Radioactive source equipment transaction detection method and system based on attitude analysis

Abstract

The invention discloses a radioactive source equipment transaction detection method and system based on attitude analysis, and particularly relates to the field of radiation beam measurement, and the method comprises the steps: obtaining the attitude data of radioactive source equipment, analyzing the attitude data, and constructing a beam principal axis vector to express the radiation propagation direction of the radioactive source equipment in the current attitude; identifying whether the irradiation area of the radioactive source in the current posture crosses the border or not by constructing a radiation action area and judging the spatial inclusion relation of the radiation action area; and analyzing the detection data to construct an actually measured intensity principal axis vector and comparing the actually measured intensity principal axis vector with a beam principal axis vector to identify whether the radiation propagation direction is deviated or not. According to the method, the mapping relation between the equipment attitude and the beam main axis is constructed, and the cross-border state of the space action area and the radiation propagation direction deviation state are jointly judged, so that accurate identification of attitude induction type radiation directivity transaction is realized, and the problem that a traditional system cannot sense a beam out-of-control path is effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radiation beam measurement, and more particularly to a method and system for detecting abnormal movement of a radiation source device based on posture analysis. Background Art

[0002] In existing radiation monitoring technology systems, the operational safety of radioactive source equipment generally relies on real-time monitoring of its output radiation intensity and control of dose thresholds within a preset area. Radiation intensity measurement devices widely use fixed-point or array detectors to perform dose coverage sensing of the environment surrounding the radiation source. The judgment is primarily based on whether the radiation intensity exceeds a set upper limit. However, in actual applications, radiation source equipment may experience geometric abnormalities such as slight detachment, tilting, or flipping due to non-human factors such as loose base, mechanical shock, vibration transmission, or structural fatigue. Although such abnormal movements will not cause significant changes in the source power or total dose, and may still maintain the appearance of "output dose compliance", they will substantially change the spatial direction of its beam, causing the radiation energy to be directly delivered to previously unprotected areas or spaces where people are active. Because this type of "radiation direction drift" does not change the dose value at the measurement point, traditional dose monitoring systems are completely unable to identify it, creating a high-risk, invisible radiation safety blind spot with no alarm mechanism. Therefore, the problem in the current radiation measurement system is that the existing measurement system, which mainly focuses on radiation intensity, cannot identify the deviation of spatial radiation directionality caused by abnormal posture of the radiation source equipment, and thus cannot effectively detect the out-of-control movement of pointing. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a method and system for detecting abnormal movement of radiation source equipment based on posture analysis. By constructing a mapping relationship between the equipment posture and the main axis of the beam, and jointly judging the out-of-bounds state of the spatial action area and the offset state of the radiation propagation direction, accurate identification of posture-induced radiation directivity movements can be achieved, thereby effectively solving the problem that traditional systems cannot perceive the beam's out-of-control path.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a method for detecting abnormal movement of a radioactive source device based on posture analysis, comprising: S1. Acquire the posture data of the radiation source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radiation source device in the current posture; S2. Constructing the radiation action area and determining its spatial inclusion relationship to identify whether the radiation source's irradiation area in the current posture has crossed the boundary; S3, constructing a measured intensity principal axis vector by analyzing the detection data and comparing it with the beam principal axis vector to identify whether the radiation propagation direction is offset; S4. Generate an abnormal event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by the posture change.

[0005] In a preferred embodiment, S1 further includes: obtaining attitude data through an attitude measurement component of the radiation source device, wherein the attitude data includes three directional angle parameters: pitch angle, yaw angle, and roll angle, and the attitude data is used to characterize the spatial orientation state of the device; A three-axis rotation transformation is performed on the posture data to solve the normal vector of the device's exit surface at the current moment, and this normal vector is used as the initial construction reference for the beam propagation direction; the normal vector is combined with the preset source structure parameters to construct the beam principal axis vector of the radiation source at the current moment, which is used to represent the propagation trend of the radiation direction in three-dimensional space; the preset source structure parameters include the exit cone angle and symmetry calibration value.

