A radiation shielding door opening and closing detection and warning method based on image processing

Abstract

The present invention discloses a radiation shielding door opening and closing detection and warning method based on image processing, comprising the following steps: 1. placing a door image acquisition and warning device outside the radiation shielding door; 2. creating a radiation shielding door detection template image; 3. acquiring a radiation shielding door status image of the current frame; 4. judging the opening and closing status of the radiation shielding door in the radiation shielding door status image of the current frame based on the detection template image; 5. updating the detection template image using the radiation shielding door status image of the current frame; and 6. controlling a controller to extinguish a radiation warning light. By providing a visual sensor to identify the opening and closing status of the radiation shielding door, the present invention eliminates the need for pre-installation and fixation of the door image acquisition and warning device, and pre-wiring of electrical components. Installation is fast and efficient, while also ensuring the safety of the radiation therapy room's beam output environment and achieving excellent user experience.

Description

Technical Field

[0001] The present invention belongs to the field of radiation safety technology, and in particular relates to an image processing-based radiation shielding door opening and closing detection and warning method. Background Art

[0002] In conventional radiotherapy rooms, conventional warning devices such as indicator lights and door interlocks must be pre-installed in fixed locations and cannot be easily and effectively moved. This requires pre-wiring of these devices, increasing workload and detracting from the room's aesthetics. Furthermore, these warning devices, as fundamental safety measures in radiotherapy rooms, must function simultaneously to ensure a safe beam delivery environment. However, conventional interlocks in radiotherapy rooms are often installed separately, and a malfunction in the indicator interlocks could potentially pose a safety hazard. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the deficiencies in the above-mentioned prior art and provide a radiation shielding door opening and closing detection and alarm method based on image processing. By setting a visual sensor to identify the opening and closing status of the radiation shielding door, the door image acquisition and alarm device does not need to be installed and fixed in advance, nor does it need to be wired for electrical components in advance. The installation is fast and efficient, and the safety of the beam output environment of the radiotherapy room is ensured, with good use effect.

[0004] To solve the above technical problems, the present invention adopts a technical solution: a radiation shielding door opening and closing detection and warning method based on image processing, characterized in that the method comprises the following steps:

[0005] Step 1: Place a door image acquisition warning device outside the radiation shielding door:

[0006] A door image acquisition and warning device is placed outside the radiation shielding door. The door image acquisition and warning device includes a radiation warning light board, a visual sensor for acquiring images of the radiation shielding door area, and a controller. The controller is connected to the visual sensor and is used to control the on and off of the radiation warning light board. The distance between the visual sensor and the radiation shielding door is adjusted so that the visual sensor can acquire a complete image of the radiation shielding door area.

[0007] Step 2: Create a radiation shielding door detection template image:

[0008] Step 201: Acquire a radiation shielding door area closure standard image when the radiation shielding door is normally closed.

[0009] Step 202: extracting the best color channel image of the radiation shielding door area closure standard image as the radiation shielding door detection template image; recording the best color channel of the radiation shielding door area closure standard image as the X channel, where X is R, G, or B;

[0010] Step 3: Get the status image of the radiation shielding door in the current frame:

[0011] Acquire an X-channel image of a real-time image of the radiation shielding door in the current frame collected by the visual sensor as a state image of the radiation shielding door in the current frame;

[0012] Step 4: using the detection template image to determine the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame;

[0013] When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is closed, executing step five;

[0014] When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is open, executing step 6;

[0015] Step 5: Turn on the radiation warning light and use the state image of the radiation shielding door in the current frame to update the detection template image. Repeat step 3:

[0016] Step 501: Turn on the radiation warning light.

[0017] Step 502: Average the pixel values ​​of the state image of the radiation shielding door in the current frame and the detection template image pixel by pixel to obtain an updated detection template image, and then proceed to step 3.

[0018] Step 6: The controller turns off the radiation warning light and executes step 3.

[0019] The above-mentioned radiation shielding door opening and closing detection and warning method based on image processing is characterized in that: in step 202, the specific steps of extracting the best color channel image of the radiation shielding door area closure standard image are:

[0020] The radiation shielding door area closed standard image is decomposed into an R channel image, a G channel image, and a B channel image, and the maximum and minimum pixel values ​​of each channel image are counted. The channel image with the largest difference between the maximum and minimum pixel values ​​in each channel image is taken as the optimal color channel image.

