CN102621525B - System and method for locating radioactive pollution source based on remote operating device - Google Patents
System and method for locating radioactive pollution source based on remote operating device Download PDFInfo
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- CN102621525B CN102621525B CN201210050914.XA CN201210050914A CN102621525B CN 102621525 B CN102621525 B CN 102621525B CN 201210050914 A CN201210050914 A CN 201210050914A CN 102621525 B CN102621525 B CN 102621525B
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Abstract
The invention discloses a system and a method for locating a radioactive pollution source based on a remote operating device. The system for locating the radioactive pollution source comprises a locating device, a locating communication device, a background communication device, a workstation and a locating device control handle. The locating communication device is connected with the background communication device through a communication cable. The method for locating the radioactive pollution source includes the following steps that first a robot is controlled to enter a nuclear radiation field to search for a polluted area through a laser range finder, a cradle head, a detection camera and a gamma camera and locate the polluted area and the pollution source; after the gamma camera is demounted, the robot is controlled to enter the nuclear radiation field again to re-locate the polluted area and the pollution source through the laser range finder, the cradle head, the detection camera and a workstation and decontaminate the re-located pollution source. The system and the method for locating the radioactive pollution source effectively protect the gamma camera, and simultaneously help the robot to do decontamination work effectively by locating, relocating and accurately determining the polluted area and the pollution source.
Description
Technical field
The invention belongs to radiomaterial Detection Techniques field, relate to the multiple technologies such as mobile robot, laser ranging, image processing, be specifically related to a kind of radioactive pollution source positioning system and method based on distant operating means.
Background technology
In nuclear safety, nuclear waste disposal and Nuclear Accident Emergency processing procedure, for properly disposing radioactive pollution source restoring scene to safe condition, must first find and located irradiation contact scar source, again pollution source are carried out to decontamination operation afterwards, namely install with it after decontamination instrument in robot, take out from certain position thering is radioactive object, and radioactive object is sealed, shifted and stores.But under many circumstances, the accurate location of radioactive pollution source and quantity are unknown in advance, this brings very large difficulty to safe and reliable pollution source work for the treatment of.If can not find these unknown radioactive sources and process in time, the physical environment of periphery will face great potential safety hazard so, jeopardize the mankind's production and life.In addition, nuclear waste disposal and Nuclear Accident Emergency are processed on-the-spot general in larger geographic area, require the localization method of radioactive source applicable portable, and support unattended.
At present, the radioactive source locating device of domestic and international market is more, applies also more extensive.One class is the product that known radioactive source is positioned, and by sender unit is installed in radioactive source a part, then adopts the mode located irradiation source of radio communication; Such as, the device that application number 201120161938.3 and 200920094347.1 patents are mentioned; Obviously, these are not suitable for the unknown radioactive source in location.Another kind of is the product that unknown or uncertain radioactive source are positioned, and finds radioactive source by X-ray detection X device is installed.Its traditional product can simply be surveyed ray, and reports the radiation dose information of present position, but can not find the accurate orientation of radioactive source.For addressing this problem, there is the device that some can located irradiation source.Such as, application number 200710308543.X patent has been mentioned the device in a kind of energy located irradiation source, determine radioactive source orientation, but its handheld operation method is not suitable for according to the difference of twice detectable signal unattended.For supporting mobile unmanned probing, some radioactivity prospecting systems based on mobile robot are there are.Such as the TALON type teleoperation robot of, FORSTER-MILLER company of U.S. development, the ERASE humanoid robot of French INTRA group exploitation etc.At home, application number 200810156538.6 and 201010172517.0 patents have also been mentioned similar product, have realized radioactivity prospecting function, but how accurately to the problem in located irradiation source is not done further design.In addition, in many radiac instrumentations, gamma camera is utilized the gamma-ray spectrometry distributed image of the synthetic radioactive source of optical imaging concept, is the fine selection of radioactive source location.But gamma camera is fixedly installed to somewhere conventionally, radioactive source is carried out to Measurement and analysis, it moves and uses underaction.Application number 201010159760.9 patents have been mentioned the mobile robot that can carry gamma camera, have expanded the application scenario of gamma camera.But nuclear waste disposal or nuclear emergency are processed on-the-spot operating environment very severe, as strong vibration, dense dust, the fragment splashing etc.If robot directly carries gamma camera located irradiation source, site work may jeopardize precision and expensive gamma camera, cause very large economic loss and delay work on the spot.
Summary of the invention
The object of the invention is to for above-mentioned the deficiencies in the prior art part; a kind of radioactive pollution source positioning system and method based on distant operating means is provided; not only can accurately locate unknown radioactive pollution source; and still can reorientate radioactive pollution source in the situation that of unloading gamma camera; thereby control is carried out nuclear waste disposal and Nuclear Accident Emergency processing operation, avoid gamma camera because protecting improper and destroyed possibility.
For achieving the above object, the technical scheme that the present invention takes is: a kind of radioactive pollution source positioning system based on distant operating means is provided, comprises positioning equipment, positioning and communicating equipment, background communication equipment, workstation, positioning equipment joystick; Described positioning and communicating equipment is by the communications cable and background communication equipment connection; It is characterized in that: described positioning equipment comprises The Cloud Terrace, laser range finder, detection camera and gamma camera; Described The Cloud Terrace is all connected with the serial server of positioning and communicating equipment with laser range finder; Described detection camera is connected with the video server of positioning and communicating equipment; Described gamma camera is connected with the gamma image acquisition device of positioning and communicating equipment; Described video server, serial server and gamma image acquisition device are all connected with switch; Described workstation and background communication equipment connection.
Described workstation comprises host computer and display screen; Described host computer is provided with locating module and reorientation module; Described locating module comprises observation point measurement of coordinates module; Described reorientation module comprises pollution source profile production module.
