CN107274484A - The four-dimensional information reconstructing device and method of a kind of indoor nuclear radiation - Google Patents
The four-dimensional information reconstructing device and method of a kind of indoor nuclear radiation Download PDFInfo
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- CN107274484A CN107274484A CN201710458281.9A CN201710458281A CN107274484A CN 107274484 A CN107274484 A CN 107274484A CN 201710458281 A CN201710458281 A CN 201710458281A CN 107274484 A CN107274484 A CN 107274484A
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- binocular camera
- laser
- scintillation detector
- collimater
- control centre
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention discloses a kind of four-dimensional information reconstructing device of indoor nuclear radiation and method, it is related to nuclear radiation detection technical field, it is desirable to provide a kind of three-dimensional spatial information of quick reconstruction nuclear radiation field scape and the device and method of scene kernel radiation dose information.Apparatus of the present invention, including mobile head, generating laser, collimater, scintillation detector, binocular camera and signal circuit；The generating laser, collimater, binocular camera and scintillation detector are respectively positioned on the mobile head；Collimater is located on straight line with scintillation detector；The binocular camera is used to shoot the laser facula that generating laser is irradiated to the space point；The signal circuit is used for the image transmitting that electric signal and binocular camera are exported for exporting scintillation detector to outdoor control centre；Control centre is used to calculate the radiation intensity for obtaining the space point according to the electric signal, while the image exported according to binocular camera calculates the three-dimensional coordinate of the space point.
Description
Technical field
The present invention relates to nuclear radiation detection technical field, especially a kind of indoor nuclear radiation four-dimensional information real-time reconstruction device
With method.
Background technology
Three-dimensional reconstruction refers to the process of the three-dimensional coordinate that spatial point is restored by certain measurement and calculating.It is generally three-dimensional
The realization of reconstruction refers both to carry out the reconstructing three-dimensional model of object using computer vision methods, refers to pass by the use of camera as image
Sensor, integrated use image procossing, vision the technology such as calculate and carry out untouchable three-dimensional measurement, are finally obtained with computer program
Take the three-dimensional information of object.Same width scene is shot in diverse location using camera, spatial point regarding on different images is calculated
Difference, so as to restore the three-dimensional coordinate of spatial point.
At present, applying can not all realize in the nuclear radiation dosage detection of nuclear radiation field scene and four-dimensional information reconstruction technique
Four-dimensional information real-time reconstruction in nuclear radiation scene, adds the particularity of nuclear radiation scene so that correlation technique extremely lacks.It is existing
, there is following deficiency in the technology on nuclear radiation scene radiation information and distributed in three dimensions information real-time reconstruction having.
First, applied to this special field of nuclear radiation scene, it is contemplated that the harmfulness of scene environment, common technology dress
Cumbersome also its high cost of equipment of installation put；Second, the common indoor environment in structuring and non-structured room
Environment modeling techniques in external environment are very common, but the real-time reconstruction that three-dimensional is carried out in nuclear environment is just seldom, in core spoke
Penetrate the combination of the four-dimensional information real-time reconstruction technology based on environmental modeling and nuclear radiation monitoring technology in scene does not have substantially, artificially
Active probe be more unworkable.
The content of the invention
The present invention is directed to above-mentioned problem there is provided one kind under conditions of away from nuclear radiation scene, reconstruction nuclear radiation
The distributed in three dimensions information of scene and the device and method for reconstructing of scene kernel radiation dose information.
A kind of four-dimensional information reconstructing device for indoor nuclear radiation that the present invention is provided, including mobile head, generating laser,
Collimater, scintillation detector, binocular camera and signal circuit；
The generating laser, collimater, binocular camera and scintillation detector are respectively positioned on the mobile head；
Collimater is located on straight line with scintillation detector, and wherein collimater is used for by the way that generating laser is irradiated into space
The light that certain point reflection is returned, scintillation detector is used for the light received by collimater and is converted into electric signal；
The binocular camera is used to shoot the laser facula that generating laser is irradiated to the space point；
The signal circuit is respectively provided with signal and is connected with scintillation detector, binocular camera, for scintillation detector to be exported
Electric signal and the image transmitting that exports of binocular camera to outdoor control centre；
Control centre is used to calculate the radiation intensity for obtaining the space point according to the electric signal, while according to binocular camera
The image of output calculates the three-dimensional coordinate of the space point.
