JP6591332B2 - Radiation intensity distribution measuring system and method - Google Patents

Description

  Embodiments described herein relate generally to a radiation intensity distribution measuring system and method for measuring a radiation intensity distribution emitted from an object such as a structure of a nuclear power plant.

  In the field work of a nuclear power plant, it is important to reduce the radiation exposure of workers, so the radiation dose at the field is measured before the work, and a shield is provided as necessary to reduce the dose. Moreover, in order to make an efficient shielding plan, it is important to specify the position and direction of the radiation source at the work site, and thus measurement of a wide range of radiation intensity distribution is desired.

  As a technique capable of measuring such a wide range of radiation intensity distribution, a radiation detection apparatus combining a collimator and an arrayed radiation detector and a radiation detection method using this apparatus have been proposed. This radiation detection apparatus has an advantage that it can acquire a radiation intensity distribution of a certain fixed viewing angle (viewing angle) at which the apparatus is directed at a time, and has less labor in measurement work.

Japanese Patent Laying-Open No. 2005-49136

  However, the above-described radiation detection apparatus has room for improvement in that the viewing angle (view angle) is limited once because the size of the housing is restricted in consideration of the portability and portability of the user. . In other words, there are many work in a radiation environment such as a nuclear power plant over a wide area, and there is a need to obtain a wider radiation intensity distribution than a certain angle of view as in the above-described radiation detection apparatus.

  Further, there is a problem that the radiation intensity distribution detected by the radiation detector cannot be accurately evaluated as the radiation intensity distribution on the surface of the object, reflecting the distance between the object to be measured and the radiation detector.

  The object of the embodiment of the present invention is made in consideration of the above-described circumstances, and the radiation intensity distribution detected by the radiation detection means can be accurately evaluated by reflecting the distance between the object and the radiation detection means. A radiation intensity distribution measuring system and method are provided.

  Another object of the embodiment of the present invention is to provide a radiation intensity distribution measuring system and method capable of detecting and acquiring a wide range of radiation intensity distribution of an object.

A radiation intensity distribution measurement system according to an embodiment of the present invention includes: a visible image acquisition unit that acquires a visible image of an object; and a radiation measurement apparatus that includes a radiation detection unit that detects a radiation intensity distribution incident from the object. A 3D data recording device that records point cloud data indicating the three-dimensional position of the object, and a virtual image created from the point cloud data of the 3D data recording device by virtually creating an image from an arbitrary viewpoint Compare the image creation device, the visible image from the radiation measurement device and the virtual image from the virtual image creation device , detect the edge of the object in which the shade changes in each of these images, wherein the extraction place the shape of the edge is most similar among the region including the extracted portion determined from the edge as the corresponding position representing the same portion of the object both From an image comparing apparatus for determining for each image, the three-dimensional position of the corresponding positions of the three or more points on the visible image, a three-dimensional position of the corresponding position on the virtual image corresponding to each of these positions, A measurement position estimation device that calculates and estimates a measurement position of the radiation measurement device based on a geometric relationship, and is detected by the radiation measurement device based on a measurement position estimated by the measurement position estimation device And a projection device that projects the radiation intensity distribution onto the point group data of the 3D data recording device.

A radiation intensity distribution measuring method according to an embodiment of the present invention includes: a visible image acquiring unit that acquires a visible image of an object; and a radiation measuring apparatus that includes a radiation detecting unit that detects a radiation intensity distribution incident from the object; A 3D data recording device for recording point cloud data indicating the three-dimensional position of the object, and creating a virtual image by virtually creating an image from an arbitrary viewpoint from the point cloud data of the 3D data recording device The virtual image creation step, and the visible image from the radiation measurement device and the virtual image obtained in the virtual image creation step are compared , and the edge of the object whose shade changes in each of these images detecting the corresponding positions representing the same portion of the extraction locations shape is most similar of the edge the object of the areas containing the extracted location determined from this edge An image comparison step of obtaining in each of the two images in a three-dimensional position of the corresponding positions of the three or more points on the visible image, the three-dimensional of the corresponding position on the virtual image corresponding to each of these positions A measurement position estimation step for calculating and estimating a measurement position of the radiation measurement apparatus based on a geometric relationship from the position, and the radiation measurement apparatus based on the measurement position estimated in the measurement position estimation step A projection step of projecting the radiation intensity distribution detected in step 1 onto the point cloud data of the 3D data recording apparatus.

  According to the embodiment of the present invention, the radiation intensity distribution detected by the radiation detection means can be accurately evaluated by reflecting the distance between the object and the radiation detection means.

The block diagram which shows the radioactive intensity distribution measuring system which concerns on 1st Embodiment. Explanatory drawing which shows the measurement area | region of the target object made into the measurement object by the radiation measuring apparatus of FIG. Explanatory drawing which shows the visible image which the visible image sensor of FIG. 1 image | photographed. Explanatory drawing which shows the radioactive intensity distribution which the radiation detection sensor of FIG. 1 detected. FIG. 2 is an explanatory diagram illustrating an image comparison state performed by the image comparison apparatus of FIG. 1, in which (A) shows a visible image and (B) shows a virtual image. Explanatory drawing explaining an example of the procedure which estimates the measurement position of the radiation measurement apparatus which a measurement position estimation apparatus performs. Explanatory drawing explaining the condition which the projection apparatus of FIG. 1 projects the radiation intensity distribution of (B) on the point cloud data of (A), and produces the mapping figure of (C). Explanatory drawing explaining the correction | amendment state of the radiation intensity which a distance correction apparatus performs. The block diagram which shows the radiation intensity distribution measuring system which concerns on 2nd Embodiment. Explanatory drawing explaining the scanning condition of the radiation measuring device by the moving apparatus of FIG. Explanatory drawing explaining the condition where the radiation intensity distribution of (A) and (B) is synthesize | combined by the synthesizer of FIG. 9, and the synthetic radiation intensity distribution of (C) is created. The block diagram which shows the radiation intensity distribution measuring system which concerns on 3rd Embodiment. Explanatory drawing for demonstrating the function of the calculation apparatus of FIG. Explanatory drawing explaining the blind spot judgment which the calculation apparatus of FIG. 12 performs. The block diagram which shows the radiation intensity distribution measuring system which concerns on 4th Embodiment. It is a figure explaining the block matching process which the visible image comparison apparatus of FIG. 15 performs, (A) is a visible image of a visible image sensor, (B) is explanatory drawing which shows the visible image of a data recording device, respectively. The block diagram which shows the radiation intensity distribution measurement system of 5th Embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
[A] First embodiment (FIGS. 1 to 8)
FIG. 1 is a block diagram showing a radioactive intensity distribution measuring system according to the first embodiment. The radiation intensity distribution measurement system 10 shown in FIG. 1 includes a radiation measurement device 11, a 3D data recording device 14, a virtual image creation device 15, an image comparison device 16, a measurement position estimation device 17, a projection device 18, and a distance correction device 19. It is configured.