[0006] In a preferred embodiment, S2 further includes: solving the geometric envelope structure of the radiation action area by using the beam main axis vector and the radiation exit cone angle together, wherein the geometric envelope structure includes a central axis, a cone opening angle, and a boundary outreach range; A spatial inclusion judgment is performed on the radiation action area constructed at the current moment and the preset target irradiation area to determine whether the current radiation action area is completely covered within the permitted irradiation boundary; if the judgment result is not contained, a spatial action area out-of-bounds label is generated, otherwise the current radiation action area is judged to be covered and valid, and the current irradiation state is maintained.

[0007] In a preferred embodiment, S3 further includes: collecting detection data through an intensity detection array set at fixed positions in space, the detection data including the spatial coordinates of each detection point and the corresponding measured radiation dose value, the detection data being used to describe the spatial distribution state of the current radiation intensity; Perform spatial interpolation on the detection data and perform directional principal component extraction to construct a measured intensity principal axis vector, which represents the central direction feature corresponding to the upper limit direction of the energy density in the current radiation intensity distribution; The direction angle between the measured intensity principal axis vector and the beam principal axis vector is calculated. If the angle is greater than a preset deviation threshold, it is identified as a current radiation direction deviation state.

[0008] In a preferred embodiment, S4 further includes: determining whether a spatial action area out-of-bounds tag has been generated at the current moment and whether a radiation direction deviation state has been identified; if both conditions are met, determining that the current state is an abnormal state of spatial radiation pointing caused by a posture change; otherwise, determining that the state is not abnormal; The attitude data, beam principal axis vector and measured intensity principal axis vector associated with the abnormal state of spatial radiation pointing caused by attitude change are constructed into an abnormal event element set; the abnormal event element set is converted into an abnormal event label, which is used to characterize the radiation propagation direction deviation and its spatial effect caused by the radioactive source equipment under specific attitude change conditions.

[0009] In a preferred embodiment, S1 further includes: obtaining the dynamic changes of the attitude angle and angular velocity, using the perturbation function as the path integral kernel, solving the three-dimensional beam principal axis vector under the modulation of the exit cone angle, and thereby building a posture perturbation beam principal axis construction model: ; in Pitch angle , yaw angle and roll angle Time function; Indicates at a point in time Moment, pitch angle The time derivative of Indicates at a point in time time, yaw angle The time derivative of Indicates at a point in time moment, roll angle The time derivative of is the attitude symmetry offset value in the pitch direction; is the attitude symmetry bias value in the yaw direction; is the attitude symmetry offset value in the roll direction; is the emission cone angle of the radiation source; Represents the initial calibration normal component of the device's output surface along the X, Y, and Z axes in the three-dimensional coordinate system; is the current calculation moment; It represents the three-dimensional beam principal axis vector formed under the action of attitude perturbation.

[0010] In a preferred embodiment, S2 further includes: constructing a geometric drift ratio and a maximum cross-boundary amplitude of the radiation action area volume according to the offset of the beam main axis in the three spatial axes; ; ; ; in Indicates the coordinates of the center point of the permitted irradiation area in three-dimensional space; Indicates the allowable boundary radius of the irradiation area in each spatial axis direction; Respectively indicate through The components in the directions of X, Y, and Z axes are obtained; They represent the coordinates of the spatial center point of the radiation action area in the X, Y, and Z axes at the current moment respectively; the offset volume ratio represents the volume ratio of the spatial offset of the radiation action area to the permitted area; The upper limit of the radiation effect area in any direction at the current moment.

