Rapid location device and method for radioactive sources

Abstract

A rapid radioactive source location device and method are disclosed, relating to the field of nuclear radiation detection technology. The rapid radioactive source location device includes a housing assembly, a collimator assembly, a camera, and Geiger tube nuclear radiation sensors. The housing assembly includes a top cover and a base. The collimator assembly includes collimator A and collimator B. The camera includes a lens and an active pixel sensor. The lens slides into the inner hole of collimator A. The active pixel sensor is located inside the lens and faces it. Multiple Geiger tube nuclear radiation sensors are slidably installed in the inner holes of each collimator B. The advantages of this invention are that it utilizes the high sensitivity of the Geiger tube nuclear radiation sensor at extremely low radiation intensities and the radiation response of the active pixel sensor at low to high radiation intensities, meeting the wide-range detection requirements for searching and locating radioactive sources, and enabling radioactivity level detection in various complex environments.

Description

Technical Field

[0001] This invention relates to the field of nuclear radiation detection technology, and in particular to a rapid radioactive source location device and method. Background Technology

[0002] Nuclear leak monitoring is a crucial aspect of reactor operation monitoring. Failure to detect and control nuclear leaks in a timely manner will lead to increasingly severe consequences and impacts over time. Currently, reactor nuclear leak monitoring technologies primarily rely on methods such as temperature, humidity, vibration, and radiation measurements. However, these methods can only determine the approximate location of the leak and cannot provide a direct, rapid, and precise search for and pinpoint the location of the nuclear leak / radioactive source.

[0003] Radiation field monitoring is essential for operations in unknown, high-radiation environments (e.g., nuclear safety accidents, nuclear terrorist attacks, and nuclear military experiments). It provides necessary data support for understanding the situation on-site, developing operational plans, and assisting in mission execution. Currently, radiation field monitoring is significantly affected by radiation environmental conditions, and traditional nuclear radiation detectors struggle to simultaneously meet the requirements of wide-range detection and intuitive, rapid, and accurate identification of radioactive sources / nuclear leaks.

[0004] In conclusion, it is essential to develop a rapid radioactive source location device that can intuitively, quickly, and accurately locate radioactive sources and meet the requirements of wide-range detection. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a rapid radioactive source location device and method. It solves the problem that current nuclear leak monitoring methods cannot intuitively, quickly, and accurately search and locate the location of nuclear leaks / radioactive sources. It also solves the problem that current radiation field monitoring methods cannot simultaneously satisfy the requirements of intuitive, rapid, and accurate search and location of nuclear leaks / radioactive sources as well as wide-range detection.

[0006] The technical solution of the present invention is: a rapid radioactive source positioning device, comprising a shell assembly, a collimator assembly, a camera, a Geiger tube nuclear radiation sensor, a data communication module, and a display terminal;

[0007] The housing assembly includes a top cover and a base; the top cover is fixedly mounted on the base, and the two together form a mounting cavity for accommodating the camera and data communication module. The top cover consists of a top wall and a side wall vertically connected to the edge of the top wall. The top wall is provided with mounting holes A and B, both of which are connected to the mounting cavity. Mounting hole A is located at the center of the top wall, and multiple mounting holes B are distributed around mounting hole A on the top wall.

[0008] The collimator assembly includes collimator A and collimator B; both collimator A and collimator B are sleeve-shaped with open ends, and both collimator A and collimator B are made of radiation shielding material. Collimator A is fixedly installed in mounting hole A, and multiple collimators B are fixedly installed in each mounting hole B respectively.

[0009] The camera includes a lens, an active pixel sensor, a circuit board, and a motherboard. The lens is fixedly mounted on the circuit board and slides into the inner hole of the collimator A. The field of view of the lens is conical, limited by the edge of the aperture of the collimator A. As the lens moves within the inner hole of the collimator A, the cone angle of the conical field of view expands or shrinks. The active pixel sensor is fixedly mounted on the circuit board and is located inside the lens and directly opposite it. The motherboard has a fixedly mounted SOC chip and a power supply interface. The motherboard and the circuit board are connected via DuPont connectors.