  The radiation measurement apparatus 11 includes a visible image sensor 12 as a visible image acquisition unit that acquires a visible image of an object (for example, a nuclear power plant structure), and a radiation intensity distribution detection that detects a radiation intensity distribution incident from the object. A radiation detection sensor 13 is provided as means. The 3D data recording device 14 records point cloud data indicating the three-dimensional (3D) position of the object. In addition, the virtual image creation device 15 performs a virtual image creation step in which an image from an arbitrary viewpoint is virtually created from the point cloud data of the 3D data recording device 14 to obtain a virtual image. Further, the image comparison device 16 compares the visible image from the visible image sensor 12 of the radiation measurement device 11 with the virtual image from the virtual image creation device 15 and determines the corresponding position representing the same location (part) of the object. An image comparison step is performed for each of the two images.

  The measurement position estimation device 17 performs a measurement position estimation step of calculating and estimating the measurement position of the radiation measurement device 11 from the corresponding positions of both images (visible image and virtual image) obtained by the image comparison device 16. In addition, the projection device 18 converts the radiation intensity distribution detected by the radiation detection sensor 13 of the radiation measurement device 11 based on the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17 to the 3D data recording device 14. A projection step of projecting (mapping) to the point cloud data is performed. Further, the distance correction device 19 uses the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17 and the projection result obtained by projecting the radiation intensity distribution onto the point cloud data by the projection device 18. The distance between the measurement position of the measurement apparatus 11 and the part of the object represented by the point cloud data is calculated, and the radiation intensity distribution detected at the measurement position of the radiation measurement apparatus 11 is converted into the radiation intensity distribution on the surface of the object. A distance correction step is performed. The above-described devices will be described in further detail.

  The visible image sensor 12 in the radiation measuring apparatus 11 is composed of a camera including a photographing element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), for example, and forms a visible image by forming incident light. get. The visible image sensor 12 obtains a visible image of a target object, for example, a structure at a work site in a reactor building as shown in FIGS. 2 and 3 in synchronization with the detection timing of the radiation detection sensor 13. Output. FIG. 2 shows a measurement region 21 in a schematic diagram of a general reactor building, whereas FIG. 3 shows an example of a visible image 22 acquired by the visible image sensor 12.

  The radiation detection sensor 13 in the radiation measurement apparatus 11 includes, for example, a collimator, a detection element group, and a signal processing board. The collimator limits the radiation direction of radiation and guides only radiation in a certain direction to the detection element group. The detection element group is two-dimensionally arranged, for example, in an array form and detects radiation such as gamma rays. The signal processing board processes the detection signal output from the detection element group. The radiation detection sensor 13 has an angle of view similar to that of the visible image sensor 12, and in the radiation measurement device 11, the radiation detection sensor 13 can detect radiation incident from the same direction as the incident light to the visible image sensor 12. The arrangement is adjusted.

  The radiation detection sensor 13 detects radiation incident from the same direction as the region (measurement region 21) acquired by the visible image sensor 12, and outputs it as a two-dimensional radiation intensity distribution. FIG. 4 shows an example of the radiation intensity distribution 24 detected by the radiation detection sensor 13 with respect to the measurement region 21 of FIG. In the example of FIG. 4, the detected radiation intensity is shown by shading, but the radiation detection sensor 13 outputs the detected radiation intensity as a two-dimensional numerical value.

  The 3D data recording device 14 records, for example, point cloud data indicating the shapes and three-dimensional positions of a plurality of structures at a work site as an object measured by a 3D laser scanner or the like.

  The virtual image creation device 15 virtually creates an image from an arbitrary viewpoint from the point cloud data of the 3D data recording device 14 to obtain a two-dimensional virtual image (for example, the virtual image 23 in FIG. 5B). . For an arbitrary viewpoint, a position where at least a part of the region (measurement region 21) photographed by the visible image sensor 12 can be acquired is set. The arbitrary viewpoint may be set by the operator, or the position of the radioactive measuring device 11 previously estimated by the measurement position estimating device 17 may be used.

  When the point cloud data is data measured by a 3D laser scanner, the reflection intensity (brightness) of the laser is added to the three-dimensional position data of each structure. The virtual image creation device 15 calculates a region acquired from an arbitrary viewpoint at the same angle of view as the visible image sensor 12, and extracts data in this region from the point cloud data. Next, the virtual image creation device 15 creates a virtual image having the same resolution as the visible image, obtains data mapped to each pixel of the virtual image from the extracted point cloud data, and adds the data to the point cloud data. The reflection intensity of the laser is set for the pixel as the brightness of the virtual image.

