A three-dimensional radiation field construction method and a construction system

Abstract

This application discloses a method and system for constructing a three-dimensional radiation field. First, it obtains the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured. Then, it constructs a standard covariance matrix based on these parameters. Next, it selects the points to be predicted and generates actual covariance vectors for these points. Based on the standard covariance matrix and the actual covariance vectors, it generates predicted radiation dose rate parameters and aggregates the predicted radiation dose rate parameters of multiple points to be predicted into a predicted radiation dose rate parameter set. Finally, it generates a three-dimensional radiation field based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set. This application uses covariance to characterize the correlation between trajectory points and establishes a conversion relationship between the points to be predicted and each trajectory point through the conversion relationship between the actual covariance vector and the standard covariance matrix, thereby calculating the radiation dose rate of the predicted points, obtaining the radiation dose rate of more points, and improving the accuracy of the three-dimensional radiation field.

Description

Technical Field

[0001] This application relates to the field of electrical data processing technology, specifically to a method and system for constructing a three-dimensional radiation field. Background Technology

[0002] Radiation surveys are a crucial step in decommissioning remediation and final state measurement of buildings. Currently, typical gamma dose rate meters only measure the dose rate at the current location of the device and cannot obtain scene information. During radiation surveys, the location of the dose rate meter and the dose rate information at that location need to be recorded manually. This manual radiation survey method not only poses a risk of excessive radiation exposure to workers but also suffers from errors, omissions, and insufficient data, hindering the improvement of the accuracy of radiation surveys. Summary of the Invention

[0003] The main purpose of this application is to provide a method and system for constructing a three-dimensional radiation field, which aims to solve the problem of low accuracy in radiation surveys in the existing technology.

[0004] This application achieves the above objectives through the following technical solutions:

[0005] A method for constructing a three-dimensional radiation field includes the following steps:

[0006] Obtain the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured;

[0007] Construct a standard covariance matrix based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set;

[0008] Select the point to be predicted and generate the actual covariance vector of the point to be predicted;

[0009] The predicted radiation dose rate parameters for the point to be predicted are generated based on the standard covariance matrix and the actual covariance vector.

[0010] Repeat the steps of selecting the point to be predicted and generating the actual covariance vector of the point to be predicted to generate the set of predicted radiation dose rate parameters.

[0011] A three-dimensional radiation field is generated based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0012] Optionally, obtaining the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured includes the following steps:

[0013] Set the sampling trajectory and sampling period according to the scenario to be measured;

[0014] The sampling device is controlled to move along the sampling trajectory, and several trajectory points are determined according to the sampling period. The three-dimensional coordinates and actual radiation dose rate of each trajectory point are obtained.

[0015] Collect the three-dimensional coordinates of each trajectory point to generate the actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P...} i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points;

[0016] The actual radiation dose rate of each trajectory point is collected to generate the actual radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V N}, where i represents the number of the trajectory point and N represents the total number of trajectory points.

[0017] Optionally, a standard covariance matrix is ​​constructed based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set, including the following steps:

[0018] Generate a distance parameter matrix based on the actual three-dimensional coordinate parameter set;

[0019] Calculate the sample variance of radiation dose rate based on the actual radiation dose rate parameter set;

[0020] Define the standard covariance function;

[0021] Generate a standard covariance matrix based on the standard covariance function and the distance parameter matrix.

[0022] Optionally, the expression for the distance parameter matrix is: The expression for the sample variance of the radiation dose rate is as follows: ,in The average value of the actual radiation dose rate is expressed as follows: The expression for the standard covariance function is: , where a is a user-defined constant; the expression for the standard covariance matrix is; .

[0023] Optionally, select the point to be predicted and generate the actual covariance vector of the point to be predicted, including the following steps:

[0024] Select the point to be predicted and obtain its three-dimensional coordinates p. j (x) j y j , zj ), where j represents the number of the point to be predicted;

[0025] Based on the three-dimensional coordinates of the predicted point, the distance values ​​between the predicted point and each trajectory point are calculated respectively, and the actual distance parameter matrix is ​​generated.

[0026] The actual covariance vector is calculated based on the actual distance parameter matrix and the standard covariance function; wherein the expression for the actual covariance vector is: .

