A radiation source positioning method, a radiation source positioning device and a control method

Abstract

The invention discloses a method for locating a radiation source, comprising the following steps: firstly, a camera is used to collect horizontal panoramic images of a region to be tested, and a panoramic image of the region to be tested is generated as a marking image source of the region to be tested; then, the marking image source of the region to be tested is processed by gridding the region to form a plurality of grid detection units, and the two-dimensional region coordinates of each grid detection unit in a vertical plane space are determined; secondly, an array type radiation probe group is used to detect the radiation dose rate of the space region corresponding to each grid detection unit, and radiation dose rate detection data of the real radiation source in the region to be tested detected by the array type radiation probe group are obtained; finally, the radiation dose rate detection data obtained by the above steps are used to determine the three-dimensional space coordinates of the real radiation source in the region to be tested, and the radiation source is located; the invention can solve the technical problems in the prior art that it is difficult to balance the high efficiency positioning of the radiation source with the cost efficiency of the implementation of the scheme application.

Description

Technical Field

[0001] The present invention relates to the field of radiation monitoring technology, and in particular to a radiation source positioning method, a radiation source positioning instrument and a control method, which are used to realize rapid positioning of a radiation source or a radioactive substance. Background Art

[0002] Radioactive sources are widely present in various fields of the national economy, including agriculture, industry, medicine and other related fields, which greatly benefit mankind. However, the high-energy rays released by radioactive sources or radioactive substances cause ionization of human cells, thereby affecting human health. In addition, when radioactive sources are used in large quantities, leakage and loss often occur due to imperfect management systems.

[0003] In the prior art, when searching for radiation sources in a target area, radiation source inspection equipment and high-sensitivity radiation source locators are usually used for measurement. These devices generally need to be worn on the human body and then follow the operator's movements for inspection. During the search process, the operator must continuously adjust the orientation according to changes in the dose rate and conduct a carpet search of the target area, resulting in a long time required for radiation source detection, and the inability to quickly locate the radiation source or radioactive material, which increases the risk of long-term exposure of operators in a radiation environment.

[0004] Moreover, the radiation source inspection and high-sensitivity radiation source locator in the prior art usually judge the data size, and the radiation source needs to be located manually on site according to the size of the detected data. These radiation source locators cannot intuitively display the position of the radiation source, which is prone to false detection and missed detection. There are also some solutions that achieve the detection and positioning of radiation sources by deploying multiple radiation source radiation probes to cover the area to be detected and networking them, but such solutions require the use of more complex routing networking data transmission methods, so it is necessary to equip each radiation probe deployed in the area to be detected with a set of routing communication transmission circuits, and even need to add routing relays when necessary, and the self-assembled routing network has large expenses in the later equipment and network maintenance, resulting in excessively high costs for the hardware and technical support required for networking, making it difficult to take into account the economic issues of the implementation of the technical solution.

[0005] Therefore, a new radiation source locating solution is needed that can quickly locate radiation sources or radioactive materials and improve the efficiency of radiation source locating, while at the same time minimizing the hardware and technical support costs required for the implementation of the solution, so as to improve the usability value of its practical application implementation. Summary of the invention

[0006] In order to solve the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a radiation source locating method for realizing rapid positioning of radiation sources or radioactive materials, and having lower hardware and technical support costs required for scheme implementation, thereby solving the technical problems in the prior art that it is difficult to balance the efficient positioning of radiation sources and the cost-effectiveness of scheme application implementation.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A method for locating a radiation source, characterized in that it comprises the following steps:

[0009] S1, using a camera to collect horizontal surround images of the area to be tested, generating a panoramic image of the area to be tested as a marking image source of the area to be tested;

[0010] S2, dividing the marked image source of the area to be tested into a grid area to form a plurality of grid detection units, and determining the two-dimensional area coordinates of each grid detection unit in the vertical plane space;

[0011] S3, using an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, and obtaining radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be detected; the array radiation probe group is composed of a plurality of radiation probes arranged in an array, and the array radiation probe and the camera are located at the same geographical coordinate position in the area to be detected;

[0012] S4. Utilize the radiation dose rate detection data of the real radiation source from the array-type radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimate the depth distance value of the position of the real radiation source relative to the array-type radiation probe group, thereby determining the three-dimensional spatial coordinates of the real radiation source in the area to be tested, and realizing the positioning of the radiation source.

[0013] Preferably, a specific method of step S4 is:

[0014] S4.11, using a grid detection unit as a target detection unit;

[0015] S4.12, setting a hypothetical position of a radiation source in the spatial area corresponding to the target detection unit, and determining the three-dimensional spatial coordinates of the hypothetical position of the radiation source;

[0016] S4.13. Calculate the three-dimensional spatial coordinate distance of each radiation probe in the array radiation probe group relative to the assumed position of the current radiation source, and determine the radiation source activity value of each radiation probe in the array radiation probe group in combination with the radiation dose rate detection data of the real radiation source by the array radiation probe group, and calculate the activity value standard deviation of the radiation source activity value of each radiation probe in the current array radiation probe group;

[0017] The radiation source activity value of each radiation probe is equal to the radiation dose rate detection value of the radiation probe for the real radiation source multiplied by the square of the three-dimensional space coordinate distance of the radiation probe to the assumed position of the current radiation source;

[0018] S4.14, with the goal of minimizing the standard deviation of the activity value, repeatedly perform steps S4.12 and S4.13 multiple times, thereby obtaining multiple groups of standard deviations of the activity values;

[0019] S4.15. For each grid detection unit, execute steps S4.11 to S4.14 to obtain multiple groups of activity value standard deviations; then, select the minimum value from all the activity value standard deviations obtained, and determine the grid detection unit corresponding to the minimum activity value standard deviation as the grid detection unit corresponding to the location of the real radiation source, mark it as the radiation source positioning grid unit, and calculate the depth distance value of the assumed position of the radiation source corresponding to the minimum activity value standard deviation in the spatial area corresponding to the radiation source positioning grid unit as the estimated depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit; then, according to the two-dimensional area coordinates of the spatial area corresponding to the radiation source positioning grid unit in the vertical plane space and the evaluated depth distance, determine the three-dimensional spatial coordinates of the real radiation source in the area to be tested to achieve radiation source positioning.

