Ionizing radiation calibration laboratory, automatic positioning and navigation method, device and system

Abstract

The embodiment of the invention provides an ionizing radiation calibration laboratory and an automatic positioning and navigation method, device and system, and relates to the technical field of radiation environment instrument calibration, the ionizing radiation calibration laboratory comprises a control room, at least one irradiation room, navigation identifiers corresponding to the irradiation rooms, and optical three-dimensional motion capture systems arranged in the irradiation rooms; the control chamber is connected with each irradiation chamber through a corresponding channel, and a corresponding ionizing radiation shielding protective door is arranged in each channel; one end of a navigation identifier corresponding to each irradiation chamber is located in the control chamber, the navigation identifier enters the irradiation chamber through a channel corresponding to the irradiation chamber, and the other end of the navigation identifier is located in a motion capture range of an optical three-dimensional motion capture system in the irradiation chamber.

Description

Technical Field

[0001] The present invention relates to the technical field of radiation environment instrument calibration, and in particular to an ionizing radiation calibration laboratory, an automatic positioning and navigation method, a device and a system. Background Art

[0002] Existing ionizing radiation calibration laboratories typically consist of a control room and an irradiation room. Normally, laboratory personnel remotely operate the radiation source device and the equipment to be calibrated in the irradiation room from the control room to complete ionizing radiation calibration. However, if the equipment to be calibrated needs to be replaced or malfunctions, the laboratory personnel, wearing ionizing radiation protective clothing, must enter the irradiation room to replace or repair the equipment to be calibrated, with the radiation source turned off. Because the irradiation room is an environment with ionizing radiation, entering it carries certain risks for laboratory personnel, especially during long-term work, requiring frequent entry and exit, which increases the risk of cumulative radiation exposure.

[0003] In the process of implementing the present invention, the applicant discovered that the prior art has at least the following problems:

[0004] How to reduce the number of times experimenters enter and exit the irradiation room to reduce the risk of experimenters being exposed to radiation. Summary of the Invention

[0005] The embodiments of the present invention provide an ionizing radiation calibration laboratory, an automatic positioning and navigation method, an apparatus, and a system to solve the problem of how to reduce the number of times experimenters enter and exit an irradiation room, thereby reducing the risk of experimenters being exposed to radiation.

[0006] To achieve the above-mentioned objectives, in a first aspect, an embodiment of the present invention provides an ionizing radiation calibration laboratory, comprising: a control room, at least one irradiation room, navigation markers corresponding to each irradiation room, and an optical three-dimensional motion capture system disposed in each irradiation room;

[0007] The control room is connected to each irradiation room through a corresponding passage, and a corresponding ionizing radiation shielding protection door is provided in each passage;

[0008] One end of the navigation marker corresponding to each irradiation room is located in the control room, and the navigation marker enters the irradiation room through the passage of the corresponding irradiation room, and the other end of the navigation marker is located within the motion capture range of the optical three-dimensional motion capture system in the irradiation room.

[0009] Preferably, the navigation mark is provided with one or more navigation stop positions on a portion of the navigation mark within the motion capture range of the optical three-dimensional motion capture system of the irradiation room.

[0010] Preferably, the deployment position of the navigation stop also includes a position outside the radiation path of the radiation source in the irradiation room and within the motion capture range of the optical three-dimensional motion capture system. For example, the radiation source usually needs to be deployed in the middle of the optical three-dimensional motion capture system. The navigation stop can be deployed at a position opposite or to the side of the radiation outlet of the radiation source and at the edge of the motion capture range of the optical three-dimensional motion capture system, so as to be as far away from the radiation source as possible. When the radiation dose is large and may affect the recognition of the navigation stop on the radiation path, the mobile calibration vehicle is controlled to stop at the navigation stop outside the radiation path, and the real-time position information returned by the optical three-dimensional motion capture system controls the mobile calibration vehicle to enter the target working position.

[0011] Furthermore, the navigation identifier is a navigation magnetic stripe.

[0012] Furthermore, different magnetic stripe codes are set for the navigation magnetic strips entering different irradiation rooms.

[0013] Furthermore, a lead-containing shielding cover is provided around the periphery of the navigation magnetic strip located in each irradiation chamber.

[0014] Furthermore, the lead-containing shielding cover is provided with gaps at predetermined intervals as magnetic field coupling windows.

