Radiation detection system and detection method thereof

Abstract

The invention provides a radiation detection system and method, and the system comprises a robot which is configured to move in a target space, and the interior of the target space is provided with a radioactive source; the terminal equipment is in communication connection with the robot; the robot comprises a movable chassis which is configured to move along a preset track route in a target space; the loading part is arranged on the movable chassis; the sampling module comprises a detector and a sensor module, the detector is used for collecting radiation data of the radioactive source, and the sensor module is used for collecting position data of the robot; the terminal equipment comprises an image reconstruction module used for performing image reconstruction on a radiation field of a target space according to radiation data and position data; and the positioning module is used for positioning the coordinate position of the radioactive source in the target space according to the reconstructed image. The radiation detection system not only can collect radiation data, but also can position the coordinate position of the radioactive source in the target space, and is low in configuration cost.

Description

Technical Field

[0001] The present invention relates to the technical field of radiation source detection, and in particular to a radiation detection system and a detection method thereof. Background Art

[0002] Detecting unknown radioactive sources in the environment through detection equipment plays an important role and significance in protecting personnel and environmental safety, scientific research, etc.

[0003] In the related art, the robot is equipped with a detector without directional resolution, which can only detect the radiation dose level in the space, but cannot obtain the location of the radiation source. In the related art, there are also robots equipped with gamma cameras to detect the radiation dose level and the location of the radiation source in the space, but the gamma camera is expensive and has poor radiation resistance, which restricts its application. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a radiation detection system for solving the problem that existing detection equipment fails to take both configuration cost and detection performance into consideration.

[0005] In a first aspect, an embodiment of the present invention provides a radiation detection system, comprising:

[0006] a robot configured to move in a target space in which a radiation source is disposed; and

[0007] A terminal device, connected to the robot for communication;

[0008] Wherein, the robot comprises:

[0009] A movable chassis is configured to move along a preset trajectory in the target space; an upper component is arranged on the movable chassis, and

[0010] a sampling module, comprising a detector and a sensor module, wherein the detector is disposed on the upper component and is used to collect radiation data of the radiation source, and the sensor module is disposed on the movable chassis and / or the upper component and is used to collect position data of the robot;

[0011] The terminal device comprises: an image reconstruction module, configured to reconstruct an image of the radiation field of the target space according to the radiation data and the position data; and

[0012] A positioning module is used to locate the coordinate position of the radiation source in the target space according to the reconstructed image.

[0013] According to an embodiment of the present invention, the movable chassis comprises:

[0014] a chassis body; and

[0015] A driving module, disposed on the chassis body, for driving the chassis body to move;

[0016] The sensor module includes a first sensor unit and a second sensor unit, wherein the first sensor unit is arranged on the chassis body, and the second sensor unit is arranged on the upper mounting component;

[0017] The first sensor unit is used to collect first position data of the robot in the target space, and the second sensor unit is used to collect second position data of the robot in the target space.

[0018] According to an embodiment of the present invention, the first sensor unit includes a plurality of first sensors, and the plurality of first sensors are arranged at intervals along the circumferential direction of the chassis body;

[0019] The second sensor unit includes a plurality of second sensors, and the plurality of second sensors are arranged at intervals along a circumferential direction of the upper attachment member.

[0020] According to an embodiment of the present invention, the sensor module further comprises a posture sensor, which is arranged on the chassis body, and the posture sensor is used to collect posture data of the robot;

[0021] The robot also includes a data fusion module, which is used to fuse the first position data, the second position data, the posture data and the radiation data.

[0022] According to an embodiment of the present invention, the robot further includes a path planning module for formulating the preset trajectory route according to the sampling instruction.

[0023] According to an embodiment of the present invention, the path planning module includes:

[0024] A global path planning module, used to formulate the preset trajectory route according to the sampling instruction; and

[0025] The local path planning module is used to formulate an obstacle avoidance route based on the preset trajectory route and the received obstacle information.

[0026] According to an embodiment of the present invention, the robot further comprises:

[0027] A trajectory interpolation module, used for performing trajectory interpolation according to the path planning result of the path planning module;

[0028] A trajectory tracking module, used for performing trajectory tracking according to the result of trajectory interpolation; and

[0029] The motion control module is used to generate motion control instructions according to the trajectory tracking result to control the driving module.

[0030] According to an embodiment of the present invention, the robot further includes a SLAM module for acquiring a geometric space model of the target space based on the collected first position data, the second position data and the posture data.

[0031] According to an embodiment of the present invention, the robot further comprises a power supply module, which is arranged on the chassis body.

[0032] According to an embodiment of the present invention, the robot further comprises a wireless communication module, which is disposed on the chassis body and is used for communication connection with the terminal device.

[0033] According to an embodiment of the present invention, the terminal device further includes:

[0034] A human-computer interaction module, used to perform human-computer interaction between the terminal device and the user;

[0035] A task management module, used to monitor the working status of the robot;

[0036] The sampling database module is used to collect sampling data, wherein the sampling data includes the position data and the radiation data.

[0037] According to an embodiment of the present invention, the radiation data includes a radiation count rate and a radiation dose rate.

[0038] In a second aspect, an embodiment of the present invention provides a detection method of a radiation detection system, comprising:

[0039] Obtaining a geometric space model of the target space;

[0040] According to the geometric space model, a preset trajectory route for the robot to sample in the target space is formulated;

[0041] Acquiring position data and radiation data collected when the robot moves along the preset trajectory route;

[0042] Based on the radiation data and the position data, an image reconstruction is performed on the radiation field of the target space, and the coordinate position of the radiation source in the target space is located according to the reconstructed image.