[0020] Preferably, another specific method of step S4 is:

[0021] S4.21. Pre-obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit, and then determine the radiation dose rate ratio of each radiation probe in the array radiation probe group for the spatial area corresponding to each grid detection unit as the probe group reference radiation dose rate ratio of the corresponding grid detection unit;

[0022] S4.22. Determine the radiation dose rate ratio of each radiation probe in the array type radiation probe group for detecting the real radiation source according to the radiation dose rate detection data of the array type radiation probe group for the real radiation source;

[0023] S4.23. Compare and find the grid detection unit corresponding to the reference radiation dose rate ratio of the probe group that is closest to the radiation dose rate ratio of the actual radiation source detected by each radiation probe in the array-type radiation probe group, determine it as the grid detection unit corresponding to the location of the actual radiation source, and mark it as the radiation source positioning grid unit;

[0024] S4.24. Utilize the array-type radiation probe group to detect the radiation dose rate data of the real radiation source, estimate the depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit, and then determine the three-dimensional spatial coordinates of the real radiation source in the area to be tested based on the two-dimensional area coordinates of the spatial area corresponding to the radiation source positioning grid unit in the vertical plane space and the evaluated depth distance, so as to realize the positioning of the radiation source.

[0025] Preferably, in step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is: obtaining it by statistically analyzing the historical data of radiation dose rate detection of the spatial area corresponding to each grid detection unit using the array radiation probe group.

[0026] Preferably, in step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is:

[0027] S4.2101. Place the sample radioactive source in the space area corresponding to a grid detection unit;

[0028] S4.2102. Use an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit in the current state, and obtain the radiation dose rate detection data as the radiation dose rate detection data for the spatial area corresponding to the grid detection unit where the sample radiation source is currently located;

[0029] S4.2103, repeat steps S4.2101 and S4.2102, respectively place the sample radiation source in each grid detection unit for radiation dose rate detection, and then obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit.

[0030] Preferably, in step S4.24, the specific method of estimating the depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit using the radiation dose rate detection data of the real radiation source by the array radiation probe group is:

[0031] S4.2401. Set a hypothetical position of a radiation source in the spatial area corresponding to the radiation source positioning grid unit, and determine the three-dimensional spatial coordinates of the hypothetical position of the radiation source;

[0032] S4.2402. Calculate the three-dimensional spatial coordinate distance of each radiation probe in the array radiation probe group relative to the assumed position of the current radiation source, and determine the radiation source activity value of each radiation probe in the array radiation probe group in combination with the radiation dose rate detection data of the real radiation source by the array radiation probe group, and calculate the activity value standard deviation of the radiation source activity value of each radiation probe in the current array radiation probe group;

[0033] The radiation source activity value of each radiation probe is equal to the radiation dose rate detection value of the radiation probe for the real radiation source multiplied by the square of the three-dimensional space coordinate distance of the radiation probe to the assumed position of the current radiation source;

[0034] S4.2403. With the goal of minimizing the standard deviation of activity values, steps S4.2401 and S4.2402 are repeatedly executed to obtain multiple groups of standard deviations of activity values, and the assumed position of the radioactive source corresponding to the minimum value of the standard deviation of activity values ​​is selected. The depth distance value of the assumed position of the radioactive source in the spatial area corresponding to the radioactive source positioning grid unit is calculated, and is used as the estimated depth distance value of the actual radioactive source in the spatial area corresponding to the said radioactive source positioning grid unit.

[0035] The present invention also discloses a radiation source locator for implementing the above-mentioned radiation source locating method, comprising a camera 1, a probe mounting bracket 2, a radiation probe 3 and a positioning processing computer 8;

[0036] The camera 1 and the probe mounting bracket 2 are relatively fixedly installed, the probe mounting bracket 2 has a vertical probe mounting surface, and a plurality of radiation probes 3 are arranged in an array and installed on the probe mounting surface of the probe mounting bracket 2 to form an array radiation probe group, and the shooting direction of the camera 1 is the same as the direction of the probe mounting surface of the probe mounting bracket 2;

[0037] The positioning processing computer 8 is connected to the camera 1 for data transmission, and is used to obtain the panoramic image of the area to be tested collected by the camera as the image source of the marked image of the area to be tested, and the marked image source of the area to be tested is processed into a grid area to form a plurality of grid detection units, and the two-dimensional area coordinates of each grid detection unit in the vertical plane space are determined; the positioning processing computer 8 is also connected to the array radiation probe group for data transmission, and is used to obtain the radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be tested, and the grid detection unit corresponding to the position of the real radiation source is determined by its positioning, and the depth distance value of the position of the real radiation source relative to the array radiation probe group is estimated, and then the three-dimensional space coordinates of the real radiation source in the area to be tested are determined, and the grid detection unit corresponding to the position of the real radiation source and the depth distance value are visually marked in the image source of the marked image of the area to be tested.

