A three-dimensional positioning method and system for indoor radioactive materials

Abstract

The present invention provides a method for three-dimensional positioning of radioactive materials indoors, comprising: step S1, establishing a UWB positioning system; step S2, establishing a Cartesian coordinate system for the indoor environment; step S3, obtaining positioning information of a nuclear detector and the count rate at that location; step S4, collecting the count rates of two adjacent fixed-angle detectors A and B at the same horizontal location; step S5, collecting the count rates of two adjacent fixed-angle detectors A and C at the same vertical location; step S6, inverting to obtain α; step S7, inverting to obtain α1; step S9, measuring the distance between the detector and the radioactive material; and step S10, calculating the coordinates of the radioactive material. The present invention also provides a three-dimensional positioning system for radioactive materials indoors.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear radiation detection, and in particular relates to a three-dimensional positioning method and system for indoor radioactive materials. Background Art

[0002] With the continuous advancement of nuclear technology, various radioactive materials are increasingly being used in scientific research, industry, agriculture, medicine, and other fields. However, the loss of radioactive materials due to improper management and control is a frequent occurrence, and due to limited public awareness, this can easily trigger social panic. Rapid and accurate locating radioactive materials after they are lost requires significant manpower and resources. Emergency search personnel or the public who come into contact with or are in close proximity to lost radioactive materials may be exposed to external or internal radiation, and inhaling or ingesting radioactive particles could lead to acute radiation syndrome or long-term health problems.

[0003] The scenarios for locating radioactive materials can be broadly categorized as indoors and outdoors. Different factors must be considered when conducting indoor and open-field nuclear detection. Factors to consider for indoor nuclear detection include: 1. Shielding effects of building materials such as concrete, rebar, and walls, or facilities and equipment, on radioactive materials may reduce the signal strength received by some detectors. However, background radiation levels indoors are generally low. 2. Indoor spaces are relatively enclosed, which may restrict the placement and movement of detectors, impacting detection coverage and flexibility. However, temperature and humidity are relatively stable, and their effects on detection equipment can be ignored. 3. Satellite positioning signals are weakened by building materials such as concrete, rebar, and walls, making it difficult to pinpoint the detector's position. Factors to consider for open-field nuclear detection include: 1. High background radiation levels in open areas, particularly interference from cosmic rays and natural background radiation. 2. Environmental factors such as air pressure, temperature, and humidity can affect the radiation attenuation coefficient, thereby affecting detection results. Therefore, when performing three-dimensional localization of radioactive materials, it is important to distinguish between indoor and open-field scenarios. This invention primarily addresses the problem of indoor three-dimensional localization of radioactive materials.

[0004] Currently, there are three main methods for locating radioactive materials. The first method involves an information acquisition device based on the relationship between detector counts and position. This typically uses multiple detectors to collect count and position information, employing algorithms to perform calculations and reconstruct the radiation field to locate the radioactive material. However, to improve detection efficiency, this requires many measurement points, which is time-consuming. Furthermore, the closer to the radioactive material, the higher the data value, but also the greater the exposure risk to the measurement personnel. The second method involves an information acquisition device based on a gamma camera. Two main approaches are: first, focusing the gamma camera with an optical camera is used to collect information related to the location of the radioactive material. Each time the scene changes, the optical and gamma cameras must be refocused to ensure that the two camera images overlap. Second, by acquiring multi-directional two-dimensional gamma images and employing a three-dimensional image construction algorithm, a three-dimensional image of the radioactive material is constructed and located. While the gamma camera works based on pinhole imaging, and although it incorporates coded plate imaging technology, its field of view is small, resulting in low efficiency and inconvenient operation. The third method is a radioactive material positioning information collection device based on a directional detector. It can collect positioning information of radioactive materials at a certain distance, reducing the exposure time of search personnel. It is a safe and efficient source search method. For example, collimators, three-crystal coupled detectors, four-unit NaI crystal directional detectors, etc., specifically, multiple collections are made through multiple directional detectors. The operation is relatively cumbersome, and the system error and human error are large, which brings great trouble to subsequent data processing.

