NUCLEAR MEASUREMENT SYSTEM AND METHOD

Abstract

A nuclear measurement system characterized in that it comprises a computer (3) connected to a gamma signal probe equipped with a collimator, a non-collimated gamma signal probe, vision sensors, and a display screen, the computer being adapted to trigger the operation of the gamma signal probe equipped with a collimator, the non-collimated gamma signal probe, and the vision sensors, and to display the measurement areas in real time on the display screen (31). Figure 1

Description

Title of the invention: NUCLEAR MEASURING SYSTEM AND METHOD Technical field

[0001] The present invention relates to a portable nuclear measurement device for mapping equipment or premises located in a nuclear zone. STATE OF THE ART

[0002] Dose recording for mapping in nuclear installations can be carried out in different ways. Usually, radiation protection officers responsible for a nuclear installation carry out a manual recording with a portable dose rate type probe, collimated or not, favoring measurements in contact with the equipment. These contact measurements involve positioning operators as close as possible to the irradiating sources, which, even if the duration of the recordings may be short, implies an increase in the dosimetry of the operators.

[0003] Furthermore, augmented reality has appeared in the industry and makes it possible to compensate for the lack of experience during risky or complex operations.

[0004] The two pillars of augmented reality are geolocation and visualization. Geolocation allows a system to locate itself in its environment. Visualization will allow you to see the virtual elements in this environment, for example via a screen, a headset or a projector.

[0005] Several geolocation technologies exist, including, in particular, motion capture by external cameras and visual-inertial odometry, known as VIO, from the English “Visual-inertial odometry” by on-board camera.

[0006] Thanks to visual-inertial odometry, the system detects its own position without the help of an external device, thanks to the video stream from its cameras and its inertial sensors. This position is defined in relation to an initial fixed position (position at initialization for example). Thus the system knows which movements have been made since the starting position. Associated with the video, the accelerometers and gyroscopes make it possible to refine the localization of the system.

[0007] Several algorithms exploit visual-inertial odometry sensors. The most widely used is SLAM, which stands for "Simultaneous localization and mapping." SLAM allows learning of the environment in which the system is located. Once the environment has been learned, the system can locate itself very precisely on a map and can correct sensor drifts.

[0008] There are several types of augmented reality. Among these types, we consider the one called Augmented Reality. Augmented Reality consists of embedding additional information such as the function or even data from the sensor on the images of the real scene.

[0009] In this case, the real and the virtual must be in the same display space, which requires a re-alignment of the virtual with the real.

[0010] Localization accuracy is a major technical challenge in augmented reality. Indeed, the added information must be on the correct object to avoid any errors or misunderstandings. This implies that each measurement must be correctly localized in real space.

[0011] FR 3 043 211 concerns radioactive measurements and includes in particular the creation of a map of an environment containing radioactive sources. The device described is designed for robotic use and does not allow ambient radioactive radiation to be measured.

[0012] US 2016 / 0203240 relates to modeling an environment presenting a risk of nuclear contamination. The method and device described do not allow contact measurements to be carried out. Statement of the invention

[0013] The invention aims to solve the problems of the prior art by providing a nuclear measurement system characterized in that it comprises a computer connected to a gamma signal probe, equipped with a collimator, a non-collimated gamma signal probe, vision sensors and a display screen, the computer being adapted to trigger the operation of the gamma signal probe, equipped with a collimator, the non-collimated gamma signal probe and the vision sensors and to display in real time the measurement zones on the display screen.

[0014] The system according to the present invention makes it possible to quickly establish a gamma map brought back to contact with an object. This includes the positioning in space of the measuring device, immediate knowledge of the distances to the measured objects, visualization on a real image of the collimation zone of the measurement, the possibility of producing a film and / or a measurement scene integrating the values ​​measured in contact with the objects, learning the environment for an augmented reality visualization of the measurements.

[0015] The combination of a collimated probe, a non-collimated probe and a 3D sensor allows good control of the targeted solid angle, distance measurements and therefore contact dose measurements, and an ambient measurement. These results allow the establishment of a precise contact measurement map.

[0016] The present invention can be used for numerous applications, for example the mapping of premises (walls, floors, etc.), the control and / or monitoring of installation decontamination (pipes, tanks, filters, retention tanks, etc.), or even the control mobile equipment (waste drums, BI, crates, etc.).