[0015] In a second aspect, an embodiment of the present invention provides an automatic positioning and navigation method for an ionizing radiation calibration laboratory, which is adopted by the aforementioned ionizing radiation calibration laboratory. The method includes:

[0016] Sending identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, the target irradiation room being used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated;

[0017] Triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room;

[0018] According to the real-time position information of the mobile calibration vehicle captured by the optical three-dimensional motion capture system in the irradiation room, the mobile calibration vehicle is controlled according to the real-time position information to move the instrument to be calibrated to a preset target working position.

[0019] Furthermore, triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stopping at a preset navigation stop position on the navigation mark corresponding to the target irradiation room, further includes:

[0020] When it is identified that the mobile calibration vehicle moves from the control room to the target irradiation room and arrives in front of the corresponding ionizing radiation shielding door of the target irradiation room, the ionizing radiation shielding door is controlled to open, and after the mobile calibration vehicle passes through the ionizing radiation shielding door, the ionizing radiation shielding door is controlled to close.

[0021] Furthermore, the method further comprises:

[0022] After the calibration is completed, the mobile calibration vehicle is controlled to move to a preset navigation stop position on the navigation mark corresponding to the target irradiation room according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room;

[0023] The mobile calibration vehicle is triggered to move from the target irradiation room to the control room along the navigation mark corresponding to the target irradiation room.

[0024] In a third aspect, an embodiment of the present invention provides an automatic positioning and navigation device for an ionizing radiation calibration laboratory, comprising:

[0025] an identification information sending unit, configured to send identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, wherein the target irradiation room is used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated;

[0026] an irradiation room entry triggering unit, configured to trigger the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room;

[0027] The positioning unit in the irradiation room is used to control the mobile calibration vehicle to move the instrument to be calibrated to a preset target working position according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room.

[0028] Furthermore, the trigger unit for entering the irradiation chamber is used to:

[0029] When it is identified that the mobile calibration vehicle moves from the control room to the target irradiation room and arrives in front of the corresponding ionizing radiation shielding door of the target irradiation room, the ionizing radiation shielding door is controlled to open, and after the mobile calibration vehicle passes through the ionizing radiation shielding door, the ionizing radiation shielding door is controlled to close.

[0030] Furthermore, the device also includes a leaving the irradiation room trigger unit, which is used to control the mobile calibration vehicle to move to a preset navigation stop position on the navigation mark corresponding to the target irradiation room according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room after the calibration is completed; and trigger the mobile calibration vehicle to move from the target irradiation room to the control room along the navigation mark corresponding to the target irradiation room.

[0031] In a fourth aspect, an embodiment of the present invention provides an automatic positioning and navigation system for an ionizing radiation calibration laboratory, comprising: the ionizing radiation calibration laboratory as described above, a mobile calibration vehicle provided with a marking structure, and the automatic positioning and navigation device for the ionizing radiation calibration laboratory as described above; wherein the marking structure is used to be captured by an optical three-dimensional motion capture system to determine the real-time position information of the mobile calibration vehicle; the automatic positioning and navigation device for the ionizing radiation calibration laboratory is deployed in a control room in the ionizing radiation calibration laboratory.

[0032] The above technical solution has the following beneficial effects: by deploying navigation signs between the control room and the irradiation room, and deploying an optical three-dimensional motion capture system in the irradiation room, it allows staff to install the instrument to be calibrated on the mobile calibration vehicle in the control room, and control the mobile calibration vehicle to automatically enter the target working position in the irradiation room, or control the mobile calibration vehicle to automatically return from the irradiation room to the control room. From the installation of the instrument to be calibrated to the recovery of the instrument to be calibrated after calibration, the staff does not need to enter the irradiation room, thereby minimizing the exposure of the staff to the radiation environment and improving the safety of the entire calibration process. At the same time, the staff does not need to push the mobile calibration vehicle back and forth between the control room and the irradiation room. They only need to configure the mobile calibration vehicle for each irradiation room, and each mobile calibration vehicle can automatically enter its own irradiation room to complete the calibration, thereby realizing parallel calibration operations of multiple irradiation rooms with a small number of staff, thereby improving calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is a schematic diagram of the structural composition of an ionizing radiation calibration laboratory according to one embodiment of the present invention;

[0035] Figure 2This is a flow chart of an automatic positioning and navigation method for an ionizing radiation calibration laboratory according to one embodiment of the present invention;

[0036] Figure 3 A schematic diagram of the architecture of an automatic positioning and navigation device for an ionizing radiation calibration laboratory according to one embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram showing the positional relationship between the radioactive source and the instrument to be calibrated.

