JP6458381B2 - Position correction method, movement trajectory acquisition apparatus, and radiation dose mapping method - Google Patents

Description

  The present invention relates to a position correction method and a movement trajectory acquisition device for correcting a movement trajectory composed of a plurality of plots of position information displayed on a screen, and radiation that maps a radiation dose measured while moving on the screen as dose data. It relates to a quantity mapping method.

  As a method for measuring a radiation dose rate and a method for creating a radiation dose rate map, for example, a method disclosed in Patent Document 1 is known. In Patent Document 1, a radiation measuring device that measures the dose rate of radiation, a position information acquisition mechanism that acquires position data, and the dose rate data measured by them and the position data are associated and recorded as radiation dose rate map data. The mobile body is equipped with a dose rate measurement system equipped with a data processing mechanism.

JP 2013-32926 A

  In Patent Document 1, a GPS system is used as a position information acquisition mechanism. However, with such a configuration, position information cannot be acquired in places where GPS radio waves cannot be received, such as indoors. Also, in locations where GPS radio waves are weak, such as in the vicinity of buildings, the accuracy of received signals is low, so accurate position information cannot be acquired. For this reason, position information acquisition techniques other than the GPS system have been studied.

  As position information acquisition technology other than the GPS system, autonomous navigation technology (DR: Dead Reckoning) can be cited. In general, in the autonomous navigation technique, relative changes in position and direction are measured using an acceleration sensor, a gyro sensor, a magnetic compass, and the like. According to this, since the radio wave from GPS is unnecessary, there is a possibility that the position information can be acquired even in a place where the radio wave cannot be received or the radio wave is weak.

  However, the above-described autonomous navigation technique only measures relative changes in position and direction, and cannot measure the absolute position (latitude and longitude). For this reason, as the moving distance becomes longer, errors of the acceleration sensor and the gyro sensor accumulate, and accurate positioning cannot be performed. Another problem is that the magnetic compass cannot be used in a place where the disturbance of the magnetic field is large.

  In view of such a problem, the present invention reduces a position error when acquiring position information by autonomous navigation technology and can perform accurate positioning and measurement, a position correction method, a moving locus acquisition apparatus, and radiation dose mapping. It aims to provide a method.

  In order to solve the above-described problem, a typical configuration of the position correction method according to the present invention stores a plurality of points whose position information is known in advance as landmarks, and positions each time a predetermined time has elapsed after the start of movement. When information is acquired and a plot is displayed on the screen, and a landmark corresponding to the current location is specified during movement, the position information of the plot between landmarks is changed so that the position information of the landmark is at both ends of the trajectory. It is characterized by correcting.

  According to the above configuration, the position information of the plot between landmarks can be corrected based on the position information of landmarks whose absolute positions are known. Thereby, since the error of the position of the plot between landmarks is reduced, accurate positioning is possible even when autonomous navigation is used.

  In the above position correction method, when a plot is selected and the position information of the selected plot is changed, the plot is set as a landmark and correction is performed again. According to such a configuration, it is possible to perform correction after the movement is completed, that is, after the positioning is completed, and convenience can be improved.

  In the above correction, it is preferable to perform linear interpolation by rotating, enlarging, and reducing the entire plot between landmarks. Thereby, the correction of the position information described above can be suitably performed.

  In order to solve the above problems, a typical configuration of the movement trajectory acquisition apparatus according to the present invention includes a display control unit that displays a plot of position information on a screen, and a plurality of points whose position information is known in advance. A storage unit for storing as a landmark, a location information acquisition unit for acquiring location information every predetermined time after the start of movement, a landmark designation unit for designating a landmark corresponding to the current location, and a plot between landmarks And a correction unit that corrects the position information so that the position information of the landmark is at both ends of the trajectory. In addition, when a plot is selected and the position information of the selected plot is changed, the correction unit may set the plot as a landmark and perform correction again. The components corresponding to the technical idea in the position correction method described above and the description thereof can be applied to the movement trajectory acquisition apparatus.