  In addition, when obtaining data mapped to each pixel, since the point cloud data does not have blind spot information from an arbitrary viewpoint, a plurality of point cloud data may overlap one pixel. In this case, the virtual image creation device 15 calculates the distance between each obtained point cloud data and an arbitrary viewpoint, and selects the point cloud data closest to the arbitrary viewpoint, thereby causing a blind spot between the respective point cloud data. Information is reflected in the virtual image. Furthermore, when the density of the point cloud data is low, there may be pixels where the brightness of the image is not set. In this case, the virtual image creation device 15 sets the luminance with the average value of the set peripheral pixels. The reflection intensity of the laser added to the point cloud data is set as the brightness of the virtual image, but based on the distance between the arbitrary viewpoint and the point cloud data, the distant part is darkened and the close part is brightened to increase the image brightness. It may be set.

  First, the image comparison device 16 compares the visible image of the visible image sensor 12 with the virtual image created by the virtual image creation device 15. Even when the reflection intensity of the laser is set for the brightness of the virtual image, the position of the 3D laser scanner that irradiates the laser and the position of the illumination when the visible image sensor 12 obtains a visible image are different. The image and the virtual image may have different shades of the structure that is the object. Therefore, the image comparison device 16 detects the edge of the structure whose density changes in each of the visible image and the virtual image using the luminance difference with the surrounding pixels. By detecting the edge of the structure, it is easy to recognize the same structure between the visible image and the virtual image even when the density is different between the visible image and the virtual image. Even when the distance between the arbitrary viewpoint and each point cloud data is set in the virtual image, the distance difference from the surrounding pixels becomes the luminance difference from the surrounding pixels, so the edge of the structure is detected by the same method. It becomes possible.

  Next, the image comparison device 16 obtains a corresponding position representing the same location (part) of the same structure in the visible image and the virtual image from which the edge is detected. As a specific processing method, as shown in FIGS. 5A and 5B, the image comparison device 16 has a visible image 22 (FIG. 5A) in which an edge is detected and a virtual image 23 (FIG. In each of (B)), extraction points 25 and 25A which are characteristic points such as edge points and intersections are extracted, and rectangular blocks 26 and 26A centering on the extraction points 25 and 25A are set. Next, the image comparison device 16 uses a method using a luminance difference or a method using a luminance correlation between a plurality of rectangular blocks 26 and 26A set for the visible image 22 and the virtual image 23, respectively. Then, the most similar edge shape in the rectangular blocks 26 and 26A is selected between the two images (visible image 22 and virtual image 23), and the extraction locations 25 and 25A included in these rectangular blocks 26 and 26A are selected. It is calculated as the same location of the structure, that is, the corresponding position.

  First, the measurement position estimation device 17 refers to the three-dimensional position of the extraction location 25 </ b> A as the corresponding position of the virtual image 23 from the point group data of the 3D data recording device 14. The referenced three-dimensional position is the three-dimensional position of the extraction location 25 as the corresponding position of the visible image 22 corresponding to the extraction location 25A of the virtual image 23. Next, the measurement position estimation device 17 includes three or more points on the visible image 22 (extraction locations 25 as corresponding positions) and points on the virtual image 23 corresponding to these points (corresponding positions). The measurement position of the radiation measuring apparatus 11 is calculated from the three-dimensional position of the extraction location 25A) as a base on the basis of the geometric relationship.

  For example, as shown in FIG. 6, the measurement position estimation device 17 first has three points P1, P2 on the virtual image 23 corresponding to the three points K1, K2, K3 on the visible image 22, respectively, in a three-dimensional space. , P3 is plotted. Next, the measurement position estimation device 17 obtains a transformation matrix for reflecting the planar visible image 22 in the three-dimensional space, and based on the transformation matrix, the planar visible image 22 is converted into the three-dimensional space. Set. Thereafter, the measurement position estimation device 17 is configured such that the optical axis M1 connecting the points P1 and K1, the optical axis M2 connecting the points P2 and K2, and the optical axis M3 connecting the points P3 and K3 are the visible image sensor 12. The position of the intersection point O is calculated by solving equations representing the optical axes M1, M2, and M3 on the assumption that the intersection point is the intersection point O, which is the optical center. Based on the predetermined positional relationship between the intersection point O and the measurement position of the radiation measurement apparatus 11, the measurement position of the radiation measurement apparatus 11 is obtained based on the position of the intersection point O.

  As described above, since one measurement position can be calculated from three extraction positions 25 (25A) as corresponding positions, two or more measurement positions can be calculated from four or more extraction positions 25 (25A). . When a plurality of measurement positions can be calculated, the measurement position estimation apparatus 17 determines the final measurement position of the radiation measurement apparatus 11 based on the average value of the calculated plurality of measurement positions, the average value of the measurement positions that are closely packed with each other, or the like. To decide.

  The projection device 18 projects (mappings) the radiation intensity distribution detected by the radiation detection sensor 13 onto the point cloud data of the 3D data recording device 14 using the measurement position of the radiation measurement device 11 calculated by the measurement position estimation device 17. To do. First, the projection device 18 determines the radiation detection region 27 (FIG. 7A) of the radiation detection sensor 13 based on the measurement position of the radiation measurement device 11 calculated by the measurement position estimation device 17 and the angle of view of the radiation detection sensor 13. The point cloud data in the radiation detection area 27 is calculated and extracted from the 3D data recording device 14.