Further, in addition to control centre；The control centre is used for the cradle head control instruction for receiving staff's input
And mobile head is sent to, and then control mobile head lifting, move left and right and rotate.
Present invention also offers a kind of a kind of four-dimensional information reconstruction side of indoor nuclear radiation based on aforementioned means, including：
Step 1：Control centre receives the cradle head control instruction of staff's input, and cradle head control instruction is sent to by control centre
Mobile head；
Step 2：Mobile head is moved to specified location according to cradle head control instruction and rotates to specified angle；
Step 3：Laser transmitter projects laser is controlled, laser produces passage of scintillation light with the nuclear radiation interaction in the interior space,
Passage of scintillation light enters scintillation detector by collimater, and scintillation detector converts optical signals to electric signal and exported give signal transmission
Circuit；
Step 4：Control binocular camera is shot to the laser facula that laser is formed in space, and the image photographed is defeated
Go out to signal circuit；
Step 5：The electric signal and described image are transferred to control centre by signal circuit；
Step 6：Control centre receives the electric signal and therefrom extracts the spatial point radiation intensity, and defeated according to binocular camera
The two images of the same laser facula gone out calculate the three-dimensional coordinate of the spatial point where laser facula.
Further, repeat step 2 ~ 6, obtain the radiation intensity and three-dimensional coordinate of indoor multiple spatial points.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Collimater, generating laser, scintillation detector, binocular camera and mobile head in the present invention are obtaining indoor any point
Radiation information while, also obtain the three dimensional space coordinate information of the point, by laser spots mark obtained with binocular camera
Three-dimensional visible ray scene carry out coordinate transform, realize the real-time reconstruction of nuclear radiation scene four-dimensional information.The present apparatus is in core spoke
The with clearly defined objective of the interior measurement of scene is penetrated, measurement distance can reach 10 meters, be adapted to measure under nuclear radiation scene indoors.
The present invention does not need provision for disengagement, and generating laser is installed on the collimator, and binocular camera can be realized to space
Any laser spots are positioned, so as to realize the acquisition of information of space any point.
The device of the present invention can while nuclear radiation dose data is obtained, realize demarcation to its locus and
The foundation of its three-dimensional coordinate.
All devices of the present invention need not be installed on a large scale, and measurement, tool are installed compared to more of the prior art
There is portability strong, the characteristics of accuracy is high.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the simple schematic diagram of device in the present invention.
Fig. 2 is the schematic diagram of device space exploration point radiation intensity in the present invention.
Imaging relations schematic diagrames of the Fig. 3 for laser spots of the invention in binocular camera.
Fig. 4 is three-dimensional scenic coordinate system schematic diagram of the invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
Any feature disclosed in this specification, unless specifically stated otherwise, can be equivalent by other or with similar purpose
Alternative features are replaced.I.e., unless specifically stated otherwise, each feature is an example in a series of equivalent or similar characteristics
.
As described in Figure 1, the device in the present invention includes generating laser, collimater, scintillation detector, binocular camera and shifting
Dynamic head.
The generating laser, collimater, binocular camera and scintillation detector are respectively positioned on the mobile head.
Collimater is located on straight line with scintillation detector, and generating laser is set on the collimator in the present embodiment
Side, in other embodiments, the position relationship of generating laser and collimater can also be other forms, as long as ensuring that laser is sent out
The emitter irradiation light that somewhere is reflected in space can reach scintillation detector by collimater.
Binocular camera is used to shoot the laser facula that generating laser is irradiated to the space point.
Also include signal circuit, can be specifically transmission of wireless signals circuit or wire transmission circuit.Letter
Number transmission circuit is respectively provided with signal and is connected with scintillation detector, binocular camera, for the electric signal that exports scintillation detector and
The image transmitting that binocular camera is exported is to outdoor control centre.