  The moving trajectory acquisition device displays a drawing or map of a moving range on a screen, displays the trajectory superimposed on the drawing or map, and position information of landmarks on the drawing or map is at both ends of the trajectory. The position information of the plot between landmarks may be corrected. Thereby, the position information can be corrected while referring to the drawing or map displayed on the screen, so that the convenience for the user can be improved.

  In order to solve the above problems, a representative configuration of a radiation dose mapping method according to the present invention is a radiation dose mapping method that measures a radiation dose while moving and maps the measured radiation dose on a screen as dose data. In addition, a plurality of points whose position information is known in advance are stored as landmarks, and after starting movement, the position information is acquired and a plot is displayed on the screen and the radiation dose is acquired every predetermined time. If the landmark corresponding to the current location is specified while moving, the position information of the plot between the landmarks is corrected so that the position information of the landmark is at both ends of the trajectory. The dose data corresponding to the position information is superimposed on the plot and displayed on the screen.

  According to such a configuration, an error in plotting between landmarks when autonomous navigation is used as in the position correction method described above is reduced. Therefore, it is possible to acquire accurate position information and to measure the radiation dose with high accuracy.

  ADVANTAGE OF THE INVENTION According to this invention, the error at the time of acquiring positional information by an autonomous navigation technique can be reduced, and the position correction method and radiation dose mapping method which can perform exact positioning and a measurement can be provided.

It is a functional block diagram of the radiation dose monitoring apparatus used for the radiation dose mapping method concerning this embodiment. It is a flowchart explaining the radiation dose mapping method and position correction method concerning this embodiment. It is a figure explaining correction | amendment of the positional information of step S216. It is a figure explaining re-correction of position information of Step S222. It is a figure explaining the display of the dose data of step S224.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  FIG. 1 is a functional block diagram of a radiation dose monitoring apparatus (hereinafter referred to as monitoring apparatus 100) used in the radiation dose mapping method according to the present embodiment. Hereinafter, the position correction method, the movement trajectory acquisition apparatus, and the radiation dose mapping method according to the present embodiment will be described together with the monitoring apparatus 100 with reference to FIG. In the present embodiment, the monitoring device 100 and the trajectory acquisition device 110 are exemplified by a case where a GPS positioning system is not installed. However, the present invention is not limited to this, and a GPS positioning system can be used in combination.

  As shown in FIG. 1, the monitoring device 100 includes a radiation dosimeter 102 and a movement trajectory acquisition device (hereinafter referred to as a trajectory acquisition device 110). The radiation dosimeter 102 detects radiation in the space and calculates a radiation dose based on the detected radiation. In the present embodiment, the configuration in which the operation of the radiation dose meter 102 is controlled by the control unit 120 of the trajectory acquisition device 110 described later is not limited to this, and the operation of the radiation dose meter 102 is controlled. A controller may be provided separately.

  The operation of the trajectory acquisition apparatus 110 shown in FIG. The control unit 120 manages and controls the functions and operations of the trajectory acquisition device 110 and the monitoring device 100 as a whole by a semiconductor integrated circuit including a central processing unit (CPU). In the present embodiment, the trajectory acquisition device 110 also functions as a display control unit 122 and a correction unit 124 described later.

  The position information acquisition unit 130 includes an acceleration sensor 132, a gyro sensor 134, and a magnetic sensor 136. The acceleration sensor 132 detects the acceleration of the trajectory acquisition device 110 during movement. The gyro sensor 134 (angular velocity sensor) detects the angular velocity of the trajectory acquisition device 110 during movement. The magnetic sensor 136 detects the direction of the trajectory acquisition device 110 during movement. The position information acquisition unit 130 receives the outputs of these sensors every predetermined time, calculates the integration and the average as necessary, and acquires the position information of the trajectory acquisition device 110 after the start of movement.

  The input unit 140 receives user input to the trajectory acquisition apparatus 110. As the input unit 140, for example, a touch panel method in which a pointing device (not shown) is superimposed on the display unit 160 can be adopted, and a keyboard, a cross key, a joystick, or the like is movable separately from or in addition to such a configuration. An operation key (hardware key) may be adopted. As will be described later, the input unit 140 of the present embodiment also functions as a landmark designation unit 142 that designates a landmark corresponding to the current location.