[0010] Multiple Geiger tube radiation sensors are slidably installed in the inner holes of each collimator B. The detection field of the Geiger tube radiation sensor is conical due to the edge of the aperture of the collimator B. As the Geiger tube radiation sensor moves in the inner hole of the collimator B, the cone angle of the conical detection field expands or shrinks accordingly.

[0011] The data communication module is connected to the camera motherboard and each Geiger tube nuclear radiation sensor, and is used to collect images captured by the camera and detection data from the Geiger tube nuclear radiation sensors; the data communication module is also connected to the display terminal, and is used to transmit the collected data to the display terminal.

[0012] A further technical solution of the present invention is: there are four sets of mounting holes B on the top cover. The first set is symmetrically arranged on the left and right sides of the mounting hole A, the second set is symmetrically arranged on the upper and lower ends of the mounting hole A, the third set is symmetrically arranged on the upper left end and the lower right end of the mounting hole A, and the fourth set is symmetrically arranged on the upper right end and the lower left end of the mounting hole A.

[0013] A further technical solution of the present invention is as follows: it also includes an automatic telescopic control component; the automatic telescopic control component includes connecting rods and telescopic drive components; multiple connecting rods are respectively connected between each Geiger tube nuclear radiation sensor and the circuit board, thereby fixing all Geiger tube sensors and the circuit board together; the telescopic drive component is fixedly installed between the base and the main board, and is used to drive the camera and all Geiger tube nuclear radiation sensors to move synchronously in a straight line; during the linear movement, the lens of the camera moves along the inner hole of the collimator A, and all Geiger tube nuclear radiation sensors move synchronously along the inner hole of their respective sliding collimators B.

[0014] The technical solution of the present invention is: a method for rapid localization of a radioactive source, based on the above-mentioned rapid localization device for a radioactive source, the method being as follows:

[0015] S01, Preliminary Preparations:

[0016] The rapid radioactive source location device is mounted on a nuclear robot. The nuclear robot provides power to the rapid radioactive source location device. The movement of the nuclear robot causes the rapid radioactive source location device to change its orientation. The movement of the nuclear robot is controlled to bring the rapid radioactive source location device into the radiation field.

[0017] S02, extensive search for radioactive sources:

[0018] a. Control the telescopic drive to move the camera lens and all Geiger tube nuclear radiation sensors toward the top cover, thereby receiving radiation in a relatively wide space; wherein, the camera lens moves along the inner hole of collimator A, thereby expanding the cone angle of the cone-shaped observation field of view; wherein, all Geiger tube nuclear radiation sensors move along their respective collimator B inner holes, thereby expanding the cone angle of the cone-shaped detection field of view.

[0019] b. Control the movement of the nuclear robot to arbitrarily change the orientation of the rapid radioactive source positioning device. When the radioactive source enters the observation field of the camera lens or the detection field of any Geiger tube nuclear radiation sensor, the detection data can be viewed through the display terminal and the nuclear robot can be controlled to pause its movement. For the image captured by the camera, the location of the radioactive source can be determined based on the position of the radiation response signal on the captured image. For the detection data obtained by the Geiger tube nuclear radiation sensor, the location of the radioactive source can be determined based on the position of the Geiger tube nuclear radiation sensor with the highest detection value on the top cover.

[0020] In this step, the detection data includes: Ⅰ. a black background image containing radiation response signals obtained by processing real-time images captured by the camera; Ⅱ. real-time detection data from each Geiger tube nuclear radiation sensor;

[0021] S03, Precisely locate the radiation source:

[0022] a. Based on the detection data displayed on the display terminal, control the nuclear robot to change its orientation, causing the rapid positioning device of the radiation source to face the radiation source directly. As the orientation is adjusted, the radiation response signal tends to be evenly distributed in the captured image. As the orientation is adjusted, the detection values ​​of each Geiger tube nuclear radiation sensor tend to be consistent.