[0027] Optionally, generating the predicted radiation dose rate parameters for the point to be predicted based on the standard covariance matrix and the actual covariance vector includes the following steps:

[0028] Construct a matrix equation, the expression of which is Kω=k; where ω represents the weight;

[0029] The weights of the points to be predicted are calculated based on the matrix equation, and the expression for the weights is as follows: ;where w N This represents the weighting parameter.

[0030] The predicted radiation dose rate parameters for the predicted points are calculated based on the weighting parameters and the actual radiation dose rate parameter set; wherein the expression for the predicted radiation dose rate parameters is: .

[0031] Optionally, generating a three-dimensional radiation field based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set includes the following steps:

[0032] Output a hotspot location map based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set;

[0033] The radiation dose field distribution map is generated by fusing the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0034] The hotspot location map and the radiation dose field distribution map are integrated into a three-dimensional radiation field output.

[0035] Optionally, a hotspot location map is output based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set, including the following steps:

[0036] The three-dimensional coordinates of each trajectory point and each prediction point are integrated into a hotspot calculation coordinate parameter set {P1(x1, y1, z1), P2(x2, y2, z2), ..., P...} i (x) i y i z i), ..., P j (x) j y j z j ), P j+1 (x) j+1 y j+1 z j+1 ), ..., P N (x) N y N z N ), ..., P N+M (x) N+M y N+M z N+M )};

[0037] The actual radiation dose rate parameter set and the predicted radiation dose rate parameter set are integrated into a hotspot calculation radiation dose rate parameter set {V1, V2, ..., V...} i , ...、V j V j+1 , ..., V N , ..., V N+M}; where j represents the prediction point number, and M represents the number of prediction points;

[0038] Obtain the 3D coordinate set of the point cloud {p1(x1, y1, z1), p2(x2, y2, z2), ..., P} m (x) i y m z m )}, calculate the hotspot calculation distance parameter set {d} based on the point cloud 3D coordinate set and the hotspot calculation coordinate parameter set. 11 d 12 , ..., d 1(N+M) , ..., d m1 , ..., d m（N+M）};

[0039] The hotspot calculation weight parameter set {w} is obtained based on the hotspot calculation distance parameter set. 11 w 12 , ..., w 1(N+M) , ..., w m1 , ..., w m（N+M）};

[0040] Calculate the hotspot parameter set based on the hotspot calculation weight parameter set and the hotspot calculation radiation dose rate parameter set;

[0041] Hotspots are identified from the hotspot parameter set based on the hotspot location formula, resulting in a hotspot location map.

[0042] Optionally, the calculation expression for the hotspot weight parameter is as follows: The expression for the hotspot parameter is: The hotspot location formula is: .

[0043] Accordingly, this application also discloses a construction system based on the above-mentioned three-dimensional radiation field construction method, including:

[0044] The parameter acquisition unit is used to acquire the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured.

[0045] The standard model generation unit is used to construct a standard covariance matrix based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set.

[0046] The first calculation unit is used to select the point to be predicted and generate the actual covariance vector of the point to be predicted.

[0047] The predicted radiation dose rate parameters for the point to be predicted are generated based on the standard covariance matrix and the actual covariance vector.

[0048] Repeat the steps of selecting the point to be predicted and generating the actual covariance vector of the point to be predicted to generate the set of predicted radiation dose rate parameters.

[0049] The radiation field generation unit is used to generate a three-dimensional radiation field based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0050] Compared with the prior art, this application has the following beneficial effects:

[0051] This application first obtains the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured. Then, it constructs a standard covariance matrix based on the above parameters, selects the points to be predicted, and generates actual covariance vectors for the points to be predicted. Based on the standard covariance matrix and the actual covariance vectors, it generates predicted radiation dose rate parameters and aggregates the predicted radiation dose rate parameters of multiple points to be predicted to generate a predicted radiation dose rate parameter set. Finally, it generates a three-dimensional radiation field based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0052] Compared with existing technologies, this application calculates the correlation between any two trajectory points through covariance. Based on the principle of radiation attenuation, the farther apart two trajectory points are, the smaller the radiation influence. This is reflected in the covariance value, which shows that the smaller the value, the smaller the radiation influence, and vice versa. At the same time, the standard covariance matrix based on the actual detection parameters can quantify the radiation influence in the entire scene to be measured. By calculating the conversion relationship between the actual covariance vector and the standard covariance matrix, a corresponding conversion relationship can be established between the prediction point and each trajectory point. Thus, the radiation dose rate of the prediction point can be inferred from the actual measurement value of each trajectory point, thereby obtaining the actual radiation dose rate of more points and effectively improving the accuracy of the three-dimensional radiation field.