[0043] The radiation detection system and detection method provided by the embodiments of the present invention can at least achieve the following technical effects: the robot and the terminal device are communicatively connected, the sampling module includes a detector and a sensor module, the robot moves along a preset trajectory in the target space, the detector and the sensor module synchronously collect radiation data and position data in the target space, the terminal device reconstructs an image of the radiation field in the target space according to the radiation data and the position data, and locates the coordinate position of the radiation source in the target space. It can not only collect radiation data but also locate the coordinate position of the radiation source in the target space, and the configuration cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0045] Figure 1 A schematic diagram of the structure of a radiation detection system according to an embodiment of the present invention is shown;

[0046] Figure 2 A control architecture diagram of a radiation detection system according to an embodiment of the present invention is schematically shown;

[0047] Figure 3 A schematic diagram schematically shows a robot working in a target space according to an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of a robot walking and sampling in a target space displayed on a terminal device according to an embodiment of the present invention is schematically shown;

[0049] FIG5( a ) schematically shows a schematic diagram of positioning a radiation source by a radiation detection system according to an embodiment of the present invention;

[0050] FIG5( b ) is a partial enlarged schematic diagram of the dotted box in FIG5( a );

[0051] Figure 6 A flow chart schematically shows a detection method of a radiation detection system according to an embodiment of the present invention;

[0052] Reference numerals:

[0053] 10: robot; 11: movable chassis; 12: upper parts; 110: sampling module; 111: detector; 112: first sensor; 113: second sensor; 114: posture sensor; 120: drive module; 121: servo motor; 122: servo controller; 130: data fusion module; 141: global path planning module; 142: local path planning module; 151: trajectory interpolation module; 152: trajectory tracking module; 160: motion control module; 170: SLAM module; 180: power supply module; 190: wireless communication module;

[0054] 20: terminal device; 210: image reconstruction module; 220: positioning module; 230: human-computer interaction module; 240: task management module; 250: sampling database module; 30: radiation source. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the related art, the robot is equipped with a detector without directional resolution, which can only detect the radiation dose level in the space, but cannot obtain the position and number of radiation sources. In the related art, there are also robots equipped with gamma cameras, but the gamma cameras are expensive and have poor radiation resistance, which restricts their application. To solve the above problems, an embodiment of the present invention provides a radiation detection system that can simultaneously obtain the radiation data and position of the radiation source, while being low in cost.

[0059] Combine the following Figure 1 5 to 5 describe a radiation detection system according to an embodiment of the present invention.

[0060] like Figure 1 and Figure 2 As shown, the radiation detection system provided by the embodiment of the present invention includes a robot 10 and a terminal device 20. The robot 10 is communicatively connected with the terminal device 20. The robot 10 is configured to move in a target space, and there is a radiation source in the target space.

[0061] The robot 10 includes a movable chassis 11, an upper component 12, and a sampling module 110. The movable chassis 11 is configured to move along a preset trajectory in a target space. The upper component 12 is disposed on the movable chassis 11. The sampling module 110 includes a detector 111 and a sensor module. The detector 111 is disposed on the upper component 12 and is used to collect radiation data of a radiation source. The sensor module is disposed on the movable chassis 11 and / or the upper component 12 and is used to collect position data of the robot 10.

[0062] The terminal device 20 includes an image reconstruction module 210 and a positioning module 220. The image reconstruction module 210 is used to reconstruct the radiation field of the target space according to the radiation data and the position data; the positioning module 220 is used to locate the coordinate position of the radiation source in the target space according to the reconstructed image. The terminal device can be various electronic devices with a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, etc.

[0063] The robot 10 and the terminal device 20 can achieve communication connection through a wired connection or a wireless connection. The robot 10 can move along a preset trajectory in the target space. There is a radiation source in the target space. The robot 10 can collect the position data of the robot 10 and the radiation data of the radiation source during the movement of the robot 10 along the preset trajectory. The terminal device 20 processes the position data and the radiation data and can locate the position of the radiation source in the target space.

[0064] The sampling module 110 includes a detector 111 and a sensor module. Exemplarily, the detector 111 may include a detector with no directional resolution, such as a gamma detector, for detecting radiation data of a radioactive source, wherein the radiation data includes a radiation count rate, a radiation dose rate, a type of nuclide, and the like. The sensor module includes one or more sensors, and the sensors may include a laser radar sensor, an ultrasonic sensor, a visual sensor, and the like. A plurality of sensors are mounted on the movable chassis 11 and / or the upper component 12. The sensor module acquires the position data of the robot by collecting geometric environment information data in the target space and processing the geometric environment information data. Compared with a gamma camera, a detector with no directional resolution, such as a gamma detector, has a lower cost, and a sensor module such as a laser radar sensor, an ultrasonic sensor, and a visual sensor also has a lower cost, which is conducive to reducing the overall configuration cost of the radiation detection system.

[0065] The robot 10 must obtain the geometric space model of the target space before the first sampling. If the geometric space model of the target space is known, the sampling route can be directly formulated. If the geometric space model of the target space is unknown, the geometric space model of the target space must be obtained through a radiation detection system. Specifically, the robot 10 also includes a SLAM module 170. The SLAM (Simultaneous Localization and Mapping) technology is a simultaneous positioning and map building technology. It is a technology that estimates the position of the robot or unmanned system itself in real time through sensor data and builds an environmental map. The robot 10 walks in the target space, and the sensor module collects the original position data of the robot 10 in the target space in real time. The SLAM module 170 performs geometric space mapping through the SLAM algorithm based on the collected original position data to obtain the geometric space model of the target space.

[0066] Figure 3 FIG. 1 is a schematic diagram of the robot 10 working in the target space. The robot 10 and the radiation source 30 are as shown in FIG. Figure 3 as shown in . Figure 4 It is a schematic diagram of the robot 10 walking and sampling in the target space displayed on the terminal device 20. Figure 4 The dotted line segment in the middle represents the trajectory of the robot 10 . The lighter the dotted line, the smaller the radiation amount, and the darker the dotted line, the greater the radiation amount.