[0021] The above-mentioned radiation shielding door opening and closing detection and warning method based on image processing is characterized in that: in step 4, the specific steps of judging the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame based on the detection template image are as follows:

[0022] Step 401: Calculate the difference between the pixel values ​​of the detection template image and the state image of the radiation shielding door in the current frame to generate a difference image. The histogram of the difference image is denoted as I. delta ;

[0023] Step 402: Obtain the difference image histogram I delta The point y with the largest vertical coordinate, and the difference image histogram I delta Translate so that the horizontal coordinate point x corresponding to the maximum vertical coordinate point y coincides with the coordinate origin, and the histogram of the difference image after translation is recorded as I' delta ;

[0024] The histogram of the difference image after translation I' delta The part on the left side of the vertical axis is flipped and superimposed on the corresponding part on the right side of the vertical axis to obtain the adaptively adjusted difference image histogram I" delta ;

[0025] Step 403: Calculate the adaptively adjusted difference image histogram I" delta The area of ​​the part greater than the brightness value threshold VT accounts for the proportion RI of its total area. If RI>RP, the state of the radiation shielding door in the current frame is open, otherwise it is closed, where RP is a preset value.

[0026] The above-mentioned radiation shielding door opening and closing detection and warning method based on image processing is characterized in that: the door image acquisition and warning device also includes a mobile bracket for supporting a radiation warning light sign, and a three-color indicator light arranged on the mobile bracket, the mobile bracket is also provided with a telescopic fence, and the bottom of the mobile bracket is provided with a self-locking wheel.

[0027] Compared with the existing technology, the present invention has the following advantages: the present invention sets a visual sensor to identify the opening and closing status of the radiation shielding door, so that the door image acquisition warning device does not need to be installed and fixed in advance, nor does it need to be wired for electrical components in advance. The installation is fast and efficient, and the safety of the beam environment in the radiotherapy room can be ensured, and the use effect is good.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 4 is a flowchart of the method of the present invention.

[0030] Figure 2 This is a structural diagram of the door image acquisition and warning device used in the present invention.

[0031] Description of the accompanying drawings:

[0032] 1—Radiation warning light sign; 2—Radiation shielding door; 3—Visual sensor;

[0033] 4—Mobile bracket; 5—Three-color indicator light; 6—Retractable fence;

[0034] 7—Self-locking wheel. DETAILED DESCRIPTION

[0035] like Figure 1 and Figure 2 As shown, a radiation shielding door opening and closing detection and warning method based on image processing of the present invention includes the following steps:

[0036] Step 1: Place a door image acquisition warning device outside the radiation shielding door:

[0037] A door image acquisition and warning device is placed outside the radiation shielding door 2. The door image acquisition and warning device includes a radiation warning light sign 1, a visual sensor 3 for acquiring an image of the radiation shielding door 2 area, and a controller. The controller is connected to the visual sensor 3 and is used to control the on and off of the radiation warning light sign 1. The distance between the visual sensor 3 and the radiation shielding door 2 is adjusted so that the visual sensor 3 can acquire a complete image of the radiation shielding door 2 area.

[0038] Step 2: Create a radiation shielding door detection template image:

[0039] Step 201: Capture a standard closed area image of the radiation shielding door 2 when the radiation shielding door 2 is normally closed. The standard closed area image of the radiation shielding door 2 is an overall image of the radiation shielding door 2 captured after the door is manually closed and manually confirmed closed.

[0040] Step 202: extract the best color channel image of the radiation shielding door 2 regional closure standard image as the radiation shielding door detection template image; record the best color channel of the radiation shielding door 2 regional closure standard image as X channel, where X is R, G, or B;

[0041] Step 3: Get the status image of the radiation shielding door in the current frame:

[0042] Acquire an X-channel image of the real-time image of the radiation shielding door 2 in the current frame captured by the visual sensor 3 as the state image of the radiation shielding door in the current frame; the X value of the X-channel image of the real-time image of the radiation shielding door 2 in the current frame is the same as the X value of the best color channel of the standard image of the closed area of ​​the radiation shielding door 2;

[0043] Step 4: using the detection template image to determine the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame;

[0044] When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is closed, executing step five;

[0045] When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is open, executing step 6;

[0046] Step 5: Turn on the radiation warning light and use the state image of the radiation shielding door in the current frame to update the detection template image. Repeat step 3:

[0047] Step 501: Turn on the radiation warning light sign 1;

[0048] Step 502: Average the pixel values ​​of the state image of the radiation shielding door in the current frame and the detection template image pixel by pixel to obtain an updated detection template image, and then proceed to step 3.

[0049] Step 6: The controller turns off the radiation warning light and executes step 3.

[0050] It should be noted that by continuously updating the detection template image, noise interference can be reduced, while keeping the detection template image as the latest image, eliminating the interference of changes in ambient light and other factors on the calculation results.

[0051] In this embodiment, the front of the radiation warning light sign 1 is marked with the words "Radiation is harmful to health, please do not approach when the light is on".