[0023] b. Control the nuclear robot to move towards the radiation source, and simultaneously perform the following two operations during the movement: I. Control the telescopic drive to move the camera lens and all Geiger tube radiation sensors away from the top cover to block scattered rays from the radiation source; wherein, the camera lens moves along the inner hole of collimator A to reduce the cone angle of the cone-shaped observation field of view, and all Geiger tube radiation sensors move along the inner hole of their respective collimators B to reduce the cone angle of the cone-shaped detection field of view; II. Based on the detection data displayed on the display terminal, control the nuclear robot to adjust the orientation of the rapid positioning device for the radiation source in real time to keep the camera lens facing the radiation source.

[0024] c. As the rapid radioactive source locator gradually approaches the radioactive source, the location of the radioactive source is finally determined by combining the images captured by the camera.

[0025] In this step, as the rapid radioactive source location device moves closer to the radioactive source, the quantity and intensity of the radiation response signals are increased in the captured images, and the detection values ​​of each Geiger tube nuclear radiation sensor are also increased.

[0026] A further technical solution of the present invention is as follows: In steps S02 and S03, when the radiation intensity exceeds the detection limit of the Geiger tube nuclear radiation sensor, all detection values ​​of the Geiger tube nuclear radiation sensors display the maximum value, the detection data of the Geiger tube nuclear radiation sensors are ignored, and the radiation distribution is analyzed using the image captured by the active pixel sensor; when the radiation intensity is lower than the detection limit of the Geiger tube nuclear radiation sensor, no response signal is generated in the image captured by the camera, the image captured by the camera is ignored, and the radiation distribution is analyzed using the detection data of the Geiger tube nuclear radiation sensor.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. It combines a Geiger tube nuclear radiation sensor with an active pixel sensor, utilizing the high sensitivity of the Geiger tube nuclear radiation sensor at extremely low radiation intensities (below 1 Gy) and the radiation responsiveness of the active pixel sensor at low to high radiation intensities (1-1000 Gy). This meets the wide-range detection requirements for searching and locating radioactive sources / nuclear leaks (when the radiation intensity exceeds the detection limit of the Geiger tube nuclear radiation sensor, the detection data of the Geiger tube nuclear radiation sensor is ignored, and the radiation distribution is analyzed using images captured by the active pixel sensor; when the radiation intensity is below the detection limit of the Geiger tube nuclear radiation sensor, there is basically no response signal in the images captured by the active pixel sensor, and the radiation distribution is analyzed using the monitoring data of the Geiger tube nuclear radiation sensor). This enables the detection of radioactivity levels in various complex environments.

[0029] 2. It utilizes collimator A to limit the detection field of view of the camera (which can only detect radiation signals within a cone-shaped area), and then controls the camera lens to move back and forth within the inner hole of collimator A to adjust the cone angle of the detection field of view; it utilizes collimator B to limit the detection field of view of the Geiger tube nuclear radiation sensor (which can only detect radiation signals within a cone-shaped area), and then controls the Geiger tube nuclear radiation sensor to move back and forth within the inner hole of collimator B through an automatic telescopic control component to adjust the cone angle of the detection field of view; the field of view limiting and adjustment structure provided in the device satisfies the underlying logic of the detection range narrowing from wide to narrow in the nuclear radiation source localization method.

[0030] 3. By extracting and statistically analyzing the radiation response signals in the images captured by the active pixel sensors, the approximate location (for cases where the camera's field of view has a large cone angle) or precise location (for cases where the camera's field of view has a small cone angle) of the radiation source can be determined. Statistical analysis of the detection data from all Geiger tube nuclear radiation sensors can also determine the approximate location (for cases where the Geiger tube nuclear radiation sensor's field of view has a large cone angle) or precise location (for cases where the Geiger tube nuclear radiation sensor's field of view has a small cone angle). Based on the selection of active pixel sensors and the planar dispersion of multiple Geiger tube nuclear radiation sensors, the requirement for determining the direction of the radiation source in nuclear radiation source localization methods is met.

[0031] 4. The combined use of Geiger tube nuclear radiation sensors and active pixel sensors enables the monitoring of radioactivity levels in the direction of the camera's target. The combination of nuclear radiation information and video information facilitates operators in maneuvering robots, enabling more efficient location of radioactive sources or nuclear leak points. It also allows for the timely transmission of real images of the radioactive source or leak point and surrounding scenery, providing better decision-making support for the next steps in the mission.

