A passive nuclear profile imaging device, measurement method and robot

Abstract

The present invention discloses a passive nuclear profile imaging device, a measuring method and a robot, belonging to the industrial field, comprising: a main operation processor, a rotating scanning module and a moving module; the main operation processor communicates data with the rotating scanning module and / or the moving module by wired or wireless means; the rotating scanning module is used to fix a measuring point outside the measured container, and measure the nuclear radiation data of multiple angles facing the measured container by a rotating scanning method; the moving module is used to drive the rotating scanning module to move between the fixed measuring points outside the measured container; the main operation processor generates a profile image of the material in the measured container according to the data of the fixed measuring points during measurement and a preset algorithm. The present invention realizes a low-cost container material profile measurement method and profile imaging device.

Description

Technical Field

[0001] The invention relates to the industrial field, in particular to a passive nuclear profile imaging device, a measuring method and a robot. Background Art

[0002] In the industrial field, obtaining images of materials in containers is an important on-site requirement. Knowing the shape and image of materials in containers has a very strong guiding significance for better production, eliminating safety hazards, and optimizing control parameters and processes on industrial sites.

[0003] For open containers, it is very easy to obtain 3D images, videos and images of the surface of the material in the container through machine vision, radar scanning, laser scanning or ultrasonic scanning. However, many containers in industrial sites are closed containers. When there is a large area of ​​material falling from the upper end of the container, the container is hot, dusty and even steam boils. The measurement principles that are very suitable for open containers cannot work or operate effectively or for a long time under such conditions.

[0004] As for imaging detection of materials in closed containers with harsh internal conditions, at present, there are only X-rays with radioactive sources or other nuclear radiation imaging technologies. However, since the size of industrial containers is usually large, and some containers may have a diameter of tens of meters, X-ray imaging analysis tools are basically unable to achieve effective results. Active imaging detection such as X-rays or gamma rays are currently mainly used for flaw detection of local structural parts of industrial pipelines or equipment, and most of them cannot image designated sections. Because the radioactive source is extremely strong when it is working, it causes great harm to the environment and personnel. In addition, for equipment with extremely strong radioactive sources, professional operators are required to operate it, and the procedures for use are also extremely complicated. Imaging methods with radioactive sources have obvious shortcomings.

[0005] In the industrial field, there is no measuring equipment on the market that is based on passive nuclear detection technology, does not require a radioactive source, works outside the container through the outer wall of the container, does not harm the operator and the environment, and can perform cross-sectional imaging of specified required cross-sections of materials in the container. Summary of the invention

[0006] The purpose of the present invention is to provide a passive nuclear profile imaging device and a measuring method, which measures the nuclear radiation data of the fixed measuring point in the material profile of the container that needs to be pre-imaged by rotating and scanning the fixed measuring point on the outer wall of the measured container, collects the nuclear radiation data of each angle facing the fixed measuring point in the container profile, and realizes the profile imaging of the material in the container that needs to be imaged outside the container through the outer wall of the container by superposition of multiple fixed measuring points and a large amount of multi-angle measurement data. The present invention is achieved through the following technical solutions.

[0007] In a first aspect, the present invention introduces a non-nuclear nuclear section imaging device, comprising:

[0008] Main computing processor, rotation scanning module and movement module;

[0009] The main operation processor performs data communication with the rotation scanning module and / or the movement module;

[0010] The rotating scanning module is used to measure the nuclear radiation data in multiple angle directions located in the plane where the pre-imaged material section is located and facing the measured container at multiple fixed measurement points;

[0011] The moving module is used to drive the rotating scanning module to move between the positions of the fixed measuring points on the outer wall of the measured container;

[0012] The main computing processor is used to generate a cross-sectional image of the material in the measured container based on the position data of the fixed measuring points during measurement, the angular direction data when measuring at each of the fixed measuring points, the nuclear radiation data measured in the angular direction of the fixed measuring points, and a preset algorithm.

[0013] Optionally, before the step of generating the cross-sectional image of the material in the measured container, the method further includes step S:

[0014] The geometric data of the measured container cross section where the pre-imaged material cross section is located is set in the main operation processor.

[0015] Optionally, before step S, the main operation processor automatically generates cross-sectional geometric data of the measured container where the pre-imaged material cross-section is located based on the acquired external cross-sectional instructions and a preset geometric mathematical model of the measured container.

[0016] Optionally, after step S and before the step of generating a cross-sectional image of the material in the measured container, the main operation processor divides the cross-section of the measured container expressed in the form of geometric data or image into a plurality of pixels.

[0017] Since the dot graph obtained by using the preset algorithm may be relatively discrete or have poor display effect, the container cross section expressed in the form of geometric data or image is divided into a number of pixels in the main operation processor. The smaller the divided pixels are, the more pixels are filled in the cross section, and the higher the image accuracy is.

[0018] Optionally, before the step of the moving module moving the rotating scanning module to the location of the fixed measuring point on the outer wall of the measured container, the following steps are also included:

[0019] The main computing processor generates the number of fixed measurement points, specific position data of the fixed measurement points, the order in which the rotating scanning module works at each of the fixed measurement points, and / or the scanning angle direction range measured at each of the fixed measurement points in the plane where the pre-imaged material profile is located, based on the cross-sectional geometric data of the measured container, the nuclear radiation data of multiple positions obtained after the rotating scanning module moves on the outer wall of the measured container along the cross-sectional contour line of the measured container, the operating data of the container, the sensor data outside the non-rotating scanning module, and / or user instructions.

[0020] Optionally, the rotating scanning module includes a rotating scanning driving component, and the rotating scanning driving component includes a rotating driving motor; the moving module includes a moving driving motor; the fixed measurement point position data is obtained by the main operation processor based on the instructions or operating data of the moving driving motor; the angular direction data during the measurement is obtained by the main operation processor based on the instructions or operating data of the rotating driving motor.

[0021] Optionally, before the step of generating the cross-sectional image of the material in the measured container, the following steps are also included:

[0022] The main operation processor also obtains closed shielding nuclear radiation data, which is generated by the nuclear radiation correction component or obtained by the rotation scanning module when the nuclear radiation collection window is closed or covered.

[0023] Optionally, before or during the step of generating the cross-sectional image of the material in the measured container, the following steps are also included:

[0024] When the rotating scanning module reaches a new fixed measuring point or each time the radiation measurement of the material in the measured container is performed at the fixed measuring point, the main operation processor controls the nuclear radiation shielding component to perform structural deformation or position change, so that the nuclear radiation collection window of the rotating scanning module is closed or covered;

[0025] The main operation processor obtains the closed shielding nuclear radiation data when the nuclear radiation collection window is closed.

[0026] Optionally, in the step of generating the cross-sectional image of the material in the measured container, the nuclear radiation data measured in the angular direction of the fixed measurement point is represented by a nuclear radiation correction value, and the nuclear radiation correction value is calculated according to the following formula:

[0027] C v =(C m -C f ) / (1-u),

[0028] Among them, Cv is the nuclear radiation correction value, C m is the nuclear radiation value measured in the angular direction of the fixed measurement point, C f is the closed shielding nuclear radiation value, and u is the nuclear radiation attenuation ratio of the shielding material when the nuclear radiation collection window is closed or covered.

[0029] Optionally, the preset algorithm includes:

[0030] Based on the geometric data of the container section and the position data of the fixed measuring points, a planar geometric relationship between the fixed measuring points and the container section is constructed;

[0031] Create radial lines in the vessel section based on the angular direction data when measuring at fixed measuring points;

[0032] According to the radial lines starting from each fixed measurement point, calculate the intersection point of each radial line;

[0033] Count the radial lines passing through the intersection points of each radial line;

[0034] Add the radiation values ​​of the corresponding angles of the fixed measuring points of the radiation lines passing through the intersection points of each radiation line to obtain the sum of the nuclear radiation values ​​of each intersection point;

[0035] Count the maximum and minimum values ​​of the sum of nuclear radiation values ​​at each intersection;

[0036] The maximum and minimum values ​​of the sum of the nuclear radiation values ​​at each intersection point correspond to the grayscale color used for display;

[0037] Each intersection point is displayed in color grayscale to generate a cross-sectional image of the material in the measured container.

[0038] Optionally, the preset algorithm is a pixel data superposition imaging algorithm.

