A radiation positioning and intensity detection method and system, as well as an electronic device and a storage medium

Abstract

The present application discloses a radiation positioning and intensity detection method and system, in which two mutually perpendicular cadmium zinc telluride radiation intensity sensors are added to the radiation imaging array composed of radiation detectors, and the radiation intensity sensors are respectively perpendicular to the radiation imaging array. The method includes adopting a binocular imaging scheme to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector; obtaining the radiation energy value of each area under the three-dimensional stereoscopic view; calibrating each point of the three-dimensional stereoscopic view and the corresponding radiation energy value data. The present application solves the problem that the related art cannot achieve more accurate and intuitive radiation positioning, the detection of radiation intensity is not accurate enough, and it is not convenient to track the radiation source.

Description

Technical Field

[0001] The present application relates to the field of radiation detection, and in particular, to a radiation positioning and intensity detection method and system. Background Art

[0002] In 1896, when French scientist AH Becquerel was studying the fluorescence phenomenon of uranium-containing minerals, he accidentally discovered that uranium salts can emit invisible rays with strong penetrating power that can make photographic film sensitive. Soon, when people studied this ray in a cloud chamber with a magnetic field, they proved that it was composed of three ray components: α rays, β rays and γ rays. At the same time as discovering the radioactive phenomenon, Becquerel used photographic film (the original nuclear latex) to realize the first nuclear radiation detection in human history. Cloud chambers, nuclear latex, etc. became the earliest methods of nuclear radiation detection.

[0003] The interaction between nuclear radiation and matter is of great significance in many fields such as atomic and nuclear physics, solid state physics, nuclear radiation detection and protection, nuclear technology application and nuclear energy utilization. The analysis and explanation of many related physical phenomena, as well as the determination of experimental plans and methods in many related practical commercial and research work, are all based on the interaction between radiation and matter.

[0004] Because nuclear radiation cannot be perceived by humans, radiation detection instruments are needed to detect radiation and obtain the type, intensity, quantity, range, energy and time of radiation.

[0005] Existing radiation detection methods directly use radiation detection instruments, which cannot achieve more accurate and intuitive radiation positioning, and the detection of radiation intensity is not accurate enough, making it inconvenient to track radiation sources.

[0006] At present, the shortcomings of existing technologies on the market are:

[0007] It is not possible to achieve more accurate and intuitive radiation positioning, and the detection of radiation intensity is not accurate enough, making it inconvenient to track the radiation source.

[0008] Currently, no effective solution has been proposed to address the problems that related technologies cannot achieve more accurate and intuitive radiation positioning, the detection of radiation intensity is not accurate enough, and it is not convenient to track radiation sources. Summary of the invention

[0009] The main purpose of this application is to provide a radiation positioning and intensity detection method to solve the above problems.

[0010] In order to achieve the above objective, according to one aspect of the present application, a radiation positioning and intensity detection method is provided.

[0011] According to the radiation positioning and intensity detection method of the present application, two mutually perpendicular cadmium zinc telluride radiation intensity sensors are added to the radiation imaging array composed of radiation detectors, and the radiation intensity sensors are respectively perpendicular to the radiation imaging array, including:

[0012] A binocular imaging scheme is used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector;

[0013] Acquire the radiation energy value of each area in the three-dimensional stereoscopic image;

[0014] Calibrate each point of the three-dimensional stereoscopic image with the data of the corresponding radiation energy value.

[0015] Furthermore, two mutually perpendicular cadmium zinc telluride radiation intensity sensors are added to the radiation imaging array composed of radiation detectors, and the radiation intensity sensors are respectively perpendicular to the radiation imaging array;

[0016] Calibrate radiation sources at different angles. When the radiation source is incident from the side, the radiation imaging array composed of CdZnTe radiation intensity sensors detects the position of the radiation source, but the radiation intensity is not accurate. The other two radiation detectors comprehensively reflect the intensity of the incident radiation from the side and record the intensity of the three radiation intensity sensors at different angles for the same radiation source.