[0032] The present invention will be further described below with reference to the figures and embodiments. Attached Figure Description

[0033] Figure 1 This is a structural diagram of the present invention;

[0034] Figure 2 This is an exploded view of the present invention;

[0035] Figure 3 This is a diagram showing the electrical connections of the various power-required components in this invention;

[0036] Figure 4 This is a diagram showing the change in the detection field of view of the Geiger tube nuclear radiation sensor.

[0037] Figure 5 This is a diagram showing the changes in the camera's field of view.

[0038] Legend: Top cover 11; Base 12; Collimator A21; Collimator B22; Camera 3; Lens 31; Active pixel sensor 32; Circuit board 33; Main board 34; Geiger tube nuclear radiation sensor 4; Data communication module 5; Display terminal 6. Implementation

[0039] Example

[0040] like Figure 1-5 As shown, the rapid positioning device for radiation sources includes a housing assembly, a collimator assembly, a camera 3, a Geiger tube nuclear radiation sensor 4, a data communication module 5, and a display terminal 6.

[0041] The housing assembly includes a top cover 11 and a base 12. The top cover 11 is fixedly mounted on the base 12, and the two together form a mounting cavity for accommodating the camera and data communication module. The top cover 11 consists of a top wall and a side wall vertically connected to the edge of the top wall. The top wall has mounting holes A and B, both of which communicate with the mounting cavity. Mounting hole A is located at the center of the top wall, and multiple mounting holes B are distributed around mounting hole A on the top wall.

[0042] The collimator assembly includes collimator A21 and collimator B22. Both collimator A21 and collimator B22 are sleeve-shaped with open ends. Both collimator A21 and collimator B22 are made of radiation shielding material. Collimator A21 is fixedly installed in the mounting hole A of the top cover 11, and multiple collimators B22 are respectively fixedly installed in the mounting holes B of the top cover 11.

[0043] Camera 3 includes a lens 31, an active pixel sensor 32, a circuit board 33, and a motherboard 34. The lens 31 is fixedly mounted on the circuit board 33, and slides within the inner hole of the collimator A21. The field of view of the lens 31 is conical, limited by the edge of the aperture of the collimator A21. As the lens 31 moves within the inner hole of the collimator A21, the cone angle of the conical field of view expands or shrinks accordingly. The active pixel sensor 32 is fixedly mounted on the circuit board 33, located inside the lens 31 and directly opposite it. The motherboard 34 has a fixedly mounted SOC chip and a power supply interface. The motherboard 34 and the circuit board 33 are connected via a DuPont connector.

[0044] Multiple Geiger tube radiation sensors 4 are slidably installed in the inner holes of each collimator B22. The detection field of the Geiger tube radiation sensor 4 is conical due to the edge of the aperture of the collimator B22. As the Geiger tube radiation sensor 4 moves in the inner hole of the collimator B22, the cone angle of the conical detection field expands or shrinks accordingly.

[0045] The data communication module 5 is connected to the mainboard 34 of the camera 3 and each Geiger tube nuclear radiation sensor 4, and is used to acquire images captured by the camera 3 and detection data from the Geiger tube nuclear radiation sensors 4. The data communication module 5 is also connected to the display terminal 6, and is used to transmit the acquired data to the display terminal.

[0046] Display terminal 6 is a PC, which is used to display real-time captured images from camera 3 and real-time detection data from each Geiger tube nuclear radiation sensor 4, as well as to process the captured images from camera 3 and output a black background image containing radiation response signals.

[0047] Preferably, there are four sets of mounting holes B on the top cover 11. The first set is symmetrically arranged on the left and right sides of the mounting hole A, the second set is symmetrically arranged at the top and bottom ends of the mounting hole A, the third set is symmetrically arranged at the upper left end and lower right end of the mounting hole A, and the fourth set is symmetrically arranged at the upper right end and lower left end of the mounting hole A. Based on this arrangement, when the top cover 11 is tilted towards the radiation source, the orientation of the radiation source can be determined according to the differences in the detection values ​​of the various Geiger tube nuclear radiation sensors.