[0067] The terminal device 20 sends a sampling instruction to the robot 10, and the robot 10 receives the sampling instruction and walks in the target space. Considering that the robot 10 may not collect radiation data during one walk, the robot 10 may perform one or more sampling tasks according to the situation. The preset trajectory route includes one or more trajectory routes.

[0068] For example, the robot 10 performs the first sampling task and formulates a first trajectory route according to the geometric space model. When the robot 10 walks along the first trajectory route in the target space, the detector 111 can collect radiation data at intervals of a preset time length, and the sensor module can collect position data at intervals of a preset time length. It can be understood that the detector 111 and the sensor module synchronously collect radiation data and position data, and the radiation data includes a radiation count rate.

[0069] After the first sampling task is completed, a system transmission matrix is ​​constructed based on the radiation data and position data collected for the first time. The system transmission matrix is ​​used to characterize the radiation propagation characteristics of the target space. The image reconstruction module 210 can use the maximum a posteriori estimation method to iteratively optimize the radiation field distribution to complete image reconstruction. The positioning module 220 determines the approximate range of the radiation source in the target space based on the reconstructed image of the first sampling.

[0070] Afterwards, the robot 10 performs a second sampling task and formulates a second trajectory route according to the first positioning result, and the second trajectory route covers a smaller range than the first trajectory route. When the robot 10 walks along the second trajectory route in the target space, the detector 111 and the sensor module synchronously collect radiation data and position data.

[0071] After the second sampling task is completed, the system transmission matrix is ​​constructed according to the radiation data and position data collected for the second time. The image reconstruction module 210 can use the maximum a posteriori estimation method to reconstruct the radiation field of the target space, and the positioning module 220 determines the range of the radiation source in the target space according to the reconstructed image of the second sampling.

[0072] By analogy, after multiple samplings, the sampling range of the robot 10 is continuously narrowed, and the coordinate position of the radiation source in the target space is accurately located through the image reconstruction module 210 and the positioning module 220.

[0073] In an embodiment of the present invention, the robot 10 and the terminal device 20 are communicatively connected, the sampling module 110 includes a detector 111 and a sensor module, the robot 10 moves along a preset trajectory in the target space, the detector 111 and the sensor module synchronously collect radiation data and position data in the target space, and the terminal device 20 reconstructs an image of the radiation field of the target space according to the radiation data and the position data, and locates the coordinate position of the radiation source in the target space. It can not only collect radiation data, but also locate the coordinate position of the radiation source in the target space, and the configuration cost is low.

[0074] like Figure 1As shown, in an optional embodiment, the movable chassis 11 includes a chassis body and a driving module 120. The driving module 120 is arranged on the chassis body and is used to drive the chassis body to move. The sensor module includes a first sensor unit and a second sensor unit, the first sensor unit is arranged on the chassis body, and the second sensor unit is arranged on the upper component 12. The first sensor unit is used to collect the first position data of the robot 10 in the target space, and the second sensor unit is used to collect the second position data of the robot 10 in the target space.

[0075] Exemplarily, the movable chassis 11 can be a two-wheel differential chassis, a crawler chassis, an Ackerman chassis, a universal wheel chassis, etc. For example, the movable chassis 11 is a two-wheel differential chassis, and the two-wheel differential chassis realizes the movement and steering of the robot 10 by controlling the speed difference of the two motors. The drive module 120 includes a servo motor 121 and a servo controller 122, and the servo controller 122 controls the speed and steering of the servo motor 121 according to the motion control instruction to achieve precise movement control. The two-wheel differential chassis can provide flexible mobility and good steering performance, and is suitable for various complex environments.

[0076] The upper component 12 is mounted on the top surface of the chassis body. The upper component 12 can be cylindrical, and the bottom of the upper component 12 can be connected to the top surface of the chassis body by screwing, clamping, welding, etc. The height of the upper component 12 is set according to demand, and the detector 111 is installed on the top of the upper component 12. The first sensor unit and the second sensor unit can be a laser radar sensor, an ultrasonic sensor, etc. The first sensor unit is mounted on the chassis body, and the first sensor unit includes a plurality of first sensors 112, and the plurality of first sensors 112 are arranged at intervals along the circumferential direction of the chassis body. The second sensor unit is mounted on the top and middle position of the upper component 12, and the second sensor unit includes a plurality of second sensors 113, and the plurality of second sensors 113 are arranged at intervals along the circumferential direction of the upper component 12 at the top and middle of the upper component 12.

[0077] The robot 10 walks in the target space, the first sensor unit collects first position data in the direction around the chassis body, and the second sensor unit collects second position data in the direction around the upper component 12. More position data is helpful for accurately locating the position of the robot 10 in the target space, and further for accurately locating the coordinate position of the radiation source in the target space.

[0078] The first position data is collected by multiple first sensors 112, and the second position data is collected by multiple second sensors 113. The multiple first sensors 112 and the multiple second sensors 113 can cover all directions of the robot 10 in an all-round 360-degree manner, which is conducive to further accurately positioning the position of the robot 10 in the target space.

[0079] It can be understood that, when the robot 10 is walking in the target space, the first sensor unit and the second sensor unit can achieve an obstacle avoidance function.

[0080] like Figure 2 As shown, in an optional embodiment, the sensor module further includes a posture sensor 114, which is provided on the chassis body, and the posture sensor 114 is used to collect posture data of the chassis body. The robot 10 also includes a data fusion module 130, which is used to fuse the first position data, the second position data, the posture data and the radiation data.