[0017] From the above calibration data, we can get radiation sources at different angles. The three radiation intensity sensors respectively reflect the proportional relationship of the overall radiation intensity, so that radiation sources entering at different angles have at least one radiation intensity sensor that can clearly sense the radiation intensity, thereby improving the accuracy of the overall radiation intensity detection.

[0018] Furthermore, the binocular imaging scheme is used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector, including:

[0019] Acquire two RGB color images through a binocular camera;

[0020] Correcting the RGB color image to obtain an undistorted image;

[0021] Perform feature analysis on the undistorted image to obtain key corner features in the two undistorted images, respectively. The corner feature of the present application is a type of point feature. The feature is the basis of computer vision algorithms and is used to represent the content of the image. ;

[0022] Match similar key corner features of two undistorted images to obtain multiple common image feature points;

[0023] Calculate the three-dimensional coordinates of the same common image feature point in the corresponding three-dimensional coordinate system established with the radiation detector as the origin through the inherent distance and placement angle of the binocular camera and the two two-dimensional coordinates;

[0024] The three-dimensional coordinates of all common image feature points are combined to obtain a three-dimensional stereoscopic view.

[0025] Furthermore, the step of obtaining the radiation energy value of each area in the three-dimensional stereoscopic view includes:

[0026] The radiation dose situation of each corresponding field of view area is obtained through the radiation detection array composed of radiation detectors;

[0027] Detecting whether there is radiation in each field of view area by a software algorithm;

[0028] Merging the adjacent viewing areas with radiation into a radiation detection area;

[0029] The centroid method is used to obtain the radiation center of each radiation detection area and the intensity value of the radiation center. The centroid method first marks the position of each location in the coordinate system in order to determine the relative distance of each point. According to the relative distance and the radiation intensity of each point, the centroid between the points, i.e. the radiation center, is calculated. In this method, the coordinate system supports free establishment.

[0030] Furthermore, the radiation detection array composed of radiation detectors is used to obtain the radiation dose of each corresponding field of view area, including:

[0031] Adding two mutually perpendicular cadmium zinc telluride radiation intensity sensors to the radiation imaging array composed of radiation detectors, wherein the radiation intensity sensors are respectively perpendicular to the radiation imaging array, and establishing a radiation source coordinate system based on the three mutually perpendicular radiation detectors;

[0032] Calibrate the radiation sources detected at different angles and record the intensity of the same radiation source detected at different angles;

[0033] The proportional relationship of the overall radiation intensity is obtained based on the intensity conditions detected at the different angles.

[0034] Furthermore, the data for calibrating each point of the three-dimensional stereoscopic image and the corresponding radiation energy value includes:

[0035] At different positions in space, respectively measure the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy values, and record them;

[0036] After calibration, interpolation fitting is performed on the remaining positions in the space to obtain the corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the data of the corresponding radiation energy value.

[0037] A radiation positioning and intensity detection system, comprising:

[0038] A binocular imaging module, used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector by using a binocular imaging solution;

[0039] A radiation detection module, used to obtain the radiation energy value of each area in the three-dimensional stereoscopic image;

[0040] The corresponding calibration module is used to calibrate each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value.

[0041] Furthermore, the binocular imaging module includes:

[0042] An image acquisition unit, used for acquiring two RGB color images through a binocular camera;

[0043] An image correction unit, used for correcting the RGB color image to obtain an undistorted image;

[0044] A feature analysis unit is used to perform feature analysis on the undistorted image to obtain key corner features in the two undistorted images, wherein the corner feature of the present application is a type of point feature, which is the basis of computer vision algorithms and is used to represent the content of the image. ;

[0045] A feature matching unit is used to match similar key corner point features of two undistorted images to obtain multiple common image feature points;

[0046] A coordinate calculation unit, used to calculate the three-dimensional coordinates of the same common image feature point in a corresponding three-dimensional coordinate system established with the radiation detector as the origin, through the inherent distance and placement angle of the binocular camera and the two two-dimensional coordinates;

[0047] The three-dimensional depth information acquisition unit is used to combine the three-dimensional coordinates of all common image feature points to obtain a three-dimensional stereoscopic view.