[0048] Preferably, it also includes an automatic telescopic control component. The automatic telescopic control component includes connecting rods (not shown in the figure) and telescopic drive components (not shown in the figure). Multiple connecting rods are respectively connected between each Geiger tube nuclear radiation sensor 4 and the circuit board 33, thereby fixing all Geiger tube sensors 4 and circuit board 33 together. The telescopic drive component is fixedly installed between the base 12 and the main board 34. It is used to drive the camera 3 and all Geiger tube nuclear radiation sensors 4 to move linearly synchronously. A linear motor, lead screw nut slide, or hydraulic cylinder can be selected (mechanical structure capable of linear reciprocating movement). During the linear movement, the lens 31 of the camera 3 moves along the inner hole of the collimator A21, and all Geiger tube nuclear radiation sensors 4 move synchronously along the inner hole of their respective sliding collimators B22.

[0049] Briefly describe the working principle of this invention:

[0050] The aforementioned rapid radioactive source location device can achieve rapid location of radioactive sources, as described below:

[0051] S01, Preliminary Preparations:

[0052] The rapid radioactive source location device is mounted on a nuclear robot. The device is powered by the robot's own power supply. The robot's movements cause the rapid radioactive source location device to change its orientation, thus controlling the robot's movement and bringing the device into the radiation field of the radioactive source to be located.

[0053] S02, extensive search for radioactive sources:

[0054] a. Control the telescopic drive to move the camera lens 31 and all Geiger tube nuclear radiation sensors 4 toward the top cover 11, thereby receiving the radiation in a relatively wide space; wherein, the camera lens 31 moves along the inner hole of the collimator A21, thereby expanding the cone angle of the cone-shaped observation field of view; wherein, all Geiger tube nuclear radiation sensors 4 move along the inner hole of their respective collimators B22, thereby expanding the cone angle of the cone-shaped detection field of view.

[0055] b. Control the nuclear robot's movements to allow the rapid positioning device for the radioactive source to change its orientation arbitrarily. When the radioactive source enters the field of view of the camera 3 lens 31 or the detection field of any Geiger tube nuclear radiation sensor 4, the detection data can be viewed through the display terminal 6 and the nuclear robot can be controlled to pause its movements. For the image captured by the camera 3, the location of the radioactive source is determined based on the position of the radiation response signal on the captured image (for example, if the radiation response signal is distributed in the upper right of the captured image, it means that the radioactive source is located in the upper right of the camera 3 lens 31). For the detection data obtained by the Geiger tube nuclear radiation sensor 4, the location of the radioactive source is determined based on the position of the Geiger tube nuclear radiation sensor 4 with the highest detection value on the top cover 11 (for example, if the detection value of the Geiger tube nuclear radiation sensor 4 located in the upper right of the mounting hole A is the highest, it means that the radioactive source is located in the upper right of the camera 3 lens 31).

[0056] In this step, the detection data includes: Ⅰ. a black background image containing radiation response signals obtained by processing real-time images captured by the camera; Ⅱ. real-time detection data from each Geiger tube nuclear radiation sensor.

[0057] S03, Precisely locate the radiation source:

[0058] a. Based on the detection data displayed on the display terminal 6, the nuclear robot is controlled to change its orientation, causing the rapid positioning device for the radiation source to change direction, so that the lens 31 of the camera 3 tends to face the radiation source directly. As the orientation is adjusted, the radiation response signal tends to be evenly distributed in the captured image. As the orientation is adjusted, the detection values ​​of each Geiger tube nuclear radiation sensor tend to be consistent with the detection data acquired by the Geiger tube nuclear radiation sensor 4.