[0005] In order to quickly and effectively locate the position of radioactive materials, it is necessary to provide a three-dimensional positioning method and system for radioactive materials that can be used indoors. Summary of the Invention

[0006] In order to solve the problems raised in the above-mentioned background technology, the present invention provides a three-dimensional positioning method and system for radioactive materials indoors, which can invert the position of the radioactive material in the coordinate system space based on the indoor detector's own position information, the relative position information between the detector and the radioactive material, and the dose rate, and provide position guidance information for guiding the rapid recovery of radioactive materials.

[0007] To achieve the above objectives, the first aspect of the present invention provides a method for three-dimensional positioning of radioactive materials indoors, comprising:

[0008] Step S1, establishing a UWB positioning system, using three or more UWB base stations to establish a UWB positioning system in the room to be searched;

[0009] Step S2, establishing a Cartesian coordinate system for the indoor environment. Based on the location of the UWB base station, a Cartesian coordinate system for the indoor environment is established, and corresponds to the walls, ceiling, and floor;

[0010] Step S3, obtain the positioning information of the nuclear detector and the counting rate of the position, obtain the three-dimensional coordinate data of the nuclear detector in the indoor space through the UWB module integrated in the nuclear detector, and detect the counting rate data of the position through the nuclear detector to ensure that the UWB positioning data and the counting rate are synchronized, that is, each position coordinate corresponds to a counting rate value, and generate a quaternion array ,in is the three-dimensional coordinate data of the Cartesian coordinate system of the nuclear detector in the indoor space, the unit is , The count rate measured for a nuclear detector is related to the effective area of ​​the detector window. satisfy:

[0011] (1)

[0012] in, is the detection efficiency of the detector, is the area facing the detector, is the activity of the radioactive material, is the distance between the gamma ray source and the detector, and the lost radioactive material is one of point source, line source, surface source or volume source;

[0013] Step S4, collecting the count rates of two adjacent fixed angle detectors A and B at the same position in the horizontal direction. The count rate collected by detector A is , the count rate collected by detector B is , the angle between detector A and detector B is , the angle between detector A and radioactive material in the horizontal direction of detector A and detector B is , the angle between detector B and the radioactive material is ;

[0014] Step S5: collect the count rates of two adjacent fixed angle detectors A and C at the same position in the vertical direction. The count rate collected by detector A is , the count rate collected by detector C is , the angle between detector A and detector C is , the angle between detector A and radioactive material in the vertical direction is , the angle between detector C and radioactive material is ;

[0015] Step S6, inversion solution In the process of locating radioactive materials, the distance between the source and the detection device is usually far, much greater than 10 times the size of the detection device. At this time, the spatial angle of the radioactive material to the detection device is small. Therefore, it can be approximately considered that the source gamma ray reaching the surface of the detection device is a parallel beam. 、 and ,satisfy:

[0016] (2)

[0017] Step S7, inversion solution , similarly 、 and ,satisfy:

[0018] (3)

[0019] Step S8, solve the azimuth and elevation angles. Detectors A, B, and C move along the X axis, and the window surface of detector A is perpendicular to the XY horizontal plane and coincides with the XZ vertical plane. The azimuth angle is , elevation angle ;

[0020] Step S9: Measure the distance between the detector and the radioactive material, and control the angle controller of the laser ranging according to the azimuth angle. and elevation Rotate to measure the distance between the detector and the radioactive material ;

[0021] Step S10, calculate the coordinates of the radioactive material. satisfy:

[0022] (4)

[0023] As a further description of the above technical solution: Step S6 further includes the following steps:

[0024] Step 601, determine the equation:

[0025] (5)

[0026] in, is the relative counting rate;

[0027] Step 602: Input angle The initial guess value of , the initial guess value Is the starting point of the selection, usually choose An empirical angle value is used as an initial approximation;

[0028] Step 603, determine the function, function It can be expressed as:

[0029] (6)

[0030] Step 604, determine the derivative, the derivative It can be expressed as:

[0031] (7)

[0032] Step 605, iterative calculation, through the following formula Second Perform iterative calculations:

[0033] (8)

[0034] in, For the Iteration The approximate value of is a function exist The value at is a function The derivative of The value at

[0035] Step 606: Convergence judgment, setting error tolerance ,if ,make Output , end the iterative calculation, otherwise return to step 605.