[0048] Furthermore, the binocular imaging module includes:

[0049] Binocular camera.

[0050] Furthermore, the radiation detection module includes:

[0051] The intensity detection unit is used to obtain the radiation dose of each corresponding field of view area through a radiation detection array composed of radiation detectors;

[0052] A radiation judgment unit, used to detect whether each of the viewing areas has radiation through a software algorithm;

[0053] A region merging unit, used for merging adjacent fields of view with radiation into a radiation detection area;

[0054] The center intensity calculation unit is used to obtain the radiation center of each radiation detection area and the intensity value of the radiation center by using the center of gravity method. The center of gravity method first marks the position of each location in the coordinate system in order to determine the relative distance of each point. According to the relative distance and the radiation intensity of each point, the center of gravity between the points, i.e. the radiation center, is calculated. In this method, the coordinate system supports free establishment.

[0055] Furthermore, the intensity detection unit includes:

[0056] Radiation detection area array sensors, radiation detectors.

[0057] Furthermore, the intensity detection unit is used for:

[0058] Adding two mutually perpendicular cadmium zinc telluride radiation intensity sensors to the radiation imaging array composed of radiation detectors, wherein the radiation intensity sensors are respectively perpendicular to the radiation imaging array, and establishing a radiation source coordinate system based on the three mutually perpendicular radiation detectors;

[0059] Calibrate the radiation sources detected at different angles and record the intensity of the same radiation source detected at different angles;

[0060] The proportional relationship of the overall radiation intensity is obtained based on the intensity conditions detected at the different angles.

[0061] Furthermore, the corresponding calibration module includes:

[0062] A coordinate recording unit, used to respectively measure and record the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy value at different positions in the space;

[0063] The data corresponding unit is used to perform interpolation fitting on the remaining positions in the space after calibration to obtain the corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the corresponding data of the radiation energy value.

[0064] In an embodiment of the present application, a binocular imaging scheme is adopted to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector, obtain the radiation energy value of each area under the three-dimensional stereoscopic view, and calibrate each point of the three-dimensional stereoscopic view with the corresponding data of the radiation energy value, thereby achieving the technical effect of calibrating the three-dimensional stereoscopic view of the area detected by the radiation detector obtained by the binocular imaging scheme with the corresponding data of the radiation energy value one by one, thereby solving the technical problems in the prior art that more accurate and intuitive radiation positioning cannot be achieved, the detection of radiation intensity is not accurate enough, and it is not convenient to track the radiation source. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The drawings constituting a part of this application are used to provide a further understanding of this application, so that other features, purposes and advantages of this application become more obvious. The schematic embodiment drawings and their descriptions of this application are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0066] Figure 1 is a schematic diagram of a radiation positioning and intensity detection method according to an embodiment of the present application;

[0067] Figure 2 It is a structural diagram of a radiation positioning and intensity detection system according to an embodiment of the present application. DETAILED DESCRIPTION

[0068] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0069] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way are interchanged in appropriate circumstances, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0070] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated systems, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0071] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention will be understood according to specific circumstances.

[0072] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two systems, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention will be understood according to the specific circumstances.

[0073] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application are combined with each other. It should be understood that in the description of the present invention, unless otherwise clearly specified and limited, the term "storage medium" refers to various media for storing computer programs such as ROM, RAM, magnetic disk or optical disk. The term "processor" refers to chips or circuits with data processing functions such as CPLD (Complex Programmable Logic Device), FPGA (Field-Programmable Gate ray: Field Programmable Gate Array), MCU (Microcontroller Unit: Microcontroller Unit), PLC (Programmable Logic Controller: Programmable Logic Controller) and CPU (Central Processing Unit: Central Processing Unit). The term "electronic device" is any device with data processing and storage functions, usually including fixed terminals and mobile terminals. Fixed terminals such as desktop computers. Mobile terminals such as mobile phones, PADs and mobile robots. In addition, the technical features involved in the different embodiments of the present invention described later are combined with each other as long as they do not conflict with each other.