[0038] The working principle of the radiation source locator is as follows: the radiation source locator is used in conjunction with a positioning processing computer, the radiation source locator is placed at a fixed geographical location in the area to be detected, a camera is used to collect horizontal panoramic images of the area to be detected, a panoramic image of the area to be detected is generated and transmitted to the positioning processing computer as a marking image source of the area to be detected, and at the same time, an array radiation probe group composed of multiple radiation probes 3 is used to detect the radiation dose rate of the spatial area corresponding to each grid detection unit, and the radiation dose rate detection data of the real radiation source in the area to be detected by the array radiation probe group is obtained and transmitted to the positioning processing computer; the positioning processing computer grids the marking image source of the area to be detected The area division processing forms a plurality of grid detection units, and determines the two-dimensional area coordinates of each grid detection unit in the vertical plane space. At the same time, the positioning processing computer uses the radiation dose rate detection data of the real radiation source by the array radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimates the depth distance value of the position of the real radiation source relative to the array radiation probe group, thereby determining the three-dimensional space coordinates of the real radiation source in the area to be tested, realizing the positioning of the radiation source, and visually marking the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the mark image source of the area to be tested, which is preferably applied to the positioning of close-range radioactive materials.

[0039] Preferably, the above-mentioned radiation source locator further includes a base 7, a support rod 6, an execution control module 5 and a support rotation motor 4;

[0040] The support rod 6 includes an outer sleeve 61, and an inner rotating rod 62 rotatably installed in the outer sleeve 61 through a bearing group 63. The lower end of the outer sleeve 61 is fixedly installed on the base 7, and the inner rotating rod 62 passes through the upper end of the outer sleeve 61 and extends vertically upward. The probe mounting bracket 2 and the camera 1 are fixedly supported and installed on the upper end of the inner rotating rod 62; the bracket rotating motor 4 is fixedly installed on the outer sleeve 61, and the output shaft of the bracket rotating motor 4 is deep into the hollow space of the outer sleeve 61 and is installed with a bevel gear. The inner rotating rod 62 The outer peripheral side thereof has a bevel gear structure at the position of the output shaft of the bracket rotating motor 4 and meshes with the bevel gear to form a bevel gear pair; the execution control module 5 is installed on the outer sleeve 61 of the support rod 6, and the power supply control end of the bracket rotating motor 4 is electrically connected to the positioning processing computer 8 through the execution control module 5, and the positioning processing computer 8 sends a control instruction to the execution control module 5 to control the rotation of the output shaft of the bracket rotating motor 4, thereby driving the inner rotating rod 62 of the support rod 6 to rotate along its own vertical central axis, and then driving the probe mounting bracket 2 and the camera 1 to rotate and adjust the horizontal direction.

[0041] Specifically, the probe mounting bracket 2 is in the shape of a vertically placed square plate or a circular plate, and one side surface of the bracket is a probe mounting surface, and a plurality of radiation probes 3 are evenly arranged in an array and mounted on the probe mounting surface.

[0042] The present invention also discloses a control method for a radiation source locator, which is implemented by using the radiation source locator as described above, and comprises the following steps:

[0043] Step 1: Place the radiation source locator at a fixed geographic coordinate position in the area to be detected;

[0044] Step 2: operate the camera to collect horizontal panoramic images of the area to be tested, generate a panoramic image of the area to be tested, and transmit it to the positioning processing computer 8 as a marking image source of the area to be tested;

[0045] Step 3: Positioning processing: The computer 8 performs grid area division processing on the image source of the mark of the area to be tested to form a plurality of grid detection units, and determines the two-dimensional area coordinates of each grid detection unit in the vertical plane space;

[0046] Step 4: operate the array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, obtain the radiation dose rate detection data of the real radiation source in the area to be detected by the array radiation probe group, and transmit it to the positioning processing computer 8;

[0047] Step 5, positioning processing The computer 8 uses the radiation dose rate detection data of the real radiation source from the array radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimates the depth distance value of the position of the real radiation source relative to the array radiation probe group, thereby determining the three-dimensional spatial coordinates of the real radiation source in the area to be tested, realizing the positioning of the radiation source, and visually marking the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the mark image source of the area to be tested.

[0048] The present invention has the following beneficial effects:

[0049] 1. The radiation source positioning method adopted in the present invention is used to realize the rapid positioning of the radiation source or radioactive material, and has a lower hardware and technical support cost required for the implementation of the scheme, thereby solving the technical problem that it is difficult to balance the efficient positioning of the radiation source and the cost-effectiveness of the scheme application implementation in the prior art; the radiation source positioning method adopted in the present invention can accurately identify the position of the radiation source, and at the same time, the speed of finding the radiation source is fast and the efficiency of finding the radiation source is high.

[0050] 2. The radiation source locator disclosed in the present invention can quickly locate the radiation source or radioactive material, can image the environment, generate a marked image source of the area to be tested, and provide a real environmental background for the explored radiation source or radioactive material. Compared with a virtual background or simply outputting the positioning coordinates, the radiation source position is displayed in a graphical manner. The real environmental background can enhance the visualization of the radiation source locator and determine the radiation source position more vividly and intuitively, thereby improving the efficiency of finding the radiation source, reducing the time of finding the radiation source, and thus more quickly maintaining the safety of the detection area.

[0051] 3. The control method of the radiation source locator disclosed in the present invention is simple and easy to operate. It uses a machine instead of human eyes to identify and visually mark the radiation source, which can reduce the error rate of radiation source positioning caused by human misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to make the purpose, technical solution and advantages of the invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0053] Figure 1 The figure is a flow chart of the method for locating a radiation source of the present invention.

[0054] Figure 2 It is a schematic structural diagram of the radiation source locator of the present invention.

[0055] Figure 3 It is a schematic structural diagram of a preferred embodiment of the radiation source locator of the present invention.

[0056] Figure 4 For the present invention Figure 3 Schematic diagram of the internal structure of area A in the middle.

[0057] Figure 5 For the present invention Figure 3 Structural cross-section of area B in the middle.

[0058] Explanation of the reference numerals: 1. Camera; 2. Probe mounting bracket; 3. Radiation probe; 4. Bracket rotating motor; 5. Execution control module; 6. Support rod; 61. Outer sleeve; 62. Inner rotating rod; 63. Bearing group; 7. Base; 8. Positioning processing computer. DETAILED DESCRIPTION

[0059] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0060] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] The purpose of the present invention is to provide a method for locating a radiation source, which is used to quickly locate a radiation source or a radioactive material, and has a lower hardware and technical support cost required for the implementation of the solution, thereby solving the technical problem in the prior art that it is difficult to balance the efficient positioning of the radiation source with the cost-effectiveness of the solution application implementation.