[0059] b. Control the nuclear robot to move towards the radiation source, and simultaneously perform the following two operations during the movement: I. Control the telescopic drive to move the camera lens and all Geiger tube radiation sensors away from the top cover to block the scattered rays from the radiation source; wherein, the camera lens 31 moves along the inner hole of the collimator A21 to reduce the cone angle of the cone-shaped observation field of view, and all Geiger tube radiation sensors 4 move along the inner hole of their respective collimators B22 to reduce the cone angle of the cone-shaped detection field of view; II. Based on the detection data displayed on the display terminal, control the nuclear robot to adjust the orientation of the rapid positioning device for the radiation source in real time so that the camera lens 31 remains facing the radiation source;

[0060] c. As the rapid radioactive source location device gradually approaches the radioactive source, the location of the radioactive source is finally determined by combining the images captured by camera 3.

[0061] In this step, as the rapid radioactive source location device moves closer to the radioactive source, the quantity and intensity of the radiation response signals are increased in the captured images, and the detection values ​​of each Geiger tube nuclear radiation sensor are also increased.

[0062] In steps S02 and S03, when the radiation intensity exceeds the detection limit of the Geiger tube nuclear radiation sensor, all Geiger tube nuclear radiation sensors display the maximum value, the detection data of the Geiger tube nuclear radiation sensor is ignored, and the radiation distribution is analyzed using the image captured by the active pixel sensor; when the radiation intensity is lower than the detection limit of the Geiger tube nuclear radiation sensor, no response signal is generated in the image captured by the camera, the image captured by the camera is ignored, and the radiation distribution is analyzed using the detection data of the Geiger tube nuclear radiation sensor.

Claims

1. A rapid radioactive source localization device, characterized by: It includes a housing assembly, a collimator assembly, a camera, a Geiger tube nuclear radiation sensor, a data communication module, and a display terminal; The housing assembly includes a top cover and a base; the top cover is fixedly mounted on the base, and the two together form a mounting cavity for accommodating the camera and data communication module. The top cover consists of a top wall and a side wall vertically connected to the edge of the top wall. The top wall is provided with mounting holes A and B, both of which are connected to the mounting cavity. Mounting hole A is located at the center of the top wall, and multiple mounting holes B are distributed around mounting hole A on the top wall. The collimator assembly includes collimator A and collimator B; both collimator A and collimator B are sleeve-shaped with open ends, and both collimator A and collimator B are made of radiation shielding material. Collimator A is fixedly installed in mounting hole A, and multiple collimators B are fixedly installed in each mounting hole B respectively. The camera includes a lens, an active pixel sensor, a circuit board, and a motherboard. The lens is fixedly mounted on the circuit board and slides into the inner hole of the collimator A. The field of view of the lens is conical, limited by the edge of the aperture of the collimator A. As the lens moves within the inner hole of the collimator A, the cone angle of the conical field of view expands or shrinks. The active pixel sensor is fixedly mounted on the circuit board and is located inside the lens and directly opposite it. The motherboard has a fixedly mounted SOC chip and a power supply interface. The motherboard and the circuit board are connected via DuPont connectors. Multiple Geiger tube radiation sensors are slidably installed in the inner holes of each collimator B. The detection field of the Geiger tube radiation sensor is conical due to the edge of the aperture of the collimator B. As the Geiger tube radiation sensor moves in the inner hole of the collimator B, the cone angle of the conical detection field expands or shrinks accordingly. The data communication module is connected to the camera motherboard and each Geiger tube nuclear radiation sensor, and is used to collect images captured by the camera and detection data from the Geiger tube nuclear radiation sensors; the data communication module is also connected to the display terminal, and is used to transmit the collected data to the display terminal.

2. The rapid radioactive source positioning device as described in claim 1, characterized in that: There are four sets of mounting holes B on the top cover. The first set is symmetrically arranged on the left and right sides of mounting hole A. The second set is symmetrically arranged on the top and bottom ends of mounting hole A. The third set is symmetrically arranged on the upper left and lower right ends of mounting hole A. The fourth set is symmetrically arranged on the upper right and lower left ends of mounting hole A.