[0011] In a preferred embodiment, S3 further includes: extracting the main gradient direction from the measured radiation intensity distribution function, and calculating the unit direction angle with the theoretical main axis vector to determine the direction drift; defining It represents the angle between unit vectors and is expressed as: ; The angle between the unit vectors Used to measure the degree of deviation in the direction of radiation propagation; is the inverse cosine function, in the above formula, the inverse cosine function is used to calculate the angle between two vectors based on the vector dot product and the ratio of the modulus length; It represents the three-dimensional intensity change rate vector calculated based on the measured dose values of multiple radiation detection points in space according to the spatial coordinate differences of the detection points in the X, Y, and Z directions; represents the dot product between the radiation intensity gradient vector and the beam principal axis vector; Represents the Euclidean norm of the radiation intensity gradient vector; The Euclidean norm of the major axis of the beam.

[0012] In a preferred embodiment, S4 further includes: constructing a joint event scoring function based on the direction offset angle and the offset volume ratio: ; in is the direction deviation angle determination threshold; To respond to the adjustment parameters; is the minimum positive value, which is used to prevent the logarithmic term from being 0; Indicates the score value of attitude-induced radiation pointing abnormal movement events; Response adjustment parameters Expressed as: ; in Indicates the pitch angle , yaw angle and roll angle The time function reflects the attitude angle of the radiation source device in this direction at time Dynamically changing state; Corresponding to the pitch direction, yaw direction, and roll direction respectively; Indicates the attitude angle at time The instantaneous rate of change under Indicates the symmetry calibration value in the source structure parameters; is the current calculation time.

[0013] A radioactive source equipment abnormal movement detection system based on posture analysis, including a posture deconstruction module, a region demarcation module, an offset recognition module, and an abnormal movement calibration module; The posture deconstruction module is used to obtain the posture data of the radioactive source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radioactive source device in the current posture; The regional boundary judgment module is used to identify whether the radiation source's irradiation area in the current posture has crossed the boundary by constructing the radiation action area and judging its spatial inclusion relationship; The deviation identification module is used to construct the measured intensity principal axis vector by analyzing the detection data and compare it with the beam principal axis vector to identify whether the radiation propagation direction is deviated; The anomaly calibration module is used to generate an anomaly event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by posture change.

[0014] The technical effects and advantages of the present invention are as follows: 1. By constructing the beam principal axis vector based on the pitch, yaw, and roll angles, the system can identify the radiation directivity drift caused by changes in the device's posture, resolving the technical defect that traditional dose monitoring cannot detect directional changes. 2. The geometric envelope structure of the current irradiation area is constructed through the principal axis vector and the exit cone angle, and spatial inclusion judgment is performed to identify whether the current radiation crosses the boundary to the non-permitted area, thereby achieving structured identification of spatial spillover risks; 3. By analyzing the dose data of the spatial detection points, reconstructing the intensity principal axis vector and comparing the angle with the theoretical principal axis, it is possible to identify whether the actual energy propagation direction is out of control and improve the ability to identify non-dose-type anomalies; 4. By jointly judging the spatial out-of-bounds state and the directional offset state, an abnormal event label is generated only when both are true, eliminating false positives and ensuring the output of anomaly recognition results with structural consistency and high confidence. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a framework diagram of the method steps of the present invention; Figure 2 Schematic diagram of the system module of the present invention. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] Refer to the instruction manual Figure 1-2 The present invention provides a method for detecting abnormal movement of a radioactive source device based on posture analysis, comprising: S1. Acquire the posture data of the radiation source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radiation source device in the current posture; S2. Constructing the radiation action area and determining its spatial inclusion relationship to identify whether the radiation source's irradiation area in the current posture has crossed the boundary; S3, constructing a measured intensity principal axis vector by analyzing the detection data and comparing it with the beam principal axis vector to identify whether the radiation propagation direction is offset; S4. Generate an abnormal event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by the posture change.

[0018] S1 further includes: obtaining attitude data through an attitude measurement component of the radiation source device, wherein the attitude data includes three directional angle parameters: pitch angle, yaw angle, and roll angle, and the attitude data is used to characterize the spatial orientation state of the device; in addition, in actual applications, the attitude measurement component of the radiation source device includes but is not limited to an inertial measurement unit composed of an accelerometer, a gyroscope, and a magnetometer; A three-axis rotation transformation is performed on the posture data to solve the normal vector of the device's exit surface at the current moment, and this normal vector is used as the initial construction reference for the beam propagation direction; the normal vector is combined with the preset source structure parameters to construct the beam principal axis vector of the radiation source at the current moment, which is used to represent the propagation trend of the radiation direction in three-dimensional space; the preset source structure parameters include the exit cone angle and symmetry calibration value.