  The storage unit 150 includes a ROM, a RAM, an EEPROM, a nonvolatile RAM, a flash memory, an HDD, and the like, and stores a program processed by the control unit 120, communication data, and the like. In addition, the storage unit 150 of the present embodiment stores a plurality of points whose position information is known in advance as landmarks. The display unit 160 includes a liquid crystal display (Liquid Crystal Display), an EL (Electro Luminescence), a PDP (Plasma Display Panel), and the like, and displays images, operation screens of applications, and the like to the user. Moreover, in this embodiment, the display part 160 displays the plot of the positional information on the said locus | trajectory acquisition apparatus 110 on the screen.

  FIG. 2 is a flowchart for explaining the radiation dose mapping method and the position correction method according to the present embodiment. In the radiation dose mapping method of the present embodiment, the radiation dose is measured while moving, and the measured radiation dose is mapped on the screen as dose data. As shown in FIG. 2, in the radiation dose mapping method of the present embodiment, the user first inputs a plurality of points (specific passing points) whose position information is known in advance as landmarks via the input unit 140. Then, the memory | storage part 150 of the locus | trajectory acquisition apparatus 110 memorize | stores the positional infomation on the landmark (step S202). The monitoring start point is also included in the landmark.

  If the movement from the monitoring start point is started after storing the landmark, the monitoring apparatus 100 starts monitoring the radiation dose (step S204). When monitoring is started, the position information acquisition unit 130 of the monitoring device 100 acquires position information of the current location (step S206), and the radiation dosimeter 102 acquires (measures) the radiation dose at the current location (step S208).

  Subsequently, the control unit 120 stores (saves) the radiation dose acquired in step S208 in the storage unit 150 in association with the position information acquired in step S206 (step S210). Furthermore, the control unit 120 functions as the display control unit 122 and displays the plot of the position information acquired in step S206 on the screen of the display unit 160 (step S212). Thereafter, until a landmark is designated (NO in step S214), the control unit 120 of the monitoring apparatus 100 repeats the processing in steps S206 to S214 every predetermined time.

  When the landmark position is reached after continuing the movement, the user designates the landmark corresponding to the current location via the input unit 140. At this time, the input unit 140 functions as a landmark designation unit 142 that designates a landmark corresponding to the current location. The plot of the current position by the position information acquisition unit 130 is highly likely to be slightly different from the landmark position. Therefore, when the designation input of the landmark by the user is accepted (YES in step S214), the control unit 120 functions as the correction unit 124, and the position information of the plot between the landmarks is displayed at both ends of the locus. It correct | amends so that it may become (step S216).

  FIG. 3 is a diagram for explaining the correction of the position information in step S216, and exemplifies the screen display of the display unit 160 during monitoring. In FIGS. 3A and 3B, the corrected plot is indicated by a solid white square, and the plot before correction is indicated by a dashed white square. The landmark plots are shown as black squares.

  By repeating the processing of step S206 to step S212 described above, a plurality of plots are displayed on the screen of the display unit 160 as shown in FIG. In the example of FIG. 3A, the landmark A is the monitoring start point and has moved to the landmark B. The user is actually at the position of the landmark indicated by B, but the current position indicated by the plot is the position of B '. Therefore, the user designates landmark B in order to correct the current position to landmark B.

  As a specific process, the position information may be corrected by selecting the current position plot B 'and then specifying the landmark B at the correct position. Further, the selection of the plot B ′ can be omitted on condition that the measurement is being performed. That is, when the landmark B is designated without selecting a plot, the last (latest) plot B ′ may be automatically recognized as a correction target.

  When the user's landmark designation is received in step S214, the control unit 120 functions as the correction unit 124, and first corrects the position information of the plot B 'to the position information of the landmark B. Then, the correcting unit 124 corrects the position information of a series of plots between the landmarks A and B so that the position information of those landmarks is at both ends of the locus (step S216). Thereby, the position of the plot between the landmarks A and B is corrected as shown in FIG.