[0074] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0075] According to an embodiment of the present invention, Figure 1 As shown, a radiation positioning and intensity detection method is provided, in which two mutually perpendicular cadmium zinc telluride radiation intensity sensors are added to the radiation imaging array composed of radiation detectors, and the radiation intensity sensors are respectively perpendicular to the radiation imaging array. The method includes the following steps:

[0076] S100, using a binocular imaging solution to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector;

[0077] S200, obtaining the radiation energy value of each area in the three-dimensional stereoscopic image;

[0078] S300, calibrating each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value.

[0079] In this further embodiment, the CdZnTe sensor has a better sensitivity for detecting the radiation intensity from the front, but the intensity of the radiation source incident from the side fluctuates greatly. Considering the radiation detection within a large field of view, the radiation source is not directly incident on the radiation intensity sensor. When the radiation source is at the side, the intensity detected by the same radiation source will be greatly reduced.

[0080] Therefore, it is considered to add two CdZnTe radiation intensity sensors to the overall radiation detector, which are respectively perpendicular to the radiation imaging array, and the two radiation intensity sensors are also perpendicular to each other. That is, one radiation imaging array and two radiation intensity sensors are perpendicular to each other.

[0081] Calibrate radiation sources at different angles, especially when the radiation source is incident from the side. The imaging radiation intensity sensor detects the position of the radiation source, but the radiation intensity is not displayed accurately. The other two intensity sensors will generally reflect the intensity of the side-incident radiation and record the intensity of the three-sided radiation intensity sensors for the same radiation source at different angles.

[0082] From the above calibration data, we can get radiation sources at different angles. The three radiation intensity sensors respectively reflect the proportional relationship of the overall radiation intensity, so that radiation sources entering at different angles have at least one radiation intensity sensor that can clearly sense the radiation intensity, thereby improving the accuracy of the overall radiation intensity detection.

[0083] In a further embodiment of the present invention, the method of using a binocular imaging scheme to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector includes:

[0084] S110, acquiring two RGB color images through a binocular camera;

[0085] S120, correcting the RGB color image to obtain an undistorted image;

[0086] S130, performing feature analysis on the undistorted image to obtain key corner features in the two undistorted images respectively, wherein the corner feature of the present application is a type of point feature, which is the basis of computer vision algorithms and is used to represent the content of the image. ;

[0087] S140, matching similar key corner point features of two undistorted images to obtain a plurality of common image feature points;

[0088] S150, calculating the three-dimensional coordinates of the same common image feature point in the corresponding three-dimensional coordinate system established with the radiation detector as the origin through the inherent distance and placement angle of the binocular camera and the two two-dimensional coordinates;

[0089] S160 , combining the three-dimensional coordinates of all common image feature points to obtain a three-dimensional stereoscopic view.

[0090] In a further embodiment of the present invention, obtaining the radiation energy value of each area in the three-dimensional stereoscopic image includes:

[0091] S210, obtaining radiation dose conditions of each corresponding field of view area through a radiation detection array composed of radiation detectors;

[0092] S220, detecting whether each of the viewing areas has radiation by a software algorithm;

[0093] S230, merging the adjacent viewing field areas with radiation into a radiation detection area;

[0094] S240, using the centroid method to obtain the radiation center of each radiation detection area and the intensity value of the radiation center, wherein the centroid method firstly marks the position of each location in the coordinate system, the purpose is to determine the relative distance of each point, and calculate the centroid between each point, that is, the radiation center, according to the relative distance and the radiation intensity of each point. In this method, the coordinate system supports free establishment.

[0095] In a further embodiment of the present invention, the radiation detection array composed of radiation detectors is used to obtain the radiation dose of each corresponding field of view area, including:

[0096] S211, adding two mutually perpendicular cadmium zinc telluride radiation intensity sensors to the radiation imaging array composed of radiation detectors, wherein the radiation intensity sensors are respectively perpendicular to the radiation imaging array, and establishing a radiation source coordinate system based on the three mutually perpendicular radiation detectors;

[0097] S212, calibrating the radiation sources detected at different angles, and recording the intensity of the same radiation source detected at different angles;

[0098] S213: Obtain a proportional relationship of the overall radiation intensity based on the intensity conditions detected at the different angles.