[0036] As a further description of the above technical solution: Step S7 further includes the following steps:

[0037] Step 701, determine the equation:

[0038] (9)

[0039] in, is the relative counting rate;

[0040] Step 702: Input angle The initial guess value of , the initial guess value Is the starting point of the selection, usually choose An empirical angle value is used as an initial approximation;

[0041] Step 703, determine the function, function It can be expressed as:

[0042] (10)

[0043] Step 704, determine the derivative, the derivative It can be expressed as:

[0044] (11)

[0045] Step 705, iterative calculation, through the following formula Second Perform iterative calculations:

[0046] (12)

[0047] in, For the Iteration The approximate value of is a function exist The value at is a function The derivative of The value at

[0048] Step 706: Convergence judgment, setting error tolerance ,if ,make Output , end the iterative calculation, otherwise return to step 705.

[0049] The second aspect of the present invention is a three-dimensional positioning system for indoor radioactive materials, characterized by being used in the above-mentioned three-dimensional positioning method for indoor radioactive materials, comprising: a UWB base station, a detector module, a laser rangefinder, a numerically controlled angle adjustment base, and a remote data processing terminal, characterized in that:

[0050] The detector module also includes a radioactive ray isolation base, a detector, a preamplifier, a main amplifier, a multi-channel analyzer, a microcontroller module, a wireless communication module, and a UWB positioning module. The number of detectors is ,and The detector is arranged at the center of the circumference of the radioactive ray isolation base, and the placement angle between each pair of adjacent detectors is equal to or greater than 90°, and they are separated by the radioactive ray isolation base. The preamplifier, main amplifier, multi-channel analyzer, microcontroller module, and wireless communication module are placed in the cavity of the radioactive ray isolation base, and the UWB positioning module is placed outside the cavity of the radioactive ray isolation base;

[0051] The laser rangefinder is placed on the radioactive ray isolation base through a numerically controlled angle adjustment base and is located at the center of the symmetry axis between each pair of detectors;

[0052] The detector is electrically connected to a microcontroller module via a preamplifier, a main amplifier, and a multi-channel analyzer;

[0053] The laser rangefinder, numerically controlled angle adjustment base, wireless communication module, and UWB positioning module are electrically connected to the microcontroller module;

[0054] The microcontroller module is connected to the remote data processing terminal via a wireless communication module.

[0055] As a further description of the above technical solution: a mobile platform system is further connected under the detector module, and the remote data processing terminal can remotely control the movement of the mobile platform system through the wireless communication module.

[0056] As a further description of the above technical solution: the wireless communication module is a Star Flash communication module.

[0057] The present invention provides a three-dimensional positioning method and system for indoor radioactive materials, which are used for remotely searching for radioactive materials in the room. The UWB positioning module of the UWB base station and the detector module is used to locate the position of the detector module in the room. The relative position information between the detector and the radioactive material and the dose rate are then used to invert the position of the radioactive material in the coordinate system space, providing position guidance information for guiding the rapid recovery of radioactive materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 This is a flow chart of a method for three-dimensional positioning of radioactive materials indoors proposed by the present invention;

[0060] Figure 2 This is a schematic structural diagram of a three-dimensional positioning system for indoor radioactive materials proposed by the present invention;

[0061] In the figure: 1. UWB base station, 2. detector module, 3. laser rangefinder, 4. numerically controlled angle adjustment base, 5. remote data processing terminal, 201. radioactive ray isolation base, 202. detector, 203. preamplifier, 204. main amplifier, 205. multi-channel analyzer, 206. microcontroller module, 207. wireless communication module, 208. UWB positioning module. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0063] Example 1