[0062] Based on the above technical problems to be solved, the present invention discloses a method for locating a radiation source, such as Figure 1 As shown, the following steps are included:

[0063] S1, using a camera to collect horizontal surround images of the area to be tested, generating a panoramic image of the area to be tested as a marking image source of the area to be tested;

[0064] S2, dividing the marked image source of the area to be tested into a grid area to form a plurality of grid detection units, and determining the two-dimensional area coordinates of each grid detection unit in the vertical plane space;

[0065] S3, using an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, and obtaining radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be detected; the array radiation probe group is composed of a plurality of radiation probes arranged in an array, and the array radiation probe and the camera are located at the same geographical coordinate position in the area to be detected;

[0066] S4. Utilize the radiation dose rate detection data of the real radiation source from the array-type radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimate the depth distance value of the position of the real radiation source relative to the array-type radiation probe group, thereby determining the three-dimensional spatial coordinates of the real radiation source in the area to be tested, and realizing the positioning of the radiation source.

[0067] Preferably, a specific method of step S4 is:

[0068] S4.11, using a grid detection unit as a target detection unit;

[0069] S4.12, setting a hypothetical position of a radiation source in the spatial area corresponding to the target detection unit, and determining the three-dimensional spatial coordinates of the hypothetical position of the radiation source;

[0070] S4.13. Calculate the three-dimensional spatial coordinate distance of each radiation probe in the array radiation probe group relative to the assumed position of the current radiation source, and determine the radiation source activity value of each radiation probe in the array radiation probe group in combination with the radiation dose rate detection data of the real radiation source by the array radiation probe group, and calculate the activity value standard deviation of the radiation source activity value of each radiation probe in the current array radiation probe group;

[0071] The radiation source activity value of each radiation probe is equal to the radiation dose rate detection value of the radiation probe for the real radiation source multiplied by the square of the three-dimensional space coordinate distance of the radiation probe to the assumed position of the current radiation source;

[0072] S4.14, with the goal of minimizing the standard deviation of the activity value, repeatedly perform steps S4.12 and S4.13 multiple times, thereby obtaining multiple groups of standard deviations of the activity values;

[0073] S4.15. For each grid detection unit, execute steps S4.11 to S4.14 to obtain multiple groups of activity value standard deviations; then, select the minimum value from all the activity value standard deviations obtained, and determine the grid detection unit corresponding to the minimum activity value standard deviation as the grid detection unit corresponding to the location of the real radiation source, mark it as the radiation source positioning grid unit, and calculate the depth distance value of the assumed position of the radiation source corresponding to the minimum activity value standard deviation in the spatial area corresponding to the radiation source positioning grid unit as the estimated depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit; then, according to the two-dimensional area coordinates of the spatial area corresponding to the radiation source positioning grid unit in the vertical plane space and the evaluated depth distance, determine the three-dimensional spatial coordinates of the real radiation source in the area to be tested to achieve radiation source positioning.

[0074] In step 4.14, taking the minimum standard deviation of activity values ​​as the goal specifically means that, for different assumed positions of radiation sources, the standard deviation of activity values ​​of the radiation source activity values ​​of each radiation probe in different array-type radiation probe groups is obtained, and the three-dimensional coordinates of the next assumed position of the radiation source are adjusted according to the changing trend of the standard deviation of activity values; for example, different assumed positions of radiation sources are set in the direction away from the radiation probe, if it is found that the standard deviation of activity values ​​of the later assumed radiation source position is larger and larger than the standard deviation of activity values ​​of the previous assumed radiation source position, then it means that the degree of deviation between the later assumed radiation source position and the actual position increases, then when the radiation source position is assumed next, the three-dimensional coordinates of the assumed position of the radiation source need to be set in the direction close to the radiation probe, and vice versa, that is, during the adjustment process, the assumed position of the radiation source needs to be adjusted with the minimum standard deviation of activity values ​​as the goal.

[0075] Preferably, another specific method of step S4 is:

[0076] S4.21. Pre-obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit, and then determine the radiation dose rate ratio of each radiation probe in the array radiation probe group for the spatial area corresponding to each grid detection unit as the probe group reference radiation dose rate ratio of the corresponding grid detection unit;

[0077] S4.22. Determine the radiation dose rate ratio of each radiation probe in the array type radiation probe group for detecting the real radiation source according to the radiation dose rate detection data of the array type radiation probe group for the real radiation source;

[0078] S4.23. Compare and find the grid detection unit corresponding to the reference radiation dose rate ratio of the probe group that is closest to the radiation dose rate ratio of the actual radiation source detected by each radiation probe in the array-type radiation probe group, determine it as the grid detection unit corresponding to the location of the actual radiation source, and mark it as the radiation source positioning grid unit;

[0079] S4.24. Utilize the array-type radiation probe group to detect the radiation dose rate data of the real radiation source, estimate the depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit, and then determine the three-dimensional spatial coordinates of the real radiation source in the area to be tested based on the two-dimensional area coordinates of the spatial area corresponding to the radiation source positioning grid unit in the vertical plane space and the evaluated depth distance, so as to realize the positioning of the radiation source.

[0080] Preferably, in step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is: obtaining it by statistically analyzing the historical data of radiation dose rate detection of the spatial area corresponding to each grid detection unit using the array radiation probe group.

[0081] Preferably, in step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is:

[0082] S4.2101. Place the sample radioactive source in the space area corresponding to a grid detection unit;

[0083] S4.2102. Use an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit in the current state, and obtain the radiation dose rate detection data as the radiation dose rate detection data for the spatial area corresponding to the grid detection unit where the sample radiation source is currently located;

[0084] S4.2103, repeat steps S4.2101 and S4.2102, respectively place the sample radiation source in each grid detection unit for radiation dose rate detection, and then obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit.