On described The Cloud Terrace, be provided with lead shield cover and gamma camera mounting bracket; Described laser range finder and detection camera are stacked together and are arranged in lead shield cover; Described gamma camera is arranged on gamma camera mounting bracket inside.Described background communication equipment comprises switch.
A radioactive pollution source localization method based on distant operating means, comprises the following steps:
A, in robot, positioning equipment, positioning and communicating equipment, power supply and cable are installed with it;
B, robot enter nuclear radiation scene;
C, location, by positioning equipment, position Polluted area and pollution source;
D, robot withdraw from the arena; Robot completes after detection mission, exits nuclear radiation scene;
E, unloading gamma camera, and decontamination instrument is installed; Robot exits behind nuclear radiation scene, the gamma camera on The Cloud Terrace is unloaded, and install radiation decontamination instrument with it in robot;
F, reorientation, the robot that installs decontamination instrument reenters the on-the-spot positioning equipment that passes through of nuclear radiation, to Polluted area and pollution source reorientation;
G, robot decontamination operation; Robot, according to the Polluted area of positioning equipment reorientation and pollution source, starts nuclear radiation pollutant to carry out decontamination processing;
H, continuation, staff judges whether to continue control decontamination operation according to the Polluted area of location, returns to step F if continue decontamination operation; Enter step I if do not continue decontamination operation;
I, robot withdraw from the arena, and robot completes after decontamination operation, exit nuclear radiation scene.
In above-mentioned steps A, preferred embodiment to carry a desk-top support with it in robot, then utilize gib screw that The Cloud Terrace is fixed on desk-top support, then laser range finder is installed in lead shield cover and is surveyed camera, in gamma camera mounting bracket, gamma camera is installed; Simultaneously positioning and communicating equipment, laser range finder power supply, survey camera power supply, gamma camera power supply and isolating transformer and be fixed in the electric box that a lead layer shields, and electric box is hung over it robot; Laser range finder power supply, detection camera power supply, gamma camera power supply are all connected with isolating transformer; In robot communication cable and robot power supply cable access electric box casing, robot communication cable is connected with the switch of positioning and communicating equipment; Robot power supply cable access isolating transformer; The switch of positioning and communicating equipment is connected with the switch of background communication equipment by the communications cable.
Above-mentioned steps C comprises step by step following:
C1, observe radiation environment by gamma camera; Robot observes ambient radiation environment at nuclear radiation scene by gamma camera, and judgement is Polluted area; If Polluted area enters step C2; If not Polluted area, robot continues observation by gamma camera;
C2, Polluted area location, utilize gamma camera to find after pollution source, take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point, utilize The Cloud Terrace, laser range finder and detection camera measurement space information and Polluted area image; Find at the scene a unique point, utilize The Cloud Terrace and laser range finder measure respectively this unique point with respect to the corner of observation point and observation point the distance to this unique point, utilize and survey collected by camera Polluted area image, and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace and laser range finder to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Video server and serial server send background communication equipment to by the communications cable after the spatial information of Polluted area image and four unique points being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of Polluted area image and four unique points;
C3, pollution source location, utilize gamma camera to gather the gamma graph picture and the gamma graph picture that has radiation dose information of radiationless dosage information, gamma image acquisition device sends background communication equipment to by the communications cable after the image data information of above-mentioned gamma camera collection being sent to the switch conversion of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the image data information conversion of above-mentioned gamma camera collection; The Polluted area image that workstation obtains step C2 and the spatial information of four unique points are integrated and are utilized observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X, Y, Z); Owing to finding after pollution source in step C2, robot is actionless, and after therefore observation point coordinate (X, Y, Z) is determined, the geometrical orientation of pollution source is also determined;
C4, continuation, staff judges whether to continue control according to the situation at radiation scene and surveys new Polluted area, surveys new Polluted area return to step C1 if continue; Survey new Polluted area if do not continue and enter step D.
Above-mentioned steps F comprises step by step following:
F1, Polluted area reorientation, by surveying camera search coverage, and the Polluted area image obtaining with step C2 contrasts; Staff's control utilizes The Cloud Terrace, laser range finder and detection camera to aim at the initial point of the definite overall rectangular coordinate system of step C2; Take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point;
F2, continuation, if it is identical with the Polluted area image that step C2 obtains to survey the area image of camera detection in step F 1, Polluted area reorientation task completes, and enters step F 3; If it is not identical with the Polluted area image that step C2 obtains to survey the area image of camera detection in step F 1, do not find Polluted area, need to continue Polluted area reorientation, return to step F 1;
F3, pollution source reorientation, in step F 1, staff's control finds after the initial point of overall rectangular coordinate system that step C2 determines, utilize initial point that The Cloud Terrace and laser range finder measure overall rectangular coordinate system with respect to the corner of observation point and observation point the distance to overall rectangular coordinate system initial point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace and laser range finder to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Serial server sends background communication equipment to by the communications cable after the spatial information of overall rectangular coordinate system initial point and three unique points being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of overall rectangular coordinate system initial point and three unique points; Workstation is integrated the spatial information of overall rectangular coordinate system initial point and three unique points to utilize observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X ', Y ', Z '); Observation point coordinate that workstation obtains observation point coordinate (X, Y, Z) definite step C3 and this step (X ', Y ', Z ') relatively; If the observation point coordinate that the observation point coordinate (X, Y, Z) that step C3 is definite and this step obtain (X ', Y ', Z ') consistent, robot location is at the definite observation point coordinate (X of step C3, Y, Z), now utilize and survey collected by camera pollution source image; Utilize pollution source profile generation module in the gamma graph picture that has the gamma graph picture of radiation dose information, radiationless dosage information of the pollution source that obtain in step C3 and this step, to utilize the pollution source images match of surveying collected by camera to obtain pollution source profile y, and pollution source profile y is plotted in to the video area of surveying camera, during as the decontamination of staff's control, judge the foundation of pollution source accurate location; If the observation point coordinate (X that step C3 is definite, Y, the observation point coordinate that Z) obtains with this step (X ', Y ', Z ') inconsistent, the observation point coordinate that obtains according to this step (X ', Y ', Z ') observation point coordinate (X, the Y definite with respect to step C3, Z) position of robot is adjusted in variation, and returns to step F 1.