  FIG. 7 is an explanatory diagram for explaining the projection state of the radiation intensity distribution onto the point cloud data performed by the projection device 18. Reference numeral 28 shown in FIG. 7A indicates point cloud data in the radiation detection region 27 extracted based on the measurement position from the 3D data recording device 14, and reference numeral 24 shown in FIG. The radiation intensity distribution in the radiation detection region 27 detected by the detection sensor 13 is shown. The projection device 18 extracts the point cloud data in the region detected by each detection cell 29 of the radiation intensity distribution 24 from the position of the detection cell 29 and the three-dimensional position of the point cloud data based on the geometric relationship. . For example, the point cloud data in the region detected by the detection cell 30 is three data 31, 32, and 33. Further, when extracting the point cloud data in the detection cells 29 and 30, as in the virtual image creation device 15, each point cloud data is extracted based on the distance between the measurement position of the radiation measurement device 11 and the point cloud data. Point cloud data necessary for the radiation intensity distribution is extracted.

  Next, the projection device 18 calculates, for example, the area of the detection cell 30 in the radiation intensity distribution 24 in the radiation detection region 27, and the detection range of the radiation intensity of the detection cell 30 changes depending on the distance. The intensity per unit area is projected (mapped) onto each of the point group data 31 to 33 extracted in the detection cell 30. The projection device 18 also applies the radiation intensity per unit area of each detection cell 29 to each of the plurality of other detection cells 29 in the radiation intensity distribution 24 in the radiation detection region 27 in the same manner as described above. Projection (mapping) is performed on the point cloud data 28 extracted in the detection cell 29, and thus a mapping diagram 34 shown in FIG. 7C is created.

  The distance correction device 19 performs distance correction on the radiation intensity projected onto the point cloud data 28 by the projection device 18 according to the measurement position calculation result of the measurement position estimation device 17, and the distance correction result is converted into the point cloud data 28. Reproject. The radiation intensity decreases as the distance from the radiation source increases (attenuation rate α). Therefore, as shown in FIG. 8, the distance correction device 19 is an object represented by the measurement position b of the radiation measurement device 11 estimated by the measurement position estimation device 17 and the point cloud data 28 on which the radiation intensity is projected. The distance to the position a of the object part is calculated, and the reciprocal (1 / α) of the radiation attenuation rate with respect to each preset distance and the radiation intensity B detected at the measurement position b of the radiation measuring device 11 are calculated. Multiplication is performed to obtain the radiation intensity A (= B × 1 / α) at the position a of the target part, and the result is reprojected to the point cloud data to perform distance correction.

With the configuration as described above, according to the first embodiment, the following effect (1) is obtained.
(1) Image of point cloud data of the 3D data recording device 14 indicating the shape and three-dimensional position of each structure of the work site as an object, and a visible image of the work site by the visible image sensor 12 of the radiation measurement device 11 The comparison device 16 compares, and based on the comparison result, the measurement position estimation device 17 calculates and estimates the measurement position of the radiation measurement device 11. Thereby, the projection device 18 projects the radiation intensity distribution detected by the radiation detection sensor 13 of the radiation measurement device 11 onto the point cloud data of the 3D data recording device 14. Accordingly, the radiation intensity distribution projected on the point cloud data can be corrected to the radiation intensity distribution on the surface of the object by reflecting the distance between the radiation measuring device 11 and the object (structure at the work site). The radiation intensity distribution projected on the point cloud data can be accurately evaluated.

[B] Second Embodiment (FIGS. 9 to 11)
FIG. 9 is a block diagram showing a radiation intensity distribution measurement system according to the second embodiment. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description is simplified or omitted.

  The radiation intensity distribution measurement system 40 of the second embodiment is different from the first embodiment in that the radiation measurement apparatus 11 is moved along the object in addition to the radiation intensity distribution measurement system 10 of the first embodiment. The distance correction device 19 corrected the distance of a plurality of projection results obtained by projecting the radiation intensity distribution acquired by the scanning by the scanning device 18 and the scanning by the moving device 41 of the radiation measuring device 11 onto the point cloud data. This is a point that further includes a synthesizing device 42 that performs a synthesizing step to be superposed later.

  That is, as shown in FIG. 10, the radiation measurement apparatus 11 performs the first implementation in each measurement region 43A... 43B while the moving device 41 scans the measurement region 43A. The visible image and the incident radiation intensity distribution are acquired in the same manner as in the above.

  The image comparison device 16 compares the virtual image created from the point cloud data by the virtual image creation device 15 with the visible image of the visible image sensor 12 of the radiation measurement device 11, and based on the comparison result, the measurement position estimation device 17 Calculates and estimates the measurement position of the radiation measurement apparatus 11. The projection device 18 projects the radiation intensity distribution detected by the radiation detection sensor 13 of the radiation measurement device 11 onto the point cloud data using the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17. The distance correction device 19 performs distance correction on the radiation intensity projected onto the point cloud data by the projection device 18 based on the calculation result of the measurement position estimation device 17 (measurement position of the radiation measurement device 11), and the distance correction result is pointed out. Reproject to group data. From the distance correction device 19, the distance-corrected projection result for each of the measurement regions 43 </ b> A to 43 </ b> B by the scanning of the moving device 41 is output.

  The synthesizer 42 superimposes the projection results output from the distance correction device 19 for each of the measurement regions 43A to 43B and synthesizes them as one projection result. FIG. 11 shows an example of the composition of projection results. Reference numerals 44 and 45 denote radiation intensity distributions at different scanning positions of the radiation detection sensor 13 projected onto the point cloud data, and 46 denotes a combined radiation intensity distribution. The detection cell 47A of the radiation intensity distribution 44 is a detection cell projected onto the point group data of 1A, 2A, 1B, and 2B of the synthetic radiation intensity distribution 46, and the detection cell 47B of the radiation intensity distribution 45 is the synthetic radiation intensity distribution. It is assumed that the detection cell is projected onto 46 2B, 3B, 2C, and 3C point cloud data.