[0053] Secondly, the parameters of all trajectory points are included in the construction of the standard covariance matrix. That is, for a certain point, the radiation influence of all trajectory points on that point is taken into account, thus it can effectively improve the accuracy of the three-dimensional radiation field.

[0054] Finally, sampling operations at any point along the trajectory can be achieved using existing automated equipment, thus fundamentally solving the risk of radiation exposure to personnel, thereby extending data collection time, effectively increasing the amount of data, and enabling automatic recording and uploading of data, effectively improving the accuracy of the three-dimensional radiation field. Attached Figure Description

[0055] Figure 1 A flowchart illustrating a method for constructing a three-dimensional radiation field, as provided in this application embodiment;

[0056] Figure 2 A schematic diagram of a three-dimensional radiation field construction system provided in this application embodiment;

[0057] Figure 3 This is a point cloud diagram of radiation dose rate;

[0058] Figure 4 Hotspot location map;

[0059] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions. Taking "robot coordinate system and / or m" as an example, it includes the robot coordinate system solution, the m solution, or a solution where both the robot coordinate system and m are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0064] Implementation Method 1

[0065] Reference Figure 1 This embodiment, as an optional implementation of this application, discloses a method for constructing a three-dimensional radiation field, including the following steps:

[0066] S1. Obtain the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured;

[0067] S11. Set the sampling trajectory and sampling period according to the scene to be measured;

[0068] First, obtain a 3D or 2D view of the scene to be measured, and then set a sampling trajectory for the sampling device based on the above drawings and the actual situation within them.

[0069] Then, the sampling period is set according to the actual situation of the equipment. It is preferable to set the sampling period to the refresh period of the sampling equipment. For example, if the refresh period of the gamma dosimeter is 1 second, then the sampling period is set to 1 second.

[0070] The above settings can avoid the occurrence of multiple radiation dose rate parameters within a single sampling period, and obtain the radiation dose rate for that sampling period through methods such as calculating the average value; that is, the radiation dose rate for each sampling period is obtained through actual measurement, thereby avoiding errors caused by data calculation and processing, and improving the accuracy of the final result.

[0071] S12. Control the sampling device to move along the sampling trajectory, determine several trajectory points according to the sampling period, and obtain the three-dimensional coordinates and actual radiation dose rate of each trajectory point;

[0072] Place the sampling device at the starting point of the sampling trajectory, and then control the sampling device to move along the sampling trajectory according to the set motion direction and speed;

[0073] During the movement, the sampling device completes the sampling operation based on the set sampling period. It should be noted that the limit position where the sampling device samples each time is the trajectory point. That is, if the entire sampling period is 1 second and the movement time of the entire sampling trajectory is 2 minutes, then the determined trajectory points are 120.

[0074] S13. Collect the three-dimensional coordinates of each trajectory point to generate the actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P...} i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points;

[0075] Obtain the three-dimensional coordinates and actual radiation dose rate parameters obtained in step S12, and generate an actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P...} from the three-dimensional coordinates of each trajectory point. i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points;

[0076] S14. Collect the actual radiation dose rate of each trajectory point to generate the actual radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V N}, where i represents the number of the trajectory point and N represents the total number of trajectory points.

[0077] S2. Construct a standard covariance matrix based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set;

[0078] S21. Generate a distance parameter matrix based on the actual three-dimensional coordinate parameter set;

[0079] The actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points;

[0080] The distance between any two trajectory points is calculated based on the Euclidean distance formula and the aforementioned three-dimensional coordinates; the specific calculation formula is as follows: , where i and k both represent the numbers of the trajectory points;

[0081] Calculate the distance between any two trajectory points according to the above distance calculation formula, and then summarize the above parameters to generate a distance parameter matrix;

[0082] The expression for the distance parameter matrix is: ;

[0083] It should be noted that d 11 This indicates that the distance between trajectory point numbered 1 and itself is 0; the distance parameter between other trajectory points and themselves is also 0.