Adopt the observation point measurement of coordinates module in step C3 and step F 3 to determine that observation point coordinate comprises the following steps:
A, beginning, determine local pole coordinate system, take the geometric center of robot positioning equipment with it as observation point, and sets up local pole coordinate system take observation point as initial point;
The essential information of b, four unique points of measurement is found a unique point in radiation scene, measures this unique point and arrives the distance of this unique point with respect to corner and the observation point of observation point, and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Obtain thus the coordinate of four unique points under local pole coordinate system;
C, the coordinate of calculated characteristics point under overall rectangular coordinate system, coordinate conversion by four unique points under local pole coordinate system becomes the coordinate under local rectangular coordinate system, and calculates in step b three unique points except the unique point as overall rectangular coordinate system initial point with respect to the coordinate of overall rectangular coordinate system initial point by four unique points at the coordinate under local rectangular coordinate system;
D, build the matrix computations formula of asking for rotation translation relation, utilize three unique points except the unique point as overall rectangular coordinate system initial point that step c obtains coordinate structure under overall rectangular coordinate system and local rectangular coordinate system to ask for the matrix computations formula of the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system;
Translation matrix is rotated in e, acquisition, tries to achieve the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system by steps d, obtains rotation translation matrix;
F, calculate observation point coordinate according to rotation translation matrix, in conjunction with observation point, the coordinate under local rectangular coordinate system can obtain the coordinate of observation point under overall rectangular coordinate system, i.e. observation point coordinate to the rotation translation matrix that step e obtains;
G, end.
The method of utilizing pollution source profile generation module to obtain pollution source profile y in step F 3 comprises the following steps:
H, from have the gamma graph picture of radiation dose information, extract pollution source profile x;
The gamma image integration of i, the pollution source profile x that step h is obtained and radiationless dosage information is also processed the image that obtains pollution source profile x encirclement;
J, utilize image that SIFT algorithm surrounds from pollution source profile x respectively and step F 3 utilization to survey the pollution source image of collected by cameras to extract unique point separately, and calculate the SIFT proper vector of all unique points;
K, utilize the Euclidean distance of the SIFT proper vector of the unique point that step j obtains to set up the balanced binary tree take unique point as root node;
L, traversal institute's unique point balanced binary tree that k obtains in steps, calculate image that pollution source profile x surrounds and step F 3 and utilize the unique point of the pollution source images match of detection collected by cameras according to nearest neighbor algorithm;
M, utilize in ORSA algorithm removal process l and obtain the error matching points in matching characteristic point;
The image that n, pollution source profile x after step m eliminating error match point surround and step F 3 are utilized and are surveyed matching characteristic point that the pollution source image of collected by cameras is corresponding and calculate image that pollution source profile x the surrounds affine transformation matrix M to the pollution source image of step F 3 utilization detection collected by cameras according to the principle of least square; Enter step p if can calculate M; If can not calculate M, the pollution source profile x that step h is obtained expands outwardly 1～50 pixel and returns to step I; When the number of times of expansion pollution source profile x is greater than δ time of setting, δ > 1, the image that pollution source profile x surrounds and step F 3 are utilized the pollution source images match failure of surveying collected by camera, need to return to steps A again to Polluted area and pollution source location;
P, calculate image that pollution source profile x the surrounds corresponding step F 3 after conversion by affine transformation matrix M and utilize the pollution source profile y surveying on the pollution source image of collected by camera.
The lead shield cover that the present invention adopts has radiation resistance, can be used for protecting laser range finder and survey responsive optics and the electron devices such as camera.On lead shield cover, be provided with lead glass window; Survey camera and gather image by lead glass window, laser range finder sends laser by lead glass window.
Radioactive pollution source positioning system and method based on distant operating means provided by the invention has following beneficial effect:
The process of 1, robot being cleared up to Polluted area is divided into two stages: determine the position of Polluted area and pollution source and the processing to the pollution source in Polluted area; In the time determining the position of Polluted area and pollution source, integrated application laser range finder, detection camera and gamma camera are accurately located Polluted area and pollution source, determine the effective coverage of robot manipulating task, increase work efficiency; In the processing procedure of the pollution source in Polluted area, unload gamma camera, guarantee the safety of gamma camera, effectively protect gamma camera;
2, after unloading gamma camera, still can be according to the image gathering in Polluted area and pollution source position fixing process, recycling laser range finder and detection camera and pollution source profile generation module are reorientated Polluted area and pollution source, and then provide reliable basis for robot clears up pollution source;
3,, in Polluted area and pollution source position fixing process, utilize observation point measurement of coordinates module accurately to locate pollution source;
4, communicating by letter between laser range finder, detection camera and gamma camera and workstation in positioning and communicating equipment and background communication equipment coordination positioning equipment, adopts unified Long-range Data Transmission mode and workstation to keep communication connection;
5, this radioactive pollution source positioning system is provided with lead shield cover, can effectively protect laser range finder, survey the expensive equipments such as camera.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the radioactive pollution source positioning system based on distant operating means.
Fig. 2 is positioning equipment structural representation.
Fig. 3 is the radioactive pollution source localization method process flow diagram based on distant operating means.
Fig. 4 is position fixing process process flow diagram.
Fig. 5 is repositioning process process flow diagram.
Fig. 6 is observation point measurement of coordinates process flow diagram.
Fig. 7 is the schematic diagram that the Polluted area of gamma camera collection has the gamma graph picture of radiation dose information.
Fig. 8 is the schematic diagram of surveying the image with pollution source profile y of collected by camera.
