Radiation risk avoidance path planning method and device, and electronic device

Abstract

The present application relates to a radiation risk avoidance path planning method, device and electronic equipment, comprising the following steps: calculating the radiation dose of a radiation source; determining the radiation repulsion of the radiation source based on the radiation dose of the radiation source and combining the artificial potential field method; calculating the target attraction generated by a target point according to the artificial potential field method; calculating the resultant force of a moving object according to the radiation repulsion and the target attraction; and determining the path of the moving object to avoid radiation exposure according to the resultant force. The present application uses the radiation dose of the radiation source to plan the path of radiation risk avoidance, effectively solving the problem of unknown global radiation data field and navigation modeling, and calculating the target attraction according to the target point while calculating the radiation repulsion according to the radiation source, so that the moving object dynamically moves away from the radiation source and approaches the target until reaching the target, forming an accurate and reliable radiation risk avoidance path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear emergency, and more particularly to a path planning method and device for radiation risk avoidance and electronic equipment. BACKGROUND

[0002] The radiation risk avoidance technology is to solve an optimal or better path in a radiation environment space through an algorithm, so that the radiation exposure of an object is as low as possible or the radiation exposure risk is reduced.

[0003] Currently, there are two methods to solve the path. One is a search algorithm based on a grid model. The search algorithm divides the environment into grids and defines the dose rate and the presence of obstacles on the grid cells in advance. In addition, each grid cell can only be connected to one of the eight adjacent grid cells. According to the grid cells, the entire path is composed of only vertical, horizontal or 45-degree straight line segments, so the smaller the grid cell size, the higher the calculation accuracy. However, the dose of the grid cell of the search algorithm based on the grid model can be calculated for a known radiation field, but in many cases in real engineering, the radiation data field is unknown. It is difficult to construct a grid model based on the search algorithm based on the grid model for an unknown radiation data field. Moreover, as the grid cell size decreases, the calculation time will increase exponentially regardless of any search algorithm. In addition, since the grid model is predefined, it needs to be updated with each change in the environment when simulating a dynamic environment. The search algorithm based on the grid model cannot adapt to dynamic environments.

[0004] The other is a search algorithm based on sampling, in which the path is determined by randomly generated sample points, not by grid cells. Therefore, the dose rate of any point, i.e. the continuous dose field, is required. In addition, it does not require a predefined obstacle map, and obstacles are considered through collision detection during sample point generation and connection. The path is composed of the connection of sample points, so the accuracy depends on the number of sample points. The dose of the sample point of the search algorithm based on sampling can be calculated for a known radiation field, but in many cases in real engineering, the radiation data field is unknown. Moreover, if the sample points are not connected to the target point before reaching the predetermined number of sample points, the path is not established, so there is a probability of success in path creation. In particular, in an obstacle environment with complex geometry and narrow passages, the success probability is very low. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a path planning method and device for radiation risk avoidance and electronic equipment.

[0006] The technical solution adopted by the present application to solve the technical problem is: a path planning method for radiation risk avoidance is constructed, comprising the following steps:

[0007] calculating a radiation dose of the radiation source;

[0008] determining a radiation repulsive force of the radiation source based on the radiation dose of the radiation source in combination with an artificial potential field method;

[0009] calculating a target attractive force generated by a target point according to the artificial potential field method;

[0010] calculating a resultant force of the moving object according to the radiation repulsive force and the target attractive force;

[0011] determining a path of the moving object to avoid radiation irradiation according to the resultant force.

[0012] In the path planning method for radiation risk avoidance, the calculating of the radiation dose of the radiation source comprises:

[0013] obtaining activity data of the radiation source;

[0014] determining a distance between the moving object and the radiation source;

[0015] calculating the radiation dose of the radiation source according to the activity data of the radiation source, the distance and an air kerma rate constant.

[0016] In the path planning method for radiation risk avoidance, the determining of the radiation repulsive force of the radiation source based on the radiation dose of the radiation source in combination with the artificial potential field method comprises:

[0017] constructing a repulsive force field of the radiation source according to the artificial potential field method and the radiation dose of the radiation source;

[0018] calculating the radiation repulsive force of the radiation source according to the repulsive force field of the radiation source.