[0052] In this embodiment, the visual sensor 3 has a built-in 64-bit 400MHz dual-core RISC-V processor, which can run image processing and neural network algorithms and capture fast-moving objects.

[0053] It should be noted that when it is detected that the radiation shielding door 2 is closed, the controller controls the radiation warning light sign 1 to light up, and the radiotherapy machine can start working to ensure the shielding effect of the radiation shielding door 2.

[0054] It should be noted that the above detection and alarm method is not limited to radiation shielding doors, but is also suitable for radiation rooms, radiotherapy operating rooms and similar radiation generating facilities that require radiation door interlock monitoring.

[0055] In this embodiment, the visual sensor 3 is arranged on the back of the radiation warning light sign 1 .

[0056] It should be noted that by setting up a visual sensor 3 to identify the opening and closing status of the radiation shielding door 2, the door image acquisition and warning device does not need to be installed and fixed in advance, nor does it need to be wired for electrical components in advance. The installation is fast and efficient, and the safety of the beam output environment of the radiotherapy room can be ensured, with good use effect.

[0057] It should be noted that when personnel enter the radiotherapy room, the mobile bracket 4 is moved to the middle position outside the radiation shielding door 2, the self-locking wheel 7 is locked, the telescopic fence 6 is opened, and the radiation shielding door 2 is enclosed. The three-color indicator light 5 and the radiation warning light sign 1 display the opening and closing of the radiation shielding door 2 and the radiation working status in the radiotherapy room, providing warning information for personnel outside the radiation shielding door 2.

[0058] In this embodiment, the telescopic fence 6 is a warning belt type telescopic fence. When not in use, it is stored on the mobile bracket 4 and moves with the mobile bracket 4. When in use, the upright post of the warning belt type telescopic fence pulls out the warning belt to play a warning and isolation role.

[0059] In this embodiment, the movable bracket 4 is a retractable movable bracket, and the three-color indicator light 5 is set on the top of the movable bracket 4. The installation angle and height can be adjusted according to actual needs.

[0060] In this embodiment, when the door is closed and beam emission is in progress, the visual sensor 3 detects the door's closed state and outputs a door interlock signal. This signal illuminates the radiation warning light sign 1, which reads "Radiation is harmful to health. Do not approach if light is on." Simultaneously, this signal is transmitted to the controller via a wireless signal transmission device. Upon receiving this signal, the controller deems the door closed and can proceed with beam emission. When the control system reaches the beam emission state, the controller outputs a beam emission signal to the wireless transmission device, which uses this signal to illuminate the color of the three-color indicator light 5 indicating the beam emission state. This state is the beam emission state indication.

[0061] In this embodiment, in step 202, the specific steps of extracting the best color channel image of the radiation shielding door 2 regional closure standard image are:

[0062] The radiation shielding door 2 area closure standard image is decomposed into an R channel image, a G channel image, and a B channel image. The maximum and minimum pixel values ​​of each channel image are counted, and the channel image with the largest difference between the maximum and minimum pixel values ​​in each channel image is taken as the optimal color channel image.

[0063] It should be noted that the above-mentioned optimal color channel image is only applicable to color image acquisition devices. When the image acquisition device is a grayscale image, the entire process can skip step 202.

[0064] In this embodiment, the specific steps of determining the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame according to the detection template image in step 4 are:

[0065] Step 401: Calculate the difference between the pixel values ​​of the detection template image and the state image of the radiation shielding door in the current frame to generate a difference image. The histogram of the difference image is denoted as I. delta ;

[0066] It should be noted that, in order to avoid negative values ​​in the difference image histogram, the difference image histogram needs to be offset as a whole toward the positive direction of the coordinate. In this embodiment, the offset is 128;

[0067] Step 402: Obtain the difference image histogram I deltaThe point y with the largest vertical coordinate, and the difference image histogram I delta Translate so that the horizontal coordinate point x corresponding to the maximum vertical coordinate point y coincides with the coordinate origin, and the histogram of the difference image after translation is recorded as I' delta ;

[0068] The histogram of the difference image after translation I' delta The part on the left side of the vertical axis is flipped and superimposed on the corresponding part on the right side of the vertical axis to obtain the adaptively adjusted difference image histogram I" delta ;

[0069] Step 403: Calculate the adaptively adjusted difference image histogram I" delta The area of ​​the portion greater than the brightness threshold VT accounts for the proportion RI of the total area. If RI>RP, the state of the radiation shielding door 2 in the current frame is open, otherwise it is closed, where RP is a preset value.

[0070] In this embodiment, RP can be set to 0.01-0.05. If RP is less than 0.01, it is easily interfered. If RP is greater than 0.05, the sensitivity is poor. Specifically, RP=0.01; VT is set according to the RP value. Specifically, VT=60.