[0038] The reference numerals in the drawings are as follows: 1. Ionizing radiation calibration laboratory; 10. Control room; 11. Irradiation room; 12. Navigation mark; 13. Optical three-dimensional motion capture system; 40. Radiation source; 41. Radiation beam; 42. Instrument to be calibrated; 43. Horizontal moving platform; 44. Vertical component; 45. Horizontal moving component; 46. Pallet; 47. Positioning component. DETAILED DESCRIPTION

[0039] 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.

[0040] The present invention is based on the design concept of achieving unmanned, intelligent, and networked laboratory operations. It emphasizes that the calibrated instrument, from the moment it enters the instrument calibration classification stand, adopts a completely unmanned, intelligent Internet of Things management system. The instrument automatically selects the calibration radiation field, locates the calibration point, and performs relevant calibration procedures based on the calibration requirements.

[0041] First, as Figure 1 As shown, an embodiment of the present invention provides an ionizing radiation calibration laboratory 1, comprising: a control room 10, at least one irradiation room 11, a navigation marker 12 corresponding to each irradiation room, and an optical three-dimensional motion capture system 13 provided in each irradiation room 11;

[0042] The control room 10 is connected to each irradiation room 11 through a corresponding channel, and a corresponding ionizing radiation shielding protection door is provided in each channel;

[0043] One end of the navigation marker 12 corresponding to each irradiation room 11 is located in the control room 11, and the navigation marker 12 enters the irradiation room 11 through the channel of the corresponding irradiation room 11, and the other end of the navigation marker 12 is located within the motion capture range of the optical three-dimensional motion capture system 13 in the irradiation room 11.