Mobile head can be moved horizontally left and right under control signal, can also telescopic moving up and down, can also rotate.
Control centre is located at the outside in radiation scene room, can be specifically a computer, be operated by staff.Institute
State control centre and instruct for receiving the cradle head control of staff's input and be sent to mobile head, and then control mobile head
Lift, move left and right and rotate, it is final to drive generating laser spatially to form laser spots at difference.
Control centre is additionally operable to calculate the radiation intensity for obtaining the space point according to the electric signal, while according to double
The image of mesh camera output calculates the three-dimensional coordinate of the space point.
The operation principle of apparatus of the present invention is described below.
Referring to Fig. 2, described generating laser launches beam of laser in nuclear radiation scene, the laser and space point
Ray material reacts generation visible ray, it is seen that light enters scintillation detector by collimater, it is seen that light is in scintillation detector
Middle process photomultiplier multistage amplification, last scintillation detector exports to form electric impulse signal.Control centre obtains the electricity
The data for reacting the radiation intensity are therefrom extracted after pulse signal（It is strong that radiation is extracted from flicker photodetector output signal
Degrees of data is ready-made cooking technique, and non-invention innovative point will not be repeated here）.
Above-mentioned is the process using present apparatus space exploration point radiation intensity data.
Control centre obtains the two images that binocular camera is shot to the spatial point laser facula（Referring to Fig. 3）Afterwards, it is right
Two images carry out a series of two-dimensional pixel coordinate for laser stripes corresponding two-by-two that feature extraction and spatial match are obtained, will
The coordinate is substituted into the equation that camera calibration is set up, you can obtain including 4 equations of 3 unknown coordinates values of spatial point, is led to
Cross and solve these equations, it is possible to obtain the three-dimensional coordinate of the spatial point（Utilize binocular camera located space point three-dimensional coordinate
For mature technology, it will not be described in detail herein）.
It can be seen that, the position coordinates and radiation intensity data of spatial point just can be obtained simultaneously using apparatus of the present invention.
Present invention also offers a kind of four-dimensional information method for reconstructing of the indoor nuclear radiation based on aforementioned means, including：
Step 1：Control centre receives the cradle head control instruction of staff's input, and cradle head control instruction is sent to by control centre
Mobile head；
Step 2：Mobile head is moved to specified location according to cradle head control instruction and rotates to specified angle；
Step 3：Laser transmitter projects laser is controlled, laser produces passage of scintillation light with the nuclear radiation interaction in the interior space,
Passage of scintillation light enters scintillation detector by collimater, and scintillation detector converts optical signals to electric signal and exported give signal transmission
Circuit；
Step 4：Control binocular camera is shot to the laser facula that laser is formed in space, and the image photographed is defeated
Go out to signal circuit；
Step 5：The electric signal and described image are transferred to control centre by signal circuit；
Step 6：Control centre receives the electric signal and therefrom extracts the spatial point radiation intensity, and defeated according to binocular camera
The two images of the same laser facula gone out calculate the three-dimensional coordinate of the spatial point where laser facula.
Repeat step 2 ~ 6, obtains the radiation intensity data and locus coordinate of indoor different spaces point.
The information data transmission that above-mentioned steps are obtained is to outdoor control centre, in real time to radiation data in binocular camera
Data fusion is carried out on resulting three-dimensional system of coordinate, so as to realize the real-time reconstruction of the four-dimensional information of indoor nuclear radiation.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (4)
1. a kind of four-dimensional information reconstructing device of indoor nuclear radiation, it is characterised in that including mobile head, generating laser, standard
Straight device, scintillation detector, binocular camera and signal circuit；
The generating laser, collimater, binocular camera and scintillation detector are respectively positioned on the mobile head；
Collimater is located on straight line with scintillation detector, and wherein collimater is used for by the way that generating laser is irradiated into space
The light that certain point reflection is returned, scintillation detector is used for the light received by collimater and is converted into electric signal；
The binocular camera is used to shoot the laser facula that generating laser is irradiated to the space point；
The signal circuit is respectively provided with signal and is connected with scintillation detector, binocular camera, for scintillation detector to be exported
Electric signal and the image transmitting that exports of binocular camera to outdoor control centre；
Control centre is used to calculate the radiation intensity for obtaining the space point according to the electric signal, while according to binocular camera
The image of output calculates the three-dimensional coordinate of the space point.