  Next, creation of the synthetic radiation intensity distribution 46 will be described. In the example of FIG. 11, the position 2B of the combined radiation intensity distribution 46 is a position where the detection cell 47A of the radiation intensity distribution 44 and the detection cell 47B of the radiation intensity distribution 45 overlap. The radiation intensity is calculated using, for example, an average of the radiation intensities of both the detection cell 47A and the detection cell 47B. In the second embodiment, the method of creating the combined radiation intensity distribution 46 has been described with the two radiation intensity distributions 44 and 45, but the combining apparatus 42 has a plurality of three or more projections output from the distance correction apparatus 19. A combination process may be executed using the result, and combined as a single projection result.

  With the configuration as described above, according to the second embodiment, in addition to the same part as the effect (1) of the first embodiment, the following effect (2) is achieved.

  (2) A distance after the radiation measuring device 11 is scanned by the moving device 41 and a plurality of radiation intensity distributions detected by the radiation detection sensor 13 of the radiation measuring device 11 are projected onto the point cloud data by the projecting device 18 in this scanning process. The distance is corrected by the correction device 19, and a plurality of these distance-corrected projection results are superimposed and synthesized by the synthesis device 42 to obtain a combined radiation intensity distribution. In this way, by combining a plurality of radiation intensity distributions projected on the point cloud data, it is possible to acquire a wider radiation intensity distribution of the object than the radiation intensity distribution acquired by the radiation measurement device 11 that is not scanned. Furthermore, it is possible to obtain a radiation intensity distribution having a spatial resolution higher than the resolution of the radiation intensity distribution acquired by the radiation measurement apparatus 11 that is not scanned.

[C] Third embodiment (FIGS. 12 to 14)
FIG. 12 is a block diagram showing a radiation intensity distribution measurement system according to the third embodiment. In the third embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The radiation intensity distribution measuring system 50 of the third embodiment is different from the first and second embodiments in that the radiation intensity distribution is a point cloud by the projection device 18 in addition to the radiation intensity distribution measuring system 40 of the second embodiment. This is a point that further includes a calculation device 51 that calculates a radiation intensity distribution in an arbitrary direction from the projection result projected onto the data.

  That is, as shown in FIG. 10, the radiation measuring apparatus 11 scans the measurement areas 43 </ b> A to 43 </ b> B of the object by the moving device 41, and in the same manner as in the second embodiment, the visible image And the incident radiation intensity distribution.

  The image comparison device 16 compares the virtual image created from the point cloud data by the virtual image creation device 15 with the visible image of the visible image sensor 12 of the radiation measurement device 11, and based on the comparison result, the measurement position estimation device. 17 calculates and estimates the measurement position of the radiation measurement apparatus 11. The projection device 18 projects the radiation intensity distribution detected by the radiation detection sensor 13 of the radiation measurement device 11 onto the point cloud data using the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17. The distance correction device 19 performs distance correction on the radiation intensity projected onto the point cloud data by the projection device 18 based on the measurement position estimated by the measurement position estimation device 17, and re-projects the correction result onto the point cloud data. To do. The projection results that have been distance-corrected for each of the measurement regions 43A... 43B output from the distance correction device 19 are subjected to an overlay process by the synthesis device 42, and are combined into one projection result.

  Using the radiation intensity distribution projection result 52 (FIG. 13) synthesized by the synthesis device 42, the calculation device 51 evaluates the radiation dose incident from the periphery at an arbitrary three-dimensional point. FIG. 13 is an explanatory diagram of setting items used for calculation by the calculation device 51. In the calculation device 51, an evaluation area 53 for evaluating the total amount of the radiation intensity distribution projection result 52, a calculation area 54 for calculating a radiation intensity relative to the evaluation area 53, and an evaluation reference point 55 (FIG. 14). A three-dimensional point is set by an evaluator or the like. First, the calculation device 51 extracts the point cloud data in the evaluation area 53 and the calculation area 54, and excludes the point cloud data that becomes a blind spot from the set evaluation reference point 55.

  As this exclusion method, for example, as shown in FIG. 14, the calculation device 51 calculates an evaluation line 57 connecting the evaluation reference point 55 and the evaluation point group data 56 for determining exclusion. Next, the calculation device 51 sets a vertical evaluation window 59 on the evaluation line 57 centered on the other extracted point group data 58, and calculates whether or not the evaluation line 57 passes through the evaluation window 59. To do. When the evaluation straight line 57 passes through the evaluation window 59, the distance L between the evaluation point cloud data 56 and the point cloud data 58 parallel to the evaluation straight line 57, and the evaluation of the evaluation point cloud data 56 and the point cloud data 58 are evaluated. The context with respect to the reference point 55 is evaluated. When the point cloud data 58 is located at an arbitrary distance or more from the evaluation point cloud data 56 toward the evaluation reference point 55, the evaluation point cloud data 56 becomes a blind spot by the point cloud data 58 from the evaluation reference point 55. Judged and excluded.

  The calculation device 51 calculates the cumulative intensity of the radiation intensity projected on the point cloud data in the evaluation area 53 after the point cloud data that is a blind spot is excluded. When calculating the accumulated intensity, the distance between the evaluation reference point 55 and the point cloud data 58 is calculated, the distance is corrected by multiplying the radiation attenuation rate by the radiation intensity, and the accumulated radiation intensity in the evaluation region 53 is accumulated. Calculate strength. Similarly, the calculation device 51 calculates the cumulative intensity of the radiation intensity in the calculation area 54 after excluding the point cloud data that becomes a blind spot, and the ratio of the cumulative intensity in the calculation area 54 to the cumulative intensity in the evaluation area 53. Ask for. In the third embodiment, the distance correction has been described using the radiation attenuation rate used in the distance correction device 19, but a distance correction coefficient may be prepared and used separately from the radiation attenuation rate.

  With the configuration as described above, the third embodiment also exhibits the same effect (3) as the effects (1) and (2) of the first and second embodiments. .