[0039] Optionally, the pixel data stacking imaging algorithm includes:

[0040] Based on the geometric data of the measured container cross section, the measured container cross section is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section are clarified;

[0041] Based on the container section geometry data, pixel position data and the position data of the fixed measurement points, the plane geometry relationship among the fixed measurement points, the container section and the pixels is constructed;

[0042] According to the position data of the fixed measurement point, the angle direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the total number of pixels located in the measurement angle direction of the fixed measurement point is calculated;

[0043] Filling the nuclear radiation data measured at the fixed measurement point in the measurement angle direction into the pixel located in the measurement angle direction;

[0044] Repeating the nuclear radiation data measured at each fixed measurement point in each measurement angle direction, and filling the nuclear radiation data into each pixel located in the measurement angle direction according to the measurement angle direction;

[0045] Calculate the sum of all nuclear radiation values ​​filled in each pixel as the pixel data of the pixel;

[0046] Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block;

[0047] The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

[0048] Optionally, the pixel data stacking imaging algorithm includes:

[0049] Based on the geometric data of the measured container cross section, the measured container cross section is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section are clarified;

[0050] Based on the container section geometry data, pixel position data and the position data of the fixed measurement points, the plane geometry relationship among the fixed measurement points, the container section and the pixels is constructed;

[0051] According to the position data of the fixed measurement point, the angle direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the total number of pixels located in the measurement angle direction of the fixed measurement point is calculated;

[0052] The nuclear radiation data measured at the fixed measurement point in the measurement angle direction are averaged according to the total number of pixels located in the measurement angle direction to obtain pixel average data, and the pixel average data is distributed to the above-mentioned passed pixels;

[0053] Sequentially filling the nuclear radiation data measured at each fixed measurement point in each measurement angle direction into each pixel located in the measurement angle direction according to the measurement angle direction;

[0054] Performing a weighted summation on all the allocated data filling the pixel as the pixel data;

[0055] Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block;

[0056] The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

[0057] In a third aspect, the present invention provides a passive nuclear profile imaging robot for crawling and scanning on the outer wall of the measured container, comprising a skeleton module, a magnetic drive wheel, a rotation scanning module, a positioning module, a robot operation processor and a main operation processor;

[0058] Wherein, the main operation processor and the robot operation processor perform data communication via wired or wireless means, and the robot operation processor is connected to the rotating scanning module and / or the magnetic drive wheel;

[0059] The robot computing processor, magnetic drive wheel, rotation scanning module and positioning module are all installed on the skeleton module;

[0060] The rotating scanning module is used to measure the nuclear radiation data in multiple angle directions located in the plane where the pre-imaged material section is located and facing the measured container at multiple fixed measurement points;

[0061] The magnetic drive wheel is used to adsorb the robot as a whole onto the outer wall of the measuring container, and move it between the locations of the fixed measuring points of the measured container;

[0062] The positioning module is connected to the main operation processor and is used to provide the main operation processor with the position information of the rotating scanning module and / or the magnetic driving wheel;

[0063] The robot operation processor is used to control the movement of the magnetic drive wheel and / or control the rotation scanning module to rotate and scan at a fixed measurement point to measure nuclear radiation according to external instructions or instructions of the main operation processor;

[0064] The main computing processor is used to generate a cross-sectional image of the material in the measured container based on the position data of the fixed measuring points, the angular direction data when measuring at each of the fixed measuring points, the nuclear radiation data measured in the angular direction of the fixed measuring points, and a preset algorithm.

[0065] Beneficial Effects

[0066] (1) Through the profile imaging device and profile imaging measurement method of the present application, it is possible to perform profile imaging of materials containing radioactive impurities in a container outside the container without a dedicated radiation source, and a low-cost container material profile imaging device is realized.

[0067] (2) Through the profile imaging device and profile imaging measurement method of the present application, it is possible to perform profile imaging of a required profile or a specified profile of the material in the container on the outer wall of the container.

[0068] (3) The profile imaging device and profile imaging measurement method of the present application can greatly improve the ability to measure effective nuclear radiation, effectively eliminate the influence of the environment and materials in surrounding containers, and truly achieve accurate measurement at industrial sites.

[0069] (4) This application significantly improves the ability to collect nuclear radiation in the measurement angle direction and the angle resolution of nuclear radiation, and realizes automatic planning such as calculation of container measurement profile, layout of measurement points on the outer wall of the container, route planning, and automatic planning of the scanning range at the measurement points, greatly improving the measurement effect.

[0070] (5) The passive nuclear profile imaging robot of the present application effectively improves the efficiency of material profile imaging at industrial sites. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 Shown is a schematic structural diagram of the passive nuclear profile imaging device of the present invention;

[0072] Figure 2 Shown is a schematic structural diagram of a rotating scanning module of the present invention;

[0073] Figure 3 It is a schematic diagram showing the position of the rotary scanning module of the present invention relative to the outer wall of the container;

[0074] Figure 4 The figure shows a schematic diagram of a rotation scanning measurement in which the rotation scanning module of the present invention is positioned at a fixed measuring point;

[0075] Figure 5 Shown is a schematic diagram of the nuclear radiation collection window of the present invention;

[0076] Figure 6 The figure shows a schematic diagram of a normal measurement state of the nuclear radiation collection window of the present invention;

[0077] Figure 7 The figure shows a schematic diagram of the cover measurement state of the nuclear radiation collection window of the present invention;

[0078] Figure 8 It is a schematic diagram of a normal measurement state of a nuclear radiation collection window according to another technical solution of the present invention;

[0079] Fig. 9 It is a schematic diagram of the shielding measurement state of the nuclear radiation collection window of another technical solution of the present invention;

[0080] Fig.10 Shown is a schematic cross-sectional view of the passive nuclear cross-sectional imaging device of the present invention;

[0081] Fig.11 Shown is a schematic diagram of radiation imaging of the present invention;

[0082] Fig.12 Shown is a schematic diagram of pixel imaging of the present invention;

[0083] Fig.13 The figure shows the structure schematic diagram of the passive nuclear cross-section imaging robot of the present invention;

[0084] Fig.14 Shown is a schematic structural diagram of the passive nuclear cross-section imaging robot of the present invention from another viewing angle;

[0085] In the figure: 1-main operation processor, 2-rotation scanning module, 3-moving module, 4-scintillation crystal, 5-photoelectric multiplier component, 6-signal acquisition and operation processing component, 7-nuclear radiation shielding component, 8-rotation scanning drive component, 9-nuclear radiation acquisition window, 10-fixed measuring point, 11-fixed measuring point measurement angle range, 12-measured container section, 13-pre-imaged material section, 14-pre-imaged material section plane, 15-container section contour line, 16-magnetic drive wheel, 17-skeleton module, 18-robot operation processor, 19-positioning module, 20-nuclear radiation shielding mask component, 21-closing drive component. DETAILED DESCRIPTION

[0086] The following is a further description in conjunction with the accompanying drawings and specific embodiments. In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0087] Example 1

[0088] This embodiment provides a passive nuclear cross-section imaging device, such as Figure 1 As shown, including:

[0089] Main computing processor 1, rotating scanning module 2 and moving module 3;

[0090] The main operation processor 1 performs data communication with the rotation scanning module 2 and / or the movement module 3;

[0091] The rotating scanning module 2 is used to rotate and measure the nuclear radiation in multiple angle directions of the measured container in the plane 14 where the pre-imaged material section is located, with the fixed measuring point 10 as the center, at the location where the fixed measuring point 10 is located. The fixed measuring point 10 is distributed in the plane 14 where the pre-imaged material section is located, and on the container section contour line 15 formed by the intersection of the outer wall of the measured container and the plane 14 where the material section of the pre-imaged material is located;

[0092] The moving module 3 is used to drive the rotating scanning module 2 to move between the positions of the fixed measuring points 10 on the outer wall of the measured container;

[0093] The main computing processor 1 generates a cross-sectional image of the material in the measured container based on the position data of the fixed measuring points during measurement, the angular direction data when measuring at each of the fixed measuring points, the nuclear radiation data measured in the angular direction of the fixed measuring points, and a preset algorithm.

[0094] In this embodiment, the pre-imaged material profile 13 refers to the material profile image in the container that the user hopes to obtain in the end. The rotary scanning module 2 in the passive nuclear profile imaging device of the present application can rotate and measure the nuclear radiation at multiple angles of the measured container in the plane 14 where the pre-imaged material profile is located, with the fixed measurement point 10 as the center. The fixed measurement point 10 is the center of the angle change during the rotary scanning measurement. The rotary scanning module 2 measures the nuclear radiation in one angle direction in the plane 14 where the pre-imaged material profile is located, and then rotates to another angle direction with the fixed measurement point 10 as the center, and then measures the nuclear radiation in another angle direction. The path formed by the measurement angle movement change is in the plane 14 where the pre-imaged material profile is located or parallel to it.

[0095] In the present application, the fixed measuring points 10 are distributed on the container section contour line 15 where the plane 14 where the pre-imaged material section is located intersects with the outer wall of the measured container. Of course, in actual implementation, the fixed measuring points 10 can be on the plane 14 where the pre-imaged material section is located, either on the container section contour line 15 or in the vicinity of the contour line. It is more reasonable for the fixed measuring points 10 to be within the range of 0-150dm near the contour line, and of course, the closer to the contour line, the better.

[0096] The fixed measuring point 10 is the center of each measuring angle on the plane 14 where the pre-imaged material section is located. It can be at a specific position on the rotating scanning module or at the center position of the scanning angle formed by the movement of a certain component in the rotating scanning assembly, and is not necessarily at a specific structural component position of the rotating scanning assembly.

[0097] In actual implementation, the rotating scanning module 2 is usually larger in spatial geometric dimensions than the fixed measuring point 10, so the rotating scanning module 2 actually works at the location of the fixed measuring point, which should include or be adjacent to the actual location of the fixed measuring point in space.