[0019] In the path planning method for radiation risk avoidance, the calculating of the target attractive force generated by the target point according to the artificial potential field method comprises:

[0020] constructing an attractive force potential field generated by the target point according to the artificial potential field method;

[0021] calculating the target attractive force generated by the target point according to the attractive force potential field generated by the target point.

[0022] In the path planning method for radiation risk avoidance, the constructing of the attractive force potential field generated by the target point according to the artificial potential field method comprises:

[0023] obtaining a coefficient of the target attractive force;

[0024] determining a distance between the moving object and the target point;

[0025] determine the gravitational potential field generated by the target point according to the coefficient of the target gravitational force and the distance between the moving object and the target point.

[0026] In the path planning method for radiation risk avoidance, the step of determining the path of the moving object for avoiding radiation irradiation according to the resultant force comprises:

[0027] obtaining the direction of the resultant force according to the resultant force;

[0028] determining the moving direction of the moving object based on the direction of the resultant force;

[0029] determining the path of the moving object for avoiding radiation irradiation based on the moving direction and the moving step.

[0030] In the path planning method for radiation risk avoidance, the step of determining the path of the moving object for avoiding radiation irradiation based on the moving direction and the moving step comprises:

[0031] determining the current position vector of the moving object according to the moving direction;

[0032] determining the next position vector of the moving object according to the current position vector and the moving step;

[0033] determining the path of the moving object for avoiding radiation irradiation based on the next position vector of the moving object.

[0034] In the path planning method for radiation risk avoidance, the path of the moving object for avoiding radiation irradiation is a position point passed by the moving object, and each position point is the next position vector calculated according to the current position vector and the moving step.

[0035] The application further provides a path planning device for radiation risk avoidance, comprising:

[0036] a radiation dose calculation unit configured to calculate the radiation dose of a radiation source;

[0037] a radiation repulsive force determination unit configured to determine the radiation repulsive force of the radiation source based on the radiation dose of the radiation source and in combination with the artificial potential field method;

[0038] a target gravitational force calculation unit configured to calculate the target gravitational force generated by a target point according to the artificial potential field method;

[0039] a resultant force calculation unit configured to calculate the resultant force of a moving object according to the radiation repulsive force and the target gravitational force;

[0040] a path planning unit configured to determine the path of the moving object for avoiding radiation irradiation according to the resultant force.

[0041] In the path planning device for radiation risk avoidance, the radiation dose calculation unit is specifically configured to:

[0042] obtain activity data of the radiation source;

[0043] determine a distance between the moving object and the radiation source;

[0044] calculate the radiation dose of the radiation source according to the activity data of the radiation source, the distance, and an air kerma rate constant.

[0045] In the path planning device for radiation risk avoidance, the radiation repulsion force determination unit is specifically configured to:

[0046] construct a repulsion force field of the radiation source according to the artificial potential field method and the radiation dose of the radiation source;

[0047] calculate the radiation repulsion force of the radiation source according to the repulsion force field of the radiation source.

[0048] In the path planning device for radiation risk avoidance, the target attraction force calculation unit is specifically configured to:

[0049] construct an attraction force potential field generated by a target point according to the artificial potential field method;

[0050] calculate a target attraction force generated by the target point according to the attraction force potential field generated by the target point.

[0051] In the path planning device for radiation risk avoidance, the construction of the attraction force potential field generated by the target point according to the artificial potential field method comprises:

[0052] obtain a coefficient of the target attraction force;

[0053] determine a distance between the moving object and the target point;

[0054] determine the attraction force potential field generated by the target point according to the coefficient of the target attraction force and the distance between the moving object and the target point.

[0055] In the path planning device for radiation risk avoidance, the path planning unit is specifically configured to:

[0056] obtain a direction of the resultant force according to the resultant force;

[0057] determine a moving direction of the moving object based on the direction of the resultant force;

[0058] determine a path of the moving object for avoiding radiation irradiation based on the moving direction and a moving step length.