[0071] It should be noted that the frame rate collected by the visual sensor 3 is set at more than 15f / s. The speed of the door opening is slow compared to the frame rate of the video collection, so each frame image will only have local changes, and most of the image content remains consistent. Due to changes in light, there may be differences in brightness, so it can be seen through statistical I delta The maximum point y of the vertical coordinate is used for adaptive adjustment to eliminate interference.

[0072] In this embodiment, the door image acquisition and warning device also includes a mobile bracket 4 for supporting the radiation warning light sign 1, and a three-color indicator light 5 arranged on the mobile bracket 4. The mobile bracket 4 is also provided with a telescopic fence 6, and a self-locking wheel 7 is provided at the bottom of the mobile bracket 4.

[0073] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A radiation shielding door opening and closing detection and warning method based on image processing, characterized in that: The method comprises the following steps: Step 1: Place a door image acquisition warning device outside the radiation shielding door: A door image acquisition warning device is placed outside the radiation shielding door (2), the door image acquisition warning device comprising a radiation warning light board (1), a visual sensor (3) for acquiring an image of the radiation shielding door (2) area, and a controller, the controller being connected to the visual sensor (3) and used to control the on and off of the radiation warning light board (1); adjusting the distance between the visual sensor (3) and the radiation shielding door (2) so that the visual sensor (3) can acquire a complete image of the radiation shielding door (2) area; Step 2: Create a radiation shielding door detection template image: Step 201, collecting a standard image of the radiation shielding door (2) area closure when the radiation shielding door (2) is normally closed; Step 202: extracting the best color channel image of the radiation shielding door (2) regional closure standard image as a radiation shielding door detection template image; recording the best color channel of the radiation shielding door (2) regional closure standard image as the X channel, where X is R, G, or B; Step 3: Get the status image of the radiation shielding door in the current frame: Acquire an X-channel image of the real-time image of the radiation shielding door (2) of the current frame collected by the visual sensor (3) as a state image of the radiation shielding door of the current frame; Step 4: using the detection template image to determine the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame; When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is closed, executing step five; When the state of the radiation shielding door in the state image of the radiation shielding door in the current frame is open, executing step 6; Step 5: Turn on the radiation warning light and use the state image of the radiation shielding door in the current frame to update the detection template image. Repeat step 3: Step 501, making the radiation warning light sign (1) light up; Step 502: Average the pixel values ​​of the state image of the radiation shielding door in the current frame and the detection template image pixel by pixel to obtain an updated detection template image, and then proceed to step 3. Step 6: The controller turns off the radiation warning light and executes step 3.

2. The radiation shielding door opening and closing detection and warning method based on image processing according to claim 1, characterized in that: In step 202, the specific steps of extracting the best color channel image of the radiation shielding door (2) regional closed standard image are as follows: The radiation shielding door (2) regional closed standard image is decomposed into an R channel image, a G channel image, and a B channel image, and the maximum and minimum values ​​of the pixel values ​​of each channel image are counted, and the channel image with the largest difference between the maximum and minimum pixel values ​​in each channel image is taken as the best color channel image.

3. The radiation shielding door opening and closing detection and warning method based on image processing according to claim 1, characterized in that: In step 4, the specific steps of determining the opening and closing state of the radiation shielding door in the state image of the radiation shielding door in the current frame according to the detection template image are as follows: Step 401: Calculate the difference between the pixel values ​​of the detection template image and the state image of the radiation shielding door in the current frame to generate a difference image. The histogram of the difference image is recorded as I delta ; Step 402: Obtain the difference image histogram I delta The point y with the largest vertical coordinate, and the difference image histogram I delta Translate so that the horizontal coordinate point x corresponding to the maximum vertical coordinate point y coincides with the coordinate origin, and the histogram of the difference image after translation is recorded as I' delta ; The histogram of the difference image after translation I' delta The part on the left side of the vertical axis is flipped and superimposed on the corresponding part on the right side of the vertical axis to obtain the adaptively adjusted difference image histogram I" delta ; Step 403: Calculate the adaptively adjusted difference image histogram I" delta The area of ​​the portion greater than the brightness threshold VT accounts for the proportion RI of the total area. If RI>RP, the state of the radiation shielding door (2) in the current frame is open, otherwise it is closed, wherein RP is a preset value.

4. The radiation shielding door opening and closing detection and warning method based on image processing according to claim 1, characterized in that: The door image acquisition warning device further comprises a movable bracket (4) for supporting the radiation warning light board (1), and a three-color indicator light (5) arranged on the movable bracket (4); a telescopic fence (6) is further arranged on the movable bracket (4); and a self-locking wheel (7) is arranged at the bottom of the movable bracket (4).

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