[0099] In a further embodiment of the present invention, the data for calibrating each point of the three-dimensional stereoscopic image and the corresponding radiation energy value includes:

[0100] S310, measuring the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy values ​​at different positions in the space, and recording them;

[0101] S320: After calibration, interpolation fitting is performed on the remaining positions in the space to obtain a corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the corresponding data of the radiation energy value.

[0102] In a further embodiment of the present invention, a depth map of an RGB color camera and data of a radiation detection array sensor are calibrated.

[0103] Each area of ​​the radiation detector array corresponds to the x / y / z angle of the current radiation source relative to the overall detector;

[0104] Each point of the depth map obtained by the stereo color camera also corresponds to the x / y / z angle of the overall detector.

[0105] Each point in the above two coordinate systems can be calibrated pairwise. This scheme adopts the following calibration method:

[0106] A 5cm calibration plate is used with a trace radiation source on the top;

[0107] Place them at different positions in the space, at intervals of 20 cm, and measure the corresponding coordinates in the depth map of the binocular camera and the coordinates of the radiation source in the radiation detector and record them;

[0108] After the entire space is calibrated, interpolation fitting is performed on the remaining positions to obtain the correspondence between two sensors at any position.

[0109] From the above description, it can be seen that the present invention achieves the following technical effects:

[0110] In an embodiment of the present application, a binocular imaging scheme is adopted to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector, obtain the radiation energy value of each area under the three-dimensional stereoscopic view, and calibrate each point of the three-dimensional stereoscopic view with the corresponding data of the radiation energy value, thereby achieving the technical effect of calibrating the three-dimensional stereoscopic view of the area detected by the radiation detector obtained by the binocular imaging scheme with the corresponding data of the radiation energy value one by one.

[0111] In another embodiment of the present application, Figure 2 As shown, a radiation positioning and intensity detection system includes:

[0112] A binocular imaging module, used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector by using a binocular imaging solution;

[0113] A radiation detection module, used to obtain the radiation energy value of each area in the three-dimensional stereoscopic image;

[0114] The corresponding calibration module is used to calibrate each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value.

[0115] In a further embodiment of the present invention, the binocular imaging module comprises:

[0116] An image acquisition unit, used for acquiring two RGB color images through a binocular camera;

[0117] An image correction unit, used for correcting the RGB color image to obtain an undistorted image;

[0118] A feature analysis unit is used to perform feature analysis on the undistorted image to obtain key corner features in the two undistorted images, wherein the corner feature of the present application is a type of point feature, which is the basis of computer vision algorithms and is used to represent the content of the image. ;

[0119] A feature matching unit is used to match similar key corner point features of two undistorted images to obtain multiple common image feature points;

[0120] A coordinate calculation unit, used to calculate the three-dimensional coordinates of the same common image feature point in a corresponding three-dimensional coordinate system established with the radiation detector as the origin, through the inherent distance and placement angle of the binocular camera and the two two-dimensional coordinates;

[0121] The three-dimensional depth information acquisition unit is used to combine the three-dimensional coordinates of all common image feature points to obtain a three-dimensional stereoscopic view.

[0122] In a further embodiment of the present invention, the binocular imaging module comprises:

[0123] Binocular camera, fisheye lens, color CCD sensor.

[0124] In a further embodiment of the present invention, the radiation detection module comprises:

[0125] The intensity detection unit is used to obtain the radiation dose of each corresponding field of view area through a radiation detection array composed of radiation detectors;

[0126] A radiation judgment unit, used to detect whether each of the viewing areas has radiation through a software algorithm;

[0127] A region merging unit, used for merging adjacent fields of view with radiation into a radiation detection area;

[0128] The center intensity calculation unit is used to obtain the radiation center of each radiation detection area and the intensity value of the radiation center by using the center of gravity method. The center of gravity method first marks the position of each location in the coordinate system in order to determine the relative distance of each point. According to the relative distance and the radiation intensity of each point, the center of gravity between the points, i.e. the radiation center, is calculated. In this method, the coordinate system supports free establishment.