Wherein, 1, The Cloud Terrace; 2, lead shield cover; 3, laser range finder; 4, survey camera; 5, gamma camera mounting bracket; 6, gamma camera.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail, but they are not to further restriction of the present invention.
As shown in Figure 1, be somebody's turn to do the radioactive pollution source positioning system based on distant operating means, comprise positioning equipment, positioning and communicating equipment, background communication equipment, workstation and positioning equipment joystick; Positioning and communicating equipment is by the communications cable and background communication equipment connection; Positioning equipment comprises The Cloud Terrace 1, laser range finder 3, surveys camera 4 and gamma camera 6; The Cloud Terrace 1 is all connected with the serial server of positioning and communicating equipment with laser range finder 3; Surveying camera 4 is connected with the video server of positioning and communicating equipment; Gamma camera 6 is connected with the gamma image acquisition device of positioning and communicating equipment; Video server, serial server and gamma image acquisition device are all connected with switch; Workstation and background communication equipment connection.Workstation comprises host computer and display screen; Host computer is provided with locating module and reorientation module; Locating module comprises observation point measurement of coordinates module; Reorientation module comprises pollution source profile production module.Background communication equipment comprises switch.
As shown in Figure 2, on The Cloud Terrace 1, be provided with lead shield cover 2 and gamma camera mounting bracket 5; Laser range finder 3 and detection camera 4 are stacked together and are arranged in lead shield cover 2; Gamma camera 6 is arranged on gamma camera mounting bracket 5 inside.
By positioning equipment joystick, staff can give an order to positioning equipment freely, completes fast various measurements action: adjust The Cloud Terrace 1, laser range finder 3, gamma camera mounting bracket 5 and survey the taking measurement of an angle of camera 4, velocity of rotation, lens focusing etc.
As shown in Figure 3, the radioactive pollution source localization method based on distant operating means, comprises the following steps:
A, in robot, positioning equipment, positioning and communicating equipment, power supply and cable are installed with it; Carry a desk-top support with it in robot, then utilize gib screw that The Cloud Terrace 1 is fixed on desk-top support, then at the interior installation laser range finder 3 of lead shield cover 2 and detection camera 4, in the interior installation gamma camera 6 of gamma camera mounting bracket 5; Simultaneously positioning and communicating equipment, laser range finder power supply, survey camera power supply, gamma camera power supply and isolating transformer and be fixed in the electric box that a lead layer shields, and electric box is hung over it robot; Laser range finder power supply, detection camera power supply, gamma camera power supply are all connected with isolating transformer; In robot communication cable and robot power supply cable access electric box casing, robot communication cable is connected with the switch of positioning and communicating equipment; Robot power supply cable access isolating transformer; The switch of positioning and communicating equipment is connected with the switch of background communication equipment by the communications cable; Isolating transformer is respectively laser range finder power supply, survey camera power supply, gamma camera power supply, robot power supply provides 220V alternating current.
B, robot enter nuclear radiation scene;
C, location, by positioning equipment, position Polluted area and pollution source;
D, robot withdraw from the arena; Robot completes after detection mission, exits nuclear radiation scene;
E, unloading gamma camera, and decontamination instrument is installed; Robot exits behind nuclear radiation scene, the gamma camera on The Cloud Terrace 16 is unloaded, and install radiation decontamination instrument with it in robot;
F, reorientation, the robot that installs decontamination instrument reenters the on-the-spot positioning equipment that passes through of nuclear radiation, to Polluted area and pollution source reorientation;
G, robot decontamination operation; Robot, according to the Polluted area of positioning equipment reorientation and pollution source, starts nuclear radiation pollutant to carry out decontamination processing;
H, continuation, staff judges whether to continue control decontamination operation according to the Polluted area of location, returns to step F if continue decontamination operation; Enter step I if do not continue decontamination operation;
I, robot withdraw from the arena, and robot completes after decontamination operation, exit nuclear radiation scene.
As shown in Figure 4, the position fixing process that robot enters behind nuclear radiation scene comprises the following steps:
C1, observe radiation environment by gamma camera 6; Robot observes ambient radiation environment at nuclear radiation scene by gamma camera 6, and judgement is Polluted area; If Polluted area enters step C2; If not Polluted area, robot continues observation by gamma camera 6;
C2, Polluted area location, utilize gamma camera 6 to find after pollution source, take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point, utilize The Cloud Terrace 1, laser range finder 3 and survey camera 4 measurement space information and Polluted area image; Find at the scene a unique point, utilize The Cloud Terrace 1 and laser range finder 3 measure respectively this unique point with respect to the corner of observation point and observation point the distance to this unique point, utilize detection camera 4 to gather Polluted area image, and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace 1 and laser range finder 3 to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Video server and serial server send background communication equipment to by the communications cable after the spatial information of Polluted area image and four unique points (four unique point coordinate) under local pole coordinate system being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information of Polluted area image and four unique points (four unique point coordinate) under local pole coordinate system conversion;
C3, pollution source location, utilize gamma camera 6 to gather image 1 and image 2; Image 1 is for having the gamma graph picture of radiation dose information, the gamma graph picture that image 2 is radiationless dosage information; The image data information that gamma image acquisition device gathers above-mentioned gamma camera 6 sends background communication equipment to by the communications cable after sending the switch conversion of positioning and communicating equipment to, after the image data information conversion that the switch of background communication equipment gathers above-mentioned gamma camera 6, sends workstation to; The Polluted area image that workstation obtains step C2 and the spatial information of four unique points (four unique point coordinate) under local pole coordinate system are integrated and are utilized observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X, Y, Z); Owing to finding after pollution source in step C2, robot is actionless, and after therefore observation point coordinate (X, Y, Z) is determined, the geometrical orientation of pollution source is also determined;
C4, continuation, staff judges whether to continue control according to the situation at radiation scene and surveys new Polluted area, surveys new Polluted area return to step C1 if continue; Survey new Polluted area if do not continue and enter step D.