[0098] It should be emphasized that the rotating scanning module 2 is to complete the above-mentioned "rotating scanning measurement at multiple angles of the measured container with the fixed measuring point 10 as the center in the plane 14 where the pre-imaged material profile is located". The actual working forms of the various components in the rotating scanning module 2 are various, which can be completed by the circumferential rotation of the components in the rotating scanning module 2, or by the linear movement of the components in the rotating scanning module 2, or by rotation based on the rotation axis, or by movement on an arc track. When the components in the rotating scanning module 2 perform circumferential rotation measurement, the center with the fixed measuring point 10 as the center is the center of the circular motion. When the components in the rotating scanning module 2 perform other forms of movement, the center with the fixed measuring point 10 as the center is still the center of the rotation scanning angle around which the fan-shaped scanning action is formed. The cross-sectional image generated by the passive nuclear cross-sectional imaging device of the present application can not only see the cross-sectional contour of the material in the container through the container shell, but also see the scene inside the material cross-sectional, such as the void or bridge scene inside the material, so that the user can clearly understand the overall external contour of the material cross-sectional in a certain container cross-sectional of the container or the internal condition of the material. For actual industrial sites, since the state of materials in containers is very complex and directly affects the smooth operation of the process and the setting of process parameters, it is of great practical significance to be able to achieve cross-sectional imaging of materials in containers by measuring the nuclear radiation released by the materials in the containers themselves.

[0099] In the passive nuclear profile imaging device of this embodiment, the main operation processor 1 can be an independent operation processor, a combination of multiple operation processors, or a computer terminal. In practical applications, since the amount of data calculation involved in the use of the device of this embodiment is relatively large, it is generally played by a high-performance computer device. Since the material profile information is better displayed in the form of an image that the user can visually observe, the main operation processor 1 is also equipped with a corresponding display component for displaying the material profile image. In addition, since the use of this device may involve the setting of a large number of parameters, the device of this application can also be equipped with a good human-computer interface to facilitate user operation.

[0100] In actual implementation, the main operation processor 1 communicates data with the rotating scanning module 2 and / or the mobile module 3 via wired or wireless means. The passive nuclear profile imaging device of the present application is moved on the outer wall of the container by the mobile module 3. Since the material in the container basically changes and flows in a vertical direction perpendicular to the ground, the mobile module 3 and the rotating scanning module 2 usually move in a vertical direction perpendicular to the ground. In order to reduce the overall weight of the mobile module 3 and the rotating scanning module 2, the power supply, the main operation processor 1, etc. are structurally separated from the mobile module 3 and the rotating scanning module 2, and the power supply, the main operation processor 1, etc. can be placed on the ground, in a vehicle or other convenient operating positions. The main operation processor 1, the power supply, etc. are usually connected to the mobile module 3 and / or the rotating scanning module 2 via wired means, but in order to further reduce the quality impact that may be caused by the cable, in the case of relatively good working conditions, wireless communication can also be used for connection to realize data interaction between the main operation processor 1 and the mobile module 3 and / or the rotating scanning module 2.

[0101] In the device of this embodiment, the moving module 3 includes: a robot arm, or a moving component installed on the fixed guide rail of the outer wall of the measured container, or a moving component on the rope structure hanging outside the measured container. In actual implementation, the moving module moves the rotating scanning module to the location of each fixed measurement point.

[0102] Since industrial containers are large in size and the outer wall and surrounding equipment of the container are complex, it is very important to select the corresponding mobile module in combination with the actual conditions of the container and the working conditions. In the device of this embodiment, the mobile module 3 usually moves and positions the rotating scanning module 2 to the location of the fixed measurement point outside the container where positioning measurement is required according to the path planned by the main computing processor 1 or the path controlled by the operator.

[0103] The mobile module 3 with spatial position perception capability and independent operation capability can also move to the main operation processor or the location of the fixed measurement point planned by itself, and then feed back the location information of the fixed measurement point to the main operation processing component. That is, in this application, the mobile module with self-operation management capability can plan its own movement plan on the container profile contour line, and then feed back the location information of the fixed measurement point actually executed by itself to the main operation processor 1.

[0104] In practical applications, for large containers, the mobile module based on the guide rail is more practical; as the robot arm technology becomes more mature, for smaller containers, using the robot arm as a mobile module is more flexible and efficient. Users can choose according to actual conditions. Sometimes, users can even drag the mobile module themselves and move the rotating mobile module to a fixed measurement point outside the container.

[0105] Since the actual position of the rotating scanning module 2 on the container is crucial to the device of the present application, in addition to relying on the operator to input the actual measured fixed measurement point position data to the main operation processor through an external device or the human-machine interface of the device of the present application, the passive nuclear section imaging device of the present application also includes a positioning module 19. The positioning module 19 is connected to the main operation processor 1 and provides the main operation processor 1 with the position information of the rotating scanning module 2 and / or the mobile module 3, that is, the position information of the fixed measurement point 10. In practical applications, the positioning module 19 can be set on the mobile module 3 or on the rotating scanning module 2. Usually, laser positioning is used, such as emitting laser to the ground, or using ground laser to shoot at the laser reflector installed on the mobile module or the rotating scanning module for spatial positioning; or wireless positioning means are used, such as installing a wireless positioning module on the mobile module or the rotating scanning module, and wirelessly communicating with the wireless modules around the container to achieve spatial positioning. With the maturity of machine vision technology, a machine vision device with positioning capability can also be directly used to perform spatial positioning by shooting ground reference targets, or containers or reference points on the mobile module or the rotating scanning module. For a mobile module based on a guide rail or a mobile module such as a robot arm, the mobile module itself usually has a relatively accurate positioning device inside, so the positioning data can be directly sent to the main computing processor.

[0106] The rotating scanning module 2 in the passive nuclear cross-section imaging device of this embodiment is the most critical component of the entire device, and its performance is directly related to whether the working objectives of the entire device can be achieved. Figure 2 As shown, it includes: a scintillation crystal 4, a photomultiplier component 5, a signal acquisition and operation processing component 6, a nuclear radiation shielding component 7 and a rotating scanning drive component 8. The signal acquisition and operation processing component 6 can be a processor or a combination of multiple processors or a computer terminal. In actual implementation, the efficiency of signal acquisition and operation processing of initial data is very important. Therefore, the signal acquisition and operation processing component 6 is usually integrated with other parts in the rotating scanning module 2. The signal acquisition and operation processing component 6 transmits the information collected and processed, especially the measured nuclear radiation data, to the main operation processor in the device of the present application.

[0107] The best choice for the scintillation crystal 4 is a columnar scintillation crystal. In the present application, the axial side of the columnar scintillation crystal refers to the side along the axial direction of the columnar scintillation crystal, that is, the side except the upper and lower bottom surfaces on the columnar geometric shape.

[0108] The performance of the columnar scintillator crystal 4 is the core performance embodiment of the rotating scanning module 2. In order to obtain more effective signals, columnar scintillator crystals with a length greater than 20 mm can be selected. Usually, the columnar scintillator crystal 4 is mainly a cylindrical scintillator crystal, and can also be a rectangular column geometry, or other geometric structures with a column as the main body. The photomultiplier component 5 in the rotating scanning module 2 is coupled through an optical coupling device and the optical window of the columnar scintillator crystal to collect and amplify the optical signal generated by the physical reaction of the columnar scintillator crystal to nuclear radiation. The photomultiplier component 5 can use one photomultiplier tube, or two photomultiplier tubes, or several silicon photomultiplier tubes. It should be noted that if an array photomultiplier device such as a silicon photomultiplier tube or a microchannel plate is used here, the photomultiplier component in this application does not need to have the ability to locate space nuclear radiation, but is sent to the main computing processor 1 as a whole nuclear radiation signal.

[0109] In this embodiment, after the rotating scanning module 2 is moved by the moving module 3 to the position of the fixed measuring point on the outer wall of the measured container, Figure 3 and Figure 4 As shown, the rotating scanning module 2 faces the measured container, and the rotating measurement is performed in the plane 14 where the pre-imaged material section is located, with the fixed measuring point 10 as the center, and the nuclear radiation in multiple angle directions facing the measured container. The more the angle of rotation scanning at each fixed measuring point, the smaller the angle at each rotation, and the better the section imaging effect finally obtained.

[0110] In the passive nuclear section imaging device of this embodiment, the angular resolution capability of the rotating scanning module 2 is extremely critical, and the angular resolution capability depends largely on the nuclear radiation shielding component 7 in the rotating scanning module. The nuclear radiation shielding component 7 at least wraps the portion of the columnar scintillating crystal to form a nuclear radiation collection window 9, and the nuclear radiation data collected by the columnar scintillating crystal 4 from the nuclear radiation collection window 9 will not be shielded by the nuclear radiation shielding component 7. In actual implementation, the nuclear radiation shielding component 7 can simultaneously wrap the columnar scintillating crystal 4, the photomultiplier component 5, and the signal collection and calculation processing component 6 to shield the nuclear radiation outside the nuclear radiation collection window 9 to the greatest extent.