[0081] Exemplarily, the posture sensor 114 is installed on the chassis body, and the posture sensor 114 is used to collect the third position data of the chassis body and the pitch angle data of the robot 10. During the walking process of the robot 10, due to unexpected shaking and other situations, the robot 10 may appear in an upward or downward tilt state, and the collected first position data and second position data at this time fail to accurately reflect the position information of the robot 10. The data fusion module 130 cleans and fuses the collected first position data, second position data, third position data and pitch angle data to remove erroneous and inaccurate data and improve the accuracy of the position data.

[0082] Furthermore, the target space is mapped geometrically, and the robot 10 walks in the target space to collect the original first position data, the original second position data, the original third position data, and the original pitch angle data. The data fusion module 130 performs fusion processing on the original first position data, the original second position data, the original third position data, and the original pitch angle data, and the SLAM module 170 uses the fused original data to perform geometric space mapping based on the SLAM algorithm, which is conducive to obtaining an accurate geometric space model.

[0083] like Figure 2 As shown, in an optional embodiment, the robot 10 further includes a path planning module for formulating a preset trajectory route for the robot 10 to walk according to the sampling instructions.

[0084] The terminal device 20 sends a first sampling instruction to the robot 10. The robot 10 receives the first sampling instruction, and the path planning module formulates a first trajectory route, and the first trajectory route covers most of the target space as much as possible. After completing the first sampling, the robot 10 receives a second sampling instruction, and the path planning module formulates a second trajectory route according to the position of the radiation source in the reconstructed image after the first sampling. After completing the second sampling, the robot 10 receives a third sampling instruction, and the path planning module formulates a third trajectory route according to the position of the radiation source in the reconstructed image after the second sampling. Ensure that the robot 10 completes the collection of radiation data and position data according to the sampling instruction.

[0085] like Figure 2 As shown, in an optional embodiment, the path planning module includes a global path planning module 141 and a local path planning module 142. The global path planning module 141 is used to formulate a preset trajectory route according to the sampling instruction; the local path planning module 142 is used to formulate an obstacle avoidance route based on the preset trajectory route and the received obstacle information.

[0086] Since there are usually various obstacles in the target space, the robot 10 needs to avoid obstacles when walking. The first sensor unit can detect obstacles at low positions near the robot 10, and the second sensor unit can detect obstacles at high positions near the robot 10. The obstacle information detected by the first sensor unit and the second sensor unit is sent to the path planning module.

[0087] Exemplarily, the robot 10 receives the first sampling instruction, the global path planning module 141 generates a first trajectory route, and the local path planning module 142 receives obstacle information in real time while the robot 10 walks along the first trajectory route. If the local path planning module 142 receives obstacle information, the local path planning module 142 generates a first obstacle avoidance route according to the first trajectory route and the obstacle information. The robot 10 walks along the first obstacle avoidance route, and after bypassing the obstacle, the robot 10 continues to walk along the first trajectory route.

[0088] The robot 10 receives the second sampling instruction, and the global path planning module 141 generates a second trajectory route. When the robot 10 walks along the second trajectory route, the local path planning module 142 receives obstacle information in real time. If the local path planning module 142 receives obstacle information, the local path planning module 142 generates a second obstacle avoidance route according to the second trajectory route and the obstacle information. The robot 10 walks along the second obstacle avoidance route, and after bypassing the obstacle, the robot 10 continues to walk along the second trajectory route.

[0089] The global path planning module 141 and the local path planning module 142 are combined to ensure that the robot 10 can avoid obstacles in time and ensure walking safety while walking along the preset trajectory route.

[0090] like Figure 2 As shown, in an optional embodiment, the robot 10 further includes a trajectory interpolation module 151, a trajectory tracking module 152 and a motion control module 160. The trajectory interpolation module 151 is used to perform trajectory interpolation according to the path planning result of the path planning module; the trajectory tracking module 152 is used to perform trajectory tracking according to the result of trajectory interpolation; and the motion control module 160 is used to generate motion control instructions according to the result of trajectory tracking to control the drive module 120.

[0091] Exemplarily, the global path planning module 141 generates a first trajectory route, and the trajectory interpolation module 151 interpolates the first trajectory route through an interpolation algorithm to form a smooth, high-precision trajectory line, thereby reducing the impact and vibration during the movement of the robot 10 and improving the stability of the movement. The trajectory tracking module 152 controls the robot 10 to accurately move along the first trajectory route in the first sampling through a tracking algorithm.

[0092] The global path planning module 141 generates a second trajectory route, and the trajectory interpolation module 151 interpolates the second trajectory route through an interpolation algorithm to form a smooth, high-precision trajectory line, thereby reducing the impact and vibration during the movement of the robot 10 and improving the stability of the movement. The trajectory tracking module 152 controls the robot 10 to accurately move along the second trajectory route during the second sampling through a tracking algorithm.

[0093] The trajectory interpolation module 151 and the trajectory tracking module 152 ensure the stability and accuracy of the robot 10 walking along the trajectory route.

[0094] The motion control module 160 generates motion control instructions based on the results of the trajectory interpolation module 151 and the trajectory tracking module 152. The servo controller 122 of the drive module 120 receives the motion control instructions, controls the speed and direction of the servo motor 121, and controls the movement of the movable chassis 11 to ensure that the robot 10 walks along the preset trajectory route.

[0095] like Figure 2 As shown, in an optional embodiment, the robot 10 also includes a wireless communication module 190 , which is disposed on the chassis body and is used for communication connection with the terminal device 20 .

[0096] Exemplarily, the wireless communication module 190 is installed on the chassis body, and the robot 10 is connected to the terminal device 20 through the wireless communication module 190. The target space may have complex terrain. If the robot 10 and the terminal device 20 are connected by cables, the wired connection will affect the flexibility of movement, and the robot 10 may be entangled in the cable during walking. The robot 10 is connected to the terminal device 20 through the wireless communication module 190 to ensure the flexibility and smoothness of the robot 10's walking.