[0084] S22. Calculate the sample variance of radiation dose rate based on the actual radiation dose rate parameter set;

[0085] Based on the actual radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V N} Calculate the sample variance of the radiation dose rate, the expression for which is: ,in The average value of the actual radiation dose rate is expressed as follows: ;

[0086] S23. Define the standard covariance function;

[0087] The expression for the standard covariance function is: , where a is a user-defined constant;

[0088] As can be seen from the above calculation formula, when the distance between two trajectory points is not less than a, their covariance is directly zero. That is, when the distance is not less than a, it is assumed that the radiation between the two trajectory points will not affect each other or that their mutual influence is negligible, and the two are not correlated.

[0089] The above technical measures can adjust the calculation accuracy by controlling the size of 'a'. On the other hand, they can eliminate a large number of irrelevant points, thereby reducing the amount of calculation and improving calculation efficiency.

[0090] S24. Generate the standard covariance matrix based on the standard covariance function and the distance parameter matrix;

[0091] Combine the distance parameter matrix in step S21 and the standard covariance function in step S23 to calculate the standard covariance value of each distance, and then generate the standard covariance matrix.

[0092] The expression for the standard covariance matrix is: .

[0093] As can be seen from the foregoing description, in the standard covariance matrix, some parameters have a value of 0 and some parameters are non-zero. The standard covariance matrix quantifies the mutual influence between various trajectory points. At the same time, the standard covariance matrix can encompass all trajectory points, ensuring the comprehensiveness of the calculation and thus improving the accuracy of the calculation.

[0094] S3. Select the point to be predicted and generate the actual covariance vector of the point to be predicted;

[0095] S31. Select the point to be predicted and obtain its three-dimensional coordinates p. j (x) j y j , z j ), where j represents the number of the point to be predicted;

[0096] Randomly select any point within the scene to be measured as the point to be predicted, and simultaneously acquire its 3D coordinates p using a 3D camera. j (x) j y j , z j ), where j represents the number of the point to be predicted;

[0097] S32. Based on the three-dimensional coordinates of the predicted point, calculate the distance values ​​between the point to be predicted and each trajectory point, and generate the actual distance parameter matrix;

[0098] First, retrieve the actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P...}. i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points;

[0099] The distances between the point to be predicted and each trajectory point are calculated according to the distance calculation formula, and an actual distance parameter matrix is ​​generated.

[0100] S33. Calculate the actual covariance vector based on the actual distance parameter matrix and the standard covariance function; wherein the expression for the actual covariance vector is: .

[0101] Substitute each parameter in the actual distance parameter matrix obtained in step S32 into the standard covariance function in step S23 and determine the corresponding value to calculate the actual covariance vector. The expression for the actual covariance vector is as follows: .

[0102] S4. Generate the predicted radiation dose rate parameters for the point to be predicted based on the standard covariance matrix and the actual covariance vector.

[0103] S41. Construct a matrix equation, the expression of which is Kω=k; where ω represents the weight;

[0104] S42. Calculate the weights of the points to be predicted based on the matrix equation. The expression for the weights is: ;where w N This represents the weighting parameter.

[0105] In the technical solution described in this application, the calculation of each weight value is based on the distance between the prediction point and each trajectory point. In addition, the standard covariance matrix reflecting the mutual influence between each trajectory point is also associated through matrix equations in the above calculation process. Therefore, this application quantifies the influence of each different trajectory point on the prediction point with weight parameters, which can effectively improve the accuracy of the three-dimensional radiation field.

[0106] S43. Calculate the predicted radiation dose rate parameters for the prediction point based on the weight parameters and the actual radiation dose rate parameter set.

[0107] The expression for the predicted radiation dose rate parameter is as follows: The predicted radiation dose rate of the prediction point is calculated by combining the above calculation formula and the weight parameters calculated in step S42 with the actual radiation dose rate parameter set.