[0129] In a further embodiment of the present invention, the intensity detection unit comprises:

[0130] A radiation detection array sensor and a radiation detector composed of a collimator and a cadmium zinc telluride sensor.

[0131] In a further embodiment of this invention, the intensity detection unit is used to:

[0132] Adding two mutually perpendicular cadmium zinc telluride radiation intensity sensors to the radiation imaging array composed of radiation detectors, wherein the radiation intensity sensors are respectively perpendicular to the radiation imaging array, and establishing a radiation source coordinate system based on the three mutually perpendicular radiation detectors;

[0133] Calibrate the radiation sources detected at different angles and record the intensity of the same radiation source detected at different angles;

[0134] The proportional relationship of the overall radiation intensity is obtained based on the intensity conditions detected at the different angles.

[0135] In a further embodiment of the present invention, the corresponding calibration module includes:

[0136] A coordinate recording unit, used to respectively measure and record the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy value at different positions in the space;

[0137] The data corresponding unit is used to perform interpolation fitting on the remaining positions in the space after calibration to obtain the corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the corresponding data of the radiation energy value.

[0138] There is also an embodiment, the embodiment of the present invention further includes an electronic device, including a memory and a processor, the memory stores a computer program, and the computer program is used to implement the above-mentioned radiation positioning and intensity detection method when executed in the processor, the method comprising:

[0139] S100, using a binocular imaging solution to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector;

[0140] S200, obtaining the radiation energy value of each area in the three-dimensional stereoscopic image;

[0141] S300, calibrating each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value.

[0142] In another embodiment, the present invention further provides a readable storage medium, wherein a computer program is stored in the readable storage medium. When the computer program is executed by a processor, the method is used to implement the above-mentioned radiation positioning and intensity detection method. The method includes:

[0143] S100, using a binocular imaging solution to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector;

[0144] S200, obtaining the radiation energy value of each area in the three-dimensional stereoscopic image;

[0145] S300, calibrating each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value.

[0146] Among them, the readable storage medium is a computer storage medium and also a communication medium. Communication media include any medium that facilitates the transmission of computer programs from one place to another. Computer storage media is any available medium that can be accessed by a general or special-purpose computer. For example, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium is also an integral part of the processor. The processor and the readable storage medium are located in an application specific integrated circuit (ASIC). In addition, the ASIC is located in a user device. Of course, the processor and the readable storage medium also exist in a communication device as discrete components. The readable storage medium is a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0147] The present invention also provides a program product, which includes an execution instruction stored in a readable storage medium. At least one processor of a device reads the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the device implements the methods provided in the above various embodiments.

[0148] In the above-mentioned terminal or server embodiments, it should be understood that the processor is a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), etc. The general-purpose processor is a microprocessor or the processor is also any conventional processor, etc. The steps of the method disclosed in the present invention are directly embodied as being executed by a hardware processor, or are executed by a combination of hardware and software modules in the processor.

[0149] It should be noted that the steps shown in the flowcharts of the accompanying drawings are executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described are executed in an order different from that shown here.