[0111] Specifically, in order to better realize the angular resolution capability of the rotating scanning module 2, in actual implementation, the nuclear radiation shielding component 7 is arranged along the side of the scintillation crystal, so that the nuclear radiation data that can be collected in a part of the 360-degree angular direction of the side of the columnar scintillation crystal 4 is shielded by the nuclear radiation shielding component 7, and the nuclear radiation shielding component 7 cannot shield the part of the columnar scintillation crystal 4 collecting nuclear radiation, forming a nuclear radiation collection window 9 arranged along the side direction of the columnar scintillation crystal 4. Figure 5As shown, the nuclear radiation collection window finally formed is a rectangle of 1 cm * 20 cm, and the rectangular nuclear radiation collection window 9 is parallel to the axial direction of the columnar scintillating crystal. This design is very important in the passive nuclear profile imaging device of the present application. Due to the nuclear radiation interference caused by the cosmic environment of the industrial site and the materials in other surrounding containers, how to better and more obtain the nuclear radiation in the measured container at the scanning angle on the material profile that you want to pre-image is a key issue. If the area aperture is increased, the nuclear radiation collection window is set as a circular window, and the number of nuclear radiation collection windows is increased, although the collected nuclear radiation data increases, the resolution of the scanning angle will decrease during the rotation scan. If the area aperture of the nuclear radiation collection window is reduced, the effective nuclear radiation collected will be reduced. Through the design of the present application, the long strip nuclear radiation collection window is formed perpendicular to the material profile. Imaging When scanning the plane, it is equivalent to scanning the nuclear radiation in all sections with the same length as the scanning window at the same time, and scanning at the same angle in multiple parallel planes at the same time. Because for large containers, the cross-sectional images within the width of the nuclear radiation acquisition window are basically consistent, or nearly consistent, the total nuclear radiation data of the cross-section with the same scanning window width and thickness can be used as the angle measurement data of a plane, which can significantly improve the angle resolution.

[0112] The rotating scanning effect achieved by the rotating scanning module in this embodiment is achieved by the rotating scanning driving component 8 in the rotating scanning module 2. It should be particularly emphasized that the rotating scanning measurement effect of the rotating scanning module 2 does not mean that the rotating scanning module 2 itself must rotate. To achieve the rotating scanning effect of the rotating scanning module 2, the rotating scanning module 2 or the various components contained in the rotating scanning module 2 have various actions or operating forms. However, no matter how diverse the forms are, they are all achieved by the driving action of the rotating scanning driving component 8 in the rotating scanning module 2 in this application.

[0113] In practical applications, the measurement effect of the rotational scanning is usually mainly achieved by the spatial motion characteristics of the nuclear radiation collection window 9 and the columnar scintillation crystal 4 after being driven by the rotational scanning driving component 8. The nuclear radiation collection window 9 may be in motion and the columnar scintillation crystal 4 may be stationary; the nuclear radiation collection window 9 may be stationary and the columnar scintillation crystal 4 may be in motion; or both the nuclear radiation collection window 9 and the columnar scintillation crystal 4 may be in motion.

[0114] The preferred technical solution of the present application is to utilize the rotating scanning driving component 8 to drive the nuclear radiation shielding component 7 in the rotating scanning module 2 to move, thereby driving the nuclear radiation collection window 9 to move in the vicinity of the fixed measuring point 10, so as to realize the rotating scanning module 2 to rotate and scan and measure the nuclear radiation in multiple angular directions of the measured container within the plane 14 where the pre-imaged material section is located, with the fixed measuring point 10 as the center.

[0115] In actual implementation, the nuclear radiation collection window 9 moves in space, while the columnar scintillation crystal 4 is stationary or rotates with the axial direction of the columnar scintillation crystal as the center. The nuclear radiation collection window 9 can move on a circular track with the columnar scintillation crystal 4 as the center, or can move linearly or in other forms in the area adjacent to the columnar scintillation crystal 4.

[0116] In actual implementation, the device of the present application is also connected to accessories such as power supply cables and signal cables. If the rotating scanning drive component 8 drives more components including the nuclear radiation shielding component 7, such as the columnar scintillator crystal 4, the photoelectric multiplier component 5, and the signal acquisition and calculation processing component 6 to rotate together, a larger driving power is required. Therefore, it is a more appropriate technical solution to only drive the nuclear radiation shielding component 7 to move.

[0117] Sometimes the rotary scanning module 2 in the passive nuclear section imaging device of the present application includes a fixed nuclear radiation acquisition device with a collimator or a coding plate that can measure the nuclear radiation data in the plane 14 where the pre-imaged material section is located and facing multiple angles of the measured container. Since the application itself is different from the projection imaging principle commonly used in the existing gamma imaging technology, there is no need to generate images parallel to the photomultiplier tube array in the gamma camera through the collimator and the coding plate. Therefore, the measurement component based on the collimator and the coding plate only needs to collect nuclear radiation in the pre-imaged section and facing multiple angles of the measured container. However, it should be emphasized that: since the nuclear radiation in the pre-imaged section centered on the fixed measurement point is measured, it is extremely difficult to design a suitable structure and solution in actual implementation. At the same time, since the signal-to-noise ratio of the industrial site is too poor compared to that of medical and laboratory, in actual implementation, it is difficult to increase the measurement angle accuracy of the fixed measurement point through this device, and it is difficult for this device to achieve the high angular resolution that can be achieved by rotary scanning.

[0118] Since the passive nuclear profile imaging device of the present application is not a device for laboratory or medical scenarios, it cannot use hundreds of thousands of high-performance scintillation crystals to improve the signal-to-noise ratio like large-scale equipment, or use tons of nuclear radiation shielding components to eliminate the interference of cosmic environmental radiation or nuclear radiation released by materials in other containers. Even because the rotating scanning module needs to move and crawl on the huge container driven by the moving module, the nuclear radiation shielding components in the rotating scanning module need to be controlled to a very small mass and size range. Obviously, the device of the present application cannot obtain the environmental interference shielding effect brought by the large nuclear radiation shielding components. Therefore, even if there is a nuclear radiation shielding component, during actual operation, a large amount of cosmic environmental radiation and nuclear radiation released by materials in other surrounding containers will also pass through the nuclear radiation shielding components and be measured by the columnar scintillation crystals in the rotating scanning module of the present application. If the nuclear radiation interference brought by the cosmic environment and materials in other surrounding containers cannot be effectively eliminated, the device of the present application cannot achieve the goal of effective imaging.

[0119] In order to solve this problem, in the device of this embodiment, the nuclear radiation shielding component 7 also has the function of allowing the rotating scanning module 2 to perform nuclear radiation measurement when the nuclear radiation collection window 9 is open, and to perform closed nuclear radiation measurement when the nuclear radiation collection window 9 is closed or completely covered.

[0120] Specifically, Figure 8 and Fig. 9 As shown, the nuclear radiation shielding component 7 in the rotating scanning module 2 in the present application also includes an independently arranged nuclear radiation shielding and covering assembly 20. When the nuclear radiation collection window 9 is not moved below the nuclear radiation shielding and covering assembly 20, the nuclear radiation measurement of the nuclear radiation collection window 9 in an open state is realized; when the nuclear radiation collection window 9 is moved below the nuclear radiation shielding and covering assembly 20, the closed nuclear radiation measurement of the nuclear radiation collection window 9 in a state where it is completely covered by the nuclear radiation shielding and covering assembly 20 is realized.

[0121] Or Figure 6 and Figure 7 As shown, the nuclear radiation shielding component 7 also includes a closing drive component 21 and a nuclear radiation shielding cover component 20. The closing drive component 21 is connected to the nuclear radiation shielding cover component 20, and the closing drive component 21 can drive the nuclear radiation shielding cover component 20 to cause the nuclear radiation collection window 9 to close or open. After the closing drive component 21 drives the nuclear radiation shielding cover component 20 to close the nuclear radiation collection window 9, the closed nuclear radiation measurement is realized. After the closing drive component 21 drives the nuclear radiation shielding cover component 20 to open the nuclear radiation collection window 9, the nuclear radiation measurement of the nuclear radiation collection window 9 is realized in the open state.

[0122] In actual implementation, the movement of the moving module 3 and the rotational scanning of the rotating scanning module 2 of the present application are usually driven by a motor. Therefore, the rotating scanning module 2 usually includes a rotating drive motor, and the moving module 3 usually includes a moving drive motor.

[0123] As a technical option to eliminate the interference of nuclear radiation released by the cosmic environment and materials in other surrounding containers, the device of the present application also includes a nuclear radiation correction component. The nuclear radiation correction component includes a closed nuclear radiation enclosure and a nuclear radiation measurement sensor in the nuclear radiation enclosure. The nuclear radiation correction component is connected to the main operation processor of the device of the present application, and sends the collected nuclear radiation measurement data in the closed state to the main operation processor. This technical solution is equivalent to integrating two sets of nuclear radiation collection components in the rotating scanning module, one set is specifically used for the rotational scanning measurement of the materials in the container, and the other set is specifically in a closed state to measure the nuclear radiation interference released by the cosmic environment and materials in other surrounding containers in the environment.