[0064] A first aspect of the present invention provides a method for three-dimensional positioning of radioactive materials indoors, comprising:

[0065] Step S1, establishing a UWB positioning system, using three or more UWB base stations to establish a UWB positioning system in the room to be searched;

[0066] Step S2, establishing a Cartesian coordinate system for the indoor environment. Based on the location of the UWB base station, a Cartesian coordinate system for the indoor environment is established, and corresponds to the walls, ceiling, and floor;

[0067] Step S3, obtain the positioning information of the nuclear detector and the counting rate of the position, obtain the three-dimensional coordinate data of the nuclear detector in the indoor space through the UWB module integrated in the nuclear detector, and detect the counting rate data of the position through the nuclear detector to ensure that the UWB positioning data and the counting rate are synchronized, that is, each position coordinate corresponds to a counting rate value, and generate a quaternion array ,in is the three-dimensional coordinate data of the Cartesian coordinate system of the nuclear detector in the indoor space, the unit is , The count rate measured for a nuclear detector is related to the effective area of ​​the detector window. satisfy:

[0068] (13)

[0069] in, is the detection efficiency of the detector, is the area facing the detector, is the activity of the radioactive material, is the distance between the gamma ray source and the detector, and the lost radioactive material is one of point source, line source, surface source or volume source;

[0070] Step S4, collecting the count rates of two adjacent fixed angle detectors A and B at the same position in the horizontal direction. The count rate collected by detector A is , the count rate collected by detector B is , the angle between detector A and detector B is , the angle between detector A and radioactive material in the horizontal direction of detector A and detector B is , the angle between detector B and the radioactive material is ;

[0071] Step S5: collect the count rates of two adjacent fixed angle detectors A and C at the same position in the vertical direction. The count rate collected by detector A is , the count rate collected by detector C is , the angle between detector A and detector C is , the angle between detector A and radioactive material in the vertical direction is , the angle between detector C and radioactive material is ;

[0072] Step S6, inversion solution ,according to 、 and ,satisfy:

[0073] (14)

[0074] Step S7, inversion solution ,according to 、 and ,satisfy:

[0075] (15)

[0076] Step S8, solve the azimuth and elevation angles. Detectors A, B, and C move along the X axis, and the window surface of detector A is perpendicular to the XY horizontal plane and coincides with the XZ vertical plane. The azimuth angle is , elevation angle ;

[0077] Step S9: Measure the distance between the detector and the radioactive material, and control the angle controller of the laser ranging according to the azimuth angle. and elevation Rotate to measure the distance between the detector and the radioactive material ;

[0078] Step S10, calculate the coordinates of the radioactive material. satisfy:

[0079] (16)

[0080] Example 2

[0081] A three-dimensional positioning system for indoor radioactive materials, characterized by being used for the three-dimensional positioning method for indoor radioactive materials as described above, comprising: a UWB base station 1, a detector module 2, a laser rangefinder 3, a numerically controlled angle adjustment base 4, and a remote data processing terminal 5, characterized in that:

[0082] The detector module 2 further includes a radioactive ray isolation base 201, a detector 202, a preamplifier 203, a main amplifier 204, a multi-channel analyzer 205, a microcontroller module 206, a wireless communication module 207, and a UWB positioning module 208. The number of the detectors 202 is ,and The detectors 202 are arranged at the center of the circumference of the radioactive ray isolation base 201. The angle between each pair of adjacent detectors 202 is equal to or greater than 90 degrees, and they are separated by the radioactive ray isolation base 201. The preamplifier 203, the main amplifier 204, the multi-channel analyzer 205, the microcontroller module 206, and the wireless communication module 207 are arranged in the cavity of the radioactive ray isolation base 201. The UWB positioning module 208 is arranged outside the cavity of the radioactive ray isolation base 201.