[0097] The robot 10 further includes a power supply module 180 , which is mounted on the chassis body and is used to supply power to ensure that various components of the robot 10 operate normally.

[0098] like Figure 2As shown, in an optional embodiment, the terminal device 20 further includes a human-computer interaction module 230, a task management module 240 and a sampling database module 250. The human-computer interaction module 230 is used to perform human-computer interaction between the terminal device 20 and the user. The task management module 240 is used to monitor the working status of the robot 10. The sampling database module 250 is used to collect sampling data, and the sampling data includes position data and radiation data.

[0099] The staff sends a task instruction to the robot 10 through the human-computer interaction module 230. For example, the staff sends a geometric space mapping instruction to the robot 10 through the human-computer interaction module 230. The robot 10 receives the geometric space mapping instruction and walks in the target space. The first sensor unit, the second sensor unit and the posture sensor 114 collect the original position data and the original pitch angle data in the target space in real time. The data fusion module 130 performs fusion processing on the original position data and the original pitch angle data, and the SLAM module 170 uses the fused data to perform geometric space mapping according to the SLAM algorithm to obtain the geometric space model of the target space.

[0100] The first sampling instruction is sent to the robot 10 through the human-computer interaction module 230, and the robot 10 receives the first sampling instruction. The path planning module formulates a first trajectory route according to the geometric space model, and the robot 10 walks along the first trajectory route, collecting position data and radiation data during the walking process. The data fusion module 130 fuses the position data and radiation data of the first sampling. The sampling database module 250 collects the fused data, and the fused data is stored in the sampling database module 250 as the first data set. The staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the first data set to generate a reconstructed image of the current sampling, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0101] The second sampling instruction is sent to the robot 10 through the human-computer interaction module 230, and the robot 10 receives the second sampling instruction. The path planning module formulates a second trajectory route according to the position of the radiation source in the reconstructed image generated by the first sampling, and the robot 10 walks along the second trajectory route, collecting position data and radiation data during the walking process. The data fusion module 130 fuses the position data and radiation data of the second sampling. The sampling database module 250 collects the fused data, and the fused data is stored in the sampling database module 250 as a second data set. The staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the second data set to generate a reconstructed image of the current sampling, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0102] In multiple samplings, the scope of the trajectory route is continuously reduced. After n samplings, that is, the robot 10 receives the nth sampling instruction, all sampling tasks are completed. The path planning module formulates the nth trajectory route according to the position of the radiation source in the reconstructed image generated by the (n-1)th sampling. The robot 10 walks along the nth trajectory route, and collects position data and radiation data during the walking process. The data fusion module 130 fuses the position data and radiation data of the nth sampling. The sampling database module 250 collects the fused data, and the fused data is stored in the sampling database module 250 as the nth data set. The staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the nth data set to generate the final reconstructed image, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0103] As shown in Figure 5 (a) and Figure 5 (b), the final positioning result is displayed on the display screen. For the sake of explanation, taking the acquisition of a two-dimensional image at a certain height as an example, in Figure 5 (a), the black boundary line is the circumferential contour line of the target space, and the area within the black boundary line is the area where the robot 10 can walk.

[0104] The dotted dashed box that is approximately hexagonal and the dotted dashed line segment at the dotted dashed box are the locations of the sampling points. The closer to the center of the dotted dashed line segment, the darker the color, indicating a higher radiation count rate. The closer to the two ends of the dotted dashed line segment and the location of the dotted dashed box, the lighter the color, indicating a lower radiation count rate. The position of the hexagonal star in the dotted dashed box is the actual location of the radiation source. The black square box next to the hexagonal star indicates the area with the highest probability of the occurrence of the radiation source located by the radiation detection system. The center of the black square box indicates the detection position of the radiation source located by the radiation detection system, that is, the detection position of the radiation source detected by the radiation detection system. The actual location of the radiation source and the detection location of the radiation source are close to each other, indicating that the radiation detection system can accurately locate the coordinate position of the radiation source in the target space.

[0105] like Figure 6 As shown, an embodiment of the present invention further provides a detection method of a radiation detection system, the detection method comprising:

[0106] Step 110: Obtaining a geometric space model of the target space;

[0107] Step 120: formulating a preset trajectory route for the robot 10 to sample in the target space according to the geometric space model;

[0108] Step 130: Acquire position data and radiation data collected when the robot 10 moves along the trajectory route;

[0109] Step 140: Based on the radiation data and the position data, an image of the radiation field in the target space is reconstructed, and the coordinate position of the radiation source in the target space is located according to the reconstructed image.

[0110] The composition of the radiation detection system is as described above, and the radiation detection system includes a robot 10 and a terminal device 20. The robot 10 includes a movable chassis 11 and an upper component 12, and a sampling module 110, a power supply module 180, a wireless communication module 190, a driving module 120, a motion control module 160, a data fusion module 130, a trajectory interpolation module 151, a trajectory tracking module 152, a global path planning module 141, a local path planning module 142 and a SLAM module 170 are integrated on the movable chassis 11 and the upper component 12. A human-computer interaction module 230, a task management module 240, a sampling database module 250, an image reconstruction module 210 and a positioning module 220 are integrated on the terminal device 20.

[0111] The step of obtaining the geometric space model of the target space specifically includes: the staff inputs the geometric space mapping instruction of the target space through the human-computer interaction module 230, and the human-computer interaction module 230 sends the geometric space mapping instruction to the robot 10. The robot 10 receives the geometric space mapping instruction, walks in the target space, the first sensor unit collects the original first position data in real time, the second sensor unit collects the original second position data in real time, and the posture sensor 114 collects the original third position data and the original pitch angle data in real time.

[0112] The data fusion module 130 cleans and fuses the collected original first position data, original second position data, original third position data and original pitch angle data to obtain original fused data. The SLAM module 170 performs geometric space mapping based on the original fused data and the SLAM algorithm to obtain a geometric space model of the target space.