[0124] It should be noted that, in actual implementation, whether the nuclear radiation collection window 9 is closed or covered to measure nuclear radiation, or an independent nuclear radiation correction component is set, in addition to measuring the nuclear radiation interference released by the environment and materials in other surrounding containers, in actual measurement, the nuclear radiation released by the materials in the measured container can definitely be measured.

[0125] In actual implementation, in addition to the various modules mentioned above, a cursor indicating module may also be included, which is used to project a cursor outside the container to indicate the measurement direction of the nuclear radiation collection window 9, so that the operator can grasp the measurement direction in real time. The cursor indicating module is connected to the rotating scanning module 2 through a connecting structure, and can be played by a laser indicator light or a strong ray lamp.

[0126] In actual implementation, in order to improve the measurement speed during scanning, multiple mobile modules 3 and multiple rotating scanning modules 2 can be configured in this device to perform scanning and measurement operations at different fixed measurement points at the same time; or multiple rotating scanning modules 2 can be configured on a mobile module 3 to rotate and scan and measure nuclear radiation in different directions at a fixed measurement point.

[0127] Example 2

[0128] This embodiment introduces a passive nuclear profile imaging measurement method, including:

[0129] Step S1, the mobile module 3 of the passive nuclear profile imaging device moves the rotating scanning module to the position of the fixed measurement point on the outer wall of the measured container, and the fixed measurement point is located on the container profile contour line formed by the intersection of the outer wall of the measured container and the plane where the pre-imaged material profile is located. There are multiple fixed measurement points on the measured container profile contour line.

[0130] Combination Fig.10 , is a cross-sectional schematic diagram of the device described in the present application, including a pre-imaged material section 13, a plane 14 where the pre-imaged material section is located, the plane 14 where the pre-imaged material section is located cuts the measured container to form a measured container section 12, and the plane 14 where the pre-imaged material section is located cuts the outer wall of the measured container to form a container section contour line 15. Here, the pre-imaged material section 13 is the pre-imaged material section that the user expects to obtain an image of. In actual implementation, the user can plan multiple fixed measurement points 10 on the container section contour line 15 in advance, or select multiple measurement points that are actually fixedly measured on the same plane from multiple actual measurement results as fixed measurement points, and form a container section contour line based on the determined fixed measurement points, and thereby determine the plane where the pre-imaged material section is located, or determine the container section.

[0131] The location of the fixed measuring point 10 on the measured container is the location where the rotating scanning module 2 performs the rotating scanning measurement after the moving module 3 stops. The moving module 3 of the passive nuclear profile imaging device of the present application can be moved to the location of the fixed measuring point 10 under the control of its own preset program; or under the control of the user using an external device, such as a wireless or wired controller; or under the control of the main operation processor 1, or under the human power of the user, so that the rotating scanning module 2 is also driven by the moving module 3 to move to the location of the fixed measuring point 10 of the measured container.

[0132] Step S2, the rotating scanning module 2 is at the location of the fixed measuring point 10, and the rotating scanning module 2 rotates and scans the nuclear radiation in multiple angle directions of the measured container in the plane 14 where the pre-imaged material section is located, with the fixed measuring point 10 as the center. Part or all of the area in the pre-imaged material section 13 is measured by the rotating scanning module 2 from multiple different fixed measuring points, and the rotating scanning module 2 sends the acquired nuclear radiation data to the main computing processor 1.

[0133] like Figure 4 As shown, in the plane 14 where the pre-imaged material section is located, facing the measured container, the rotating scanning module 2 rotates around the fixed measuring point 10 to measure the nuclear radiation in multiple different angles. The smaller the angle and the denser the number of angles, the better the final section imaging effect. It must be emphasized that part or all of the area in the pre-imaged material section 13 must be measured by the rotating scanning module 2 from multiple different fixed measuring points. For example, the container section can be scanned and measured by the fixed measuring points D1, D2, D3, D4...

[0134] In step S3 , the main processing unit 1 acquires or generates the position data of the fixed measuring point 10 for each measurement, the angular direction data when measuring at each fixed measuring point 10 , and the nuclear radiation data measured in the angular direction of the fixed measuring point 10 .

[0135] In the measurement process of the present application, the main operation processor 1 can obtain the data required for imaging calculation through the mobile module 3 and / or the rotating scanning module 2, or generate the data required for imaging according to its own control instructions or the data provided by the mobile module 3 and / or the rotating scanning module 2, such as the data of the fixed measurement point 10 and the angle data when measuring at the fixed measurement point 10. The main operation processor 1 can obtain the data directly from the mobile module 3 and the rotating scanning module 2, or generate it by itself according to the control instructions sent by itself and the operating data of the driving motor in the mobile module 3 and the rotating scanning module 2.

[0136] The main operation processor 1 obtains or generates the position data of the fixed measurement point 10 during each measurement. According to the position data of the fixed measurement point 10, the relative position of each fixed measurement point 10 on the container profile contour line 15 can be known. The main operation processor 1 also obtains the angle data of the rotating scanning module 2 when measuring at the fixed measurement point 10, such as A1, A2, A3, A4... The main operation processor 1 also needs to obtain the nuclear radiation data measured at the specific angle position on the fixed measurement point 10, such as C1, C2, C3, C4...

[0137] In step S4, the main processing unit 1 generates a cross-sectional image of the material in the measured container according to the position data of the fixed measuring point 10 during measurement, the angular direction data during measurement at each of the fixed measuring points 10, the nuclear radiation data measured in the angular direction of the fixed measuring point 10, and a preset algorithm.

[0138] Finally, the main processing unit 1 generates a cross-sectional image of the material in the measured container based on the position data of the fixed measuring point 10 measured each time in the previous step, the angular direction data when measuring at each fixed measuring point 10, the nuclear radiation data measured in the angular direction of the fixed measuring point 10, and the preset algorithm.

[0139] Typically, the material cross-section image generated by the main computing processor 1 is displayed via a display configured by the main computing processor 1 .

[0140] It should be noted that the rotating scanning module 2 can also scan the same measurement direction multiple times at a fixed measurement point, and generate a measurement angle nuclear radiation data for later imaging based on the nuclear radiation data measured multiple times in the same measurement direction. This method can obtain more accurate measurement data.

[0141] Alternatively, the rotating scanning module 2 only measures the nuclear radiation data of one or several measuring angles each time it moves to a fixed measuring point, and then measures the nuclear radiation data of other measuring angles the next time it reaches the same fixed measuring point. In this way, the number of rotations of the rotating scanning module 2 can be reduced, but the disadvantage is that the number of movements of the mobile module at each fixed measuring point is increased.

[0142] Before step S4, the method further includes the following steps:

[0143] The geometric data of the measured container cross section 12 where the pre-imaged material cross section is located is set in the main operation processor 1.

[0144] The container profile geometry data is very important for the subsequent generation of the material profile image in the measured container. The container profile geometry data can be used to represent the container profile image data of the measured container in digital or image form. Some characteristic positions on the container profile image are very important for users to understand the final generated image, which is often related to the analysis of the actual working conditions or the analysis of the imaging accuracy, especially the characteristic positions such as the feed port and the discharge port on the measured container. Through the geometric data of the container profile, the positional relationship between each characteristic point on the container and the fixed measuring point 10 can also be determined, so as to more accurately display the actual position of the material on the measured container profile 12 in the material profile imaging in the final presented profile image. At the same time, in actual use, the container profile geometry data has important parameter significance for the main operation processor 1 of the passive nuclear profile imaging device to control the moving module 3 and the rotating scanning module 2 to perform highly intelligent work.

[0145] In actual implementation, the main operation processor 1 can automatically generate the cross-sectional geometric data of the container to be measured where the pre-imaged material cross-section is located based on the acquired external cross-sectional instructions and the preset geometric mathematical model of the container to be measured.

[0146] The main operation processor 1 automatically generates the cross-section geometric data of the measured container according to the cross-section instruction obtained from the outside and the preset geometric mathematical model of the container, which has a very positive significance for practical applications. In actual use, the user can directly input the three-dimensional model of the container according to his actual needs to build a three-dimensional space model of the measured container. The three-dimensional model includes the geometric data of each part of the measured container. When it is necessary to set the geometric data of the cross section 12 of the measured container, only the position where the measured container needs to be cross-sectioned is selected on the geometric mathematical model. After confirmation, the cross-section instruction is sent to the main operation processor 1, and the main operation processor 1 can generate the container cross-section image and container cross-section geometric data of the container at this position.

[0147] Pixels are commonly used in image algorithms, so in the measurement method of the present application, specifically, before step S4 of the measurement method of the present application, the main operation processor 1 can divide the container cross section expressed in the form of geometric data or image into multiple pixels. In practical applications, the more pixels are divided, the higher the density, and the material cross section finally generated is clearer under higher precision and denser scanning angles.