[0059] In the radiation risk avoidance path planning device, the determination of the path of the moving object avoiding radiation exposure based on the moving direction and the moving step length comprises:

[0060] determining a current position vector of the moving object according to the moving direction;

[0061] determining a next step position vector of the moving object according to the current position vector and the moving step length;

[0062] determining the path of the moving object avoiding radiation exposure based on the next step position vector of the moving object.

[0063] In the radiation risk avoidance path planning device, the path of the moving object avoiding radiation exposure is a position point passed by the moving object, and each position point is a next step position vector calculated according to the current position vector and the moving step length.

[0064] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is adapted to be loaded by a processor to execute the steps of the radiation risk avoidance path planning method.

[0065] The application further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the steps of the radiation risk avoidance path planning method by calling the computer program stored in the memory.

[0066] The radiation risk avoidance path planning method, device and electronic device have the following beneficial effects: the method comprises the steps of calculating the radiation dose of a radiation source, determining the radiation repulsion of the radiation source based on the radiation dose of the radiation source and combining the artificial potential field method, calculating the target attraction generated by a target point according to the artificial potential field method, calculating the resultant force of the moving object according to the radiation repulsion and the target attraction, and determining the path of the moving object avoiding radiation exposure according to the resultant force. The application uses the radiation dose of the radiation source to plan the path of radiation risk avoidance, effectively solves the problem of unknown global radiation data field and navigation modeling, calculates the target attraction according to the target point, and makes the moving object dynamically move away from the radiation source and approach the target until the target is reached, thereby forming an accurate and reliable radiation risk avoidance path. BRIEF DESCRIPTION OF DRAWINGS

[0067] The application will be further described below with reference to the drawings and embodiments, and the drawings show:

[0068] Figure 1 is a flowchart of the radiation risk avoidance path planning method provided by the embodiments of the application.

[0069] Figure 2 is a single radiation source radiation risk avoidance model schematic diagram provided by the embodiment of the present application;

[0070] Figure 3 is a principle block diagram of a radiation risk avoidance path planning device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0072] In order to solve how to represent the navigation environment model of unknown radiation data field, make the moving object far away from the high-risk area, and approach the target until reaching the target, the present application provides a radiation risk avoidance path planning method, which is a path planning method for avoiding radiation based on the principle of artificial potential field method.

[0073] The basic principle of the artificial potential field method is that the robot in the environment determines its motion information according to the influence of the combined potential field composed of the attractive force potential field from the target point and the repulsive force potential field from the obstacle. Based on this principle, the present application designs the radiation risk avoidance path planning method in combination with the point source radiation model.

[0074] Specifically, in an optimized embodiment, as shown in Figure 1 the radiation risk avoidance path planning method includes the following steps:

[0075] Step S10, calculating the radiation dose of the radiation source.

[0076] In the embodiments of the present application, the radiation source includes but is not limited to specific radiation energy radioactive point sources such as gamma radioactive point sources and beta radioactive point sources. In the embodiments of the present application, the gamma radioactive point source is taken as an example for description. The radiation source referred to in the present application is a radiation point source.

[0077] Optionally, in the embodiments of the present application, calculating the radiation dose of the radiation source includes: obtaining activity data of the radiation source; determining the distance between the moving object and the radiation source; and calculating the radiation dose of the radiation source according to the activity data of the radiation source, the distance and the air kerma rate constant.

[0078] Specifically, a radiation field generated by a gamma radioactive point source in a limited space is modeled, and a point source radiation model is used to calculate the radiation dose. The radiation dose generated by the gamma radioactive point source is the air absorption dose rate at a given position, and the air absorption dose rate at a given position is the sum of the dose rate of each gamma radioactive point source, that is:

[0079] D a =∑AT k / r 2 (1)。

[0080] (1) In the formula, A is the activity of the radiation point source, r is the distance to the radiation point source, and T k is the air kerma rate constant.

[0081] Therefore, after determining the activity data of the radiation point source and the distance between the moving object and the radiation source, the radiation dose of the radiation source can be calculated according to formula (1).