As shown in Figure 5, the repositioning process that the robot after unloading gamma camera 6 reenters behind nuclear radiation region comprises the following steps:
F1, Polluted area reorientation, by surveying camera 4 search coverages, and the Polluted area image obtaining with step C2 contrasts; Staff's control utilizes The Cloud Terrace 1, laser range finder 3 and surveys camera 4 initial point that aims at the definite overall rectangular coordinate system of step C2; Take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point;
F2, continuation, the area image that camera 4 surveys if survey in step F 1 is identical with the Polluted area image that step C2 obtains, and Polluted area reorientation task completes, and enters step F 3; If it is not identical with the Polluted area image that step C2 obtains to survey the area image that camera 4 surveys in step F 1, do not find Polluted area, need to continue Polluted area reorientation, return to step F 1;
F3, pollution source reorientation, in step F 1, staff's control finds after the initial point of overall rectangular coordinate system that step C2 determines, utilize initial point that The Cloud Terrace 1 and laser range finder 3 measure overall rectangular coordinate system with respect to the corner of observation point and observation point the distance to overall rectangular coordinate system initial point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace 1 and laser range finder 3 to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Serial server sends background communication equipment to by the communications cable after the spatial information of overall rectangular coordinate system initial point and three unique points being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of overall rectangular coordinate system initial point and three unique points; Workstation is integrated the spatial information of overall rectangular coordinate system initial point and three unique points to utilize observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X ', Y ', Z '); Observation point coordinate that workstation obtains observation point coordinate (X, Y, Z) definite step C3 and this step (X ', Y ', Z ') relatively; If the observation point coordinate that the observation point coordinate (X, Y, Z) that step C3 is definite and this step obtain (X ', Y ', Z ') consistent, robot location is at the definite observation point coordinate (X of step C3, Y, Z), now utilize detection camera 4 to gather pollution source image; Utilize pollution source profile generation module that the pollution source images match of utilizing detection camera 4 to gather in the gamma graph picture that has the gamma graph picture of radiation dose information, radiationless dosage information of the pollution source that obtain in step C3 and this step is obtained to pollution source profile y, and pollution source profile y is plotted in to the video area of surveying camera 4, during as the decontamination of staff's control, judge the foundation of pollution source accurate location; If the observation point coordinate (X that step C3 is definite, Y, the observation point coordinate that Z) obtains with this step (X ', Y ', Z ') inconsistent, the observation point coordinate that obtains according to this step (X ', Y ', Z ') observation point coordinate (X, the Y definite with respect to step C3, Z) position of robot is adjusted in variation, and returns to step F 1.
As shown in Figure 6, in the pollution source location of position fixing process, adopt observation point measurement of coordinates module to determine that observation point coordinate (X, Y, Z) comprises the following steps:
A, beginning, determine local pole coordinate system, take the geometric center of robot positioning equipment with it as observation point, and sets up local pole coordinate system take observation point as initial point;
The essential information of b, four unique points of measurement, in radiation scene, find a unique point, utilize The Cloud Terrace 1 and laser range finder 3 to measure this unique point and [ obtain the coordinate of this unique point under local pole coordinate with respect to corner and the observation point of observation point to the distance of this unique point
], and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and measure three unique points and [ obtain the coordinate of three unique points under local pole coordinate with respect to the corner of observation point and the distance of observation point to three unique point
]; Obtain thus the coordinate of four unique points under local pole coordinate system
by four unique points, the coordinate under local pole coordinate system sends background communication equipment to by the communications cable after sending the switch translation data of positioning and communicating equipment to serial server, and the switch of background communication equipment sends four unique points to workstation after the coordinate conversion under local pole coordinate system;
C, the coordinate of calculated characteristics point under overall rectangular coordinate system, the observation point measurement module of workstation by four unique points the coordinate under local pole coordinate system [
] convert the coordinate [(x under local rectangular coordinate system to
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), (x
4, y
4, z
4)], and pass through the coordinate [(x of four unique points under local rectangular coordinate system
1, y
1, z
1), (x
2, y
2, z
2), (x
3, y
3, z
3), (x
4, y
4, z
4)] calculate in step b three unique points except the unique point as overall rectangular coordinate system initial point with respect to the coordinate [(X of overall rectangular coordinate system initial point
2, Y
2, Z
2), (X
3, Y
3, Z
3), (X
4, Y
4, Z
4)]; Because three unique points except the unique point as overall rectangular coordinate system initial point are all selected on three axis of overall rectangular coordinate system, so Y
2=Z
2=X
3=Z
3=X
4=Y
4=0;
D, build the matrix computations formula of asking for rotation translation relation, utilize three unique points except the unique point as overall rectangular coordinate system initial point that step c obtains coordinate [(x under overall rectangular coordinate system and local rectangular coordinate system
2, y
2, z
2), (x
3, y
3, z
3), (x
4, y
4, z
4), (X
2, Y
2, Z
2), (X
3, Y
3, Z
3), (X
4, Y
4, Z
4)] build the matrix computations formula of rotation translation relation of asking for overall rectangular coordinate system and local rectangular coordinate system;
Translation matrix is rotated in e, acquisition, tries to achieve the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system by steps d, obtains rotation translation matrix;
F, calculate observation point coordinate according to rotation translation matrix, the rotation translation matrix that step e obtains is the coordinate (0 under local rectangular coordinate system in conjunction with observation point, 0,0) can obtain the coordinate (X of observation point under overall rectangular coordinate system, Y, Z), i.e. observation point coordinate (X, Y, Z);
G, end.