[0148] In actual industrial sites, industrial containers are usually huge, some even as high as tens of meters. When obtaining nuclear radiation released by the material in the measured container at the industrial site, the signal-to-noise ratio is usually low due to the influence of the environment and the materials in other containers at the site. In order to achieve cross-sectional imaging of the material in the measured container, a large number of fixed measurement points 10 need to be set on the surface of the measured container. The higher the density of the fixed measurement points 10 on the profile of the measured container cross section 12, the smaller the spacing, the finer the angle measured at each fixed measurement point 10, the denser the number of angles, and the better the material cross-sectional image finally obtained. Comprehensive and high-density measurement on the cross-sectional contour line 15 of the measured container requires a lot of working time, and the work efficiency will be very low.

[0149] To solve this problem, the present application also provides the following method: before step S1 of the measurement method of the present application, the following steps are also included:

[0150] The main computing processor 1 generates the number of fixed measuring points 10, specific position data of the fixed measuring points 10, the order in which the rotating scanning module 2 works at each of the fixed measuring points 10, and / or the scanning angle direction range measured at each of the fixed measuring points 10 in the plane 14 where the pre-imaged material profile is located, based on the geometric data of the measured container profile 12, the nuclear radiation data of multiple positions obtained after the rotating scanning module 2 moves on the outer wall of the measured container along the contour line 15 of the measured container profile, the operating data of the container, the sensor data outside the non-rotating scanning module, and / or the user instructions.

[0151] Through the above methods, the approximate distribution status and distribution characteristics of the material in the measured container can be known, and high-density fixed measurement points can be arranged and high-angle density scanning can be performed on the areas where the materials exist. For areas where the materials do not exist in the container, fewer fixed measurement points are set, and the density and range of the scanning angles are reduced, thereby greatly improving the overall measurement efficiency.

[0152] In addition, in actual implementation, in order to improve the measurement efficiency of the passive nuclear profile imaging device, two or more rotating scanning modules 2 can be configured in the passive nuclear profile imaging device to perform simultaneous measurements at multiple different fixed measurement points 10 on the outer wall of the measured container.

[0153] In this embodiment, the passive nuclear section imaging device can be provided by the user through an external device or the human-machine interface of the passive nuclear section imaging device itself, and the fixed measurement point 10 position data and the angle measurement data of the rotation angle at the fixed measurement point 10 provided by the rotation scanning module 2 can also be provided by the positioning module 19 in the passive nuclear section imaging device. At the same time, the present application also provides a method for realizing the fixed measurement point 10 and the angle measurement data at the fixed measurement point 10 without the need for a special positioning module 19. Specifically, in step S3, the position data of the fixed measurement point 10 is obtained by the main operation processor according to the instructions or operation data of the mobile drive motor of the mobile module 3; the angle direction data during measurement is obtained by the main operation processor 1 according to the instructions or operation data of the rotation drive motor of the rotation scanning drive component 8. In actual use, due to the use of a driving motor such as a stepping motor, the main operation processor 1 can calculate and generate the fixed measurement point 10 data and the angle measurement data of the rotation angle at the fixed measurement point 10 from the operation data or instructions of such motors.

[0154] In the passive nuclear profile imaging device and its measurement method of the present application, it is extremely important to obtain higher signal-to-noise ratio data in extremely harsh field environments. The present application also provides a measurement method, which specifically includes the following steps before step S4:

[0155] The main operation processor 1 obtains closed shielding nuclear radiation data, which is generated by a nuclear radiation correction component or measured by the rotating scanning module 2 when the nuclear radiation collection window 9 is closed or covered.

[0156] In actual use, how to obtain the closed shielding nuclear radiation data by changing the nuclear radiation shielding component 7 itself is also a relatively important step. Specifically, in the measurement method of the present application, before or during step S4, the following steps are also included:

[0157] After the rotating scanning module 2 reaches a new fixed measuring point 10 or before the fixed measuring point 10 performs radiation measurement on the material in the measured container, the main computing processor 1 controls the nuclear radiation shielding component 7 to perform structural deformation or position change, so that the nuclear radiation collection window 9 of the rotating scanning module 2 is closed or covered;

[0158] When the nuclear radiation collection window 9 is closed or covered, the main computing processor 1 obtains the closed shielding nuclear radiation data when the nuclear radiation collection window 9 is closed.

[0159] In the pre-measurement of this embodiment, the nuclear radiation data obtained is the nuclear radiation data actually measured at each angle direction of the fixed measuring point 10, and the nuclear radiation data includes the nuclear radiation released in the measured container, and also includes the cosmic radiation in the industrial field environment or the nuclear radiation released by the materials in other surrounding containers received by the rotating scanning module 2 through the nuclear radiation shielding component 7. When the nuclear radiation acquisition window 9 is closed or covered, the closed shielded nuclear radiation data obtained includes the nuclear radiation released by the materials in the measured container, and also includes the cosmic radiation in the industrial field environment or the nuclear radiation released by the materials in other surrounding containers. The present application also provides an algorithm for obtaining more effective measurement of angle nuclear radiation, which filters out the nuclear radiation interference of the environment and even other angles of the measured material that do not require measurement, and further compensates for it. Specifically, in step S4, in generating a material profile image according to a preset algorithm, the nuclear radiation data measured in the angle direction of the fixed measuring point 10 is represented by the nuclear radiation correction value, and the nuclear radiation correction value is calculated according to the following formula:

[0160] C v =(C m -C f ) / (1-u),

[0161] Among them, C v is the nuclear radiation correction value, C m is the nuclear radiation value measured in the angular direction of the fixed measurement point 10, C f is the closed shielding nuclear radiation value, and u is the nuclear radiation attenuation ratio of the shielding material when the nuclear radiation collection window 9 is closed or covered. f The data of nuclear radiation after the angle is blocked by the nuclear radiation shielding component 7 needs to be measured, so this algorithm uses (1-u) to perform reverse compensation.

[0162] In the original preset algorithm, C is used m Participate in the calculation and generate the cross-sectional image of the material. v Participate in calculations to generate cross-sectional images of materials.

[0163] This embodiment also provides a preset cross-sectional imaging algorithm, combined with Fig.11 , specifically, including the following steps:

[0164] Based on the container cross-section geometry data and the position data of the fixed measurement point 10, a planar geometry relationship between the fixed measurement point 10 and the container cross-section is constructed;

[0165] Creating radial lines in the container section based on the angular direction data when measuring the fixed measuring point 10;

[0166] According to the radial lines starting from each fixed measuring point 10, the intersection position of each radial line is calculated;

[0167] Count the radial lines passing through the intersection points of each radial line;

[0168] Add the radiation values ​​of the corresponding angles of the fixed measuring points 10 corresponding to the radiation lines passing through the intersection points of the radiation lines to obtain the sum of the nuclear radiation values ​​of the intersection points;

[0169] Count the maximum and minimum values ​​of the sum of nuclear radiation values ​​at each intersection;

[0170] The maximum and minimum values ​​of the sum of the nuclear radiation values ​​at each intersection point correspond to the grayscale color used for display;

[0171] Each intersection point is displayed in color grayscale to generate a cross-sectional image of the material in the measured container.

[0172] Image expression based on pixels is a common technical means. The profile imaging algorithm of the present application can be a pixel data stacking imaging algorithm.

[0173] The present application also provides a preset cross-sectional imaging algorithm, combined with Fig.12 , including the following steps:

[0174] Based on the geometric data of the measured container cross section 12, the measured container cross section 12 is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section 12 are clearly defined;

[0175] Based on the container cross-section geometry data, the pixel position data and the position data of the fixed measurement point 10, a planar geometry relationship among the fixed measurement point 10, the container cross-section and the pixel is constructed;

[0176] According to the position data of the fixed measuring point 10, the angle direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the pixel located in the measuring angle direction of the fixed measuring point 10 is calculated;

[0177] Filling the nuclear radiation data measured at the fixed measurement point 10 in the measurement angle direction into the passed pixel;

[0178] Repeat the process of filling each pixel with the nuclear radiation data measured at each measuring angle direction at each fixed measuring point 10 in turn according to the previous method;

[0179] Calculate the sum of all nuclear radiation values ​​filled in each pixel as the pixel data of the pixel;

[0180] Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block;

[0181] The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

[0182] This application also provides another pixel data stacking imaging algorithm, including the following steps:

[0183] Based on the geometric data of the measured container cross section 12, the measured container cross section 12 is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section 12 are clearly defined;

[0184] Based on the container cross-section geometry data, the pixel position data and the position data of the fixed measurement point 10, a planar geometry relationship among the fixed measurement point 10, the container cross-section and the pixel is constructed;

[0185] According to the position data of the fixed measuring point 10, the angle direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the pixel located in the measuring angle direction of the fixed measuring point 10 is calculated;

[0186] After averaging the nuclear radiation data measured at the fixed measurement point 10 in the measurement angle direction according to the number of passed pixels, pixel average data is obtained and distributed to the passed pixels;

[0187] The nuclear radiation data measured at each measuring angle direction at each fixed measuring point 10 are sequentially filled into each pixel according to the previous method;

[0188] Performing a weighted summation on all the allocated data filling the pixel as the pixel data;

[0189] Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block;

[0190] The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

[0191] In practical applications, in the above three imaging algorithms, after obtaining the above-mentioned intersection position or pixel data, it is also possible to consider further optimizing the intersection position or pixel data by adding inversion, filtering, normalization or iteration steps, so that the intersection position or pixel data used to establish the image is closer to the radioactivity data of the actual position, thereby ensuring the accuracy of the final image.