[0044] The inventors took into consideration that if only navigation marks are used in the control room and the irradiation room to navigate and position the mobile calibration vehicle, it would be impossible to achieve precise adjustment of the spatial position of the instrument to be calibrated on the mobile calibration vehicle in the irradiation room. If optical three-dimensional motion capture systems are deployed in both the control room and the irradiation room, the cost will be high. In addition, the optical three-dimensional motion capture system is suitable for deployment in spaces with regular shapes, such as a square irradiation room. The optical three-dimensional motion capture system cannot adapt to curved channels, so it is impossible to rely solely on the optical three-dimensional motion capture system to achieve full-path automatic navigation and precise positioning from the control room to the irradiation room. Therefore, the inventors combined the navigation marks deployed on the path from the control room to the irradiation room with the optical three-dimensional motion capture system deployed in the irradiation room, achieving a precise positioning effect based on rapid navigation, and can achieve full-path automatic navigation without the need for personnel to approach or enter the irradiation room. In some embodiments, Figure 1 Used to illustrate the composition of an ionizing radiation calibration laboratory, Figure 1The specific layout in does not limit the scope of protection of the present invention. Navigation markers are deployed between the control room and the irradiation room. The navigation markers constitute a path from the control room to the irradiation room, and also a path from the irradiation room to the control room. One end of the navigation marker is in the control room, and the other end of the navigation marker is in the irradiation room, and is within the motion capture range of the optical three-dimensional motion capture system in the irradiation room. After entering the control room, the navigation markers from different irradiation rooms can be converged into a trunk navigation marker, or the navigation markers of each irradiation room can remain independently deployed after entering the control room. The optical three-dimensional motion capture system accurately positions the mobile calibration vehicle by capturing the optically sensitive markers or marker structures (such as multiple marker balls deployed in different orientations on the mobile calibration vehicle) on the mobile calibration vehicle, and then accurately positions the instrument to be calibrated installed on the mobile calibration vehicle. Based on the embodiment of the present invention, a mobile calibration vehicle equipped with a navigation mark recognition device can automatically follow the navigation mark from the control room into the irradiation room corresponding to the navigation mark (or return from the irradiation room to the control room), and after entering the motion capture range of the optical three-dimensional motion capture system in the irradiation room, it can continue to control the mobile calibration vehicle to move to the target working position according to the precise positioning information fed back by the optical three-dimensional motion capture system. The navigation mark is designed to be trackless so that it can be separated from the navigation route during non-working periods, making it convenient for staff to freely push the mobile calibration vehicle. The mobile calibration vehicle consists of an AGV (Automated Guided Vehicle) base and a precision positioning four-dimensional automatic adjustment platform arranged on the AGV base, which can complete positioning operations such as lifting, rotating and / or translating the instrument to be calibrated installed on the top of the mobile calibration vehicle. The mobile calibration vehicle is used to carry the instrument to be calibrated along the navigation mark and to position the instrument to be calibrated in the optical three-dimensional motion capture system; the AGV base includes a horizontal moving platform 43 for coarse positioning in the horizontal direction; the precision positioning four-dimensional automatic adjustment platform includes: a horizontal moving component 45 for fine positioning in the horizontal direction, a vertical component 44 for fine positioning in the height direction, a tray 46 for placing the instrument to be calibrated and a positioning component 47 (marking structure) for obtaining the position of the instrument to be calibrated 42; the positioning component is used to obtain the position information of the instrument to be calibrated in the optical three-dimensional motion capture system; the horizontal moving component is connected to the middle of the horizontal moving platform; the vertical component is connected to the upper part of the horizontal moving component; the tray is connected to the upper part of the vertical component; the positioning component is connected to the tray; the horizontal moving component and the vertical component are used to position the target instrument to the target working position according to the real-time position of the target instrument obtained in the optical three-dimensional motion capture system; the mobile calibration vehicle is used to position the instrument to be calibrated to the specified target working position; the horizontal moving platform of the mobile calibration vehicle is equipped with a navigation mark recognition device, which can recognize and move along the navigation mark.The mobile calibration vehicle can move under the guidance of the navigation marker or can move according to the real-time position of the instrument to be calibrated obtained by the optical three-dimensional motion capture system, and position the instrument to be calibrated within a specified neighborhood centered on the target working position (or the navigation stop position preset by the navigation marker); the mobile calibration vehicle can also accurately position the position and posture of the instrument to be calibrated to the target working position according to the real-time position of the instrument to be calibrated obtained by the optical three-dimensional motion capture system. The real-time position (or real-time position information) and the target working position are specified in the spatial coordinate system defined by the optical three-dimensional motion capture system. After the instrument to be calibrated is fixed, the mobile calibration vehicle can automatically move from the control room to the radiation field of the irradiation room. The positioning error of the navigation marker is ≤±20mm (millimeter), which can complete rapid coarse positioning. The positioning accuracy of the optical three-dimensional motion capture system is ≤0.5mm, which can complete the following. Figure 4 The precise positioning of the instrument 42 to be calibrated relative to the radiation source 40 is shown.

[0045] The embodiments of the present invention have the following technical effects: by deploying navigation markers between the control room and the irradiation room, rapid navigation based on coarse positioning is achieved between the control room and the irradiation room, and by deploying an optical three-dimensional motion capture system in the irradiation room, precise positioning is achieved in the irradiation room to ensure calibration accuracy, thereby achieving the dual effects of rapid navigation and ensuring calibration accuracy. It allows workers to install the instrument to be calibrated on the mobile calibration vehicle in the control room and control the mobile calibration vehicle to automatically enter the target working position in the irradiation room, or control the mobile calibration vehicle to automatically return from the irradiation room to the control room. From the installation of the instrument to be calibrated to the recovery of the instrument to be calibrated after calibration, the entire process does not require workers to enter the irradiation room, thereby minimizing the exposure of workers to the radiation environment and improving the safety of the entire calibration process. At the same time, the workers do not need to push the mobile calibration vehicle back and forth between the control room and the irradiation room. They only need to configure the mobile calibration vehicle for each irradiation room, and each mobile calibration vehicle can automatically enter its own irradiation room to complete the calibration, thereby enabling the parallel calibration operation of multiple irradiation rooms with a small number of workers, improving calibration efficiency and ensuring calibration accuracy.

[0046] Preferably, the navigation mark is provided with one or more navigation stop positions on a portion of the navigation mark within the motion capture range of the optical three-dimensional motion capture system of the irradiation room.