[0019] S2 also includes: solving the geometric envelope structure of the radiation action area by using the beam main axis vector and the radiation exit cone angle, wherein the geometric envelope structure includes a central axis, a cone opening angle, and a boundary outreach range; A spatial inclusion judgment is performed on the radiation action area constructed at the current moment and the preset target irradiation area to determine whether the current radiation action area is completely covered within the permitted irradiation boundary; if the judgment result is not contained, a spatial action area out-of-bounds label is generated, otherwise the current radiation action area is judged to be covered and valid, and the current irradiation state is maintained.

[0020] S3 also includes: collecting detection data through an intensity detection array set at fixed positions in space, the detection data including the spatial coordinates of each detection point and the corresponding measured radiation dose value, the detection data being used to describe the spatial distribution state of the current radiation intensity; Perform spatial interpolation on the detection data and perform directional principal component extraction to construct a measured intensity principal axis vector, which represents the central direction feature corresponding to the upper limit direction of the energy density in the current radiation intensity distribution; The direction angle between the measured intensity principal axis vector and the beam principal axis vector is calculated. If the angle is greater than a preset deviation threshold, it is identified as a current radiation direction deviation state.

[0021] S4 also includes: determining whether a spatial action area out-of-bounds tag has been generated at the current moment and whether a radiation direction deviation state has been identified. If both conditions are met, determining that the current state is an abnormal spatial radiation direction caused by a posture change; otherwise, determining that the state is not abnormal. The attitude data, beam principal axis vector and measured intensity principal axis vector associated with the abnormal state of spatial radiation pointing caused by attitude change are constructed into an abnormal event element set; the abnormal event element set is converted into an abnormal event label, which is used to characterize the radiation propagation direction deviation and its spatial effect caused by the radioactive source equipment under specific attitude change conditions.

[0022] It should be noted that in the formula structure involved in this solution, dimensionless terms can serve as proportionality or structural adjustment factors. When combined with quantities with units, they only play a numerical scaling role and do not introduce new physical dimensions. Therefore, they will not change or confuse the overall unit system of expression. This combination of "dimensionless terms and units" can be understood as a composite structural expression commonly used in mathematical and physical modeling, conforming to the principle of dimensional consistency and having a clear physical interpretation basis. Secondly, in the formula structure of this scheme, if multiple variables with different physical units are involved, including but not limited to time, mass or energy variables, their joint appearance is to express the collaborative modeling relationship of multiple physical mechanisms. Each variable can be formed into a unified structure through function mapping, ratio combination or normalization adjustment. The units and meanings are clear, and the overall expression conforms to the principle of dimensional consistency and the common formula of engineering modeling. In this solution, any design constants, weights, adjustment factors, threshold parameters, and proportional coefficients are adjustable control parameters for different application environments. Their values depend on the target device configuration, data input characteristics, and performance optimization goals. During the implementation phase, they are set within a reasonable range through model verification, performance constraints, or engineering calibration. Although these parameters do not have unique preset values, they have clear adjustment logic and calculation paths, and are part of the deterministic setting process in engineering implementation. The purpose of such setting is to ensure that the solution is both universally adaptable, reproducible, and operable, without affecting its technical clarity and feasibility. S1 also includes: obtaining the dynamic changes of attitude angle and angular velocity, using their perturbation function as the path integral kernel, solving the three-dimensional beam principal axis vector under the modulation of the exit cone angle, and building the attitude perturbation beam principal axis construction model: ; in Pitch angle , yaw angle and roll angle Time function; Indicates at a point in time Moment, pitch angle The time derivative of , that is, the pitch angle change rate, is used to characterize the instantaneous attitude dynamic strength of the device in that direction; Indicates at a point in time time, yaw angle The time derivative of , that is, the yaw angle change rate, which is used to reflect the change of the device's rotation rate around the vertical axis over time; Indicates at a point in time moment, roll angle The time derivative of the roll angle is the rate of change of the roll angle, which is used to characterize the sensitivity of the device to attitude changes in the roll direction. In summary, is the time derivative of the corresponding angle (angular velocity); is the attitude symmetry offset value in the pitch direction, which is used to correct the influence of the asymmetry of the equipment structure in the vertical plane on the main axis disturbance; The attitude symmetry offset value in the yaw direction is used to characterize the main axis drift tendency caused by the asymmetry of the device around the vertical axis. The attitude symmetry offset value in the roll direction is used to reflect the angular offset response deviation caused by uneven structural distribution when the device rotates horizontally. is the emission cone angle of the radiation source; Represents the initial calibration normal components of the device's output surface along the X, Y, and Z axes in the three-dimensional coordinate system. The initial calibration normal components in the three-axis directions are used to define the spatial reference of the beam propagation direction in the undisturbed state; is the current calculation moment; It represents the three-dimensional beam principal axis vector formed under the action of attitude perturbation.