[0192] There are many methods in the field of imaging to further improve the quality of imaging, which will not be elaborated here. It should be emphasized that the device and measurement method of this application measure radioactive materials in the measured container, which is different from active or other measurement principles. It has its own principle characteristics in actual calculation, which should be taken into consideration when performing cross-sectional imaging calculations, so as to obtain a more accurate cross-sectional image of the material.

[0193] Example 3

[0194] This embodiment introduces a passive nuclear cross-section imaging robot. Figure 13 to Figure 14 As shown, it includes a skeleton module 17, a magnetic drive wheel 16, a rotation scanning module 2, a positioning module 19, a robot operation processor 18 and a main operation processor 1;

[0195] The main operation processor 1 communicates with the robot operation processor 18 via wired or wireless means, and the robot operation processor 18 is connected to the rotating scanning module 2 and / or the magnetic drive wheel 16;

[0196] The robot operation processor 18, magnetic drive wheel 16, rotation scanning module 2, and positioning module 19 are all installed on the skeleton module 17;

[0197] The rotating scanning module 2 is used to measure the nuclear radiation data in multiple angle directions located in the plane where the pre-imaged material section is located and facing the measured container at multiple fixed measuring points 10;

[0198] The magnetic drive wheel 16 is used to adsorb the robot as a whole onto the outer wall of the measuring container, and move it between the locations of the fixed measuring points 10 of the measured container;

[0199] The positioning module 19 is connected to the main operation processor 1, and is used to provide the main operation processor 1 with the position information of the rotating scanning module 2 and / or the magnetic driving wheel 16;

[0200] The robot operation processor 18 is used to control the movement of the magnetic drive wheel 16 and / or control the rotation scanning module 2 to rotate and scan at a fixed measurement point 10 to measure nuclear radiation according to external instructions or instructions of the main operation processor;

[0201] The main computing processor 1 is used to generate a cross-sectional image of the material in the measured container based on the position data of the fixed measuring points, the angular direction data when measuring at each of the fixed measuring points, the nuclear radiation data measured in the angular direction of the fixed measuring points, and a preset algorithm.

[0202] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A passive nuclear profile imaging device, characterized in that: include: A main operation processor (1), a rotation scanning module (2) and a movement module (3); The main operation processor (1) performs data communication with the rotation scanning module (2) and / or the movement module (3); The rotating scanning module (2) is used for measuring at a plurality of fixed measuring points (10), wherein at least one of the fixed measuring points measures nuclear radiation data in a plurality of angular directions located within a plane (14) where a pre-imaged material cross section is located and facing a container to be measured; The moving module (3) is used to drive the rotating scanning module (2) to move between the locations of the fixed measuring points (10) on the outer wall of the measured container; The main operation processor (1) is used to generate a cross-sectional image of the material in the measured container based on the position data of the fixed measurement points during measurement, the angular direction data during measurement at each of the fixed measurement points, the nuclear radiation data measured in the angular direction of the fixed measurement points, and a preset algorithm.

2. A passive nuclear cross-section imaging device according to claim 1, characterized in that: The mobile module (3) comprises: a robot arm, or a mobile component installed on a fixed guide rail on the outer wall of the measured container, or a mobile component that moves outside the measured container based on rope traction.

3. A passive nuclear cross-section imaging device according to any one of claims 1 or 2, characterized in that: The rotating scanning module (2) comprises a fixed nuclear radiation collection device having a collimator or a coding plate.

4. The passive nuclear cross-section imaging device according to claim 1, characterized in that: It also includes a positioning module (19), which is connected to the main operation processor (1) and provides the main operation processor (1) with position information of the rotating scanning module (2) and / or the moving module (3).

5. The passive nuclear cross-section imaging device according to claim 1, characterized in that: The rotating scanning module (2) comprises: a scintillation crystal (4), a photomultiplier component (5), a signal acquisition and calculation processing component (6), a nuclear radiation shielding component (7) and a rotating scanning driving component (8). The scintillation crystal (4) is optically coupled to the photomultiplier component (5), the signal acquisition and operation processing component (6) is connected to the photomultiplier component (5), the signal acquisition and operation processing component (6) is connected to the main operation processor (1), the nuclear radiation shielding component (7) wraps a portion of the scintillation crystal (4), and the rotation scanning drive component (8) is connected to the nuclear radiation shielding component (7).

6. A passive nuclear cross-section imaging device according to claim 5, characterized in that: The nuclear radiation shielding component (7) covers a portion of the scintillation crystal (4), and the portion of the nuclear radiation shielding component (7) not covering the scintillation crystal (4) is provided with a nuclear radiation collection window (9), and the scintillation crystal (4) collects nuclear radiation through the nuclear radiation collection window (9).

7. A passive nuclear cross-section imaging device according to claim 6, characterized in that: The scintillation crystal (4) is a columnar scintillation crystal.

8. The passive nuclear cross-section imaging device according to claim 7, characterized in that: The nuclear radiation shielding component (7) is arranged along the axial side of the columnar scintillating crystal (4), and the nuclear radiation collection window (9) is capable of collecting nuclear radiation in a part of the angular directions of 360 degrees on the axial side of the columnar scintillating crystal (4).

9. The passive nuclear cross-section imaging device according to claim 6, characterized in that: The rotary scanning driving component (8) drives the nuclear radiation shielding component (7) to move, thereby driving the nuclear radiation collection window (9) to move in the vicinity of the fixed measuring point (10), so that the rotary scanning module (2) can perform rotary scanning measurement of nuclear radiation in multiple angular directions of the measured container, with the fixed measuring point (10) as the center, within the plane (14) where the pre-imaged material section is located.

10. The passive nuclear cross-section imaging device according to claim 6, characterized in that: The nuclear radiation shielding component (7) further comprises an independently arranged nuclear radiation shielding and covering component, and when the nuclear radiation collection window (9) is not moved below the nuclear radiation shielding and covering component, nuclear radiation measurement is achieved with the nuclear radiation collection window (9) in an open state; and when the nuclear radiation collection window (9) is moved below the nuclear radiation shielding and covering component, closed nuclear radiation measurement is achieved with the nuclear radiation collection window (9) in a state where it is completely covered by the nuclear radiation shielding and covering component. Alternatively, the nuclear radiation shielding component (7) further comprises a closing drive component and a nuclear radiation shielding and covering component, wherein the closing drive component is connected to the nuclear radiation shielding and covering component, and the closing drive component can drive the nuclear radiation shielding and covering component to close or open the nuclear radiation collection window (9). After the closing drive component drives the nuclear radiation shielding and covering component to close the nuclear radiation collection window (9), closed nuclear radiation measurement is achieved. After the closing drive component drives the nuclear radiation shielding and covering component to open the nuclear radiation collection window (9), nuclear radiation measurement is achieved when the nuclear radiation collection window (9) is in an open state.

11. The passive nuclear cross-section imaging device according to claim 5, characterized in that: The rotary scanning drive component (8) includes a rotary drive motor, and the movable module (3) includes a movable drive motor.

12. The passive nuclear cross-section imaging device according to claim 1, characterized in that: It also includes a nuclear radiation correction component, which includes a closed nuclear radiation enclosure and a nuclear radiation measurement sensor located in the nuclear radiation enclosure, wherein the nuclear radiation measurement sensor is connected to the main operation processor (1) and is used to send the collected nuclear radiation measurement data in the closed state to the main operation processor (1).

13. A passive nuclear profile imaging measurement method, characterized in that: The passive nuclear cross-section imaging device according to any one of claims 1 to 12 comprises the following steps: Using the moving module, the rotating scanning module is moved to the location of the fixed measuring point on the outer wall of the measured container; The rotating scanning module is located at the fixed measuring point, and the rotating scanning module rotates and scans the nuclear radiation in multiple angle directions within the plane where the pre-imaged material section is located and facing the measured container. Part or all of the area within the pre-imaged material section is measured by the rotating scanning module from multiple different fixed measuring points, and the rotating scanning module sends the acquired nuclear radiation data to the main computing processor; The main computing processor acquires or generates the position data of the fixed measurement points for each measurement, the angular direction data when measuring at each fixed measurement point, and the nuclear radiation data measured in the angular direction of the fixed measurement point; The main computing processor generates a cross-sectional image of the material in the measured container based on the position data of the fixed measuring points, the angular direction data when measuring at each of the fixed measuring points, the nuclear radiation data measured in the angular direction of the fixed measuring points, and a preset algorithm.

14. A passive nuclear profile imaging measurement method according to claim 13, characterized in that: Before the step of generating the cross-sectional image of the material in the measured container, the method further includes step S: The geometric data of the measured container cross section where the pre-imaged material cross section is located is set in the main operation processor.