[0047] In some embodiments, calibration of the same instrument to be calibrated may require measurement at one or more target working positions. Each target working position is located on the radiation path of the radiation beam emitted by the radiation source and has a different distance from the radiation source outlet. The deployment position of the navigation stop position includes each target working position; the mobile calibration vehicle can enter the first target working position in the irradiation room from the control room under the guidance of the navigation mark, and after completing the measurement at one target working position, it enters the next target working position under the guidance of the navigation mark. At each target working position, the precise position of the instrument to be tested on the mobile calibration vehicle is adjusted through the real-time position information returned by the optical three-dimensional motion capture system, so as to realize the combination of the coarse positioning of the navigation mark and the precise positioning of the optical three-dimensional motion capture system, thereby improving the positioning efficiency and accuracy.

[0048] Preferably, the deployment position of the navigation stop also includes a position outside the radiation path of the radiation source in the irradiation room and within the motion capture range of the optical three-dimensional motion capture system. For example, the radiation source usually needs to be deployed in the middle of the optical three-dimensional motion capture system. The navigation stop can be deployed at a position opposite or to the side of the radiation outlet of the radiation source and at the edge of the motion capture range of the optical three-dimensional motion capture system, so as to be as far away from the radiation source as possible. When the radiation dose is large and may affect the recognition of the navigation stop on the radiation path, the mobile calibration vehicle is controlled to stop at the navigation stop outside the radiation path, and the real-time position information returned by the optical three-dimensional motion capture system controls the mobile calibration vehicle to enter the target working position.

[0049] Furthermore, the navigation identifier is a navigation magnetic stripe.

[0050] In some embodiments, the route is determined by reading the magnetic stripe information from a pre-placed navigation magnetic stripe. This operating principle is based on magnetic field induction and is not susceptible to interference from ionizing radiation. Video navigation, on the other hand, relies on cameras to capture image information. Ionizing radiation may affect the camera's imaging, resulting in image degradation, noise, or distortion, thus affecting navigation accuracy. The hardware of a magnetic stripe navigation system is relatively simple, primarily consisting of a magnetic stripe sensor and controller. These devices are highly stable in environments with ionizing radiation. As long as the navigation magnetic stripe itself is not physically damaged, the system will function properly. In contrast, video navigation systems are more complex, involving multiple components such as cameras and image processors. Ionizing radiation may affect the electronic components of these components, causing system failure or performance degradation. The navigation magnetic stripe is fixed to the ground and is not susceptible to external environmental factors such as lighting changes, dust, and smoke. These factors may be exacerbated in environments with ionizing radiation, while the navigation magnetic stripe is unaffected, maintaining reliable navigation performance. Video navigation may fail to accurately identify the route due to insufficient lighting or dirty conditions, a situation that is even more severe in environments with ionizing radiation.

[0051] The embodiments of the present invention have the following technical effects: by using a navigation magnetic strip as a navigation marker, the interference of ionizing radiation received during the navigation process can be reduced. The recognition of the navigation magnetic strip does not depend on the light environment and is more suitable for the closed environment of an ionizing radiation laboratory, thereby achieving the technical effects of strong anti-interference ability, high stability and good reliability.

[0052] Furthermore, different magnetic stripe codes are set for the navigation magnetic strips entering different irradiation rooms.

[0053] In some embodiments, by setting different magnetic stripe codes for the navigation magnetic strips of different irradiation rooms, the mobile calibration vehicle can automatically identify the paths leading to different irradiation rooms, making it easier to program and control the mobile calibration vehicle.

[0054] Furthermore, a lead-containing shielding cover is provided around the periphery of the navigation magnetic strip located in each irradiation chamber.

[0055] In some implementations, the lead-containing shielding cover has a certain radiation protection effect, and lead is not a magnetic material, and has little effect on the magnetic field of the navigation magnetic strip. The lead-containing shielding cover can protect the navigation magnetic strip from being contaminated or damaged by mechanical force and wear, thereby extending the service life of the navigation magnetic strip.

[0056] Furthermore, the lead-containing shielding cover is provided with gaps at predetermined intervals as magnetic field coupling windows.

[0057] In some embodiments, in order to provide protection for the navigation magnetic stripe while keeping the navigation magnetic stripe easy to read, a notch may be reserved on the lead shield to facilitate the mobile calibration vehicle to read the navigation magnetic stripe.