[0017] According to a preferred characteristic, the calculator is adapted to superimpose a collimated measurement zone on a visible image produced by the vision sensors, on the display screen.

[0018] According to a preferred characteristic, the calculator is adapted to couple dimensional data obtained by the vision sensors, with radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe.

[0019] According to a preferred feature, the dimensional data comprises a distance to a measured object and a measurement position, and the radiological data comprises a collimated dose rate in contact with the measured object and an ambient dose rate at the measurement position.

[0020] According to a preferred characteristic, the computer is adapted to display on the viewing screen radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe, on an image produced by the vision sensors.

[0021] According to a preferred characteristic, the nuclear measurement system comprises a memory for storing the dimensional data obtained by the vision sensors, coupled with the radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe.

[0022] According to a preferred characteristic, the gamma signal probe equipped with a collimator is adapted to receive several collimator geometries.

[0023] According to a preferred characteristic, the calculator is adapted to create a radiological scene.

[0024] According to a preferred characteristic, the calculator is adapted to modify an existing radiological scene.

[0025] The invention also relates to a nuclear measurement method implemented in the computer of the nuclear measurement system, characterized in that it comprises the selection of an operating mode from among: - a hot spot detection mode in which a nuclear measurement collimation zone and a nuclear measurement value brought into contact with an object are displayed on the screen of the nuclear measurement system, when an operator has pointed the measurement system at an object to be measured and triggered the operation of the nuclear measurement system, - a method of creating or modifying a radiological scene, the radiological scene comprising visual information, nuclear measurement values ​​in contact with objects and the position of the measurement points.

[0026] The method has advantages similar to those previously presented.

[0027] In a particular embodiment, the steps of the method according to the invention are implemented by computer program instructions.

[0028] Consequently, the invention also relates to a computer program on an information medium, this program being capable of being implemented in a computer, this program comprising instructions adapted to the implementation of the steps of a method as described above.

[0029] This program may use any programming language, and be in the form of source code, object code, or code intermediate between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0030] The invention also relates to an information medium readable by a computer, and comprising computer program instructions adapted to the implementation of the steps of a method as described above.

[0031] The information carrier may be any entity or device capable of storing the program. For example, the carrier may comprise a storage means, such as a ROM, for example a CD ROM or a microelectronic circuit ROM, or a magnetic recording means, for example a floppy disk or a hard disk.

[0032] On the other hand, the information medium may be a transmissible medium such as an electrical or optical signal, which may be conveyed via an electrical or optical cable, by radio or by other means. The program according to the invention may in particular be downloaded from an Internet-type network.

[0033] Alternatively, the information medium may be an integrated circuit in which the program is incorporated, the circuit being adapted to execute or to be used in the execution of the method according to the invention. Brief description of the drawings

[0034] Other characteristics and advantages will appear on reading the following description of a preferred embodiment, given by way of non-limiting example, described with reference to the figures in which:

[0035] [fig.l]

[0036] [fig.2] and

[0037] [fig.3] represent a nuclear measurement system according to an embodiment of the invention,

[0038] [fig.4] represents a gamma signal probe included in the measuring system nuclear of the previous figures,

[0039] [fig.5a] and

[0040] [fig.5b] represent examples of detection heads included in the probe of gamma signal from the previous figure, and

[0041] [fig.6] represents a method of operation of the measuring system according to a embodiment of the invention. Description of the embodiments

[0042] According to a preferred embodiment shown in Figure 1, the nuclear measuring system is a portable device which comprises a housing 1 to which a handle 2 is fixedly connected in the lower part of the housing. The handle 2 is intended to be held by an operator when using the measuring system. The housing 1 is parallelepipedal in shape and extends forward when the system is held by the operator.

[0043] The upper part of the housing 1 comprises a support intended to receive a display screen associated with a computer and a memory, for example in the form of a digital tablet 3. The digital tablet 3 conventionally comprises a screen 31 and storage and calculation circuits not shown in FIG. 1. The digital tablet 3 can be replaced by a screen connected to a dedicated calculation circuit or even to a remote computer. The screen 31 is directed towards the operator, that is to say towards the rear of the system, when the operator holds the system. The computer carries out the processing described below.