[0150] Obviously, those skilled in the art should understand that the above modules or steps of the present invention are implemented by a general computing device, they are concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they are implemented by a program code executable by a computing device, so that they are stored in a storage device and executed by the computing device, or they are made into individual integrated circuit modules, or multiple modules or steps therein are made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0151] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application has various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A radiation positioning and intensity detection method, characterized in that: Two mutually perpendicular cadmium zinc telluride radiation intensity sensors are added to the radiation imaging array composed of radiation detectors, and the radiation intensity sensors are respectively perpendicular to the radiation imaging array, including: A binocular imaging scheme is used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector; Acquire the radiation energy value of each area in the three-dimensional stereoscopic image; Calibrate each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value; The binocular imaging scheme is used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector, including: Acquire two RGB color images through a binocular camera; Correcting the RGB color image to obtain an undistorted image; Performing feature analysis on the undistorted image to obtain key corner point features in the two undistorted images respectively; Match similar key corner features of two undistorted images to obtain multiple common image feature points; Establishing two-dimensional coordinate systems in the two undistorted images respectively with the radiation detector as the origin, and obtaining the two-dimensional coordinates of the common image feature points in the two-dimensional coordinate systems; Calculate the three-dimensional coordinates of the same common image feature point in the corresponding three-dimensional coordinate system established with the radiation detector as the origin through the inherent distance, placement angle and two-dimensional coordinates of the binocular camera; Combining the three-dimensional coordinates of all common image feature points to obtain a three-dimensional stereoscopic view; The obtaining of the radiation energy value of each area in the three-dimensional stereoscopic view includes: The radiation dose situation of each corresponding field of view area is obtained through the radiation detection array composed of radiation detectors; Detecting whether there is radiation in each field of view area by a software algorithm; Merging the adjacent viewing areas with radiation into a radiation detection area; Using the centroid method to obtain the radiation center of each radiation detection area and the intensity value of the radiation center; The data for calibrating each point of the three-dimensional stereoscopic image and the corresponding radiation energy value includes: At different positions in space, respectively measure the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy values, and record them; After calibration, interpolation fitting is performed on the remaining positions in the space to obtain the corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the data of the corresponding radiation energy value.

2. The method according to claim 1, characterized in that The radiation detection array composed of radiation detectors is used to obtain the radiation dose of each corresponding field of view area, including: Adding two mutually perpendicular cadmium zinc telluride radiation intensity sensors to the radiation imaging array composed of radiation detectors, wherein the radiation intensity sensors are respectively perpendicular to the radiation imaging array, and establishing a radiation source coordinate system based on the three mutually perpendicular radiation detectors; Calibrate the radiation sources detected at different angles and record the intensity of the same radiation source detected at different angles; The proportional relationship of the overall radiation intensity is obtained based on the intensity conditions detected at the different angles.

3. A radiation positioning and intensity detection system, characterized in that: include: A binocular imaging module, used to obtain a three-dimensional stereoscopic view of the area detected by the radiation detector by using a binocular imaging solution; A radiation detection module, used to obtain the radiation energy value of each area in the three-dimensional stereoscopic image; A corresponding calibration module, used for calibrating each point of the three-dimensional stereoscopic image and the data of the corresponding radiation energy value; The binocular imaging module comprises: An image acquisition unit, used for acquiring two RGB color images through a binocular camera; An image correction unit, used for correcting the RGB color image to obtain an undistorted image; A feature analysis unit, used to perform feature analysis on the undistorted image to obtain key corner point features in the two undistorted images respectively; A feature matching unit is used to match similar key corner point features of two undistorted images to obtain multiple common image feature points; A coordinate calculation unit, used to calculate the three-dimensional coordinates of the same common image feature point in a corresponding three-dimensional coordinate system established with the radiation detector as the origin, through the inherent distance and placement angle of the binocular camera and the two two-dimensional coordinates; A three-dimensional depth information acquisition unit, used to combine the three-dimensional coordinates of all common image feature points to obtain a three-dimensional stereoscopic view; The radiation detection module comprises: The intensity detection unit is used to obtain the radiation dose of each corresponding field of view area through a radiation detection array composed of radiation detectors; A radiation judgment unit, used to detect whether each of the viewing areas has radiation through a software algorithm; A region merging unit, used for merging adjacent fields of view with radiation into a radiation detection area; A center intensity calculation unit, used for obtaining the radiation center of each radiation detection area and the intensity value of the radiation center by using a gravity center method; The data for calibrating each point of the three-dimensional stereoscopic image and the corresponding radiation energy value includes: At different positions in space, respectively measure the corresponding coordinates in the three-dimensional stereoscopic image and the radiation source coordinates of the corresponding radiation energy values, and record them; After calibration, interpolation fitting is performed on the remaining positions in the space to obtain the corresponding relationship between each point of the three-dimensional stereoscopic image at any position and the data of the corresponding radiation energy value.

4. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: The computer program is executed in the processor to implement any one of the methods in claims 1 to 2.

5. A storage medium storing a computer program, characterized in that: The computer program is executed in a processor to implement any one of the methods in claims 1 to 2.

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