[0058] Second, as Figure 2 As shown, an embodiment of the present invention provides an automatic positioning and navigation method for an ionizing radiation calibration laboratory, which is adopted by the aforementioned ionizing radiation calibration laboratory. The method includes:

[0059] Step S20: sending identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, wherein the target irradiation room is used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated;

[0060] Step S21, triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room;

[0061] Step S22 , based on the real-time position information of the mobile calibration vehicle captured by the optical 3D motion capture system in the irradiation room, the mobile calibration vehicle is controlled according to the real-time position information to move the instrument to be calibrated to a preset target working position.

[0062] In some embodiments, a staff member installs the instrument to be calibrated on a mobile calibration vehicle and transmits identification information of a navigation marker corresponding to the target irradiation room to the mobile calibration vehicle. After issuing a command to the mobile calibration vehicle, the mobile calibration vehicle can automatically determine the corresponding navigation marker based on the identification information and automatically move from the control room to the irradiation room along the navigation marker. The navigation marker is preset with a navigation stop position, and the mobile calibration vehicle stops moving after reaching the navigation stop position. After the mobile calibration vehicle reaches the navigation stop position, the mobile calibration vehicle is continuously accurately positioned based on the real-time position information of the mobile calibration vehicle captured by the optical 3D motion capture system.

[0063] The embodiment of the present invention has the following technical effects: by deploying navigation signs between the control room and the irradiation room, and deploying an optical three-dimensional motion capture system in the irradiation room, and controlling the automatic movement of the mobile calibration vehicle according to the navigation signs and the optical three-dimensional motion capture system, it is possible to allow staff to install the instrument to be calibrated on the mobile calibration vehicle in the control room, and control the mobile calibration vehicle to automatically enter the target working position in the irradiation room, or control the mobile calibration vehicle to automatically return from the irradiation room to the control room. From the installation of the instrument to be calibrated to the recovery of the instrument to be calibrated after calibration, there is no need for staff to enter the irradiation room, thereby minimizing the exposure of staff to the radiation environment and improving the safety of the entire calibration process. At the same time, there is no need for staff to push the mobile calibration vehicle back and forth between the control room and the irradiation room. They only need to configure the mobile calibration vehicle for each irradiation room, and each mobile calibration vehicle can automatically enter its own irradiation room to complete the calibration, thereby realizing parallel calibration operations of multiple irradiation rooms with a small number of staff, thereby improving calibration efficiency.

[0064] Furthermore, triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stopping at a preset navigation stop position on the navigation mark corresponding to the target irradiation room, further includes:

[0065] When it is identified that the mobile calibration vehicle moves from the control room to the target irradiation room and arrives in front of the corresponding ionizing radiation shielding door of the target irradiation room, the ionizing radiation shielding door is controlled to open, and after the mobile calibration vehicle passes through the ionizing radiation shielding door, the ionizing radiation shielding door is controlled to close.

[0066] In some embodiments, the position of the mobile calibration vehicle is obtained in real time, and when the mobile calibration vehicle reaches the ionizing radiation shielding door, the ionizing radiation shielding door is automatically controlled to open, allowing the mobile calibration vehicle to enter and exit the irradiation room, thereby eliminating the need for staff to approach the irradiation room and completing the entire process automatically.

[0067] Furthermore, the method further comprises: after the calibration is completed, according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room, controlling the mobile calibration vehicle to move to a preset navigation stop position on the navigation mark corresponding to the target irradiation room according to the real-time position information;

[0068] The mobile calibration vehicle is triggered to move from the target irradiation room to the control room along the navigation mark corresponding to the target irradiation room.

[0069] In some embodiments, during the return process, the mobile calibration vehicle is first controlled to move from the target working position to a preset navigation stop position based on real-time position information captured by the optical 3D motion capture system. After the navigation magnetic strip is laid, the absolute position of the preset navigation stop position is determined and known by the optical 3D motion capture system in the irradiation room. After the mobile calibration vehicle reaches the preset navigation stop position, it can be controlled to automatically return from the irradiation room to the control room along the navigation magnetic strip.