[0044] The housing 1 comprises a housing intended to receive a first collimated gamma signal probe which will be described below. The handle also comprises a housing intended to receive a second gamma signal probe, called an ambient probe, which is not collimated. The ambient probe makes it possible to obtain a non-collimated nuclear measurement value. This probe provides the ambient dose rate level and will thus make it possible to know the contribution of the hot point(s) observed in the collimation angle defined by the collimated probe and thus refine the nuclear measurement carried out by the collimated probe if necessary.

[0045] The nuclear measuring probes are connected to the tablet 3.

[0046] Figures 2 and 3 respectively represent a side view and a front view of the nuclear measurement system according to the present invention.

[0047] In addition to the elements already described, the upper part of the housing 1 comprises a support intended to receive a shooting device 4 whose lens is directed towards the front of the system.

[0048] More specifically, the shooting device 4 comprises a conventional camera for capturing RGB type images, a wide-angle camera for detecting points of interest and a structured light 3D scanner for detecting depth. The shooting device 4 is connected to the tablet 3.

[0049] The system also includes one or more actuation buttons to trigger the operation of the probes and the imaging device and to record nuclear measurements and images. The actuation buttons can be on the handle, on the housing or even virtual buttons displayed on the tablet screen.

[0050] The nuclear measurement system is portable. When the operator points the device towards an area to be measured and triggers the operation of the system, he obtains measurements of dose equivalent rate (Sv / h) or gamma fluence rate (y / cm2 / s) collimated in contact with the observed objects.

[0051] The radiological data are coupled with the dimensional data and all of this data can be stored.

[0052] The system allows for display on the screen of an image on which the collimation zone of the nuclear measurement is superimposed. In addition, the value of the contact measurement is displayed in the collimation zone of the measurement.

[0053] The ambient probe makes it possible to obtain at the operator's position a nuclear measurement value including all the radiological contributions surrounding the operator.

[0054] The trajectory taken during nuclear measurement readings can be displayed on the screen and it is possible to highlight objects or locations that are to be subject to nuclear measurement.

[0055] Figure 4 shows the gamma signal probe 5. This is a dose rate or fluence rate probe which is collimated and has variable collimation. The probe 5 is substantially cylindrical and comprises, from the rear to the front of the probe, a rear shield 51, a probe detection volume 52 and a detection head 53.

[0056] Examples of detection heads are shown in Figures 5a and 5b. The geometry of the detection head defines a particular collimator. The probe 5 therefore has a variable collimator, which makes it possible to limit the impact of “off-field” sources on the nuclear measurement value and to offer several levels of spatial resolution with the possibility of mounting different detection heads.

[0057] A detection head is positioned by the operator in the housing of the box 1 then the detection head is selected via the user interface of the tablet so that the collimation zone is the correct one in order to precisely visualize the corresponding measurement zone.

[0058] Figure 6 represents the operation of the nuclear measurement system, in the form of a flowchart comprising steps E1 to E16.

[0059] Step El is a choice of operating mode of the nuclear measurement system, made by the operator.

[0060] The first operating mode of the nuclear measurement system is a hot spot detection / control mode. When this first operating mode is chosen, step E1 is followed by step E2 in which the operator points the nuclear measurement system towards an object to be measured. The collimation zone of the nuclear measurement is displayed on the tablet screen and can be viewed by the operator. The distance of the object is determined using the depth sensor. In the next step E3, the operator triggers the nuclear measurement and the measured value brought back to contact with the object is then displayed in real time on the tablet screen.

[0061] The second operating mode of the nuclear measurement system is a radiological mapping mode, where the system then makes it possible to virtually “stick” a measurement value read in contact with a controlled object and to record everything in a measurement scene. This scene includes both the recorded visual information (film, photos) and the nuclear measurement values ​​as well as the position of the measurement points.

[0062] When the second operating mode is chosen, step E1 is followed by step E5 of creating a new radiological scene or by step E10 of entering a process of modifying an existing radiological scene.

[0063] In the case of creation of a new radiological scene, step E5 is followed by initialization step E6 which is a learning of a reference element by the SLAM algorithm which allows the system to locate itself. The reference element is a position defined by the operator in a learning database.