[0082] Step S20, based on the radiation dose of the radiation source, the radiation repulsion of the radiation source is determined by combining the artificial potential field method.

[0083] In the embodiment of the application, based on the radiation dose of the radiation source, the radiation repulsion of the radiation source is determined by combining the artificial potential field method, which includes: constructing the repulsion field of the radiation source according to the artificial potential field method and the radiation dose of the radiation source; and calculating the radiation repulsion of the radiation source according to the repulsion field of the radiation source.

[0084] Specifically, according to the artificial potential field method, a radiation source model is introduced to construct a repulsion potential field generated by a radiation source, denoted as U r (q), that is:

[0085]

[0086] (2) In the formula, k r is the coefficient of the radiation repulsion, is the radiation influence constant, and D a (q,q so ) is the air absorption dose rate generated by the radiation point source at position q so to the moving object at position q.

[0087] When , the radiation point source generates repulsion to the moving object at position q, and vice versa.

[0088] According to the repulsion potential field generated by the radiation source, the radiation repulsion (F r (q)) generated by the radiation source can be calculated, and the calculation formula is as follows:

[0089]

[0090] Therefore, the radiation repulsion of the radiation source can be calculated according to the formula (3).

[0091] In step S30, the target attraction generated by the target point is calculated according to the artificial potential field method.

[0092] In the embodiment of the present application, the target attraction generated by the target point is calculated according to the artificial potential field method, which includes: constructing an attraction potential field generated by the target point according to the artificial potential field method; and calculating the target attraction generated by the target point according to the attraction potential field generated by the target point.

[0093] In the embodiment of the present application, the target attraction generated by the target point is calculated according to the artificial potential field method, which includes: constructing an attraction potential field generated by the target point according to the artificial potential field method; and calculating the target attraction generated by the target point according to the attraction potential field generated by the target point.

[0094] Specifically, an attraction potential field generated by a target point can be constructed according to the artificial potential field method, which is denoted as U a (q), which can be obtained by the following formula:

[0095]

[0096] In the formula (4), k a is a coefficient of the target attraction, and p(q, q go ) is a distance between the position q and the target point q go .

[0097] According to the formula (4), the target attraction generated by a target point can be calculated, wherein the target attraction generated by the target point at the position q is F a (q), which can be calculated by the following formula:

[0098]

[0099] In step S40, the resultant force of the moving object is calculated according to the radiation repulsion and the target attraction.

[0100] Specifically, as described above, the resultant force F Total of the moving object at the position q is a vector sum of the radiation repulsion generated by the radiation source to the moving object and the attraction generated by the target point to the moving object, and the calculation formula is:

[0101]

[0102] The resultant force of the moving object at the position q can be calculated by substituting the formula (3) and the formula (5) into the formula (6).

[0103] In step S50, the path of the moving object for avoiding the radiation irradiation is determined according to the resultant force.

[0104] In this embodiment of the invention, the method of searching for a moving object to avoid radiation irradiation based on the resultant force includes: obtaining the direction of the resultant force based on the resultant force; determining the moving direction of the moving object based on the direction of the resultant force; and determining the path of the moving object to avoid radiation irradiation based on the moving direction and the moving step size.

[0105] In this embodiment of the invention, determining the path for a moving object to avoid radiation irradiation based on the movement direction and movement step size includes: determining the current position vector of the moving object based on the movement direction; determining the next position vector of the moving object based on the current position vector and the movement step size; and determining the path for the moving object to avoid radiation irradiation based on the next position vector of the moving object. The path for the moving object to avoid radiation irradiation consists of the position points traversed by the moving object, and each position point is the next position vector calculated based on the current position vector and the movement step size.

[0106] Specifically, after calculating the resultant force on the moving object using equation (6), the direction of the resultant force can be determined. The direction of the resultant force is the direction in which the moving object will move next. Therefore, the direction of the moving object's movement can be determined based on the direction of the resultant force. Thus, the displacement process of the moving object is as follows:

[0107]

[0108] in, The current position vector of the moving object. This is the next position vector of the moving object. Let be the movement vector. It is a constant that can be preset.