[0083] The laser rangefinder 3 is placed on the radioactive ray isolation base 201 through a numerically controlled angle adjustment base 4 and is located at the center of the symmetry axis between each pair of detectors 202;

[0084] The detector is electrically connected to a microcontroller module 206 via a preamplifier 203, a main amplifier 204, and a multi-channel analyzer 205;

[0085] The laser rangefinder 3, the numerically controlled angle adjustment base 4, the wireless communication module 207, and the UWB positioning module 209 are electrically connected to the microcontroller module 206;

[0086] The microcontroller module 206 is connected to the remote data processing terminal 5 via the wireless communication module 207 .

[0087] In this embodiment, after the system is powered on, the detector module 2 moves in the positive direction of the x-axis of the rectangular coordinate system to the detection position. The detectors A, B, and C of the detector module 2 collect the dose rate of the radioactive material in the room. The photons or electrons generated by the rays are first converted into electrical signals and transmitted to the preamplifier 203. The preamplifier 203 amplifies the weak primary signal to ensure that the signal is not interfered with during the transmission process, and then transmits it to the main amplifier 204. The main amplifier 204 further amplifies and shapes the signal to ensure that the signal has an amplitude and shape suitable for analysis. The main amplifier 204 transmits the signal to the multi-channel analyzer 205, and the multi-channel analyzer 205 transmits it to the microcontroller module 206 to obtain the dose rate of different detectors 2, wherein the count rate collected by the detector A is , the count rate collected by detector B is , the count collected by detector C is The microcontroller module 206 transmits the collected dose rate information to the remote data processing terminal 5 through the wireless communication module 207. The remote data processing terminal 5 、 、 , the angle between detector A and detector B , the angle between A and detector C , calculate the azimuth , elevation angle , controls the laser rangefinder 3's rotation angle controller 4 according to the azimuth and elevation Rotate to measure the distance between the detector 2 and the radioactive material. The remote data processing terminal 5 obtains the position information of the detector module 2 through the UWB base station 1 and combines it with the azimuth angle. , elevation ,distance Calculate the coordinates of the radioactive material.

[0088] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

[0089] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the purpose of distinguishing them from each other and are not intended to limit the scope of protection of this application. The specific working processes of the units and modules in the above-mentioned wireless terminal can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0091] In the embodiments provided by the present invention, it should be understood that the disclosed systems / terminal devices and methods can be implemented in other ways. For example, the system / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical, mechanical or other forms.

[0092] The units described as separate components may or may not be physically separate, and the components described as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A three-dimensional positioning method for indoor radioactive materials, characterized in that: include: Step S1, establishing a UWB positioning system, using three or more UWB base stations to establish a UWB positioning system in the room to be searched; Step S2, establishing a Cartesian coordinate system for the indoor environment. Based on the location of the UWB base station, a Cartesian coordinate system for the indoor environment is established, and corresponds to the walls, ceiling, and floor; Step S3, obtain the positioning information of the nuclear detector and the counting rate of the position, obtain the three-dimensional coordinate data of the nuclear detector in the indoor space through the UWB module integrated in the nuclear detector, and detect the counting rate data of the position through the nuclear detector to ensure that the UWB positioning data and the counting rate are synchronized, that is, each position coordinate corresponds to a counting rate value, and generate a quaternion array ,in is the three-dimensional coordinate data of the Cartesian coordinate system of the nuclear detector in the indoor space, the unit is , The count rate measured for a nuclear detector, satisfy: ,in, is the detection efficiency of the detector, is the area facing the detector, is the activity of the radioactive material, is the distance between the gamma ray source and the detector, and the lost radioactive material is one of point source, line source, surface source or volume source; Step S4, collecting the count rates of two adjacent fixed angle detectors A and B at the same position in the horizontal direction. The count rate collected by detector A is , the count rate collected by detector B is , the angle between detector A and detector B is , the angle between detector A and radioactive material in the horizontal direction of detector A and detector B is , the angle between detector B and the radioactive material is ; Step S5: collect the count rates of two adjacent fixed angle detectors A and C at the same position in the vertical direction. The count rate collected by detector A is , the count rate collected by detector C is , the angle between detector A and detector C is , the angle between detector A and radioactive material in the vertical direction is , the angle between detector C and radioactive material is ; Step S6, inversion solution , 、 and ,satisfy: ; Step S7, inversion solution , 、 and ,satisfy: ; Step S8, solve the azimuth and elevation angles. Detectors A, B, and C move along the X axis, and the window surface of detector A is perpendicular to the XY horizontal plane and coincides with the XZ vertical plane. The azimuth angle is , elevation angle ; Step S9, measuring the distance between the detector and the radioactive material, and controlling the angle controller of the laser ranging according to the azimuth and elevation angle Rotate to measure the distance between the detector and the radioactive material ; Step S10, calculate the coordinates of the radioactive material. satisfy: .