[0070] Thirdly, as Figure 3 As shown, an embodiment of the present invention provides an automatic positioning and navigation device for an ionizing radiation calibration laboratory, comprising:

[0071] an identification information sending unit 30 for sending identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, wherein the target irradiation room is used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated;

[0072] An irradiation room entry trigger unit 31 is used to trigger the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room;

[0073] The indoor positioning unit 32 is used to control the mobile calibration vehicle to move the instrument to be calibrated to a preset target working position according to the real-time position information of the mobile calibration vehicle captured by the optical three-dimensional motion capture system in the irradiation room.

[0074] Furthermore, the trigger unit 31 for entering the irradiation chamber is used to:

[0075] When it is identified that the mobile calibration vehicle moves from the control room to the target irradiation room and arrives in front of the corresponding ionizing radiation shielding door of the target irradiation room, the ionizing radiation shielding door is controlled to open, and after the mobile calibration vehicle passes through the ionizing radiation shielding door, the ionizing radiation shielding door is controlled to close.

[0076] Furthermore, the device also includes a leaving the irradiation room trigger unit, which is used to control the mobile calibration vehicle to move to a preset navigation stop position on the navigation mark corresponding to the target irradiation room according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room after the calibration is completed; and trigger the mobile calibration vehicle to move from the target irradiation room to the control room along the navigation mark corresponding to the target irradiation room.

[0077] The embodiment of the present invention is a product type embodiment that corresponds one-to-one to the aforementioned automatic positioning and navigation method for an ionizing radiation calibration laboratory. The embodiment of the present invention can be understood based on the aforementioned embodiment of the automatic positioning and navigation method for an ionizing radiation calibration laboratory, and will not be repeated here.

[0078] Fourthly, Figure 4 As shown, an embodiment of the present invention provides an automatic positioning and navigation system for an ionizing radiation calibration laboratory, comprising: an ionizing radiation calibration laboratory as described in any of the above, a mobile calibration vehicle provided with a marking structure, and an automatic positioning and navigation device for the ionizing radiation calibration laboratory as described above; wherein the marking structure is used to be captured by an optical three-dimensional motion capture system to determine the real-time position information of the mobile calibration vehicle; the automatic positioning and navigation device for the ionizing radiation calibration laboratory is deployed in a control room in the ionizing radiation calibration laboratory.

[0079] An embodiment of the present invention is a system-type embodiment consisting of the aforementioned ionizing radiation calibration laboratory and an automatic positioning and navigation device for the ionizing radiation calibration laboratory. The embodiment of the present invention can be understood based on the embodiments of the aforementioned ionizing radiation calibration laboratory and the automatic positioning and navigation device for the ionizing radiation calibration laboratory, and will not be repeated here.

[0080] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0081] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are expressly recited in each claim. On the contrary, as reflected in the appended claims, the invention comprises less than all the features of any individual disclosed embodiment. The appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0082] The above description of the disclosed embodiments is intended to enable any person skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments presented herein but is intended to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0083] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it will be appreciated by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to encompass all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, to the extent the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including". In addition, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

[0084] Those skilled in the art will also appreciate that the various illustrative logical blocks, units, and steps listed in the embodiments of the present invention can be implemented by electronic hardware, computer software, or a combination of the two. To clearly demonstrate the interchangeability of hardware and software, the various illustrative components, units, and steps described above have generally described their functions. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the described functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present invention.

[0085] The various illustrative logic blocks or units described in the embodiments of the present invention can be implemented or operated by a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0086] The steps of the methods or algorithms described in the embodiments of the present invention may be directly embedded in hardware, a software module executed by a processor, or a combination of the two. The software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, the storage medium may be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium may also be integrated into the processor. The processor and storage medium may be provided in an ASIC, which may be provided in a user terminal. Alternatively, the processor and storage medium may also be provided in different components in the user terminal.

[0087] In one or more exemplary designs, the above-mentioned functions described in the embodiments of the present invention can be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, these functions can be stored on a computer-readable medium or transmitted in the form of one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media that facilitate the transfer of computer programs from one location to another. Storage media can be any available medium that can be accessed by a general or special computer. For example, such computer-readable media can include but are not limited to RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store program code in the form of instructions or data structures and other forms that can be read by a general or special computer, or a general or special processor. In addition, any connection can be appropriately defined as a computer-readable medium. For example, if the software is transmitted from a website, server or other remote resource via a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless methods such as infrared, wireless, and microwave, it is also included in the definition of computer-readable media. The disks and discs mentioned above include compact disks, laser disks, optical disks, DVDs, floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs typically reproduce data optically with lasers. Combinations of the above may also be included in computer-readable media.