15. A passive nuclear profile imaging measurement method according to claim 14, characterized in that: Before step S, the main operation processor automatically generates the cross-sectional geometric data of the container to be measured where the pre-imaged material cross-section is located based on the acquired external cross-sectional instruction and the preset geometric mathematical model of the container to be measured.

16. A passive nuclear profile imaging measurement method according to claim 15, characterized in that: After step S and before the step of generating a cross-sectional image of the material in the measured container, the main operation processor divides the cross-section of the measured container expressed in the form of geometric data or image into a plurality of pixels.

17. The passive nuclear profile imaging measurement method according to claim 13, characterized in that: Before the step of the moving module moving the rotating scanning module to the location of the fixed measuring point on the outer wall of the measured container, the following steps are also included: The main computing processor generates the number of fixed measurement points, specific position data of the fixed measurement points, the order in which the rotating scanning module works at each of the fixed measurement points, and / or the scanning angle direction range measured at each of the fixed measurement points in the plane where the pre-imaged material profile is located, based on the cross-sectional geometric data of the measured container, the nuclear radiation data of multiple positions obtained after the rotating scanning module moves on the outer wall of the measured container along the cross-sectional contour line of the measured container, the operating data of the container, the sensor data outside the non-rotating scanning module, and / or user instructions.

18. A passive nuclear profile imaging measurement method according to claim 17, characterized in that: The rotating scanning module includes a rotating scanning driving component, and the rotating scanning driving component includes a rotating driving motor; the moving module includes a moving driving motor; the fixed measuring point position data is obtained by the main operation processor according to the instructions or operating data of the moving driving motor; the angular direction data during the measurement is obtained by the main operation processor according to the instructions or operating data of the rotating driving motor.

19. A passive nuclear profile imaging measurement method according to claim 18, characterized in that: Before the step of generating the cross-sectional image of the material in the measured container, the following steps are also included: The passive nuclear cross-sectional imaging device also includes a nuclear radiation correction component, the nuclear radiation correction component including a closed nuclear radiation closed shell and a nuclear radiation measurement sensor in the nuclear radiation closed shell, the nuclear radiation measurement sensor being connected to the main operation processor (1) and used for sending the collected nuclear radiation measurement data in the closed state to the main operation processor (1); The rotating scanning module (2) comprises a nuclear radiation shielding component (7) and a scintillation crystal (4); the portion of the nuclear radiation shielding component (7) that wraps around the scintillation crystal (4), and the portion of the nuclear radiation shielding component (7) that does not wrap around the scintillation crystal (4) is provided with a nuclear radiation collection window (9); the scintillation crystal (4) collects nuclear radiation through the nuclear radiation collection window (9); The main operation processor also obtains closed shielding nuclear radiation data, which is generated by the nuclear radiation correction component or obtained by the rotation scanning module when the nuclear radiation collection window is closed or covered.

20. The passive nuclear profile imaging measurement method according to claim 19, characterized in that: Before or during the step of generating the cross-sectional image of the material in the measured container, the following steps are also included: When the rotating scanning module reaches a new fixed measuring point or each time the radiation measurement of the material in the measured container is performed at the fixed measuring point, the main operation processor controls the nuclear radiation shielding component to perform structural deformation or position change, so that the nuclear radiation collection window of the rotating scanning module is closed or covered; The main operation processor obtains the closed shielding nuclear radiation data when the nuclear radiation collection window is closed.

21. A passive nuclear profile imaging measurement method according to claim 20, characterized in that: In the step of generating the cross-sectional image of the material in the measured container, the nuclear radiation data measured in the angular direction of the fixed measuring point is represented by a nuclear radiation correction value, and the nuclear radiation correction value is calculated according to the following formula: C v =(C m -C f ) / (1-u), Among them, C v is the nuclear radiation correction value, C m is the nuclear radiation value measured in the angular direction of the fixed measurement point, C f is the closed shielding nuclear radiation value, and u is the nuclear radiation attenuation ratio of the shielding material when the nuclear radiation collection window is closed or covered.

22. The passive nuclear profile imaging measurement method according to claim 13, characterized in that: The preset algorithm includes: Based on the geometric data of the container section and the position data of the fixed measuring points, a planar geometric relationship between the fixed measuring points and the container section is constructed; Create radial lines in the vessel section based on the angular direction data when measuring at fixed measuring points; According to the radial lines starting from each fixed measurement point, calculate the intersection point of each radial line; Count the radial lines passing through the intersection points of each radial line; Add the radiation values ​​of the corresponding angles of the fixed measuring points of the radiation lines passing through the intersection points of each radiation line to obtain the sum of the nuclear radiation values ​​of each intersection point; Count the maximum and minimum values ​​of the sum of nuclear radiation values ​​at each intersection; The maximum and minimum values ​​of the sum of the nuclear radiation values ​​at each intersection point correspond to the grayscale color used for display; Each intersection point is displayed in color grayscale to generate a cross-sectional image of the material in the measured container.

23. A passive nuclear profile imaging measurement method according to any one of claims 13 to 16, characterized in that: The preset algorithm is a pixel data stacking imaging algorithm.

24. A passive nuclear profile imaging measurement method according to claim 23, characterized in that: The pixel data stacking imaging algorithm comprises: Based on the geometric data of the measured container cross section, the measured container cross section is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section are clarified; Based on the container section geometry data, pixel position data and the position data of the fixed measurement points, the plane geometry relationship among the fixed measurement points, the container section and the pixels is constructed; According to the position data of the fixed measurement point, the angular direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the total number of pixels located in the measurement angle direction of the fixed measurement point is calculated; Filling the nuclear radiation data measured at the fixed measurement point in the measurement angle direction into the pixel located in the measurement angle direction; Repeating the nuclear radiation data measured at each fixed measurement point in each measurement angle direction, and filling the nuclear radiation data into each pixel located in the measurement angle direction according to the measurement angle direction; Calculate the sum of all nuclear radiation values ​​filled in each pixel as the pixel data of the pixel; Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block; The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

25. The passive nuclear profile imaging measurement method according to claim 23, characterized in that: The pixel data stacking imaging algorithm comprises: Based on the geometric data of the measured container cross section, the measured container cross section is divided into a plurality of pixels, and the positions of the pixels in the measured container cross section are clarified; Based on the container section geometry data, pixel position data and the position data of the fixed measurement points, the plane geometry relationship among the fixed measurement points, the container section and the pixels is constructed; According to the position data of the fixed measurement point, the angular direction data when measuring the nuclear radiation data and the above-mentioned plane geometric relationship, the total number of pixels located in the measurement angle direction of the fixed measurement point is calculated; The nuclear radiation data measured at the fixed measurement point in the measurement angle direction are averaged according to the total number of pixels located in the measurement angle direction to obtain pixel average data, and the pixel average data are distributed to the pixels in the measurement angle direction; Sequentially filling the nuclear radiation data measured at each fixed measurement point in each measurement angle direction into each pixel located in the measurement angle direction according to the measurement angle direction; Performing a weighted summation on all the allocated data filling the pixel as the pixel data; Based on the preset relationship between pixel data and color blocks, each pixel data is replaced by a color block; The color blocks of the picture elements are displayed in the cross-sectional geometric shape, thereby generating a cross-sectional image of the material in the measured container.

26. A passive nuclear cross-section imaging robot, characterized in that: Used for crawling and scanning on the outer wall of a container to be measured, comprising a skeleton module (17), a magnetic drive wheel (16), a rotation scanning module (2), a positioning module (19), a robot operation processor (18) and a main operation processor (1); The main operation processor (1) and the robot operation processor (18) perform data communication via a wired or wireless manner, and the robot operation processor (18) is connected to the rotating scanning module (2) and / or the magnetic drive wheel (16); The robot operation processor (18), the magnetic drive wheel (16), the rotation scanning module (2), and the positioning module (19) are all mounted on the skeleton module (17); The rotating scanning module (2) is used for measuring at a plurality of fixed measuring points (10), wherein at least one of the fixed measuring points measures nuclear radiation data in a plurality of angular directions located within a plane (14) where a pre-imaged material cross section is located and facing a container to be measured; The magnetic drive wheel (16) is used to adsorb the robot as a whole onto the outer wall of the measuring container, and to move the robot between the locations of the fixed measuring points (10) of the measured container; The positioning module (19) is connected to the main operation processor (1) and is used to provide the main operation processor (1) with position information of the rotating scanning module (2) and / or the magnetic drive wheel (16); The robot operation processor (18) is used to control the movement of the magnetic drive wheel (16) and / or control the rotation scanning module (2) to rotate and scan and measure nuclear radiation at a fixed measurement point (10) according to external instructions or instructions of the main operation processor; The main operation processor (1) is used to generate a cross-sectional image of the material in the measured container based on the position data of the fixed measurement points, the angular direction data when measuring at each of the fixed measurement points, the nuclear radiation data measured in the angular direction of the fixed measurement points, and a preset algorithm.

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