention verifies the validity of the source location detected through the source term calculation process, and if the validity verification process is successful, determines the location of the source as the final source location and terminates the detection operation. This is performed in the validity verification unit (227) of FIG. 5.

[0104] FIG. 7 is an overall flowchart illustrating an image processing method capable of visualizing the location of a radiation source, radioactivity, and spatial dose rate distribution in real space according to an embodiment of the present invention.

[0105] As an image processing method for visualizing the location, radioactivity, and spatial dose rate distribution of a radiation source containing radioactive material within a facility or controlled area, multiple detectors arranged and installed within the controlled area measure the dose rate emitted by the radiation source within the controlled area.

[0106] Next, using a stereo camera installed within the control area, image data is acquired to recognize objects and their locations within the control area by scanning the control area containing multiple detectors (S100).

[0107] Next, the image processing device receives image data from the stereo camera and obtains spatial coordinate information of the entire management area, including objects existing within the management area (S200).

[0108] Next, an image processing device detects the location and radioactivity intensity of a radiation source based on dose rate measurements received from multiple detectors (S300). The detected location of the radiation source can be determined as the final source location through validation.

[0109] Next, the image processing device can calculate the dose rate according to the location of each grid in which the control area is divided into regular intervals based on the location and radioactivity intensity of the detected (or validated) radiation source, and collect the dose rates for each grid to extract the spatial dose rate distribution (expected dose rate contour) for the control area (S400).

[0110] Next, the image processing device generates a control signal to map the location and radiation intensity of the detected radiation source and the spatial dose rate distribution to the spatial coordinate information and to visually display them in the control area (S500).

[0111] Next, a laser lighting device installed in the control area irradiates a laser according to a control signal from an image processing device to visually display the radiation source in the control area and the spatial dose rate distribution emitted from the radiation source in the actual space (S600).

[0112] FIGS. 8 and 9 are flowcharts illustrating a method of image processing according to the entry and position of an operator in an image processing method according to an embodiment of the present invention.

[0113] As illustrated in FIG. 8, the image processing device monitors whether a worker enters the management area of ​​the actual space through a worker location analysis unit within the image processing device (S700).

[0114] The monitoring process can recognize the worker and their location through video data received from a stereo camera installed in the management area or a location tracking terminal carried by the worker.

[0115] Next, the image processing device calculates the exposure dose rate at the worker's work location based on the location of the radiation source and the radiation intensity detected through the source location and dose rate distribution analysis unit within the image processing device, and calculates the worker's exposure dose by considering the worker's residence time (work time) (S710, S720).

[0116] Next, the image processing device maps the worker's position to three-dimensional spatial coordinates and transmits a control signal to the laser lighting device in the management area through the laser lighting control unit to display a danger level boundary indicator based on the worker's position (S730).

[0117] Accordingly, as illustrated in Fig. 6, a laser is irradiated onto the floor surface of the management area to display a danger level boundary in the actual space.

[0118] Next, as illustrated in FIG. 9, the image processing device continuously monitors a worker who has entered the control area as a measure of radiation safety management until the worker leaves the control area.

[0119] Afterwards, when the worker's position is located within the danger level boundary, the image processing device remotely controls the laser lighting device in the management area through the laser lighting control unit so that a danger indicator is output around the worker (S800).

[0120] In addition, the image processing device can control the laser lighting device in the control area to calculate a safe evacuation path based on the worker's location, the location of the detected radiation source, and the spatial dose rate distribution, and to display the calculated safe evacuation path around the worker.

[0121] In addition, the image processing device can display the worker's exposure dose around the worker, and can monitor the worker's residence time and control the display of a danger warning and a safe evacuation route around the worker if the permissible exposure dose according to the residence time is exceeded (S900).

[0122] Although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above. Various modifications are possible by those skilled in the art without departing from the essence of the invention as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present invention. Explanation of the symbols

[0124] 100: Controlled Area 110: Radiation Source 120: Shield 130: Stereo Camera 140, 140-1, 140-2, 140-(n-1), 140-n: Multiple detectors 150: Laser illumination device 200: Image display device 210: Spatial Information Acquisition Unit 230: Laser Illumination Control Unit 220: Source Location and Dose Distribution Analysis Unit 240: Worker Location Analysis Unit 250: Evacuation Route Calculation Unit 260: Control unit 300: Display device 221: Dose rate measurement receiver 223: Monitoring unit 225: Crew position detection unit 227: Validation unit