[0109] Therefore, the path taken by a moving object to avoid high-intensity radiation can be represented as a sequence of position points P, i.e.:

[0110] P = {q0, q1, ..., q} n} (8).

[0111] (8) In the formula, q0,q1,...,q n This refers to the position points that the moving object has passed through.

[0112] in Figure 2 A radiation risk avoidance model for a single gamma point source is presented, consisting of... Figure 2 It can be seen that the radiation source exerts a repulsive force on the moving object, and the target point exerts an attractive force on the moving object; the resultant force guides the moving object to the next position. Among these forces, the coefficient k of the radiation repulsive force... r The coefficient k of the target gravity a All are values ​​greater than 1, k r and k aDifferent radiation avoidance effects can be achieved by selecting different combinations. For example, when tending to reach the target point faster, k a is taken as large, k r is taken as small.

[0113] The present application proposes a method of replacing the entire radiation data field with a point source model, which can solve the problem of unknown global radiation data field and navigation modeling. The radiation repulsion of the radiation source can be calculated according to the point source radiation model, so that the moving object can move away from the radiation source according to the repulsion. Different sizes of repulsion make the moving object move away from the radiation source by different distances. Moreover, the present application can also calculate the target attraction of the target point, so that the moving object can gradually tend to the target point until it reaches the target point.

[0114] It should be noted that the target point in the embodiments of the present application is the destination that the moving object needs to reach, and the moving object can be a person.

[0115] Reference Figure 3 The present application provides a path planning device for radiation risk avoidance, specifically comprising:

[0116] The radiation dose calculation unit 301 is configured to calculate the radiation dose of the radiation source.

[0117] Specifically, in the embodiments of the present application, the radiation dose calculation unit 301 is specifically configured to: obtain the activity data of the radiation source; determine the distance between the moving object and the radiation source; and calculate the radiation dose of the radiation source according to the activity data of the radiation source, the distance and the air kerma rate constant.

[0118] The radiation repulsion determination unit 302 is configured to determine the radiation repulsion of the radiation source based on the radiation dose of the radiation source and in combination with the artificial potential field method.

[0119] Specifically, in the embodiments of the present application, the radiation repulsion determination unit 302 is specifically configured to: construct the repulsion field of the radiation source according to the artificial potential field method and the radiation dose of the radiation source; and calculate the radiation repulsion of the radiation source according to the repulsion field of the radiation source.

[0120] The target attraction calculation unit 303 is configured to calculate the target attraction generated by the target point according to the artificial potential field method.

[0121] Specifically, in the embodiments of the present application, the target attraction calculation unit 303 is specifically configured to: construct the attraction potential field generated by the target point according to the artificial potential field method; and calculate the target attraction generated by the target point according to the attraction potential field generated by the target point. Wherein, constructing the attraction potential field generated by the target point according to the artificial potential field method comprises: obtaining the coefficient of the target attraction; determining the distance between the moving object and the target point; and determining the attraction potential field generated by the target point according to the coefficient of the target attraction and the distance between the moving object and the target point.

[0122] The resultant force calculation unit 304 is configured to calculate the resultant force of the moving object according to the radiation repulsive force and the target attractive force.

[0123] The path planning unit 305 is configured to determine the path of the moving object to avoid the radiation exposure according to the resultant force.

[0124] Specifically, in the embodiment of the present application, the path planning unit 305 is specifically configured to: obtain the direction of the resultant force according to the resultant force; determine the moving direction of the moving object based on the direction of the resultant force; and determine the path of the moving object to avoid the radiation exposure based on the moving direction and the moving step length.

[0125] In the embodiment of the present application, the determination of the path of the moving object to avoid the radiation exposure based on the moving direction and the moving step length includes: determining the current position vector of the moving object according to the moving direction; determining the next step position vector of the moving object according to the current position vector and the moving step length; and determining the path of the moving object to avoid the radiation exposure based on the next step position vector of the moving object. Wherein, the path of the moving object to avoid the radiation exposure is the position points passed by the moving object, and each position point is the next step position vector calculated according to the current position vector and the moving step length.