[0064] Once this learning is completed, step E6 is followed by step E7 in which the nuclear measurements are carried out. Step E7 includes, simultaneously with the measurements, the automatic recording of the trajectory of the points targeted by the collimated probe, the instantaneous dose rate and the cumulative dose rate. A non-collimated dose rate is recorded here.

[0065] During the execution of step E7, it is possible to record measurement data corresponding to a point of interest (step E8). The measurement data of a point of interest comprises an image including the point of interest, an associated dose rate and a location of the point of interest.

[0066] When this possibility is selected, step E8 is followed by step E9 which is the actual recording of the measurement data of the point of interest as well as the measurement area in the scene. A collimated measurement is recorded here.

[0067] When the measurement is completed, step E7 is followed by step E14 of recording the data.

[0068] In the case of a modification of an existing radiological scene, step E10 is followed by step E1 1 which is the opening of a recorded scene.

[0069] Step E11 is followed by step E12 in which the reference element is searched for. Thanks to the learning of the environment by the SLAM algorithm, it is therefore possible for the system, once a scene is loaded, to recognize the environment that he sees and therefore to reposition the reference element.

[0070] Step E12 is followed by step E13 which is the loading of the data from the radiological scene. This involves loading the existing data recorded during previous measurement campaigns.

[0071] When the modification of an existing radiological scene is an addition of a point of interest, step E13 is followed by step E7 previously described, itself followed by steps E8, E9 and E14.

[0072] When the modification of the existing radiological scene is a deletion of a point of interest, step E13 is followed by step E15 which is the selection of a point of interest and the deletion of the measurement data corresponding to the selected point of interest.

[0073] Step E15 is followed by step E16 of recording the data.

Claims

Claims

1. Nuclear measurement system comprising a computer (3) connected to a gamma signal probe (5), equipped with a collimator, a non-collimated gamma signal probe, vision sensors and a display screen, characterized in that the computer is adapted to trigger the operation of the gamma signal probe, equipped with a collimator, the non-collimated gamma signal probe and the vision sensors, to couple dimensional data obtained by the vision sensors, with radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe and to display in real time the measurement zones on the display screen (31).

2. Nuclear measurement system according to claim 1, characterized in that the computer (3) is adapted to superimpose a collimated measurement zone on a visible image produced by the vision sensors, on the display screen (31).

3. A nuclear measurement system according to claim 1 or 2, characterized in that the dimensional data comprises a distance to a measured object and a measurement position, and in that the radiological data comprises a collimated dose rate in contact with the measured object and an ambient dose rate at the measurement position.

4. Nuclear measurement system according to any one of claims 1 to 3, characterized in that the computer (3) is adapted to display on the viewing screen radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe, on an image produced by the vision sensors.

5. Nuclear measurement system according to any one of claims 1 to 4, characterized in that it comprises a memory for storing the dimensional data obtained by the vision sensors, coupled with the radiological data recorded by the gamma signal probe, equipped with a collimator, and the non-collimated gamma signal probe.

6. Nuclear measurement system according to any one of claims 1 to 5, characterized in that the gamma signal probe (5) equipped with a collimator is adapted to receive several collimator geometries.

7. Nuclear measurement system according to any one of claims 1 to 6, characterized in that the calculator is adapted to create a scene radiological.

8. Nuclear measurement system according to any one of claims 1 to 7, characterized in that the computer is adapted to modify an existing radiological scene.

9. Nuclear measurement method implemented in the calculator of the nuclear measurement system according to any one of claims 1 to 8, characterized in that it comprises the selection of an operating mode from: - a hot spot detection mode according to which a collimation zone of the nuclear measurement and a nuclear measurement value brought back to contact with an object are displayed on the screen of the nuclear measurement system, when an operator has pointed the measurement system towards an object to be measured and has triggered the operation of the nuclear measurement system, - a mode for creating or modifying a radiological scene, the radiological scene comprising visual information, nuclear measurement values ​​in contact with objects and the position of the measurement points.

10. A computer program comprising instructions for carrying out the steps of the method according to claim 9 when said program is executed by a computer.

11. A computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the method according to claim 9.

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