[0088] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of 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. An ionizing radiation calibration laboratory, characterized in that include: A control room (10), at least one irradiation room (11), navigation markers (12) corresponding to each irradiation room, and an optical three-dimensional motion capture system (13) disposed in each irradiation room (11); The control room (10) is connected to each irradiation room (11) via a corresponding channel, and a corresponding ionizing radiation shielding protection door is provided in each channel; One end of the navigation mark corresponding to each irradiation room (11) is located in the control room, the navigation mark enters the irradiation room (11) through the passage of the corresponding irradiation room (11), and the other end of the navigation mark (12) is located within the motion capture range of the optical three-dimensional motion capture system (13) in the irradiation room (11).

2. The ionizing radiation calibration laboratory according to claim 1, wherein: The navigation mark is provided with one or more navigation stop positions on a portion of the irradiation room within the motion capture range of the optical three-dimensional motion capture system.

3. The ionizing radiation calibration laboratory according to claim 1, wherein: The navigation mark (12) is a navigation magnetic strip.

4. The ionizing radiation calibration laboratory according to claim 1, wherein: A lead shield is provided around the periphery of the navigation magnetic strip located in each irradiation chamber.

5. The ionizing radiation calibration laboratory according to claim 4, wherein: The lead-containing shielding cover is provided with gaps at preset intervals as magnetic field coupling windows.

6. An automatic positioning and navigation method for an ionizing radiation calibration laboratory, characterized in that: Employed by the ionizing radiation calibration laboratory of claim 1, the method comprising: Sending identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, the target irradiation room being used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated; Triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room; According to the real-time position information of the mobile calibration vehicle captured by the optical three-dimensional motion capture system in the irradiation room, the mobile calibration vehicle is controlled according to the real-time position information to move the instrument to be calibrated to a preset target working position.

7. The automatic positioning and navigation method for an ionizing radiation calibration laboratory according to claim 6, wherein: The method of triggering the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room further includes: When it is identified that the mobile calibration vehicle moves from the control room to the target irradiation room and arrives in front of the corresponding ionizing radiation shielding door of the target irradiation room, the ionizing radiation shielding door is controlled to open, and after the mobile calibration vehicle passes through the ionizing radiation shielding door, the ionizing radiation shielding door is controlled to close.

8. The automatic positioning and navigation method for an ionizing radiation calibration laboratory according to claim 6, wherein: The method further comprises: After the calibration is completed, the mobile calibration vehicle is controlled to move to a preset navigation stop position on the navigation mark corresponding to the target irradiation room according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room; The mobile calibration vehicle is triggered to move from the target irradiation room to the control room along the navigation mark corresponding to the target irradiation room.

9. An automatic positioning and navigation device for an ionizing radiation calibration laboratory, characterized in that: include: an identification information sending unit, configured to send identification information of a navigation marker corresponding to a target irradiation room to a mobile calibration vehicle, wherein the target irradiation room is used to calibrate the instrument to be calibrated, wherein the mobile calibration vehicle is pre-installed with the instrument to be calibrated; an irradiation room entry triggering unit, configured to trigger the mobile calibration vehicle to automatically navigate from the control room into the target irradiation room along the navigation mark corresponding to the target irradiation room according to the identification information, and stop at a preset navigation stop position on the navigation mark corresponding to the target irradiation room; The positioning unit in the irradiation room is used to control the mobile calibration vehicle to move the instrument to be calibrated to a preset target working position according to the real-time position information of the mobile calibration vehicle captured in real time by the optical three-dimensional motion capture system in the irradiation room.

10. An automatic positioning and navigation system for an ionizing radiation calibration laboratory, characterized in that: include: The ionizing radiation calibration laboratory according to any one of claims 1 to 5, the mobile calibration vehicle provided with a marking structure, and the automatic positioning and navigation device for an ionizing radiation calibration laboratory according to claim 9; wherein the marking structure is used to be captured by an optical three-dimensional motion capture system to determine the real-time position information of the mobile calibration vehicle; An automatic positioning navigation device for an ionizing radiation calibration laboratory is deployed in a control room in the ionizing radiation calibration laboratory.

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