[0023] S2 also includes: constructing the geometric drift ratio and maximum cross-boundary amplitude of the radiation action area volume according to the offset of the beam main axis in the three spatial axes; ; ; ; in Indicates the coordinates of the center point of the permitted irradiation area in three-dimensional space; Indicates the allowable boundary radius of the irradiation area in each spatial axis direction; Respectively indicate through The components obtained in the X, Y, and Z axis directions are used to describe the spatial propagation direction of the beam in the three-dimensional coordinate system; They represent the coordinates of the spatial center point of the radiation action area in the X, Y, and Z axes at the current moment respectively; the offset volume ratio represents the volume ratio of the spatial offset of the radiation action area to the permitted area; The upper limit of the radiation effect area in any direction at the current moment.

[0024] S3 also includes: extracting the main gradient direction from the measured radiation intensity distribution function and calculating the unit direction angle with the theoretical main axis vector to determine the direction drift; defining It represents the angle between unit vectors and is expressed as: ; The angle between the unit vectors Used to measure the degree of deviation in the direction of radiation propagation; is the inverse cosine function, in the above formula, the inverse cosine function is used to calculate the angle between two vectors based on the vector dot product and the ratio of the modulus length; It represents the three-dimensional intensity change rate vector calculated based on the measured dose values of multiple radiation detection points in space according to the spatial coordinate differences of the detection points in the X, Y, and Z directions. The three-dimensional intensity change rate vector is used to represent the main rising direction of the current radiation energy in space; represents the dot product between the radiation intensity gradient vector and the beam principal axis vector, Used to reflect the degree of consistency between the two directions; Represents the Euclidean norm of the radiation intensity gradient vector, that is, the modulus of the gradient vector, which is used to quantify the spatial intensity of the directional gradient; The Euclidean norm of the main axis vector of the beam, that is, the modulus of the main axis vector, is used to quantify the spatial amplitude of the theoretical propagation direction.

[0025] S4 also includes: a joint event scoring function constructed based on the direction offset angle and the offset volume ratio: ; in is the direction deviation angle determination threshold; To respond to the adjustment parameters; is the minimum positive value, which is used to prevent the logarithmic term from being 0; Indicates the score value of attitude-induced radiation pointing abnormal movement events; Response adjustment parameters Expressed as: ; in Indicates the pitch angle , yaw angle and roll angle The time function reflects the attitude angle of the radiation source device in this direction at time Dynamically changing state; Corresponding to the pitch direction, yaw direction, and roll direction respectively; Indicates the attitude angle at time The instantaneous rate of change under , that is, the attitude angular velocity; Including pitch angle , yaw angle and roll angle ; Indicates the symmetry calibration value in the source structure parameters. The symmetry calibration value is used to describe the static angular offset of each attitude direction of the radiation source device relative to the ideal emission axis in the structural design, and is used to correct the structural alignment difference between the attitude angle and the emission direction; is the current calculation moment; summation symbol Indicates that the pitch direction , yaw direction , rolling direction The integral contributions in the three directions are summed up; in addition, all the integrals in the formula are path integrals, which means that from the initial state Accumulated to the current moment The disturbance response energy or its joint gradient influence.