[0126] Specifically, the specific cooperation operation process between the units in the radiation risk avoidance path planning device can refer to the above-mentioned radiation risk avoidance path planning method, which will not be described here.

[0127] In addition, the electronic device of the present application includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to realize the radiation risk avoidance path planning method of any one of the above. Specifically, according to the embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiment of the present application includes a computer program product including a computer program carried on a computer readable medium, the computer program including program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by the electronic device and executed to perform the above-mentioned functions defined in the method of the embodiment of the present application. The electronic device in the present application can be a notebook, desktop, tablet computer, smart phone and other terminal, or a server.

[0128] In addition, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the radiation risk avoiding path planning method according to any one of the above. Specifically, it should be noted that the storage medium of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the above two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection with one or more conductive wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to a wire, a cable, an RF (radio frequency) or the like, or any suitable combination of the above.

[0129] The above computer readable medium can be included in the above electronic device, or can exist separately and not be assembled into the electronic device.

[0130] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant part can be referred to the method part.

[0131] Those skilled in the art will further realize that the mere conception of the examples described herein is not inducing the patentable subject matter recited in each claim. The combinations and / or sequences of various example elements, steps, operations, actions, and / or functions described in each example are not necessarily the only possible combinations and / or sequences for practicing the claimed subject matter. Those skilled in the art will further realize that the mechanisms of the various examples described herein are for implementing the several embodiments and are not meant to be limiting as to the scope of the claimed subject matter. That is, the protection afforded to the claimed subject matter is not limited to the mechanisms of practicing the described examples. Therefore, the claimed subject matter should be understood to encompass a variety of subject matter, and equally obvious to those in the art, including but not limited to the following:

[0132] The steps of a method or algorithm described in connection with the examples disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM, flash memory, ROM, electrically programmable ROM (EPROM or EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC.

[0133] The examples described herein are only for illustrating the technical concepts and features of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it accordingly, and cannot limit the protection scope of the present application. Any equivalent changes and modifications made within the scope of the claims of the present application shall belong to the scope of protection of the claims of the present application.

Claims

1. A radiation risk avoidance path planning method, applied to a case where a global radiation data field is unknown, characterized in that, The method comprises the following steps: calculating a radiation dose of a radiation source; wherein the calculation is based on a point source radiation model; the calculation of the radiation dose of the radiation source comprises: obtaining activity data of the radiation source; determining a distance between a moving object and the radiation source; and calculating the radiation dose of the radiation source according to the activity data of the radiation source, the distance and an air kerma rate constant; Based on the radiation dose of the radiation source, and using the artificial potential field method, the radiation repulsion force of the radiation source is determined, including: constructing the repulsion field of the radiation source according to the artificial potential field method and the radiation dose of the radiation source. In the formula It is the coefficient of radiation repulsion. It is the radiation effect constant. The position is q so The location of the radiation point source is q The air absorbed dose rate generated by the moving object; calculating, according to the repulsive field of the radiation source, a radiation repulsive force of the radiation source, ; calculating a target attractive force generated by a target point according to the artificial potential field method; calculating a resultant force of the moving object according to the radiation repulsive force and the target attractive force; determining a path of the moving object for avoiding radiation irradiation according to the resultant force.

2. The radiation risk-averse path planning method of claim 1, wherein, The calculation of the target attractive force generated by the target point according to the artificial potential field method comprises: constructing an attractive force potential field generated by the target point according to the artificial potential field method; calculating the target attractive force generated by the target point according to the attractive force potential field generated by the target point.

3. The radiation risk-averse path planning method of claim 2, wherein, The construction of the attractive force potential field generated by the target point according to the artificial potential field method comprises: obtaining a coefficient of the target attractive force; determining a distance between the moving object and the target point; determining the attractive force potential field generated by the target point according to the coefficient of the target attractive force and the distance between the moving object and the target point.