[0108] S5. Repeat the steps of selecting the point to be predicted and generating the actual covariance vector of the point to be predicted to generate the predicted radiation dose rate parameter set.

[0109] By repeatedly selecting different prediction points and repeating steps S3 and S4, the predicted radiation dose rate parameters for all prediction points can be generated. By aggregating the above parameters, the predicted radiation dose rate parameter set can be generated.

[0110] It should be noted that the number of points to be predicted is determined by the staff based on the actual situation.

[0111] S6. Generate a three-dimensional radiation field based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0112] S61. Output a hotspot location map based on the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0113] S611. Integrate the three-dimensional coordinates of each trajectory point and each prediction point into a hotspot calculation coordinate parameter set {P1(x1, y1, z1), P2(x2, y2, z2), ..., P...} i (x) i y i z i ), ..., P j (x) j y j z j ), P j+1 (x) j+1 y j+1 z j+1 ), ..., P N (x) N y N z N ), ..., P N+M (x) N+M y N+M z N+M )};

[0114] S612. Integrate the actual radiation dose rate parameter set and the predicted radiation dose rate parameter set into a hotspot calculation radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V j V j+1 , ..., V N , ..., V N+M}; where j represents the prediction point number, and M represents the number of prediction points;

[0115] S613. Obtain the 3D coordinate set of the point cloud {p1(x1, y1, z1), p2(x2, y2, z2), ..., P} m (x) i y m z m )}, calculate the hotspot calculation distance parameter set {d} based on the point cloud 3D coordinate set and the hotspot calculation coordinate parameter set. 11 d 12 , ..., d 1(N+M) , ..., d m1 , ..., d m（N+M）};.

[0116] Rapidly identify several points within the scene to be measured using images captured by a 3D camera, generate a point cloud, and simultaneously locate the 3D coordinates, obtaining the 3D coordinate set of the point cloud {p1(x1, y1, z1), p2(x2, y2, z2), ..., P}. m (x) i y m z m )}, where m represents the number of each point in the point cloud;

[0117] Subsequently, the distance between each point in the point cloud and each point in the hotspot calculation coordinate parameter set is calculated according to the Euclidean distance calculation formula, thereby obtaining the hotspot calculation distance parameter set {d}. 11 d 12 , ..., d 1(N+M) , ..., d m1 , ..., d m（N+M）};

[0118] It should be noted that, as can be seen from the set of hotspot calculation coordinate parameters, this application needs to calculate the distance between the maximum radiation point and each trajectory point and each prediction point respectively.

[0119] S614. Obtain the hotspot calculation weight parameter set {w} based on the hotspot calculation distance parameter set. 11 w 12 , ..., w 1(N+M) , ..., w m1 , ..., w m（N+M）};

[0120] Obtain the hotspot calculation distance parameter set calculated in step S613, and calculate each hotspot weight parameter according to the calculation formula of the hotspot weight parameter. The calculation expression of the hotspot weight parameter is as follows: Thus, the set of hotspot calculation weight parameters {w} is obtained. 11 w12 , ..., w 1(N+M) , ..., w m1 , ..., w m（N+M）};

[0121] S615. Calculate the hotspot parameter set based on the hotspot calculation weight parameter set and the hotspot calculation radiation dose rate parameter set;

[0122] Obtain the hotspot calculation weight parameter set {w 11 w 12 , ..., w 1(N+M) , ..., w m1 , ..., w m（N+M）} and hotspot calculation of radiation dose rate parameter set {V1, V2, ..., V i , ..., V j V j+1 , ..., V N , ..., V N+M Then, the hotspot parameter set is calculated according to the calculation formula of the hotspot parameter set, the expression of which is: ;

[0123] S616. Determine hotspots from the hotspot parameter set according to the hotspot location formula to obtain the hotspot location map.

[0124] Hotspots are determined in the hotspot parameter set according to the hotspot location formula, wherein the expression of the hotspot location formula is: Finally, based on the obtained hotspots and the three-dimensional coordinates of the hotspots obtained in step S613, the hotspots are marked in the three-dimensional photo of the scene to be measured, thus generating a hotspot location map.

[0125] S62. Generate a radiation dose field distribution map by fusing the actual three-dimensional coordinate parameter set, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set.