2. A three-dimensional positioning method for indoor radioactive materials according to claim 1, characterized in that The step S6 comprises: Step 601, determine the equation, ,in, is the relative counting rate; Step 602: Input angle The initial guess value of , the initial guess value Is the starting point of choice, choice An empirical angle value is used as an initial approximation; Step 603, determine the function, function It can be expressed as: ; Step 604, determine the derivative, the derivative It can be expressed as: ; Step 605, iterative calculation, through right Second Perform iterative calculations, where For the Iteration The approximate value of is a function exist The value at is a function The derivative of The value at Step 606: Convergence judgment, setting error tolerance ,if ,make Output , end the iterative calculation, otherwise return to step 605.

3. A three-dimensional positioning method for indoor radioactive materials according to claim 1, characterized in that The step S7 includes: Step 701, determine the equation: ,in, is the relative counting rate; Step 702: Input angle The initial guess value of , the initial guess value Is the starting point of choice, choice An empirical angle value is used as an initial approximation; Step 703, determine the function, function It can be expressed as: ; Step 704, determine the derivative, the derivative It can be expressed as: ； Step 705, iterative calculation, through right Second Perform iterative calculations, where For the Iteration The approximate value of is a function exist The value at is a function The derivative of The value at Step 706: Convergence judgment, setting error tolerance ,if ,make Output , end the iterative calculation, otherwise return to step 705.

4. A three-dimensional positioning system for indoor radioactive materials, used in the three-dimensional positioning method for indoor radioactive materials according to any one of claims 1 to 3, comprising: UWB base station, detector module, laser rangefinder, CNC angle adjustment base, remote data processing terminal, characterized by: The detector module also includes a radioactive ray isolation base, a detector, a preamplifier, a main amplifier, a multi-channel analyzer, a microcontroller module, a wireless communication module, and a UWB positioning module. The number of detectors is ,and The detector is arranged at the center of the circumference of the radioactive ray isolation base, and the installation angle between each pair of adjacent detectors is equal to or greater than 90°, and they are separated by the radioactive ray isolation base. The preamplifier, main amplifier, multi-channel analyzer, microcontroller module, and wireless communication module are placed in the cavity of the radioactive ray isolation base, and the UWB positioning module is placed outside the cavity of the radioactive ray isolation base. The laser rangefinder is placed on the radioactive ray isolation base through a numerically controlled angle adjustment base and at the center of the symmetry axis between each pair of detectors. The detector is electrically connected to the microcontroller module through the preamplifier, main amplifier, and multi-channel analyzer. The laser rangefinder, numerically controlled angle adjustment base, wireless communication module, and UWB positioning module are electrically connected to the microcontroller module, and the microcontroller module is connected to the remote data processing terminal through the wireless communication module.

5. The three-dimensional positioning system for indoor radioactive materials according to claim 4, characterized in that: The detector module is also connected to a mobile platform system, and the remote data processing terminal can remotely control the movement of the mobile platform system through the wireless communication module.

6. The three-dimensional positioning system for indoor radioactive materials according to claim 4, characterized in that: The wireless communication module is a star flash communication module.

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