[0113] According to the geometric space model, a preset trajectory route for the robot 10 to sample in the target space is formulated. The staff inputs the sampling instruction through the human-computer interaction module 230, and the human-computer interaction module 230 sends the sampling instruction to the robot 10. The path planning module generates a trajectory route according to the sampling instruction. Take the robot 10 performing multiple sampling tasks as an example for explanation.

[0114] Exemplarily, the robot 10 receives the first sampling instruction, and the global path planning module 141 generates a first trajectory route according to the geometric space model. The robot 10 collects position data and radiation data while walking along the first trajectory route. When the robot 10 encounters an obstacle during walking, the local path planning module 142 generates a first obstacle avoidance route according to the first trajectory route and obstacle information. The robot 10 walks along the first obstacle avoidance route, and after bypassing the obstacle, the robot 10 continues to walk along the first trajectory route.

[0115] The robot 10 walks along the first trajectory, the first sensor unit collects the first position data, the second sensor unit collects the second position data, the posture sensor 114 collects the third position data and the pitch angle data, and the detector 111 detects the radiation data. The data fusion module 130 performs fusion processing on the first position data, the second position data, the third position data, the pitch angle data and the radiation data sampled for the first time, and the fused data is stored in the sampling database module 250 as the first data set.

[0116] After the robot 10 completes the first sampling task, the staff starts the image reconstruction and positioning program on the terminal device 20. The image reconstruction module 210 processes the first data set to generate a reconstructed image of the current sampling, and the positioning module 220 locates the position of the radiation source in the reconstructed image.

[0117] The robot 10 receives the nth sampling instruction, and the global path planning module 141 formulates the nth trajectory route according to the reconstructed image generated by the (n-1)th sampling. The robot 10 walks along the nth trajectory route, and collects position data and radiation data during the walking process. The robot 10 encounters an obstacle during the walking process, and the local path planning module 142 generates the nth obstacle avoidance route according to the nth trajectory route and obstacle information. The robot 10 walks along the nth obstacle avoidance route, and after bypassing the obstacle, the robot 10 continues to walk along the nth trajectory route.

[0118] The robot 10 walks along the nth trajectory, the first sensor unit collects the first position data, the second sensor unit collects the second position data, the posture sensor 114 collects the third position data and the pitch angle data, and the detector 111 detects the radiation data. The data fusion module 130 performs fusion processing on the first position data, the second position data, the third position data, the pitch angle data and the radiation data sampled for the nth time, and the fused data is stored in the sampling database module 250 as the nth data set.

[0119] After the robot 10 completes the nth sampling task, the staff starts the image reconstruction and positioning program on the terminal device 20. The image reconstruction module 210 processes the nth data set to generate a final reconstructed image, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0120] It is understandable that the robot 10 performs n sampling tasks, and after the n samplings are completed, the accumulated data can be uniformly used for image reconstruction and radiation source positioning. For example, the data fusion module 130 performs a fusion process on the first position data, the second position data, the third position data, the pitch angle data, and the radiation data of the first sampling, and the fused data is stored in the sampling database module 250 as a first data set. The data fusion module 130 performs a fusion process on the first position data, the second position data, the third position data, the pitch angle data, and the radiation data of the second sampling, and the fused data is stored in the sampling database module 250 as a second data set. By analogy, the data fusion module 130 performs a fusion process on the first position data, the second position data, the third position data, the pitch angle data, and the radiation data of the nth sampling, and the fused data is stored in the sampling database module 250 as an nth data set. After the robot 10 completes the nth sampling task, the staff starts the image reconstruction and positioning program on the terminal device 20. The image reconstruction module 210 processes the first data set, the second data set...the nth data set to generate a reconstructed image, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0121] The formula used in the detection method is described below. After obtaining the position data and radiation data, a system transmission matrix is ​​constructed, which is used to characterize the radiation propagation characteristics of the target space.

[0122] According to the geometric space model, the geometric calculation method is used to calculate the system transmission matrix elements under ideal open conditions. , ,in Voxel Center point and sampling point The square of the distance; construct the system transmission matrix based on the system transmission matrix elements.

[0123] In one example, the system transfer matrix is ​​obtained using a geometric calculation method, and the geometric calculation adopts the following formula (1):

[0124] (1)

[0125] In formula (1), is the square of the distance between the center of voxel i and sampling point j.

[0126] In an example, since there are usually various obstacles in the target space, which will affect the accuracy of the sampled data, when there are obstacles, in order to make the constructed system transmission matrix more accurate, it is necessary to use the exponential decay law to Specifically, the obstacle type and ray projection thickness in the geometric space model are identified; and the corresponding exponential attenuation coefficient is determined according to the obstacle type and ray projection thickness, and then the system transmission matrix is ​​corrected. The position of the radiation source can be more accurately located through the system transmission matrix. Since the system transmission matrix in this embodiment takes into account the influence of obstacles on radiation propagation, the accuracy of radiation measurement can be improved by correcting the propagation path and attenuation coefficient.

[0127] After constructing the system transmission matrix, the maximum a posteriori estimation method is used to reconstruct the radiation field in the target space, and the radiation source is located according to the reconstructed image.

[0128] In one example, after constructing the system transmission matrix, the maximum a posteriori estimation method with information entropy as prior information is used to reconstruct the image of the geometric space model. With information entropy as prior information, the prior probability distribution is defined. The maximum a posteriori estimation method is used to iteratively optimize the radiation field distribution to complete the image reconstruction. Specifically, the prior information weight parameter and the cutoff parameter are set, and the cutoff parameter includes the number of iterations or the termination condition, and the iterative calculation is performed according to the formula of the maximum a posteriori estimation method until the cutoff parameter is met.