[0026] The present invention provides a radioactive source equipment abnormal movement detection system based on posture analysis, comprising a posture deconstruction module, a region boundary determination module, an offset recognition module, and an abnormal movement calibration module; The posture deconstruction module is used to obtain the posture data of the radioactive source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radioactive source device in the current posture; The regional boundary judgment module is used to identify whether the radiation source's irradiation area in the current posture has crossed the boundary by constructing the radiation action area and judging its spatial inclusion relationship; The deviation identification module is used to construct the measured intensity principal axis vector by analyzing the detection data and compare it with the beam principal axis vector to identify whether the radiation propagation direction is deviated; The anomaly calibration module is used to generate an anomaly event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by posture change.

[0027] It should be noted that this solution is intended to systematically reflect on the significant blind spots in traditional radiation monitoring technology in identifying spatial directional anomalies. In the operation of existing radioactive source equipment, mainstream dose monitoring systems rely primarily on fixed-point or array detectors to monitor whether the output intensity exceeds a threshold. However, such systems are unable to effectively identify beam propagation direction drift caused by changes in the equipment's attitude. Without human intervention, radioactive source equipment may experience geometric attitude changes in pitch, yaw, or roll due to loose bases, impact vibration, or structural fatigue. Although its dose output does not exceed the standard and its total power is not abnormal, the deviation in the main axis direction may cause the beam to be projected into previously unprotected areas, creating a high risk of blind spot exposure. To address this structural technology gap, this solution has developed a method for detecting abnormal movements in radioactive source equipment based on posture analysis. This method breaks through the traditional logic of "alarming only when the dose exceeds the limit" and uses "whether the beam propagation direction is out of control" as the core evaluation criterion. It achieves real-time anomaly identification based on the equipment's state modeling. The first step is attitude deconstruction, which involves obtaining the three-axis angular parameters of the radioactive source device, including pitch, yaw, and roll, and their angular velocity changes. Attitude measurement components (such as an inertial measurement unit) are used to analyze the device's orientation in three-dimensional space. The beam principal axis vector is then constructed by combining the exit cone angle and structural symmetry calibration values. This vector not only reflects the theoretical direction of the current radiation but also serves as the primary reference axis for subsequent comparisons of the spatial action area and intensity distribution. The second step is regional demarcation. This involves constructing the geometric envelope of the radiation exposure area at the current moment based on the principal axis vector and the exit cone angle. The relationship between its spatial center point and the permitted exposure boundary is calculated, and a conclusion is output as to whether there has been any spatial transgression. This judgment not only focuses on whether there has been any transgression but also quantifies spatial scale changes such as the offset volume ratio, which serve as input factors for the subsequent joint anomaly scoring. The third step is offset identification. Real-time radiation intensity data is acquired through a fixed-position detection array in the scene. Spatial interpolation and gradient analysis are performed, and the principal component of the energy density direction is extracted to construct the measured intensity principal axis vector. This is then calculated at a unit angle relative to the beam principal axis. If the directional angle exceeds the deviation threshold, the current radiation direction is determined to have deviated uncontrollably. This calculation not only incorporates physical gradient field information but also, through principal axis alignment calculations, captures substantial propagation deviations hidden beneath normal surface doses. The fourth step is anomaly calibration, which integrates the logical intersection of the second and third steps. A true radiation directivity anomaly caused by attitude change occurs only when the spatial action area crosses the boundary and the radiation propagation direction shifts. This determination avoids false positives (for example, short-term, minor attitude fluctuations that fail to cause actual shifts) and enhances recognition confidence. Once the anomaly determination conditions are met, the attitude data, theoretical principal axis vector, and measured direction vector corresponding to that moment are constructed into an event element set, generating an anomaly event label as a traceable, analyzable, and alarmable anomaly implementation in the solution. The purpose of this solution is to fundamentally break the existing dose threshold-centered judgment model, advance anomaly identification to the level of physical posture disturbance of the equipment, actively model the beam out-of-control path, thereby improving the ability to identify "invisible ray deviations" and ultimately ensuring personnel safety and radiation controllability in the target area; this method has engineering adaptability and also lays the data structure foundation for subsequent beam stability modeling and intelligent diagnosis of radioactive source equipment.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for detecting abnormal movement of radioactive source equipment based on posture analysis, characterized in that: include: S1. Acquire the posture data of the radiation source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radiation source device in the current posture; S2. Constructing the radiation action area and determining its spatial inclusion relationship to identify whether the radiation source's irradiation area in the current posture has crossed the boundary; S3, constructing a measured intensity principal axis vector by analyzing the detection data and comparing it with the beam principal axis vector to identify whether the radiation propagation direction is offset; S4. Generate an abnormal event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by the posture change.

2. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 1, characterized in that: S1 also includes: obtaining attitude data through an attitude measurement component of the radiation source device, wherein the attitude data includes three directional angle parameters: pitch angle, yaw angle, and roll angle, and the attitude data is used to represent the spatial orientation state of the device; A three-axis rotation transformation is performed on the posture data to solve the normal vector of the device's exit surface at the current moment, and this normal vector is used as the initial construction reference for the beam propagation direction; the normal vector is combined with the preset source structure parameters to construct the beam principal axis vector of the radiation source at the current moment, which is used to represent the propagation trend of the radiation direction in three-dimensional space; the preset source structure parameters include the exit cone angle and symmetry calibration value.

3. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 2, characterized in that: S2 also includes: solving the geometric envelope structure of the radiation action area by using the beam main axis vector and the radiation exit cone angle, wherein the geometric envelope structure includes a central axis, a cone opening angle, and a boundary outreach range; A spatial inclusion judgment is performed on the radiation action area constructed at the current moment and the preset target irradiation area to determine whether the current radiation action area is completely covered within the permitted irradiation boundary; if the judgment result is not contained, a spatial action area out-of-bounds label is generated, otherwise the current radiation action area is judged to be covered and valid, and the current irradiation state is maintained.

4. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 3, characterized in that: S3 also includes: collecting detection data by means of an intensity detection array set at fixed positions in space, wherein the detection data includes the spatial coordinates of each detection point and the corresponding measured radiation dose value, and the detection data is used to describe the spatial distribution state of the current radiation intensity; Perform spatial interpolation on the detection data and perform directional principal component extraction to construct a measured intensity principal axis vector, which represents the central direction feature corresponding to the upper limit direction of the energy density in the current radiation intensity distribution; The direction angle between the measured intensity principal axis vector and the beam principal axis vector is calculated. If the angle is greater than a preset deviation threshold, it is identified as a current radiation direction deviation state.

5. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 4, characterized in that: S4 also includes: determining whether a spatial action area out-of-bounds tag has been generated at the current moment and whether a radiation direction deviation state has been identified. If both conditions are met, determining that the current state is an abnormal state of spatial radiation pointing caused by a posture change; otherwise, determining that the state is not abnormal. The attitude data, beam principal axis vector and measured intensity principal axis vector associated with the abnormal state of spatial radiation pointing caused by attitude change are constructed into an abnormal event element set; the abnormal event element set is converted into an abnormal event label, which is used to characterize the radiation propagation direction deviation and its spatial effect caused by the radioactive source equipment under specific attitude change conditions.

6. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 5, characterized in that: S1 also includes: obtaining the dynamic changes of attitude angle and angular velocity, using their perturbation function as the path integral kernel, solving the three-dimensional beam principal axis vector under the modulation of the exit cone angle, and building the attitude perturbation beam principal axis construction model: ； in Pitch angle , yaw angle and roll angle Time function; Indicates at a point in time Moment, pitch angle The time derivative of Indicates at a point in time time, yaw angle The time derivative of Indicates at a point in time moment, roll angle The time derivative of is the attitude symmetry offset value in the pitch direction; is the attitude symmetry bias value in the yaw direction; is the attitude symmetry offset value in the roll direction; is the emission cone angle of the radiation source; Represents the initial calibration normal component of the device's output surface along the X, Y, and Z axes in the three-dimensional coordinate system; is the current calculation moment; It represents the three-dimensional beam principal axis vector formed under the action of attitude perturbation.

7. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 6, characterized in that: S2 also includes: constructing the geometric drift ratio and maximum cross-boundary amplitude of the radiation action area volume according to the offset of the beam main axis in the three spatial axes; ； ； ； in Indicates the coordinates of the center point of the permitted irradiation area in three-dimensional space; Indicates the allowable boundary radius of the irradiation area in each spatial axis direction; Respectively indicate through The components in the directions of X, Y, and Z axes are obtained; They represent the coordinates of the spatial center point of the radiation action area in the X, Y, and Z axes at the current moment respectively; the offset volume ratio represents the volume ratio of the spatial offset of the radiation action area to the permitted area; The upper limit of the radiation effect area in any direction at the current moment.

8. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 7, characterized in that: S3 also includes: extracting the main gradient direction from the measured radiation intensity distribution function and calculating the unit direction angle with the theoretical main axis vector to determine the direction drift; defining It represents the angle between unit vectors and is expressed as: ； The angle between the unit vectors Used to measure the degree of deviation in the direction of radiation propagation; is the inverse cosine function, in the above formula, the inverse cosine function is used to calculate the angle between two vectors based on the vector dot product and the ratio of the modulus length; It represents the three-dimensional intensity change rate vector calculated based on the measured dose values of multiple radiation detection points in space according to the spatial coordinate differences of the detection points in the X, Y, and Z directions; represents the dot product between the radiation intensity gradient vector and the beam principal axis vector; Represents the Euclidean norm of the radiation intensity gradient vector; The Euclidean norm of the major axis of the beam.

9. The method for detecting abnormal movement of a radioactive source device based on posture analysis according to claim 8, characterized in that: S4 also includes: a joint event scoring function constructed based on the direction offset angle and the offset volume ratio: ； in is the direction deviation angle determination threshold; To respond to the adjustment parameters; is the minimum positive value, which is used to prevent the logarithmic term from being 0; Indicates the score value of attitude-induced radiation pointing abnormal movement events; Response adjustment parameters Expressed as: ； in Indicates the pitch angle , yaw angle and roll angle The time function reflects the attitude angle of the radiation source device in this direction at time Dynamically changing state; Corresponding to the pitch direction, yaw direction, and roll direction respectively; Indicates the attitude angle at time The instantaneous rate of change under Indicates the symmetry calibration value in the source structure parameters; is the current calculation time.

10. A radioactive source equipment movement detection system based on posture analysis, comprising a posture deconstruction module, a region demarcation module, an offset identification module, and a movement calibration module, characterized by: The posture deconstruction module is used to obtain the posture data of the radioactive source device, analyze the posture data and construct the beam principal axis vector to express the radiation propagation direction of the radioactive source device in the current posture; The regional boundary judgment module is used to identify whether the radiation source's irradiation area in the current posture has crossed the boundary by constructing the radiation action area and judging its spatial inclusion relationship; The deviation identification module is used to construct the measured intensity principal axis vector by analyzing the detection data and compare it with the beam principal axis vector to identify whether the radiation propagation direction is deviated; The anomaly calibration module is used to generate an anomaly event label by combining the spatial action area out-of-bounds label and the radiation direction offset state to characterize the radiation pointing anomaly caused by posture change.

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