[0085] Preferably, in step S4.24, the specific method of estimating the depth distance value of the real radiation source in the spatial area corresponding to the radiation source positioning grid unit using the radiation dose rate detection data of the real radiation source by the array radiation probe group is:

[0086] S4.2401. Set a hypothetical position of a radiation source in the spatial area corresponding to the radiation source positioning grid unit, and determine the three-dimensional spatial coordinates of the hypothetical position of the radiation source;

[0087] S4.2402. Calculate the three-dimensional spatial coordinate distance of each radiation probe in the array radiation probe group relative to the assumed position of the current radiation source, and determine the radiation source activity value of each radiation probe in the array radiation probe group in combination with the radiation dose rate detection data of the real radiation source by the array radiation probe group, and calculate the activity value standard deviation of the radiation source activity value of each radiation probe in the current array radiation probe group;

[0088] The radiation source activity value of each radiation probe is equal to the radiation dose rate detection value of the radiation probe for the real radiation source multiplied by the square of the three-dimensional space coordinate distance of the radiation probe to the assumed position of the current radiation source;

[0089] S4.2403. With the goal of minimizing the standard deviation of activity values, steps S4.2401 and S4.2402 are repeatedly executed to obtain multiple groups of standard deviations of activity values, and the assumed position of the radioactive source corresponding to the minimum value of the standard deviation of activity values ​​is selected. The depth distance value of the assumed position of the radioactive source in the spatial area corresponding to the radioactive source positioning grid unit is calculated, and is used as the estimated depth distance value of the actual radioactive source in the spatial area corresponding to the said radioactive source positioning grid unit.

[0090] To ensure the realization of the above radiation source positioning method, the present invention also discloses a radiation source positioning device, using the above radiation source positioning method, such as Figure 2 As shown, it includes a camera 1, a probe mounting bracket 2, a radiation probe 3 and a positioning processing computer 8;

[0091] The camera 1 and the probe mounting bracket 2 are relatively fixedly installed, the probe mounting bracket 2 has a vertical probe mounting surface, and a plurality of radiation probes 3 are arranged in an array and installed on the probe mounting surface of the probe mounting bracket 2 to form an array radiation probe group, and the shooting direction of the camera 1 is the same as the direction of the probe mounting surface of the probe mounting bracket 2;

[0092] The positioning processing computer 8 is connected to the camera 1 for data transmission, and is used to obtain the panoramic image of the area to be tested collected by the camera as the image source of the marked image of the area to be tested, and the marked image source of the area to be tested is processed into a grid area to form a plurality of grid detection units, and the two-dimensional area coordinates of each grid detection unit in the vertical plane space are determined; the positioning processing computer 8 is also connected to the array radiation probe group for data transmission, and is used to obtain the radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be tested, and the grid detection unit corresponding to the position of the real radiation source is determined by its positioning, and the depth distance value of the position of the real radiation source relative to the array radiation probe group is estimated, and then the three-dimensional space coordinates of the real radiation source in the area to be tested are determined, and the grid detection unit corresponding to the position of the real radiation source and the depth distance value are visually marked in the image source of the marked image of the area to be tested.

[0093] The working principle of the radiation source locator is as follows: the radiation source locator is used in conjunction with a positioning processing computer, the radiation source locator is placed at a fixed geographical location in the area to be detected, a camera is used to collect horizontal panoramic images of the area to be detected, a panoramic image of the area to be detected is generated and transmitted to the positioning processing computer as a marking image source of the area to be detected, and at the same time, an array radiation probe group composed of multiple radiation probes 3 is used to detect the radiation dose rate of the spatial area corresponding to each grid detection unit, and the radiation dose rate detection data of the real radiation source in the area to be detected by the array radiation probe group is obtained and transmitted to the positioning processing computer; the positioning processing computer grids the marking image source of the area to be detected The area division processing forms a plurality of grid detection units, and determines the two-dimensional area coordinates of each grid detection unit in the vertical plane space. At the same time, the positioning processing computer uses the radiation dose rate detection data of the real radiation source by the array radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimates the depth distance value of the position of the real radiation source relative to the array radiation probe group, thereby determining the three-dimensional space coordinates of the real radiation source in the area to be tested, realizing the positioning of the radiation source, and visually marking the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the mark image source of the area to be tested, which is preferably applied to the positioning of close-range radioactive materials.

[0094] Compared with a virtual background or simply outputting positioning coordinates, the real environmental background can enhance the visualization of the radiation source locator, facilitate manual observation, improve the efficiency of finding radiation sources, reduce the time of finding radiation sources, and thus more quickly maintain the safety of the detection area.

[0095] In practical applications, the video resolution of the camera used and the number of radiation probes can be determined based on the requirements for detection accuracy and the planning of data processing calculations. On the premise of ensuring that camera 1 has sufficient video resolution, the number of radiation probes 3 can be increased as much as possible to improve the accuracy of radiation source positioning.

[0096] As an embodiment of the appearance of the probe mounting bracket 2, the probe mounting bracket 2 is a circular, square or tree-branch type structure, and is mainly used for installing the radiation probe 3; the radiation probe 3 can use a highly sensitive scintillation crystal as a detector, which is mainly used to sense the environmental radiation dose rate. If the cost needs to be considered during the design process, a Geiger counter tube can also be used as a replacement for the radiation probe detector.

[0097] As a first preferred scheme for the arrangement of the radiation probes 3, the radiation probes 3 are arranged in a matrix array, and correspondingly, the probe mounting bracket 2 is in the shape of a square plate or a circular plate, and a plurality of radiation probes 3 are evenly distributed on the surface of the square plate or the circular plate.