[0129] In an example, setting the prior information weight coefficient and cutoff parameter, prior information weight coefficient is a hyperparameter that controls the influence of prior information in the posterior estimate. It reflects the strength of our belief in the parameter before observing new data. The larger the weight coefficient, the stronger the role of prior information in the posterior estimate, and vice versa, the greater the influence of new data. By adjusting the weight coefficient, a balance can be achieved between prior knowledge and new data. The prior information weight coefficient can help the model generalize better to unseen data. By incorporating prior knowledge, the model can converge faster and reduce the risk of overfitting when faced with limited data.

[0130] In one example, the cutoff parameter includes the number of iterations or the termination condition. The cutoff parameter is used to determine the condition when the algorithm stops iterating. The number of iterations refers to the maximum number of iterations allowed before the algorithm stops. Setting the number of iterations can prevent the algorithm from falling into an infinite loop in the process of finding the optimal solution, especially when the algorithm may not converge or converge slowly. The choice of the number of iterations is usually based on the size and complexity of the problem and the limitations of computing resources.

[0131] In an example, the single-step iteration formula (2) of the maximum a posteriori method using information entropy as prior information is:

[0132] (2)

[0133] In formula (2), For the The estimated value of the radiation hotspot image after iterations, is the sample data column vector, is the system transmission matrix, is the prior information based on information entropy, is the prior information weight coefficient, which controls the intensity of the effect.

[0134] The calculation method is as follows:

[0135]

[0136]

[0137]

[0138] In one example, by setting parameters such as β, the number of iterations or the termination condition, image reconstruction can be started, and the coordinates of an unknown number of radioactive sources in the target space can be finally located.

[0139] In the detection method of the present invention, the detector 111 and the sensor module synchronously collect radiation data and position data in the target space. The terminal device 20 realizes image reconstruction of the area to be located of the radiation source based on the radiation data and the position data, accurately locates the coordinate information of the radiation source in the target space, and can simultaneously obtain the radiation data of the radiation source and the coordinate position of the radiation source in the target space.

[0140] like Figure 2 As shown, in an optional embodiment, obtaining the position data and radiation data collected when the robot 10 moves along a preset trajectory route includes:

[0141] Acquire first position data of the bottom of the robot 10, posture data of the bottom of the robot 10, and second position data of the top of the robot 10;

[0142] Get radiation data from radioactive sources.

[0143] The robot 10 receives the sampling instruction, walks along the preset trajectory in the target space, and collects the first position data, the second position data, the third position data, the pitch angle data, and the radiation data. The data fusion module 130 cleans and fuses the collected first position data, the second position data, the third position data, and the pitch angle data to eliminate duplicate and incorrect data, improve the accuracy of the sampling data, and thus ensure the accuracy of the radiation source position in the reconstructed image.

[0144] The following describes a detection process of a radiation detection system detecting a radioactive source in a target space using a specific embodiment.

[0145] The staff inputs the geometric space mapping instruction through the human-computer interaction module 230, and the robot 10 receives the geometric space mapping instruction and walks in the target space. The first sensor unit collects the original first position data in real time, the second sensor unit collects the original second position data in real time, and the posture sensor 114 collects the original third position data and the original pitch angle data in real time. During the walking process of the robot 10, the data fusion module 130 fuses the collected original first position data, original second position data, original third position data and pitch angle data to obtain fused original position data. The SLAM module 170 performs geometric space mapping through the SLAM algorithm based on the fused original position data to obtain a geometric space model of the target space.

[0146] Afterwards, the staff inputs the first sampling instruction through the human-computer interaction module 230, and the human-computer interaction module 230 sends the first sampling instruction to the robot 10. The global path planning module 141 generates a first trajectory route according to the geometric space model, and the robot 10 walks along the first trajectory route. During the walking process, the trajectory interpolation module 151 interpolates the first trajectory route through the interpolation algorithm to ensure the smoothness of the first trajectory route. The trajectory tracking module 152 tracks the position of the robot 10 in real time. The motion control module 160 generates a motion control instruction according to the results of trajectory interpolation and tracking. The servo controller 122 receives the motion control instruction, controls the speed and direction of the servo motor 121, and realizes the control of multiple driving wheels of the chassis body to ensure that the robot 10 walks along the first trajectory route. The local path planning module 142 receives obstacle information in real time. If the local path planning module 142 receives obstacle information, the local path planning module 142 generates a first obstacle avoidance route according to the first trajectory route and obstacle information. The robot 10 walks along the first obstacle avoidance route, and after bypassing the obstacle, the robot 10 continues to walk along the first trajectory route.

[0147] When the robot 10 walks along the first trajectory, the first sensor unit collects the first position data, the second sensor unit collects the second position data, the posture sensor 114 collects the third position data and the pitch angle data, and the detector 111 collects the radiation data. The robot 10 walks from the starting point of the first trajectory to the end point of the first trajectory, and the data fusion module 130 fuses the collected first position data, second position data, third position data, pitch angle data, and radiation data, and the fused data is stored in the sampling database module 250 as the first data set.

[0148] Then, the staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the first data set to generate a reconstructed image of the current sampling, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0149] Next, the staff inputs the second sampling instruction through the human-computer interaction module 230, and the human-computer interaction module 230 sends the second sampling instruction to the robot 10. The global path planning module 141 generates a second trajectory route according to the position of the radiation source in the reconstructed image of the first sampling, and the robot 10 walks along the second trajectory route. During the walking process, the trajectory interpolation module 151 interpolates the second trajectory route through the interpolation algorithm to ensure the smoothness of the second trajectory route. The trajectory tracking module 152 tracks the position of the robot 10 in real time. The motion control module 160 generates a motion control instruction based on the results of trajectory interpolation and tracking. The servo controller 122 receives the motion control instruction, controls the speed and direction of the servo motor 121, and realizes the control of multiple driving wheels of the chassis body to ensure that the robot 10 walks along the second trajectory route. The local path planning module 142 receives obstacle information in real time. If the local path planning module 142 receives obstacle information, the local path planning module 142 generates a second obstacle avoidance route according to the second trajectory route and obstacle information. The robot 10 walks along the second obstacle avoidance route, and after avoiding the obstacle, the robot 10 continues to walk along the second trajectory route.