  As a correction method of the position information in step S216, a method of linear interpolation by rotating, enlarging, or reducing the plot between landmarks as a whole can be exemplified. As a specific example, first, the entire plot is rotated around A so that the straight line passing through A-B ′ matches the straight line passing through AB. Next, the entire plot is scaled linearly in the x-axis direction and the y-axis direction so that B ′ coincides with B in the plane coordinates with A as the origin. However, the present invention is not limited to this, and other correction methods can naturally be used.

  In the example of FIG. 3, only two landmarks A and B are shown, but a plurality of landmarks may be set. In that case, the position information of the plot between the two landmarks may be corrected so that the position information of the landmark is at both ends of the locus.

  As described above, in the present embodiment, in step S216, the position information of the plot between the landmarks is corrected based on the position information of the landmark whose absolute position is known. In other words, the change record of the relative direction and the relative position acquired by the position information acquisition unit 130, that is, the autonomous navigation is corrected by the absolute position of the landmark. Thereby, since an error in plotting between landmarks is reduced, accurate positioning is possible even when autonomous navigation is used as position information acquisition means.

  Further, in this embodiment, as shown in FIGS. 3A and 3B, the drawing of the movement range is displayed on the screen of the display unit 160, and the locus is superimposed on the drawing on the screen to display the position information. Correction is performed. Thereby, the user can easily compare his / her current location with the position on the drawing by referring to the drawing or map displayed on the screen. Therefore, correction can be performed at a more appropriate timing, and user convenience can be further improved. In the present embodiment, the case where a drawing is displayed on the screen is illustrated, but the present invention is not limited to this, and map data can also be displayed.

  After the correction of the position information is completed in step S216, the control unit 120 repeats the processes in steps S202 to S218 until an input for monitoring end is received (NO in step S218).

  Even after the end of monitoring (YES in step S218), the plot position can be corrected. Even in places where landmarks are not set, the location may be known from the trajectory, such as when turning at the corner or hallway of a room. In such a case, after selecting an arbitrary plot and changing the position, it can be handled in the same way as a landmark. In other words, the landmark can be created later.

  If there is no selection of plots or change of position information by the user (NO in step S220), the process proceeds to step S224 described later. On the other hand, when the user selects a plot and changes the position information (YES in step S220), the control unit 120 functions as the correction unit 124 and re-corrects the position information (step S222).

  FIG. 4 is a diagram for explaining the re-correction of the position information in step S222. FIG. 4 (a) illustrates the positioning result (original data) of the position information, and FIG. The screen display of the display part 160 is illustrated. When the monitoring is completed, the positioning result of the position information, that is, the plot trajectory is obtained as shown in FIG.

  At this time, it can be presumed that the plot surrounded by the broken-line circle in FIG. 4A is immediately after the corner of the room or the door from the condition of the locus. However, if the plot deviates from the actual position (the position of the triangular plot shown in FIG. 4 (b)), the user selects the plots surrounded by the dashed circle and sets the positions of those plots. The position is changed to the triangular plot position shown in FIG.

  When the selection of the user's plot and the change of the position are accepted in step S220, the control unit 120 functions as the correction unit 124, and the position of the triangular plot is set as the landmark, and the plot between the respective landmarks is performed as in step S216. Correct the position information of. Thereby, the locus of the position information has the shape shown in FIG.

That is, in step S220, when a plot (arbitrary plot) after the end of monitoring is selected and the position information of the selected plot is changed, the correction unit 124 additionally sets the selected plot as a landmark. And re-correction between the neighboring landmarks . Thereby, since the position information can be corrected even after the monitoring is finished (after the movement is finished), convenience can be improved.

  FIG. 5 is a diagram for explaining the display of dose data in step S224. When there is no selection of a plot and change of position information by the user in step S220 (NO in step S220), and after re-correction in step S220, the control unit 120 functions as the display control unit 122, and the dose corresponding to the position information. The data is superimposed on the plot and displayed on the screen (step S224).

  In step S224, dose data is superimposed on the position information plot shown in FIG. 4A and displayed as shown in FIG. 4B. In FIG.4 (b), it displays so that the color of a plot may become light as a radiation dose becomes low. Although shown in gray scale in the drawing, it may be displayed in different colors in practice. Thereby, the user can grasp | ascertain intuitively the radiation dose in the area currently displayed only by referring the screen of the display part 160. FIG.