In the pollution source reorientation of repositioning process, adopt observation point measurement of coordinates module to determine that observation point coordinate (X ', Y ', Z ') comprises the following steps:
A, beginning, determine local pole coordinate system, take the geometric center of robot positioning equipment with it as observation point, and sets up local pole coordinate system take observation point as initial point;
B, measure the essential information of overall rectangular coordinate system initial point and three unique points, in radiation scene, find after the initial point of the definite overall rectangular coordinate system of step C2, the initial point that utilizes The Cloud Terrace 1 and laser range finder 3 to measure overall rectangular coordinate system [ obtains the coordinate of this unique point under local pole coordinate with respect to corner and the observation point of observation point to the distance of overall rectangular coordinate system initial point
]; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace and three unique points of laser range finder measurement [to obtain the coordinate of three unique points under local pole coordinate with respect to the corner of observation point and the distance of observation point to three unique point
]; Serial server sends background communication equipment to by the communications cable after the spatial information of overall rectangular coordinate system initial point and three unique points being given to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of overall rectangular coordinate system initial point and three unique points;
C, the coordinate of calculated characteristics point under overall rectangular coordinate system, the observation point measurement module of workstation by overall rectangular coordinate system initial point and three unique points the coordinate under local pole coordinate system [
] convert the coordinate [(x under local rectangular coordinate system to
1', y
1', z
1'), (x
2', y
2', z
2'), (x
3', y
3', z
3'), (x
4', y
4', z
4')], and by overall rectangular coordinate system initial point and three unique points the coordinate [(x under local rectangular coordinate system
1', y
1', z
1'), (x
2', y
2', z
2'), (x
3', y
3', z
3'), (x
4', y
4', z
4')] calculate the coordinate [(X of tri-unique points of step b with respect to overall rectangular coordinate system initial point
2', Y
2', Z
2'), (X
3', Y
3', Z
3'), (X
4', Y
4', Z
4')]; Because three unique points are all selected on three axis of overall rectangular coordinate system, so Y
2'=Z
2'=X
3'=Z
3'=X
4'=Y
4'=0;
D, build the matrix computations formula of asking for rotation translation relation, utilize three unique points except the unique point as overall rectangular coordinate system initial point that step c obtains coordinate [(x under overall rectangular coordinate system and local rectangular coordinate system
2', y
2', z
2'), (x
3', y
3', z
3'), (x
4', y
4', z
4'), (X
2', Y
2', Z
2'), (X
3', Y
3', Z
3'), (X
4', Y
4', Z
4')] build the matrix computations formula of rotation translation relation of asking for overall rectangular coordinate system and local rectangular coordinate system;
Translation matrix is rotated in e, acquisition, tries to achieve the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system by steps d, obtains rotation translation matrix;
F, calculate observation point coordinate according to rotation translation matrix, the rotation translation matrix that step e obtains is the coordinate (0 under local rectangular coordinate system in conjunction with observation point, 0,0) can obtain the coordinate of observation point under overall rectangular coordinate system (X ', Y ', Z '), observation point coordinate (X ', Y ', Z ');
G, end.
The establishment of Polluted area observation point coordinate can be found four unique points in Polluted area, and utilize The Cloud Terrace 1, laser range finder 3 and detection camera 4 to survey the essential information of four unique points, the coordinate of the observation point that recycling said method is determined Polluted area under overall rectangular coordinate system, i.e. observation point coordinate; The preferred implementation that obtains observation point coordinate is a unique point to be selected in to the summit place of a solid angle, and sets it as the initial point of overall rectangular coordinate system, and other three unique points are selected on three limits of above-mentioned solid angle; Monolateral mutually vertical between two due to solid angle, therefore, other three unique points are positioned on three axis of overall rectangular coordinate system, can simplify like this calculating that step c the inside relates to.
The method of utilizing pollution source profile generation module to obtain pollution source profile y in step F 3 comprises the following steps:
H, from have the gamma graph picture of radiation dose information, extract pollution source profile x;
The gamma image integration of i, the pollution source profile x that step h is obtained and radiationless dosage information is also processed the image that obtains pollution source profile x encirclement;
J, utilize image that SIFT algorithm surrounds from pollution source profile x respectively and step F 3 utilization to survey the pollution source image that cameras 4 gather to extract unique point separately, and calculate the SIFT proper vector of all unique points;
K, utilize the Euclidean distance of the SIFT proper vector of the unique point that step j obtains to set up the balanced binary tree take unique point as root node;
L, traversal institute's unique point balanced binary tree that k obtains in steps, calculate image that pollution source profile x surrounds and step F 3 and utilize the unique point of the pollution source images match that detection cameras 4 gather according to nearest neighbor algorithm;
M, utilize in ORSA algorithm removal process l and obtain the error matching points in matching characteristic point;
The image that n, pollution source profile x after step m eliminating error match point surround and step F 3 are utilized the affine transformation matrix M that surveys matching characteristic point that pollution source image that cameras 4 gather is corresponding and calculate according to the principle of least square pollution source image that image that pollution source profile x surrounds gathers to step F 3 utilization detection cameras 4; Enter step p if can calculate M; If can not calculate M, the pollution source profile x that step h is obtained expands outwardly 1～50 pixel and returns to step I; When the number of times of expansion pollution source profile x is greater than δ time of setting, δ > 1, the image that pollution source profile x surrounds and step F 3 are utilized and are surveyed the pollution source images match failure that camera 4 gathers, and need to return to steps A again to Polluted area and pollution source location;
P, calculate image that pollution source profile x the surrounds corresponding step F 3 after conversion by affine transformation matrix M and utilize the pollution source profile y surveying on the pollution source image that gathers of camera 4.
Fig. 7 is in step C position fixing process, utilizes the schematic diagram of the gamma graph picture that has radiation dose information that gamma camera 6 gathers, and dosage distributed areas show that pollution source leave in trash receptacle; Fig. 8 is in step F repositioning process, the schematic diagram of the image with pollution source profile y that detection camera 4 gathers, black profile identifies pollution source position, is utilize pollution source profile generation module to form and pollution source profile y be plotted in to the video area of surveying on camera 4; Fig. 7 and Fig. 8 derive from same pollution source, and in repositioning process, the gamma graph that operating personnel gathered according to when location looks like to find pollution source.Visible, robot is not having under the guidance of gamma camera 6, can judge according to pollution source profile y the position of pollution source, and pollution source are carried out to decontamination processing.Utilize radioactive pollution source positioning system provided by the invention and method, can be in effectively protecting gamma camera 6, we still can accurately locate pollution source, and are processed; In order to explore, how located irradiation contact scar source provides new method.