[0126] Obtain the actual three-dimensional coordinate parameter set of each trajectory point obtained in step S13, and at the same time obtain the three-dimensional coordinates of all predicted points calibrated in step S3;

[0127] Then obtain the actual radiation dose rate parameter set in step S1 and the predicted radiation dose rate parameter set in step S3;

[0128] Since there is a displacement mapping relationship between the three-dimensional coordinate parameters and each radiation dose rate, each radiation dose rate is mapped to the three-dimensional coordinate parameters according to the above mapping relationship. Finally, each radiation dose rate is calibrated onto the three-dimensional image of the scene to be measured according to the three-dimensional coordinate parameters, and a point cloud map of radiation dose rates marked with several points can be obtained.

[0129] Finally, the point cloud map can be converted into a radiation dose field distribution map by fitting calculation.

[0130] S63. Integrate the hotspot location map and the radiation dose field distribution map as a three-dimensional radiation field output.

[0131] Reference Figure 2 Based on the same inventive concept, embodiments of this application also provide a three-dimensional radiation field construction system, including: a parameter acquisition unit, a standard model generation unit, and a first calculation unit, wherein the parameter acquisition unit is used to acquire the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured, and the output terminal of the parameter acquisition unit is electrically connected to the standard model generation unit and the first calculation unit respectively, wherein the standard model generation unit constructs a standard covariance matrix for the scene to be measured based on the acquired actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set;

[0132] The first calculation unit generates the actual covariance vector of the point to be predicted based on the actual three-dimensional coordinates of the predicted point; and finally generates a set of predicted radiation dose rate parameters.

[0133] The construction system also includes a radiation field generation unit, which is electrically connected to the output of the first computing unit to generate a three-dimensional radiation field.

[0134] Accordingly, this application also discloses a sampling device for constructing a three-dimensional radiation field, including a motion module. The motion module is preferably a GVA vehicle or other vehicle-mounted device with anti-radiation interference function. The sampling device also includes a three-dimensional sampling camera and a gamma dosimeter. It can also be equipped with a CZT crystal as needed to realize the nuclide identification function. The three-dimensional sampling box is used to scan the three-dimensional environmental information of the scene to be detected, and the gamma dosimeter is used to record the dose rate data of the current location of the device.

[0135] Furthermore, a controller, which is an industrial control computer, is also provided on the motion module;

[0136] Compared with existing technologies, this application calculates the correlation between any two trajectory points through covariance. Based on the principle of radiation attenuation, the farther apart two trajectory points are, the smaller the radiation influence. This is reflected in the covariance value, which shows that the smaller the value, the smaller the radiation influence, and vice versa. At the same time, the standard covariance matrix based on the actual detection parameters can quantify the radiation influence in the entire scene to be measured. By calculating the conversion relationship between the actual covariance vector and the standard covariance matrix, a corresponding conversion relationship can be established between the prediction point and each trajectory point. Thus, the radiation dose rate of the prediction point can be inferred from the actual measurement value of each trajectory point, thereby obtaining the actual radiation dose rate of more points and effectively improving the accuracy of the three-dimensional radiation field.

[0137] Secondly, the parameters of all trajectory points are included in the construction of the standard covariance matrix. That is, for a certain point, the radiation influence of all trajectory points on that point is taken into account, thus it can effectively improve the accuracy of the three-dimensional radiation field.

[0138] Finally, sampling operations at any point along the trajectory can be achieved using existing automated equipment, thus fundamentally solving the risk of radiation exposure to personnel, thereby extending data collection time, effectively increasing the amount of data, and enabling automatic recording and uploading of data, effectively improving the accuracy of the three-dimensional radiation field.