[0098] As a second preferred embodiment of the arrangement of the radiation probes 3, the radiation probes 3 are arranged in a radial array. Correspondingly, the probe mounting bracket 2 has a plurality of radial forks, and a plurality of radiation probes 3 are evenly distributed on the surface of each fork.

[0099] As a third preferred scheme for the arrangement of the radiation probes 3, the radiation probes 3 are arranged in a spherical array. Correspondingly, the probe mounting bracket 2 is in a spherical rack shape, and a plurality of radiation probes 3 are evenly distributed on the surface of the spherical rack.

[0100] The first or second preferred solution for arranging the radiation probe 3 is as follows: Figures 3 to 5 As shown, the structure of the radiation source locator is further optimized, and the radiation source locator also includes the above-mentioned radiation source locator, and further includes a base 7, a support rod 6, an execution control module 5 and a bracket rotation motor 4; the base 7 is used to place the radiation source locator firmly on the ground;

[0101] The support rod 6 includes an outer sleeve 61, and an inner rotating rod 62 rotatably installed in the outer sleeve 61 through a bearing group 63. The lower end of the outer sleeve 61 is fixedly installed on the base 7, and the inner rotating rod 62 passes through the upper end of the outer sleeve 61 and extends vertically upward. The probe mounting bracket 2 and the camera 1 are fixedly supported and installed on the upper end of the inner rotating rod 62; the bracket rotating motor 4 is fixedly installed on the outer sleeve 61, and the output shaft of the bracket rotating motor 4 is deep into the hollow space of the outer sleeve 61 and is installed with a bevel gear. The inner rotating rod 62 The outer peripheral side thereof has a bevel gear structure at the position of the output shaft of the bracket rotating motor 4 and meshes with the bevel gear to form a bevel gear pair; the execution control module 5 is installed on the outer sleeve 61 of the support rod 6, and the power supply control end of the bracket rotating motor 4 is electrically connected to the positioning processing computer 8 through the execution control module 5, and the positioning processing computer 8 sends a control instruction to the execution control module 5 to control the rotation of the output shaft of the bracket rotating motor 4, thereby driving the inner rotating rod 62 of the support rod 6 to rotate along its own vertical central axis, and then driving the probe mounting bracket 2 and the camera 1 to rotate and adjust the horizontal direction.

[0102] Specifically, the probe mounting bracket 2 is in the shape of a vertically placed square plate or a circular plate, and one side surface of the bracket is a probe mounting surface, and a plurality of radiation probes 3 are evenly arranged in an array and mounted on the probe mounting surface.

[0103] The radiation source locator provided in this application document can implement the above-mentioned radiation source locating method, thereby solving the technical problems in the prior art that it is difficult to balance the efficient positioning of radiation sources with the cost-effectiveness of the implementation of the scheme.

[0104] This application document discloses an embodiment of a radiation source locator, such as Figures 3 to 5 As shown, in this embodiment, the radiation source locator includes a camera 1, a probe mounting bracket 2, a radiation probe 3, a bracket rotating motor 4, an execution control module 5, a support rod 6 and a base 7;

[0105] The camera 1 and the probe mounting bracket 2 are relatively fixedly installed, the probe mounting bracket 2 has a vertical probe mounting surface, and there are 16 radiation probes 3 arranged in an array and installed on the probe mounting surface of the probe mounting bracket 2 to form an array radiation probe group. The probe mounting bracket 2 is a square plate, and the shooting direction of the camera 1 is the same as the direction of the probe mounting surface of the probe mounting bracket 2;

[0106] The support rod 6 includes an outer sleeve 61, and an inner rotating rod 62 rotatably installed in the outer sleeve 61 through a bearing group 63. The lower end of the outer sleeve 61 is fixedly installed on the base 7, and the inner rotating rod 62 passes through the upper end of the outer sleeve 61 and extends vertically upward. The probe mounting bracket 2 and the camera 1 are fixedly supported and installed on the upper end of the inner rotating rod 62; the bracket rotating motor 4 is fixedly installed on the outer sleeve 61, and the output shaft of the bracket rotating motor 4 is deep into the hollow space of the outer sleeve 61 and is installed with a bevel gear. The inner rotating rod 62 The outer peripheral side thereof has a bevel gear structure at the position of the output shaft of the bracket rotating motor 4 and meshes with the bevel gear to form a bevel gear pair; the execution control module 5 is installed on the outer sleeve 61 of the support rod 6, and the power supply control end of the bracket rotating motor 4 is electrically connected to the positioning processing computer 8 through the execution control module 5, and the positioning processing computer 8 sends a control instruction to the execution control module 5 to control the rotation of the output shaft of the bracket rotating motor 4, thereby driving the inner rotating rod 62 of the support rod 6 to rotate along its own vertical central axis, and then driving the probe mounting bracket 2 and the camera 1 to rotate and adjust the horizontal direction.

[0107] The positioning processing computer 8 is connected to the camera 1 for data transmission, and is used to obtain the panoramic image of the area to be tested collected by the camera as the image source of the marked image of the area to be tested, and the marked image source of the area to be tested is processed into a grid area to form a plurality of grid detection units, and the two-dimensional area coordinates of each grid detection unit in the vertical plane space are determined; the positioning processing computer 8 is also connected to the array radiation probe group for data transmission, and is used to obtain the radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be tested, and the grid detection unit corresponding to the position of the real radiation source is determined by its positioning, and the depth distance value of the position of the real radiation source relative to the array radiation probe group is estimated, and then the three-dimensional space coordinates of the real radiation source in the area to be tested are determined, and the grid detection unit corresponding to the position of the real radiation source and the depth distance value are visually marked in the image source of the marked image of the area to be tested.