Claims (4)
1. the radioactive pollution source localization method based on distant operating means, is characterized in that comprising the following steps:
A, in robot, positioning equipment, positioning and communicating equipment, power supply and cable are installed with it;
B, robot enter nuclear radiation scene;
C, location, by positioning equipment, position Polluted area and pollution source;
Step C comprises step by step following:
C1, by gamma camera (6) observe radiation environment; Robot is on-the-spot by gamma camera (6) observation ambient radiation environment in nuclear radiation, and judgement is Polluted area; If Polluted area enters step C2; If not Polluted area, robot continues observation by gamma camera (6);
C2, Polluted area location, utilize gamma camera (6) to find after pollution source, take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point, utilize The Cloud Terrace (1), laser range finder (3) and survey camera (4) measurement space information and Polluted area image; Find at the scene a unique point, utilize The Cloud Terrace (1) and laser range finder (3) measure respectively this unique point with respect to the corner of observation point and observation point the distance to this unique point, utilize and survey camera (4) collection Polluted area image, and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace (1) and laser range finder (3) to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Video server and serial server send background communication equipment to by the communications cable after the spatial information of Polluted area image and four unique points being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of Polluted area image and four unique points;
C3, pollution source location, utilize gamma camera (6) to gather the gamma graph picture and the gamma graph picture that has radiation dose information of radiationless dosage information, the image data information that gamma image acquisition device gathers above-mentioned gamma camera (6) sends background communication equipment to by the communications cable after sending the switch conversion of positioning and communicating equipment to, after the image data information conversion that the switch of background communication equipment will above-mentioned gamma camera (6) gathers, send workstation to; The Polluted area image that workstation obtains step C2 and the spatial information of four unique points are integrated and are utilized observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X, Y, Z); Owing to finding after pollution source in step C2, robot is actionless, and after therefore observation point coordinate (X, Y, Z) is determined, the geometrical orientation of pollution source is also determined;
C4, continuation, staff judges whether to continue control according to the situation at radiation scene and surveys new Polluted area, surveys new Polluted area return to step C1 if continue; Survey new Polluted area if do not continue and enter step D;
D, robot withdraw from the arena; Robot completes after detection mission, exits nuclear radiation scene;
E, unloading gamma camera, and decontamination instrument is installed; Robot exits behind nuclear radiation scene, the gamma camera (6) on The Cloud Terrace (1) is unloaded, and install radiation decontamination instrument with it in robot;
F, reorientation, the robot that installs decontamination instrument reenters the on-the-spot positioning equipment that passes through of nuclear radiation, to Polluted area and pollution source reorientation;
Step F comprises step by step following:
F1, Polluted area reorientation, by surveying camera (4) search coverage, and the Polluted area image obtaining with step C2 contrasts; Staff's control utilizes The Cloud Terrace (1), laser range finder (3) and surveys camera (4) initial point that aims at the definite overall rectangular coordinate system of step C2; Take the geometric center of robot positioning equipment with it as observation point, and set up local pole coordinate system take observation point as initial point;
F2, continuation, if it is identical with the Polluted area image that step C2 obtains to survey the area image of camera (4) detection in step F 1, Polluted area reorientation task completes, and enters step F 3; If it is not identical with the Polluted area image that step C2 obtains to survey the area image of camera (4) detection in step F 1, do not find Polluted area, need to continue Polluted area reorientation, return to step F 1;
F3, pollution source reorientation, in step F 1, staff's control finds after the initial point of overall rectangular coordinate system that step C2 determines, utilizes initial point that The Cloud Terrace (1) and laser range finder (3) measure overall rectangular coordinate system to arrive the distance of overall rectangular coordinate system initial point with respect to the corner of observation point and observation point; On three axis of overall rectangular coordinate system, find three unique points, and utilize The Cloud Terrace (1) and laser range finder (3) to measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Serial server sends background communication equipment to by the communications cable after the spatial information of overall rectangular coordinate system initial point and three unique points being sent to the switch translation data of positioning and communicating equipment, and the switch of background communication equipment will send workstation to after the spatial information conversion of overall rectangular coordinate system initial point and three unique points; Workstation is integrated the spatial information of overall rectangular coordinate system initial point and three unique points to utilize observation point measurement of coordinates module to determine that the coordinate of observation point under overall rectangular coordinate system is observation point coordinate (X ', Y ', Z '); Observation point coordinate that workstation obtains observation point coordinate (X, Y, Z) definite step C3 and this step (X ', Y ', Z ') relatively; If the observation point coordinate (X that step C3 is definite, Y, the observation point coordinate that Z) obtains with this step (X ', Y ', Z ') consistent, robot location is at step C3 definite observation point coordinate (X, Y, Z), now utilize and survey camera (4) collection pollution source image; Utilize pollution source profile generation module in the gamma graph picture that has the gamma graph picture of radiation dose information, radiationless dosage information of the pollution source that obtain in step C3 and this step, to utilize the pollution source images match of surveying camera (4) collection to obtain pollution source profile y, and pollution source profile y is plotted in to the video area of surveying camera (4), during as the decontamination of staff's control, judge the foundation of pollution source accurate location; If the observation point coordinate (X that step C3 is definite, Y, the observation point coordinate that Z) obtains with this step (X ', Y ', Z ') inconsistent, the observation point coordinate that obtains according to this step (X ', Y ', Z ') observation point coordinate (X, the Y definite with respect to step C3, Z) position of robot is adjusted in variation, and returns to step F 1;
G, robot decontamination operation; Robot, according to the Polluted area of positioning equipment reorientation and pollution source, starts nuclear radiation pollutant to carry out decontamination processing;
H, continuation, staff judges whether to continue control decontamination operation according to the Polluted area of location, returns to step F if continue decontamination operation; Enter step I if do not continue decontamination operation;
I, robot withdraw from the arena, and robot completes after decontamination operation, exit nuclear radiation scene.