Claims

Claim 1 A plurality of detectors arranged and installed within a control area to measure real-time dose rates emitted from a radiation source containing radioactive material; a stereo camera that photographs the control area including the plurality of detectors to acquire image data for recognizing objects existing within the control area and the locations of the objects; a laser illumination device that irradiates a laser into the control area to visually display the radiation source within the control area and the spatial dose rate distribution emitted from the radiation source; and an image processing device that receives image data from the stereo camera to acquire spatial coordinate information of the entire control area including objects existing within the control area, detects the location and radioactivity of the radiation source based on real-time dose rate measurements received from the plurality of detectors, calculates the spatial dose rate within the work space based on the detected location and radioactivity of the radiation source, and controls the laser illumination device to map the calculated spatial dose rate distribution to the spatial coordinate information and display it visually.An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, comprising: an image processing device including a source location and dose distribution analysis unit that detects the location and radioactivity intensity and the spatial dose rate distribution of the radiation source using dose rate measurements received from two or more different detectors among the plurality of detectors and the locations of the two or more different detectors acquired from the image data; wherein the source location and dose distribution analysis unit continuously monitors whether the dose rate measurements received from the plurality of detectors change above a certain level, and if, as a result of monitoring, the dose rate changes above a certain level and at the same time the rate of change of the dose rate (or count rate) between the detector that detected the level above the certain level and at least one adjacent detector changes with the same sign, the system switches to a source location determination mode for determining the location and radioactivity of the radiation source and performs an operation to detect the location of the radiation source by the switching operation, and re-detects the location and radioactivity of the radiation source in real time when the dose rate changes. Claim 2 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in claim 1, the laser lighting device is equipped with a laser oscillator that emits a laser with a changing color and shape, and the image processing device controls the laser lighting device to display the color and shape of the laser differently according to the radiation intensity of the radiation source and the radiation dose of the worker. Claim 3 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in claim 1, the image processing device further includes a worker location analysis unit that recognizes a worker who has entered the management area and the location of the worker through image data received from the stereo camera or a location tracking terminal carried by the worker, and controls the laser lighting device to output a danger indicator around the worker when the location of the worker recognized through the worker location analysis unit is located within the danger level boundary. Claim 4 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in paragraph 3, the image processing device checks the dwell time of the worker when the entry of the worker is recognized through the worker location analysis unit, and controls the laser lighting device to output a danger indicator around the worker when the permissible exposure dose according to the dwell time is exceeded. Claim 5 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in paragraph 3 or 4, the image processing device further includes an evacuation path calculation unit that calculates a safe evacuation path according to the location of the detected radiation source, the radiation intensity, and the spatial dose rate distribution at the location of the worker recognized through the worker location analysis unit, and controls the laser lighting device to display the safe evacuation path calculated through the evacuation path calculation unit when a danger indication for the worker is output. Claim 6 delete Claim 7 delete Claim 8 An image processing system capable of visualizing the location of a radiation source and the distribution of a spatial dose rate in real space, wherein, in claim 1, the source location and dose distribution analysis unit divides the control area into grids of a certain interval, calculates a spatial dose rate according to the location of each grid based on the location and radioactivity of the detected radiation source, collects the spatial dose rates to extract the spatial dose rate distribution for the control area as contour lines, and then maps it to the spatial coordinate information. Claim 9 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in claim 8, the source location and dose distribution analysis unit calculates the exposure dose for the worker using the exposure dose rate according to each grid location and the worker's location and residence time when the worker's entry into the control area is recognized, and the image processing device controls the laser lighting device to display the calculated real-time exposure dose around the worker. Claim 10 An image processing system capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, wherein, in claim 1, the image processing device is connected to a worker terminal carried by a worker, maps the location of a radiation source detected within the control area, radioactivity, and the spatial dose rate distribution with the spatial coordinate information and provides this to the worker terminal, and after the worker enters the control area, transmits messages regarding the worker's danger indication, safety evacuation route indication, and exposure dose to the worker terminal. Claim 11 An image processing method for visualizing a spatial dose distribution calculated based on the location and radioactivity of a radiation source containing radioactive material within a controlled area, comprising: a step in which a stereo camera installed within the controlled area scans the controlled area including a plurality of detectors to acquire image data for recognizing an object existing within the controlled area and the location of the object; a step in which a plurality of detectors arranged and installed within the controlled area detect a real-time dose rate emitted by a radiation source within the controlled area; a step in which an image processing device receives image data from the stereo camera and acquires spatial coordinate information of the entire controlled area including an object existing within the controlled area; a step in which the image processing device detects the location and radioactivity of the radiation source based on dose rate measurements received from the plurality of detectors; a step in which the image processing device calculates a spatial dose rate distribution of the controlled area using the detected location and radioactivity of the radiation source and the spatial coordinate information of the entire controlled area including the object; and a step in which the image processing device generates a control signal to map the detected location and radioactivity of the radiation source and the spatial dose rate distribution to the spatial coordinate information and visually display them in the controlled area. Step; a laser lighting device installed within the control area irradiates a laser according to a control signal of the image processing device to visually display the radiation source within the control area and the spatial dose rate distribution emitted from the radiation source in the actual space;A method for visualizing the location of a radiation source and the spatial dose rate distribution in real space, comprising: a step of detecting the location and radioactivity of the radiation source, wherein an image processing device detects the location and radioactivity intensity and the spatial dose rate distribution of the radiation source using dose rate measurements received from two or more different detectors among the plurality of detectors and the locations of the two or more different detectors acquired from the image data; wherein the image processing device continuously monitors whether the dose rate measurements received from the plurality of detectors change above a certain level; and if, as a result of monitoring, the value changes above a certain level and at the same time the rate of change of the dose rate (or count rate) between the detector that detected the value above the certain level and at least one adjacent detector changes with the same sign, the device switches to a source location determination mode for determining the location and radioactivity of the radiation source and performs an operation to detect the location of the radiation source by the switching operation; and if the dose rate changes, the image processing device re-detects the location and radioactivity of the radiation source in real time. Claim 12 An image processing method capable of visualizing the location of a radiation source and the spatial dose rate distribution in real space, characterized in that, in claim 11, the image processing device further comprises the steps of: recognizing a worker who has entered the control area and the location of the worker; remotely controlling a laser lighting device in the control area to output a danger indicator around the worker when the location of the recognized worker is located within a danger level boundary; and remotely controlling a laser lighting device in the control area to calculate a safe evacuation path based on the location of the worker, the location and radiation intensity of the detected radiation source, and the spatial dose rate distribution, and to output a calculated safe evacuation path indicator around the worker.

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