[0108] The present invention also discloses a control method for a radiation source locator, which is implemented by using the radiation source locator as described above, and comprises the following steps:

[0109] Step 1: Place the radiation source locator at a fixed geographic coordinate position in the area to be detected;

[0110] Step 2: operate the camera to collect horizontal panoramic images of the area to be tested, generate a panoramic image of the area to be tested, and transmit it to the positioning processing computer 8 as a marking image source of the area to be tested;

[0111] Step 3: Positioning processing: The computer 8 performs grid area division processing on the image source of the mark of the area to be tested to form a plurality of grid detection units, and determines the two-dimensional area coordinates of each grid detection unit in the vertical plane space;

[0112] Step 4: operate the array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, obtain the radiation dose rate detection data of the real radiation source in the area to be detected by the array radiation probe group, and transmit it to the positioning processing computer 8;

[0113] Step 5, positioning processing The computer 8 uses the radiation dose rate detection data of the real radiation source from the array radiation probe group to locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimates the depth distance value of the position of the real radiation source relative to the array radiation probe group, thereby determining the three-dimensional spatial coordinates of the real radiation source in the area to be tested, realizing the positioning of the radiation source, and visually marking the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the mark image source of the area to be tested.

[0114] The radiation source positioning method, radiation source positioning device and control method disclosed in the present invention have the following technical effects:

[0115] 1. The radiation source positioning method adopted in the present invention is used to realize the rapid positioning of the radiation source or radioactive material, and has a lower hardware and technical support cost required for the implementation of the scheme, thereby solving the technical problem that it is difficult to balance the efficient positioning of the radiation source and the cost-effectiveness of the scheme application implementation in the prior art; the radiation source positioning method adopted in the present invention can accurately identify the position of the radiation source, and at the same time, the speed of finding the radiation source is fast and the efficiency of finding the radiation source is high.

[0116] 2. The radiation source locator disclosed in the present invention can quickly locate the radiation source or radioactive material, can image the environment, generate a marked image source of the area to be tested, and provide a real environmental background for the explored radiation source or radioactive material. Compared with a virtual background or simply outputting the positioning coordinates, the radiation source position is displayed in a graphical manner. The real environmental background can enhance the visualization of the radiation source locator and determine the radiation source position more vividly and intuitively, thereby improving the efficiency of finding the radiation source, reducing the time of finding the radiation source, and thus more quickly maintaining the safety of the detection area.

[0117] 3. The control method of the radiation source locator disclosed in the present invention is simple and easy to operate. It uses a machine instead of human eyes to identify and visually mark the radiation source, which can reduce the error rate of radiation source positioning caused by human misjudgment.

[0118] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. The embodiments described in the present invention are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all other embodiments obtained by ordinary technicians in the art without creative work based on the embodiments in the present invention belong to the scope of protection of the present invention.

Claims

1. A method for locating a radiation source, characterized in that: The following steps are involved: S1, using a camera to collect horizontal surround images of the area to be tested, generating a panoramic image of the area to be tested as a marking image source of the area to be tested; S2, dividing the marked image source of the area to be tested into a grid area to form a plurality of grid detection units, and determining the two-dimensional area coordinates of each grid detection unit in the vertical plane space; S3, using an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, and obtaining radiation dose rate detection data of the array radiation probe group detecting the real radiation source in the area to be detected; the array radiation probe group is composed of a plurality of radiation probes arranged in an array, and the array radiation probe and the camera are located at the same geographical coordinate position in the area to be detected; S4, using the radiation dose rate detection data of the real radiation source by the array radiation probe group, locate and determine the grid detection unit corresponding to the position of the real radiation source, and estimate the depth distance value of the position of the real radiation source relative to the array radiation probe group, and then determine the three-dimensional space coordinates of the real radiation source in the area to be tested, so as to realize the positioning of the radiation source; a specific method of step S4 is: S4.

21. Pre-obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit, and then determine the radiation dose rate ratio of each radiation probe in the array radiation probe group for the spatial area corresponding to each grid detection unit as the probe group reference radiation dose rate ratio of the corresponding grid detection unit; S4.

22. Determine the radiation dose rate ratio of each radiation probe in the array type radiation probe group for detecting the real radiation source according to the radiation dose rate detection data of the array type radiation probe group for the real radiation source; S4.

23. Compare and find the grid detection unit corresponding to the reference radiation dose rate ratio of the probe group that is closest to the radiation dose rate ratio of the actual radiation source detected by each radiation probe in the array-type radiation probe group, determine it as the grid detection unit corresponding to the location of the actual radiation source, and mark it as the radiation source positioning grid unit; S4.

24. Using the radiation dose rate detection data of the real radiation source by the array-type radiation probe group, the depth distance value of the real radiation source in the space area corresponding to the radiation source positioning grid unit is estimated, and then according to the two-dimensional area coordinates of the space area corresponding to the radiation source positioning grid unit in the vertical plane space and the estimated depth distance, the three-dimensional space coordinates of the real radiation source in the test area are determined to realize the positioning of the radiation source; wherein, using the radiation dose rate detection data of the real radiation source by the array-type radiation probe group, the specific method of estimating the depth distance value of the real radiation source in the space area corresponding to the radiation source positioning grid unit is as follows: S4.2401. Set a hypothetical position of a radiation source in the spatial area corresponding to the radiation source positioning grid unit, and determine the three-dimensional spatial coordinates of the hypothetical position of the radiation source; S4.2402. Calculate the three-dimensional spatial coordinate distance of each radiation probe in the array radiation probe group relative to the assumed position of the current radiation source, and determine the radiation source activity value of each radiation probe in the array radiation probe group in combination with the radiation dose rate detection data of the real radiation source by the array radiation probe group, and calculate the activity value standard deviation of the radiation source activity value of each radiation probe in the current array radiation probe group; The radiation source activity value of each radiation probe is equal to the radiation dose rate detection value of the radiation probe for the real radiation source multiplied by the square of the three-dimensional space coordinate distance of the radiation probe to the assumed position of the current radiation source; S4.2403. With the goal of minimizing the standard deviation of activity values, steps S4.2401 and S4.2402 are repeatedly executed to obtain multiple groups of standard deviations of activity values, and the assumed position of the radioactive source corresponding to the minimum value of the standard deviation of activity values ​​is selected. The depth distance value of the assumed position of the radioactive source in the spatial area corresponding to the radioactive source positioning grid unit is calculated, and is used as the estimated depth distance value of the actual radioactive source in the spatial area corresponding to the said radioactive source positioning grid unit.