2. the radioactive pollution source localization method based on distant operating means according to claim 1, it is characterized in that: in steps A, preferred embodiment to carry a desk-top support with it in robot, then utilize gib screw that The Cloud Terrace (1) is fixed on desk-top support, laser range finder (3) is installed in lead shield cover (2) again and is surveyed camera (4), gamma camera (6) is installed in gamma camera mounting bracket (5); Simultaneously positioning and communicating equipment, laser range finder power supply, survey camera power supply, gamma camera power supply and isolating transformer and be fixed in the electric box that a lead layer shields, and electric box is hung over it robot; Laser range finder power supply, detection camera power supply, gamma camera power supply are all connected with isolating transformer; In robot communication cable and robot power supply cable access electric box casing, robot communication cable is connected with the switch of positioning and communicating equipment; Robot power supply cable access isolating transformer; The switch of positioning and communicating equipment is connected with the switch of background communication equipment by the communications cable.
3. the radioactive pollution source localization method based on distant operating means according to claim 1, is characterized in that: adopt the observation point measurement of coordinates module in step C3 and step F 3 to determine that observation point coordinate comprises the following steps:
A, beginning, determine local pole coordinate system, take the geometric center of robot positioning equipment with it as observation point, and sets up local pole coordinate system take observation point as initial point;
The essential information of b, four unique points of measurement is found a unique point in radiation scene, measures this unique point and arrives the distance of this unique point with respect to corner and the observation point of observation point, and set up overall rectangular coordinate system take this unique point as initial point; On three axis of overall rectangular coordinate system, find three unique points, and measure three unique points with respect to the corner of observation point and the distance of observation point to three unique point; Obtain thus the coordinate of four unique points under local pole coordinate system;
C, the coordinate of calculated characteristics point under overall rectangular coordinate system, coordinate conversion by four unique points under local pole coordinate system becomes the coordinate under local rectangular coordinate system, and calculates in step b three unique points except the unique point as overall rectangular coordinate system initial point with respect to the coordinate of overall rectangular coordinate system initial point by four unique points at the coordinate under local rectangular coordinate system;
D, build the matrix computations formula of asking for rotation translation relation, utilize three unique points except the unique point as overall rectangular coordinate system initial point that step c obtains coordinate structure under overall rectangular coordinate system and local rectangular coordinate system to ask for the matrix computations formula of the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system;
Translation matrix is rotated in e, acquisition, tries to achieve the rotation translation relation of overall rectangular coordinate system and local rectangular coordinate system by steps d, obtains rotation translation matrix;
F, calculate observation point coordinate according to rotation translation matrix, in conjunction with observation point, the coordinate under local rectangular coordinate system can obtain the coordinate of observation point under overall rectangular coordinate system, i.e. observation point coordinate to the rotation translation matrix that step e obtains;
G, end.
4. the radioactive pollution source localization method based on distant operating means according to claim 1, is characterized in that: the method for utilizing pollution source profile generation module to obtain pollution source profile y in step F 3 comprises the following steps:
H, from have the gamma graph picture of radiation dose information, extract pollution source profile x;
The gamma image integration of i, the pollution source profile x that step h is obtained and radiationless dosage information is also processed the image that obtains pollution source profile x encirclement;
J, utilize image that SIFT algorithm surrounds from pollution source profile x respectively and step F 3 utilization to survey the pollution source image that cameras (4) gather to extract unique point separately, and calculate the SIFT proper vector of all unique points;
K, utilize the Euclidean distance of the SIFT proper vector of the unique point that step j obtains to set up the balanced binary tree take unique point as root node;
1, traversal institute's unique point balanced binary tree that k obtains in steps, calculates image that pollution source profile x surrounds and step F 3 and utilizes the unique point of the pollution source images match of surveying cameras (4) collections according to nearest neighbor algorithm;
M, utilize in ORSA algorithm removal process 1 and obtain the error matching points in matching characteristic point;
The image that n, pollution source profile x after step m eliminating error match point surround and step F 3 are utilized the affine transformation matrix M that surveys matching characteristic point that pollution source image that cameras (4) gather is corresponding and calculate image that pollution source profile x surrounds and utilize to step F 3 according to the principle of least square pollution source image of detection cameras (4) collections; Enter step p if can calculate M; If can not calculate M, the pollution source profile x that step h is obtained expands outwardly 1～50 pixel and returns to step I; When the number of times of expansion pollution source profile x is greater than δ time of setting, δ > 1, the image that pollution source profile x surrounds and step F 3 are utilized and are surveyed the pollution source images match failure that camera (4) gathers, and need to return to steps A again to Polluted area and pollution source location;
P, by affine transformation matrix M calculate pollution source profile x surround image through conversion after corresponding step F 3 utilize survey camera (4) gather pollution source image on pollution source profile y.
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| CN107290484B (en) * | 2017-06-27 | 2019-09-27 | 苏州浪声科学仪器有限公司 | A kind of method and system actively measuring pollutant sources |
| CN108732607A (en) * | 2018-04-28 | 2018-11-02 | 中国工程物理研究院核物理与化学研究所 | A kind of mobile radioactive liquid pollution on-line measurement system |
| CN109760006B (en) * | 2019-01-17 | 2020-09-29 | 西南科技大学 | Nuclear robot rapid positioning method based on visual reference piece |
| CN110018509A (en) * | 2019-03-05 | 2019-07-16 | 中国辐射防护研究院 | It is a kind of for looking for the scanning visualization device of gamma source item hot spot in space |
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