  (3) The calculation device 51 calculates an evaluation region 53 for evaluating the total amount of radiation intensity related to the radiation intensity distribution projection result 52 synthesized by the synthesis device 42 and a relative radiation intensity for the evaluation region 53. In each of the calculation areas 54 for calculating the relative radiation intensity distribution in an arbitrary direction, using the projection result (radiation intensity distribution projection result 52) obtained by projecting the radiation intensity distribution onto the point cloud data by the projection device 18. Therefore, this radiation intensity distribution can be evaluated by being attenuated according to the distance. As a result, for example, the specifications of the shield set in the calculation area 54 can be optimally designed.

[D] Fourth embodiment (FIGS. 15 and 16)
FIG. 15 is a block diagram showing a radiation intensity distribution measurement system according to the fourth embodiment. In the fourth embodiment, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description will be simplified or omitted.

  The radiation intensity distribution measuring system 60 of the fourth embodiment differs from the second embodiment in that the radiation measuring apparatus estimated by the measurement position estimating apparatus 17 is added to the radiation intensity distribution measuring system 40 of the second embodiment. 11 is recorded in the data recording device 61 which records the measurement position and the visible image used for the estimation of the measurement position, and the visible image and data recording device 61 obtained after the scanning of the radiation measuring device 11 by the moving device 41. And a visible image comparison device 62 that compares the visible images with each other and obtains a corresponding position where the same portion of the object is photographed between the two visible images. The measurement position estimation device 17 is a visible image comparison device. From the result of comparison by 62, the measurement position after scanning of the radiation measurement apparatus 11 is calculated and estimated based on the measurement position recorded in the data recording apparatus 61 A.

  That is, the radiation measuring apparatus 11 is incident on the visible image in each of the measurement areas 43A... 43B in the same manner as in the second embodiment while being scanned into the measurement areas 43A. Obtain the radiation intensity distribution.

  The image comparison device 16 compares the visible image of the visible image sensor 12 acquired before the scanning of the radiation measuring device 11 by the moving device 41 with the virtual image created from the point cloud data by the virtual image creation device 15, and this comparison Based on the result, the measurement position estimation device 17 calculates and estimates the measurement position of the radiation measurement device 11. The data recording device 61 records the pre-scanning visible image used for image comparison by the image comparison device 16 and the measurement position estimated by the measurement position estimation device 17. The projection device 18 projects the radiation intensity distribution detected by the radiation detection sensor 13 onto the point cloud data using the measurement position of the radiation measurement device 11 calculated by the measurement position estimation device 17. The distance correction device 19 performs distance correction on the radiation intensity distribution projected onto the point cloud data by the projection device 18 based on the measurement position calculated by the measurement position estimation device 17 and reprojects the correction result onto the point cloud data. To do.

  Next, regarding the operation after the initial operation after the radiation measuring device 11 is scanned, the visible image of the visible image sensor 12 acquired after the scanning of the radiation measuring device 11 by the moving device 41 is output to the visible image comparing device 62. Is done.

  The visible image comparison device 62 performs image comparison between the latest visible image output from the visible image sensor 12 and the previous visible image recorded in the data recording device 61, thereby moving the radiation measuring device 11. The route is grasped. In the image comparison device 16, since the image to be compared is a visible image and a virtual image created from point cloud data, there are cases where the shade of the structure is different between the visible image and the virtual image, and this difference is considered in the comparison process. There is a need. However, in the visible image comparison device 62, since both images to be compared are visible images, it is unlikely that the same difference will occur and it is easy to compare the images. Therefore, the visible image comparison device 62 measures the position where the same part of the same structure is imaged by, for example, block matching processing.

  FIG. 16 is an explanatory diagram of block matching processing. In the block matching process, the latest visible image 64 is recorded between the last visible image 64 recorded in the data recording device 61 (for example, before scanning) and the latest visible image 63 output from the visible image sensor 12 of the radiation measuring device 11. In this process, the same portion of the same structure photographed by each pixel 63 is obtained from the previous visible image 64 of the data recording device 61.

  As a specific processing method, a rectangular block 66 centering on an evaluation pixel 65 to be evaluated is set in the latest visible image 63, and a luminance distribution in the rectangular block 66 is obtained. If the luminance dispersion in the rectangular block 66 is greater than or equal to a threshold value, block scanning Q is performed on the previous visible image 64 of the data recording device 61, and a method using luminance differences or luminance correlation is performed. In the previous visible image 64 of the data recording device 61, the position where the block scanned block 67 is most similar to the rectangular block 66 is obtained. In the present processing, the position of the scanning block 67 determined to be most similar to the rectangular block 66 is the previous visible of the data recording device 61 in which the same part of the same structure as the evaluation pixel 65 in the latest visible image 63 is imaged. This is the position in the image 64. In the block matching process, this process is executed for all the pixels of the latest visible image 63.

  In the block matching process described above, the process is executed only for the rectangular block 66 with high luminance dispersion. A high luminance dispersion means that the texture of the image is characteristic and is suitable for block matching processing. On the other hand, low luminance dispersion means that the texture of the image is uniform and not characteristic, so that the reliability of the result of executing the block matching process may be low. Thus, highly reliable measurement is attained by performing a block matching process about the rectangular block suitable for a block matching process. Further, determination may be made using information capable of evaluating the texture characteristics of the image in addition to the luminance dispersion.

  The measurement position estimation device 17 calculates and estimates the measurement position of the radiation measurement device 11 based on the comparison result of the visible image comparison device 62. Note that the measurement position of the radiation measurement device 11 calculated from the comparison result of the visible image comparison device 62 is a relative position from the previous measurement position of the radiation measurement device 11 recorded in the data recording device 61, and thus the measurement position is estimated. The device 17 converts the relative measurement position of the radiation measurement device 11 calculated this time into the absolute position of the radiation measurement device 11 based on the previous measurement position of the radiation measurement device 11 recorded in the data recording device 61. Further, the latest visible image used for image comparison by the visible image comparison device 62 and the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17 are recorded in the data recording device 61, and the data recording device 61. The data of is updated.