  At this time, in the present embodiment, as described above, correction is performed based on the landmark whose absolute position is known, so that there is very little error in position information even when autonomous navigation is used. Therefore, it becomes possible to grasp the radiation dose in the area more accurately. In addition, because accurate positioning and measurement are possible using autonomous navigation, mapping is performed well even in areas where GPS radio waves cannot be received or are difficult to receive, such as indoors or in the vicinity of buildings. Can do.

  In addition, although FIG. 2 of this embodiment illustrated and demonstrated the radiation dose mapping method, this invention is not limited to this. For example, by performing only processing other than steps S208, S210, and S224 in FIG. 2, the present invention is used as a position correction method for correcting a movement trajectory composed of a plurality of plots of position information displayed on the screen. Can do. Further, by replacing the processes other than steps S208, S210, and S224 in FIG. 2 with measurement of other physical quantities such as temperature and humidity, it is also possible to use as a position correction method when mapping these data. .

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to the example which concerns. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Understood.

  The present invention relates to a position correction method and a movement trajectory acquisition device for correcting a movement trajectory composed of a plurality of plots of position information displayed on a screen, and radiation that maps a radiation dose measured while moving on the screen as dose data. It can be used as a quantity mapping method.

DESCRIPTION OF SYMBOLS 100 ... Monitoring apparatus, 102 ... Radiation dosimeter, 110 ... Trajectory acquisition apparatus, 120 ... Control part, 122 ... Display control part, 124 ... Correction part, 130 ... Position information acquisition part, 132 ... Acceleration sensor, 134 ... Gyro sensor, 136 ... Magnetic sensor 140 ... Input unit 142 ... Landmark designation unit 150 ... Storage unit 160 ... Display unit

Claims (5)

A plurality of points whose position information is known in advance are stored as landmarks,
After starting to move, get position information every predetermined time and display a plot on the screen,
When a landmark corresponding to the current location is specified during movement, the position information of the plot between the landmarks is corrected so that the position information of the landmark is at both ends of the locus ,
When an arbitrary plot is selected and the position information of the selected plot is changed, the plot is additionally set as a landmark, and the correction is performed again between the adjacent landmarks. Position correction method. 2. The position correction method according to claim 1 , wherein in the correction, linear interpolation is performed by rotating, enlarging, and reducing a plot between the landmarks as a whole. A display controller that displays a plot of position information on the screen;
A storage unit for storing a plurality of points whose position information is known in advance as landmarks;
A position information acquisition unit that acquires position information every predetermined time after the start of movement;
A landmark designating part for designating a landmark corresponding to the current location,
A correction unit that corrects the position information of the plot between the landmarks so that the position information of the landmarks is at both ends of the locus;
Equipped with a,
When an arbitrary plot is selected and the position information of the selected plot is changed, the correction unit additionally sets the plot as a landmark and performs correction between the adjacent landmarks again. A movement trajectory acquisition apparatus characterized by that. Display a moving range drawing or map on the screen,
The trajectory is overlaid on the drawing or map,
4. The movement trajectory acquisition apparatus according to claim 3 , wherein the position information of the plot between the landmarks is corrected so that the position information of the landmark on the drawing or the map is at both ends of the trajectory. A radiation dose mapping method for measuring a radiation dose while moving and mapping the measured radiation dose on a screen as dose data,
A plurality of points whose position information is known in advance are stored as landmarks,
After starting the movement, every time a predetermined time has elapsed, the position information is acquired and displayed on the screen, the radiation dose is acquired and stored in association with the position information,
When a landmark corresponding to the current location is specified during movement, the position information of the plot between the landmarks is corrected so that the position information of the landmark is at both ends of the locus,
When an arbitrary plot is selected and the position information of the selected plot is changed, the plot is additionally set as a landmark, and the correction is performed again between the adjacent landmarks,
A radiation dose mapping method, wherein dose data corresponding to the position information is superimposed on the plot and displayed on the screen.

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