[0150] When the robot 10 walks along the second trajectory route, the first sensor unit collects the first position data, the second sensor unit collects the second position data, the posture sensor 114 collects the third position data and the pitch angle data, and the detector 111 collects the radiation data. The robot 10 walks from the starting point of the second trajectory route to the end point of the second trajectory route, and the data fusion module 130 fuses the collected first position data, second position data, third position data, pitch angle data, and radiation data, and the fused data is stored in the sampling database module 250 as the second data set.

[0151] Afterwards, the staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the second data set to generate a reconstructed image of the current sampling, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0152] By analogy, the position data and radiation data after the nth sampling are stored in the nth data set. Each time the robot 10 performs a sampling task, it performs an image reconstruction based on the currently sampled data set. After the last sampling task is completed, the staff starts the image reconstruction and positioning program on the terminal device 20, the image reconstruction module 210 processes the nth data set to generate the final reconstructed image, and the positioning module 220 locates the coordinate position of the radiation source in the reconstructed image.

[0153] The radiation detection system and detection method provided by the present invention, the robot 10 includes a detector 111 and a sensor module, the terminal device 20 processes the radiation data and position data collected by the detector 111 and the sensor module, and realizes image reconstruction of the area to be located of the radiation source through a specific algorithm, thereby accurately locating the coordinate position of the radiation source in the target space.

[0154] The above is only a specific embodiment of the present invention, but the protection scope of this application is not limited thereto. Any changes or substitutions made within the spirit and principle of the present invention should be included in the protection scope of this application. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. A radiation detection system, characterized in that: include: A robot configured to move in a target space, wherein a radiation source is disposed in the target space; as well as A terminal device, connected to the robot for communication; Wherein, the robot comprises: A movable chassis configured to move along a preset trajectory route within the target space; An upper mounting component, arranged on the movable chassis; and a sampling module, comprising a detector and a sensor module, wherein the detector is disposed on the upper component and is used to collect radiation data of the radiation source, and the sensor module is disposed on the movable chassis and / or the upper component and is used to collect position data of the robot; The terminal device comprises: an image reconstruction module, configured to reconstruct an image of the radiation field of the target space according to the radiation data and the position data; and A positioning module is used to locate the coordinate position of the radiation source in the target space according to the reconstructed image.

2. The radiation detection system according to claim 1, wherein: The movable chassis comprises: a chassis body; and A driving module, disposed on the chassis body, for driving the chassis body to move; The sensor module includes a first sensor unit and a second sensor unit, wherein the first sensor unit is arranged on the chassis body, and the second sensor unit is arranged on the upper mounting component; The first sensor unit is used to collect first position data of the robot in the target space, and the second sensor unit is used to collect second position data of the robot in the target space.

3. The radiation detection system according to claim 2, wherein: The first sensor unit includes a plurality of first sensors, and the plurality of first sensors are arranged at intervals along the circumferential direction of the chassis body; The second sensor unit includes a plurality of second sensors, and the plurality of second sensors are arranged at intervals along a circumferential direction of the upper attachment member.

4. The radiation detection system according to claim 2, wherein: The sensor module further comprises a posture sensor, which is arranged on the chassis body, and the posture sensor is used to collect posture data of the robot; The robot also includes a data fusion module, which is used to fuse the first position data, the second position data, the posture data and the radiation data.

5. The radiation detection system of claim 2, wherein: The robot also includes a path planning module, which is used to formulate the preset trajectory route according to the sampling instruction.

6. The radiation detection system according to claim 5, wherein: The path planning module includes: A global path planning module, used to formulate the preset trajectory route according to the sampling instruction; and The local path planning module is used to formulate an obstacle avoidance route based on the preset trajectory route and the received obstacle information.

7. The radiation detection system according to claim 5, wherein: The robot also includes: A trajectory interpolation module, used for performing trajectory interpolation according to the path planning result of the path planning module; A trajectory tracking module, used for performing trajectory tracking according to the result of trajectory interpolation; and The motion control module is used to generate motion control instructions according to the trajectory tracking result to control the driving module.

8. The radiation detection system of claim 4, wherein: The robot also includes a SLAM module, which is used to obtain a geometric space model of the target space based on the collected first position data, the second position data and the posture data.

9. The radiation detection system of claim 2, wherein: The robot further comprises a power supply module, which is arranged on the chassis body.

10. The radiation detection system of claim 2, wherein: The robot also includes a wireless communication module, which is arranged on the chassis body and is used for communication connection with the terminal device.

11. The radiation detection system of claim 1, wherein: The terminal device further includes: A human-computer interaction module, used to perform human-computer interaction between the terminal device and the user; A task management module, used to monitor the working status of the robot; The sampling database module is used to collect sampling data, wherein the sampling data includes the position data and the radiation data.

12. The radiation detection system according to any one of claims 1 to 11, wherein: The radiation data includes radiation count rate and radiation dose rate.

13. A detection method of a radiation detection system, characterized in that: include: Obtaining a geometric space model of the target space; According to the geometric space model, a preset trajectory route for the robot to sample in the target space is formulated; Acquiring position data and radiation data collected when the robot moves along the preset trajectory route; Based on the radiation data and the position data, an image reconstruction is performed on the radiation field of the target space, and the coordinate position of the radiation source in the target space is located according to the reconstructed image.

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