  The projection device 18 projects the radiation intensity distribution detected by the radiation detection sensor 13 of the radiation measurement device 11 onto the point cloud data using the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17. The distance correction device 19 performs distance correction on the radiation intensity distribution projected onto the point cloud data by the projection device 18 based on the measurement position of the radiation measurement device 11 estimated by the measurement position estimation device 17, and the correction result is obtained. Reproject to point cloud data. The projection results for each of the measurement regions 43A... 43B output from the distance correction device 19 are superimposed on each other by the synthesis device 42 and synthesized into one projection result.

  As described above, according to the fourth embodiment, in addition to the same effects as the effects (1) and (2) of the first and second embodiments, the following effect (4) is obtained. Play.

  (4) The latest visible image detected by the visible image sensor 12 of the radiation measurement device 11 is recorded by the visible image comparison device 62 and the measurement position of the radiation measurement device 11 recorded by the data recording device 11 and measured by the measurement position estimation device 17. Are compared with the previous visible image used for the estimation, and the measurement position estimation device 17 calculates and estimates the latest measurement position of the radiation measurement device 11 based on the comparison result. Thus, since the measurement position of the radiation measurement apparatus 11 is estimated by comparing the visible images, the measurement position of the radiation measurement apparatus 11 can be estimated with high reliability.

[E] Fifth embodiment (FIG. 17)
FIG. 17 is a block diagram showing a radiation intensity distribution measurement system according to the fifth embodiment. In the fifth embodiment, the same parts as those in the first, second, and fourth embodiments are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The radiation intensity distribution measurement system 70 of the fifth embodiment is different from the fourth embodiment in that the measurement position estimation device 17 compares the image comparison device 16 with the radiation intensity distribution measurement system 60 of the fourth embodiment. Based on the measurement position of the radiation measurement apparatus 11 estimated from the result and the comparison result of the visible image comparison apparatus 62 by the measurement position estimation apparatus 17, the previous measurement position of the radiation measurement apparatus 11 recorded in the data recording apparatus 61 is used as a reference. It is the point which further has the evaluation apparatus 71 which compares the measurement position of the radiation measurement apparatus 11 estimated in this way, and evaluates these both measurement positions.

  That is, the radiation measuring apparatus 11 is incident on the visible image in each of the measurement areas 43A... 43B in the same manner as in the fourth embodiment while being scanned into the measurement areas 43A. Obtain the radiation intensity distribution.

  Regarding the operation after the initial operation after the radiation measuring device 11 is scanned, the visible image of the visible image sensor 12 acquired after the scanning of the radiation measuring device 11 by the moving device 41 is the image comparison device 16 and the visible image comparison device 62. Is output.

  As a first calculation method at the measurement position of the radiation measuring device 11, the image comparison device 16 compares the virtual image created from the point cloud data with the virtual image creation device 15 and the visible image of the visible image sensor 12, Based on the comparison result, the measurement position estimation device 17 calculates and estimates the measurement position of the radiation measurement device 11, and outputs the estimated measurement position of the radiation measurement device 11 to the evaluation device 71.

  As a second calculation method at the measurement position of the radiation measurement device 11, the visible image comparison device 62 uses the previous visible image recorded in the data recording device 61 and the latest visible image output from the visible image sensor 12. Based on the comparison result, the measurement position estimation device 17 calculates and estimates the relative measurement position of the radiation measurement device 11 with respect to the previous measurement position of the radiation measurement device 11. Thereafter, the measurement position estimation device 17 converts the relative measurement position of the radiation measurement device 11 calculated this time into an absolute position based on the previous measurement position of the radiation measurement device 11 recorded in the data recording device 61. The estimated measurement position of the radiation measurement apparatus 11 is output to the evaluation apparatus 71.

  The evaluation apparatus 71 compares the two measurement positions of the radiation measurement apparatus 11 output from the measurement position estimation apparatus 17 calculated by different methods, and determines the quality of the calculation result by, for example, threshold determination. In this threshold determination, a determination value is set in advance for the distance (difference) between two measurement positions in the radiation measurement apparatus 11, and the distance (difference) between the two measurement positions in the radiation measurement apparatus 11 is the determination distance. In the following cases, it is determined that the calculation result of the measurement position estimation device 17 is correct. When the calculation result is greater than the determination distance, it is determined that the calculation result of the measurement position estimation device 17 is not correct.

  When the evaluation device 71 determines that the calculation result of the measurement position estimation device 17 is correct, the latest visible image used for the image comparison by the visible image comparison device 62 and the measurement position estimated by the measurement position estimation device 17. Are recorded in the data recording device 61, the data of the data recording device 61 is updated, and the operations after the projection device 18 are executed. When the evaluation device 71 determines that the calculation result of the measurement position estimation device 17 is not correct, the data of the data recording device 61 is not updated, and the measurement position estimation device 17 is recorded in the data recording device 61. The measurement position of the radiation measurement apparatus 11 is calculated using the measurement position of the radiation measurement apparatus 11 and the latest visible image acquired again.

  Since it was configured as described above, according to the fifth embodiment, in addition to the effects (1), (2), and (4) of the first, second, and fourth embodiments, The following effect (5) is achieved.

  (5) The evaluation device 71 calculates the measurement position of the radiation measurement device 11 estimated from the comparison result of the image comparison device 16 by the measurement position estimation device 17 and the comparison result of the visible image comparison result 62 by the measurement position estimation device 17. The measurement position of the radiation measurement apparatus 11 estimated with reference to the previous measurement position recorded in the data recording device 61 is compared, and the quality of both measurement positions is evaluated. For this reason, the measurement position of the radiation measuring apparatus 11 can be estimated with higher reliability.