4. The radiation risk-averse path planning method of claim 1, wherein, The search for the path of the moving object for avoiding radiation irradiation according to the resultant force comprises: obtaining a direction of the resultant force according to the resultant force; determining a moving direction of the moving object based on the direction of the resultant force; determining the path of the moving object for avoiding radiation irradiation based on the moving direction and a moving step.

5. The radiation risk-averse path planning method of claim 4, wherein, The determination of the path of the moving object for avoiding radiation irradiation based on the moving direction and the moving step comprises: determining a current position vector of the moving object according to the moving direction; determining a next step position vector of the moving object according to the current position vector and the moving step; determining the path of the moving object for avoiding radiation irradiation based on the next step position vector of the moving object.

6. The radiation risk-averse path planning method of claim 5, wherein, The path of the moving object for avoiding radiation irradiation is a position point passed through by the moving object, and each position point is the next step position vector calculated according to the current position vector and the moving step.

7. A radiation risk-averse path planning apparatus operating in the case where a global radiation data field is unknown, characterized in that, The device comprises: a radiation dose calculation unit configured to calculate a radiation dose of a radiation source; the calculation is based on a point source radiation model; the radiation dose calculation unit is specifically configured to: obtain activity data of the radiation source; determine a distance between a moving object and the radiation source; calculate the radiation dose of the radiation source according to the activity data of the radiation source, the distance and an air kerma rate constant; A radiation repulsion force determination unit is used to determine the radiation repulsion force of the radiation source based on the radiation dose of the radiation source and in conjunction with an artificial potential field method. This includes: constructing a repulsion field for the radiation source based on the artificial potential field method and the radiation dose of the radiation source. In the formula It is the coefficient of radiation repulsion. It is the radiation effect constant. The position is q so The location of the radiation point source is q The air absorbed dose rate generated by the moving object; calculating, according to the repulsive field of the radiation source, a radiation repulsive force of the radiation source, ; a target attractive force calculation unit configured to calculate a target attractive force generated by a target point according to the artificial potential field method; a resultant force calculation unit configured to calculate a resultant force of the moving object according to the radiation repulsive force and the target attractive force; a path planning unit configured to determine a path of the moving object for avoiding radiation irradiation according to the resultant force.

8. The radiation risk averted path planning apparatus of claim 7, wherein, The target attractive force calculation unit is specifically configured to: construct an attractive force potential field generated by the target point according to the artificial potential field method; calculate the target attractive force generated by the target point according to the attractive force potential field generated by the target point.

9. The radiation risk averted path planning apparatus of claim 8, wherein, The construction of the attractive force potential field generated by the target point according to the artificial potential field method comprises: obtain a coefficient of the target attractive force; determine a distance between the moving object and the target point; determine the attractive force potential field generated by the target point according to the coefficient of the target attractive force and the distance between the moving object and the target point. determine a distance between the moving object and the target point; determine a gravitational potential field generated by the target point according to the coefficient of the target gravity and the distance between the moving object and the target point.

10. The radiation risk-averse path planning device of claim 7, wherein, The path planning unit is specifically configured to: obtain a direction of the resultant force according to the resultant force; determine a moving direction of the moving object based on the direction of the resultant force; determine a path of the moving object for avoiding radiation exposure based on the moving direction and a moving step length.

11. The radiation risk averted path planning apparatus of claim 10, wherein, The determination of the path of the moving object for avoiding radiation exposure based on the moving direction and the moving step length comprises: determine a current position vector of the moving object according to the moving direction; determine a next step position vector of the moving object according to the current position vector and the moving step length; determine the path of the moving object for avoiding radiation exposure based on the next step position vector of the moving object.

12. The radiation risk-averse path planning device of claim 11, wherein, The path of the moving object for avoiding radiation exposure is a position point passed by the moving object, and each position point is a next step position vector calculated according to the current position vector and the moving step length.

13. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is adapted to be loaded by a processor to execute steps of the path planning method for avoiding radiation risk according to any one of claims 1 to 6.

14. An electronic device, comprising: The device comprises a memory and a processor, the memory stores a computer program, and the processor executes steps of the path planning method for avoiding radiation risk according to any one of claims 1 to 6 by calling the computer program stored in the memory.

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