2. The method for locating a radiation source according to claim 1, characterized in that: In step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is: obtaining it by statistically analyzing the historical data of radiation dose rate detection of the spatial area corresponding to each grid detection unit using the array radiation probe group.

3. The method for locating a radiation source according to claim 1, characterized in that: In step S4.21, a specific method of pre-obtaining the radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit is: S4.2101. Place the sample radioactive source in the space area corresponding to a grid detection unit; S4.2102. Use an array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit in the current state, and obtain the radiation dose rate detection data as the radiation dose rate detection data for the spatial area corresponding to the grid detection unit where the sample radiation source is currently located; S4.2103, repeat steps S4.2101 and S4.2102, respectively place the sample radiation source in each grid detection unit for radiation dose rate detection, and then obtain radiation dose rate detection data of the array radiation probe group for the spatial area corresponding to each grid detection unit.

4. A radiation source locator, used to implement the radiation source locating method according to claim 1, characterized in that: It comprises a camera (1), a probe mounting bracket (2), a radiation probe (3) and a positioning processing computer (8); The camera (1) and the probe mounting bracket (2) are relatively fixedly mounted, the probe mounting bracket (2) has a vertical probe mounting surface, a plurality of radiation probes (3) are arranged in an array and mounted on the probe mounting surface of the probe mounting bracket (2) to form an array radiation probe group, and the shooting direction of the camera (1) is the same as the direction of the probe mounting surface of the probe mounting bracket (2); The positioning processing computer (8) is connected to the camera (1) for data transmission, and is used to obtain a panoramic image of the area to be tested collected by the camera as a source of the image marking the area to be tested, and to perform grid area division processing on the source of the image marking the area to be tested to form a plurality of grid detection units, and to determine the two-dimensional area coordinates of each grid detection unit in the vertical plane space; the positioning processing computer (8) is also connected to the array type radiation probe group for data transmission, and is used to obtain radiation dose rate detection data of the array type radiation probe group detecting the real radiation source in the area to be tested, and to determine the grid detection unit corresponding to the position of the real radiation source by using its positioning, and to estimate the depth distance value of the position of the real radiation source relative to the array type radiation probe group, and then determine the three-dimensional space coordinates of the real radiation source in the area to be tested, and to visually mark the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the source of the image marking the area to be tested.

5. The radiation source locator according to claim 4, characterized in that: It also includes a base (7), a support rod (6), an execution control module (5) and a support rotation motor (4); The support rod (6) includes an outer sleeve (61), and an inner rotating rod (62) rotatably installed in the outer sleeve (61) through a bearing group (63); the lower end of the outer sleeve (61) is fixedly installed on the base (7); the inner rotating rod (62) passes through the upper end of the outer sleeve (61) and extends vertically upward; the probe mounting bracket (2) and the camera (1) are fixedly supported and installed on the upper end of the inner rotating rod (62); the bracket rotating motor (4) is fixedly installed on the outer sleeve (61), and the output shaft of the bracket rotating motor (4) is extended into the hollow space of the outer sleeve (61) and is installed with a bevel gear; the inner rotating rod ( The outer peripheral side of the support rod (62) has a bevel gear structure at the position of the output shaft of the support rotating motor (4) and meshes with the bevel gear to form a bevel gear pair; the execution control module (5) is installed on the outer sleeve (61) of the support rod (6), and the power supply control end of the support rotating motor (4) is electrically connected to the positioning processing computer (8) through the execution control module (5), and the positioning processing computer (8) sends a control instruction to the execution control module (5) to control the output shaft of the support rotating motor (4) to rotate, thereby driving the inner rotating rod (62) of the support rod (6) to rotate along its own vertical central axis, and then driving the probe mounting bracket (2) and the camera (1) to rotate and adjust the horizontal direction.

6. The radiation source locator according to claim 4, characterized in that: The probe mounting bracket (2) is in the shape of a vertically placed square plate or a circular plate, and one side surface of the bracket is a probe mounting surface, and a plurality of radiation probes (3) are evenly arranged and mounted in an array on the probe mounting surface.

7. A control method for a radiation source locator, characterized in that: The method is implemented by using the radiation source locator as claimed in claim 4 or 5, comprising the following steps: Step 1: Place the radiation source locator at a fixed geographic coordinate position in the area to be detected; Step 2: operate the camera to collect horizontal panoramic images of the area to be tested, generate a panoramic image of the area to be tested, and transmit it to the positioning processing computer (8) as a marking image source of the area to be tested; Step 3: Positioning and processing: the computer (8) performs grid area division processing on the marked image source of the area to be tested to form a plurality of grid detection units, and determines the two-dimensional area coordinates of each grid detection unit in the vertical plane space; Step 4: operate the array radiation probe group to perform radiation dose rate detection on the spatial area corresponding to each grid detection unit, obtain radiation dose rate detection data of the real radiation source in the area to be detected by the array radiation probe group, and transmit it to the positioning processing computer (8); Step 5: The positioning processing computer (8) uses the radiation dose rate detection data of the real radiation source from the array radiation probe group to locate the grid detection unit corresponding to the position of the real radiation source, and estimates the depth distance value of the position of the real radiation source relative to the array radiation probe group, thereby determining the three-dimensional spatial coordinates of the real radiation source in the area to be tested, realizing the positioning of the radiation source, and visually marking the grid detection unit corresponding to the position of the real radiation source and the depth distance value in the mark image source of the area to be tested.

Images