3. The rapid radioactive source positioning device as described in claim 2, characterized in that: It also includes an automatic telescopic control component; the automatic telescopic control component includes connecting rods and telescopic drive components; multiple connecting rods are respectively connected between each Geiger tube nuclear radiation sensor and the circuit board, thereby fixing all Geiger tube sensors and the circuit board together; the telescopic drive component is fixedly installed between the base and the main board, and is used to drive the camera and all Geiger tube nuclear radiation sensors to move synchronously in a straight line; during the linear movement, the lens of the camera moves along the inner hole of collimator A, and all Geiger tube nuclear radiation sensors move synchronously along the inner hole of their respective sliding collimators B.

4. A method for rapid localization of a radioactive source, based on the rapid localization device for a radioactive source as described in claim 3, characterized in that the method... as follows: S01, Preliminary Preparations: The rapid radioactive source location device is mounted on a nuclear robot. The nuclear robot provides power to the rapid radioactive source location device. The movement of the nuclear robot causes the rapid radioactive source location device to change its orientation. The movement of the nuclear robot is controlled to bring the rapid radioactive source location device into the radiation field. S02, extensive search for radioactive sources: a. Control the telescopic drive to move the camera lens and all Geiger tube nuclear radiation sensors toward the top cover, thereby receiving radiation in a relatively wide space; wherein, the camera lens moves along the inner hole of collimator A, thereby expanding the cone angle of the cone-shaped observation field of view; wherein, all Geiger tube nuclear radiation sensors move along their respective collimator B inner holes, thereby expanding the cone angle of the cone-shaped detection field of view. b. Control the movement of the nuclear robot to arbitrarily change the orientation of the rapid radioactive source positioning device. When the radioactive source enters the observation field of the camera lens or the detection field of any Geiger tube nuclear radiation sensor, the detection data can be viewed through the display terminal and the nuclear robot can be controlled to pause its movement. For the image captured by the camera, the location of the radioactive source can be determined based on the position of the radiation response signal on the captured image. For the detection data obtained by the Geiger tube nuclear radiation sensor, the location of the radioactive source can be determined based on the position of the Geiger tube nuclear radiation sensor with the highest detection value on the top cover. In this step, the detection data includes: Ⅰ. a black background image containing radiation response signals obtained by processing real-time images captured by the camera; Ⅱ. real-time detection data from each Geiger tube nuclear radiation sensor; S03, Precisely locate the radiation source: a. Based on the detection data displayed on the display terminal, control the nuclear robot to change its orientation, causing the rapid positioning device of the radiation source to face the radiation source directly. As the orientation is adjusted, the radiation response signal tends to be evenly distributed in the captured image. As the orientation is adjusted, the detection values ​​of each Geiger tube nuclear radiation sensor tend to be consistent. b. Control the nuclear robot to move towards the radiation source, and simultaneously perform the following two operations during the movement: I. Control the telescopic drive to move the camera lens and all Geiger tube radiation sensors away from the top cover to block scattered rays from the radiation source; wherein, the camera lens moves along the inner hole of collimator A to reduce the cone angle of the cone-shaped observation field of view, and all Geiger tube radiation sensors move along the inner hole of their respective collimators B to reduce the cone angle of the cone-shaped detection field of view; II. Based on the detection data displayed on the display terminal, control the nuclear robot to adjust the orientation of the rapid positioning device for the radiation source in real time to keep the camera lens facing the radiation source. c. As the rapid radioactive source locator gradually approaches the radioactive source, the location of the radioactive source is finally determined by combining the images captured by the camera. In this step, as the rapid radioactive source location device moves closer to the radioactive source, the quantity and intensity of the radiation response signals are increased in the captured images, and the detection values ​​of each Geiger tube nuclear radiation sensor are also increased.

5. The rapid radioactive source localization method as described in claim 4, characterized in that: In steps S02 and S03, when the radiation intensity exceeds the detection limit of the Geiger tube nuclear radiation sensor, all Geiger tube nuclear radiation sensors display the maximum value, the detection data of the Geiger tube nuclear radiation sensor is ignored, and the radiation distribution is analyzed using the image captured by the active pixel sensor; when the radiation intensity is lower than the detection limit of the Geiger tube nuclear radiation sensor, no response signal is generated in the image captured by the camera, the image captured by the camera is ignored, and the radiation distribution is analyzed using the detection data of the Geiger tube nuclear radiation sensor.

Images