[0139] The above are merely preferred embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A method for constructing a three-dimensional radiation field, characterized in that, Includes the following steps: Acquiring the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured; including: setting a sampling trajectory and sampling period according to the scene to be measured; controlling the sampling device to move along the sampling trajectory; determining several trajectory points according to the sampling period; and acquiring the three-dimensional coordinates and actual radiation dose rate of each trajectory point. Constructing a standard covariance matrix based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set includes: generating a distance parameter matrix based on the actual three-dimensional coordinate parameter set; calculating the sample variance of the radiation dose rate based on the actual radiation dose rate parameter set; defining a standard covariance function; and generating a standard covariance matrix based on the standard covariance function and the distance parameter matrix; wherein the expression for the standard covariance function is: , where a is a user-defined constant, and when the distance is not less than a, it is assumed that the radiation between the two trajectory points will not affect each other; Select the point to be predicted and generate the actual covariance vector of the point to be predicted; wherein the expression of the actual covariance vector is: ;in d j1 The distance between the point to be predicted and the first trajectory point is... d j2 The distance between the point to be predicted and the second trajectory point. d jN The distance between the point to be predicted and the Nth trajectory point; Generating predicted radiation dose rate parameters for the point to be predicted based on the standard covariance matrix and the actual covariance vector; including: calculating the predicted radiation dose rate parameters for the predicted point based on the weight parameters and the actual radiation dose rate parameter set; wherein the expression for the predicted radiation dose rate parameters is: , i represents the number of the trajectory point, j represents the number of the point to be predicted, N represents the total number of trajectory points; Repeat the steps of selecting the point to be predicted and generating the actual covariance vector of the point to be predicted to generate the set of predicted radiation dose rate parameters. A three-dimensional radiation field is generated based on the three-dimensional coordinate parameter sets, actual radiation dose rate parameter sets, and predicted radiation dose rate parameter sets of each trajectory point and predicted point; including: outputting a hotspot location map based on the three-dimensional coordinate parameter sets, actual radiation dose rate parameter sets, and predicted radiation dose rate parameter sets of each trajectory point and predicted point; converting the point cloud map into a radiation dose field distribution map by fitting calculation of the three-dimensional coordinate parameter sets, actual radiation dose rate parameter sets, and predicted radiation dose rate parameter sets of each trajectory point and predicted point; and integrating the hotspot location map and the radiation dose field distribution map as the output of a three-dimensional radiation field.

2. The method for constructing a three-dimensional radiation field according to claim 1, characterized in that, The process of obtaining the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured also includes the following steps: Collect the three-dimensional coordinates of each trajectory point to generate the actual three-dimensional coordinate parameter set {P1(x1, y1, z1), ..., P...} i (x) i y i z i ), ..., P N (x) N y N z N )}, where i represents the number of the trajectory point and N represents the total number of trajectory points; The actual radiation dose rate of each trajectory point is collected to generate the actual radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V N }, where i represents the number of the trajectory point and N represents the total number of trajectory points.

3. The method for constructing a three-dimensional radiation field according to claim 1, characterized in that, The expression for the distance parameter matrix is: The expression for the sample variance of the radiation dose rate is as follows: ,in The average value of the actual radiation dose rate is expressed as follows: The expression for the standard covariance matrix is: .

4. The method for constructing a three-dimensional radiation field according to claim 1, characterized in that, The process of selecting a point to be predicted and generating its actual covariance vector includes the following steps: Select the point to be predicted and obtain its three-dimensional coordinates p. j (x) j y j , z j ), where j represents the number of the point to be predicted; Based on the three-dimensional coordinates of the predicted point, the distance values ​​between the predicted point and each trajectory point are calculated respectively, and the actual distance parameter matrix is ​​generated. The actual covariance vector is calculated based on the actual distance parameter matrix and the standard covariance function.

5. The method for constructing a three-dimensional radiation field according to claim 1, characterized in that, The step of generating the predicted radiation dose rate parameters for the point to be predicted based on the standard covariance matrix and the actual covariance vector further includes the following steps: Construct a matrix equation, the expression of which is Kω=k; where ω represents the weight; The weights of the points to be predicted are calculated based on the matrix equation, and the expression for the weights is as follows: ;where w N This represents the weighting parameter.