  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. Is included in the scope and gist of the invention, and is included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 Radiation intensity distribution measurement system 11 Radiation measurement apparatus 12 Visible image sensor (visible image acquisition means)
13 Radiation detection sensor (radiation detection means)
14 3D data recording device 15 Virtual image creation device 16 Image comparison device 17 Measurement position estimation device 18 Projection device 19 Distance correction device 22 Visible image 23 Virtual image 24 Radiation intensity distribution 40 Radiation intensity distribution measurement system 41 Moving device 42 Synthesizer 50 Radiation Intensity distribution measurement system 51 Calculation device 60 Radiation intensity distribution measurement system 61 Data recording device 62 Visible image comparison device 70 Radiation intensity distribution measurement system 71 Evaluation device

Claims (9)

A radiation measuring apparatus comprising: a visible image acquiring means for acquiring a visible image of an object; and a radiation detecting means for detecting a radiation intensity distribution incident from the object;
A 3D data recording device for recording point cloud data indicating the three-dimensional position of the object;
A virtual image creation device that creates a virtual image by virtually creating an image from an arbitrary viewpoint from the point cloud data of the 3D data recording device;
The visible image from the radiation measurement device is compared with the virtual image from the virtual image creation device, and the edge of the object whose density changes in each of these images is detected and obtained from this edge. an image comparison device for determining in each of the two images the extraction place the shape of the edge is most similar among the region including the extracted portion as the corresponding position representing the same portion of the object,
From the three-dimensional position of the corresponding position of three or more points on the visible image and the three-dimensional position of the corresponding position on the virtual image respectively corresponding to these positions, the radiation is based on a geometrical relationship. A measurement position estimation device for calculating and estimating the measurement position of the measurement device;
A projection device that projects the radiation intensity distribution detected by the radiation measurement device onto the point cloud data of the 3D data recording device based on the measurement position estimated by the measurement position estimation device. A radiation intensity distribution measuring system characterized by that. The radiation intensity distribution measuring system according to claim 1, further comprising a moving device that moves the radiation measuring device along an object to be scanned. The radiation intensity distribution measurement system according to claim 1, further comprising a synthesis device that superimposes a plurality of projection results obtained by projecting the radiation intensity distribution onto the point cloud data by the projection device. . The measurement position of the radiation measurement apparatus estimated by the measurement position estimation apparatus and the projection result obtained by projecting the radiation intensity distribution onto the point cloud data by the projection apparatus are represented by the measurement position and the point cloud data. And a distance correction device that calculates a distance between the measured object position and converts the radiation intensity distribution detected at the measurement position into a radiation intensity distribution on the surface of the object. The radiation intensity distribution measuring system according to any one of claims 1 to 3. Radiation intensity distribution is projected on the point cloud data by the projection device and becomes a dead point in each of the evaluation area for evaluating the total amount of projection results and the calculation area for calculating the radiation intensity relative to the evaluation area. It further comprises a calculation device for calculating the relative radiation intensity in an arbitrary direction by calculating the cumulative intensity of the radiation intensity by excluding the point cloud data and performing distance correction. The radiation intensity distribution measuring system according to any one of claims 1 to 4. A data recording device for recording a measurement position of the radiation measurement device estimated by the measurement position estimation device, and a visible image used for estimation of the measurement position;
A visible image acquired after scanning of the radiation measuring device by a moving device is compared with a visible image recorded in the data recording device, and a corresponding position where the same part of the object is photographed is determined between the two visible images. And a visible image comparison device obtained by
The measurement position estimation device is configured to calculate and estimate a measurement position after scanning of the radiation measurement device based on a measurement position recorded in the data recording device from a comparison result of the visible image comparison device. The radiation intensity distribution measurement system according to claim 2, wherein: Based on the measurement position of the radiation measurement apparatus estimated from the comparison result of the image comparison apparatus by the measurement position estimation apparatus and the measurement position recorded in the data recording apparatus from the comparison result of the visible image comparison apparatus by the measurement position estimation apparatus The radiation intensity according to claim 6, further comprising an evaluation device that compares the estimated measurement position of the radiation measurement device and evaluates the quality of both measurement positions. Distribution measurement system. Radiation measurement apparatus provided with visible image acquisition means for acquiring a visible image of an object, and radiation detection means for detecting a radiation intensity distribution incident from the object, and point cloud data indicating the three-dimensional position of the object And a 3D data recording device for recording
A virtual image creating step that virtually creates an image from an arbitrary viewpoint from the point cloud data of the 3D data recording device to form a virtual image;
The visible image from the radiation measurement device is compared with the virtual image obtained in the virtual image creation step, and the edge of the object whose density changes in each of these images is detected and obtained from this edge. An image comparison step for obtaining each of the two images as the corresponding position representing the same location of the object, the extraction location having the most similar shape of the edge among the regions including the extracted location ;
From the three-dimensional position of the corresponding position of three or more points on the visible image and the three-dimensional position of the corresponding position on the virtual image respectively corresponding to these positions, the radiation is based on a geometrical relationship. A measurement position estimation step for calculating and estimating the measurement position of the measurement device;
A projection step of projecting the radiation intensity distribution detected by the radiation measurement device onto the point cloud data of the 3D data recording device based on the measurement position estimated in the measurement position estimation step. Radiation intensity distribution measurement method. The radiation measuring device moves and scans along the object by the moving device, and the radiation intensity distribution acquired by the scanning by the moving device is superimposed on a plurality of projection results projected on the point cloud data by the projecting step. The radiation intensity distribution measuring method according to claim 8, further comprising a combining step.

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