2. the four-dimensional information reconstructing device of a kind of indoor nuclear radiation according to claim 1, it is characterised in that also including control
Center processed；The cradle head control that the control centre is used to receive staff's input instructs and is sent to mobile head, and then controls
The mobile head of system lifts, moves left and right and rotate.
3. a kind of four-dimensional information method for reconstructing of indoor nuclear radiation based on the device described in any one in claim 1 ~ 2,
It is characterised in that it includes：
Step 1：Control centre receives the cradle head control instruction of staff's input, and cradle head control instruction is sent to by control centre
Mobile head；
Step 2：Mobile head is moved to specified location according to cradle head control instruction and rotates to specified angle；
Step 3：Laser transmitter projects laser is controlled, laser produces passage of scintillation light with the nuclear radiation interaction in the interior space,
Passage of scintillation light enters scintillation detector by collimater, and scintillation detector converts optical signals to electric signal and exported give signal transmission
Circuit；
Step 4：Control binocular camera is shot to the laser facula that laser is formed in space, and the image photographed is defeated
Go out to signal circuit；
Step 5：The electric signal and described image are transferred to control centre by signal circuit；
Step 6：Control centre receives the electric signal and therefrom extracts the spatial point radiation intensity, and defeated according to binocular camera
The two images of the same laser facula gone out calculate the three-dimensional coordinate of the spatial point where laser facula.
4. a kind of four-dimensional information method for reconstructing of indoor nuclear radiation according to claim 3, it is characterised in that repeat step
2 ~ 6, obtain the radiation intensity and three-dimensional coordinate of indoor multiple spatial points.
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| CN201710458281.9A CN107274484A (en) | 2017-06-16 | 2017-06-16 | The four-dimensional information reconstructing device and method of a kind of indoor nuclear radiation |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1082201A (en) * | 1992-03-12 | 1994-02-16 | 德比尔斯工业钻石部门有限公司 | Radiation detector |
| CN102692637A (en) * | 2012-05-25 | 2012-09-26 | 西南科技大学 | Teleoperation-device-based virtual reconstruction system and method for nuclear radiation environment |
| CN103236076A (en) * | 2013-04-11 | 2013-08-07 | 武汉大学 | Three-dimensional object model reconstruction system and method based on laser images |
| CN104882785A (en) * | 2015-05-15 | 2015-09-02 | 西北核技术研究所 | Radiation light detection method and device based on laser intra-cavity modulation |
| US9606245B1 (en) * | 2015-03-24 | 2017-03-28 | The Research Foundation For The State University Of New York | Autonomous gamma, X-ray, and particle detector |
-
2017
- 2017-06-16 CN CN201710458281.9A patent/CN107274484A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1082201A (en) * | 1992-03-12 | 1994-02-16 | 德比尔斯工业钻石部门有限公司 | Radiation detector |
| CN102692637A (en) * | 2012-05-25 | 2012-09-26 | 西南科技大学 | Teleoperation-device-based virtual reconstruction system and method for nuclear radiation environment |
| CN103236076A (en) * | 2013-04-11 | 2013-08-07 | 武汉大学 | Three-dimensional object model reconstruction system and method based on laser images |
| US9606245B1 (en) * | 2015-03-24 | 2017-03-28 | The Research Foundation For The State University Of New York | Autonomous gamma, X-ray, and particle detector |
| CN104882785A (en) * | 2015-05-15 | 2015-09-02 | 西北核技术研究所 | Radiation light detection method and device based on laser intra-cavity modulation |
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Application publication date: 20171020 |
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