6. The method for constructing a three-dimensional radiation field according to claim 1, characterized in that, The process of outputting a hotspot location map based on the three-dimensional coordinate parameter set of each trajectory point and the predicted point, the actual radiation dose rate parameter set, and the predicted radiation dose rate parameter set includes the following steps: The three-dimensional coordinates of each trajectory point and each prediction point are integrated into a hotspot calculation coordinate parameter set {P1(x1, y1, z1), P2(x2, y2, z2), ..., P...} i (x) i y i z i ), ..., P j (x) j y j z j ), P j+1 (x) j+1 y j+1 z j+1 ), ..., P N (x) N y N z N ), ..., P N+M (x) N+M y N+M z N+M )}; The actual radiation dose rate parameter set and the predicted radiation dose rate parameter set are integrated into a hotspot calculation radiation dose rate parameter set {V1, V2, ..., V...} i , ..., V j V j+1 , ..., V N , ..., V N+M }; where j represents the prediction point number, and M represents the number of prediction points; Obtain the 3D coordinate set of the point cloud {p1(x1, y1, z1), p2(x2, y2, z2), ..., P} m (x) i y m z m )}, calculate the hotspot calculation distance parameter set {d} based on the point cloud 3D coordinate set and the hotspot calculation coordinate parameter set. 11 d 12 , ..., d 1(N+M) , ..., d m1 , ..., d m（N+M） }; The hotspot calculation weight parameter set {w} is obtained based on the hotspot calculation distance parameter set. 11 w 12 , ..., w 1(N+M) , ..., w m1 , ..., w m（N+M） }; Calculate the hotspot parameter set based on the hotspot calculation weight parameter set and the hotspot calculation radiation dose rate parameter set; Hotspots are identified from the hotspot parameter set based on the hotspot location formula, resulting in a hotspot location map.

7. A method for constructing a three-dimensional radiation field according to claim 6, characterized in that, The calculation expression for the hotspot weight parameter is as follows: The expression for the hotspot parameter is: The hotspot location formula is: .

8. A construction system based on the three-dimensional radiation field construction method according to any one of claims 1-7, characterized in that, include: The parameter acquisition unit is used to acquire the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set of the scene to be measured; including: setting the sampling trajectory and sampling period according to the scene to be measured; controlling the sampling device to move along the sampling trajectory; determining a number of trajectory points according to the sampling period; and acquiring the three-dimensional coordinates and actual radiation dose rate of each trajectory point. A standard model generation unit is used to construct a standard covariance matrix based on the actual three-dimensional coordinate parameter set and the actual radiation dose rate parameter set; including: generating a distance parameter matrix based on the actual three-dimensional coordinate parameter set; calculating the radiation dose rate sample variance based on the actual radiation dose rate parameter set; setting a standard covariance function; and generating a standard covariance matrix based on the standard covariance function and the distance parameter matrix; wherein, the expression of the standard covariance function is: , where a is a user-defined constant, and when the distance is not less than a, it is assumed that the radiation between the two trajectory points will not affect each other; The first calculation unit is used to select the point to be predicted and generate the actual covariance vector of the point to be predicted; wherein the expression of the actual covariance vector is: ;in d j1 The distance between the point to be predicted and the first trajectory point is... d j2 The distance between the point to be predicted and the second trajectory point. d jN The distance between the point to be predicted and the Nth trajectory point; Generating predicted radiation dose rate parameters for the point to be predicted based on the standard covariance matrix and the actual covariance vector; including: calculating the predicted radiation dose rate parameters for the predicted point based on the weight parameters and the actual radiation dose rate parameter set; wherein the expression for the predicted radiation dose rate parameters is: , i represents the number of the trajectory point, j represents the number of the point to be predicted, N represents the total number of trajectory points; Repeat the steps of selecting the point to be predicted and generating the actual covariance vector of the point to be predicted to generate the set of predicted radiation dose rate parameters. The radiation field generation unit is used to generate a three-dimensional radiation field based on the three-dimensional coordinate parameter set, actual radiation dose rate parameter set, and predicted radiation dose rate parameter set of each trajectory point and predicted point; including: outputting a hotspot location map based on the three-dimensional coordinate parameter set, actual radiation dose rate parameter set, and predicted radiation dose rate parameter set of each trajectory point and predicted point; converting the point cloud map into a radiation dose field distribution map by fitting calculation through the three-dimensional coordinate parameter set, actual radiation dose rate parameter set, and predicted radiation dose rate parameter set of each trajectory point and predicted point; and integrating the hotspot location map and the radiation dose field distribution map as the output of a three-dimensional radiation field.

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