JP6896670B2 - Radiation dose distribution display device and radiation dose distribution display method - Google Patents

Description

An embodiment of the present invention relates to a radiation dose distribution display device and a radiation dose distribution display method for displaying a radiation dose distribution map in an image acquired by an image acquisition means and displayed on a screen of the display means.

In radiation controlled areas such as nuclear plants, the radiation dose in the work area is measured from the viewpoint of exposure reduction, and information on places with high radiation dose is provided. In addition to measuring the radiation dose at a fixed point, measuring the radiation dose distribution with a gamma camera or the like is also adopted. In addition, a technique for creating a radiation distribution by combining the measured value by a dosimeter and the position information has been developed.

Japanese Unexamined Patent Publication No. 2005-49148

By mapping the distribution situation of the radiation dose at the site by the above-mentioned technique, it is possible to confirm the distribution of the radiation dose, especially the place where the radiation dose is high. However, workers need to grasp the radiation dose distribution around themselves by comparing it with the radiation dose distribution map printed on paper or the radiation dose distribution map displayed on the screen of a tablet or the like. If the position is not correctly grasped, there is a problem that it is difficult to accurately grasp the radiation dose distribution around oneself. In Patent Document 1, the position of the worker is estimated using a plurality of markers so that the radiation distribution of the photographed area can be provided, but only the radiation dose of the photographed area can be grasped. , It is not possible to grasp the intensity of radiation received from the surroundings when in a certain area.

The embodiment of the present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a radiation dose distribution display device and a radiation dose distribution display method capable of accurately grasping the radiation dose distribution around the worker. And.

The radiation dose distribution display device according to the embodiment of the present invention is a radiation dose distribution display device that displays a radiation dose distribution, and displays an image acquisition means for acquiring an ambient image and an image acquired by the image acquisition means on a screen. Recognizes the display means to be displayed on the screen, the self-position estimation means that estimates the position of the image acquisition means as a self-position, and the floor surface in the image acquired by the image acquisition means and displayed on the screen of the display means. A radiation dose distribution map acquired in advance and corresponding to the self-position is superimposed on the floor surface recognizing means and the floor surface recognized by the floor surface recognizing means in the image displayed on the screen of the display means. It is characterized by having a dose distribution map superimposing means to be displayed.

The radiation dose distribution display method according to the embodiment of the present invention is a radiation dose distribution display method for displaying the radiation dose distribution, which is an image acquisition means for acquiring an ambient image and a screen of an image acquired by the image acquisition means. A step of preparing a display device provided with a display means to be displayed on the screen, a step of estimating the position of the video acquisition means as a self-position, and a video acquired by the video acquisition means and displayed on the screen of the display means. The step of recognizing the floor surface inside and the radiation dose distribution map acquired in advance and corresponding to the self-position are superimposed and displayed on the floor surface recognized in the image displayed on the screen of the display means. It is characterized by having a process.

According to the embodiment of the present invention, the radiation dose distribution around the worker can be accurately grasped.

The block diagram which shows the structure of the radiation dose distribution display device in this embodiment. An explanatory diagram illustrating a communication status between the terminal of FIG. 1 and a DB (database). Schematic side view explaining the relationship between the marker installed in the room of the building and the terminal. It is a figure explaining the floor surface recognition by the floor surface recognition means of FIG. 1, (A) is the image figure acquired by the image acquisition means and displayed on the screen of the display means, (B) is the distance to a terminal. Is measured, and the image diagram showing each point of the object in the range of the image of FIG. 4 (A), (C) shows the floor surface recognized in the image of FIG. 4 (A) by hatching. Video diagram. An explanatory diagram illustrating a situation in which a radiation dose distribution map is virtually superimposed and positioned on the floor of a room in a building where a terminal is located. An on-screen image of a display means in which the radiation dose distribution map positioned in FIG. 5 is superimposed and displayed on the floor surface in the image of FIG. 4 (C) by an augmented reality method. A video diagram in which an AR tag is displayed on the video diagram of FIG. 6 by an augmented reality method. FIG. 5 is a schematic side view showing an example of obtaining the height of the marker from the floor surface based on the distance information measured by the distance measuring means of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a radiation dose distribution display device according to the present embodiment. The radiation dose distribution display device 10 shown in FIGS. 1 and 2 serves as a reference position presenting means installed on a terminal 11 possessed by a worker inside the building and, for example, a wall 2 of a room 1 (FIG. 3) of the building. It is configured to have a marker 12, a server 13 for data communication with a terminal 11 via a communication line (for example, a wireless communication line), and a DB (database) 14 for storing a radiation dose distribution map and the like and connected to the server 13. To. When there is no communication line, the radiation dose distribution map or the like may be stored in the terminal 11 of the radiation distribution display device 10. Then, the radiation dose distribution display device 10 virtually displays the radiation dose distribution map around the worker who possesses the terminal 11 in the image captured by the image acquisition means 20 (described later) of the terminal 11. is there.

The marker 12 as the reference position presenting means shown in FIGS. 1 and 3 is, for example, a QR code, and when the marker 12 is photographed by the image acquisition means 20 of the terminal 11, the reference position information possessed by the marker 12 is obtained by the terminal 11. Presented at. Specifically, the marker 12 presents information on a reference position that is the starting point of the three-dimensional space of the absolute coordinate system in the room 1 of the building where the marker 12 is installed on the wall 2. Based on this reference position information, the self-position estimation means 24 of the terminal 11 can estimate the self-position of the terminal 11 as described later. Further, the reference position information presented by the marker 12 of the present embodiment has information on the height H from the floor surface 3 of the room 1 of the building.

The DB 14 shown in FIGS. 1 and 2 stores the building position information regarding the position of the room 1 of the building, the floor surface 3 of the room, and the radiation dose distribution map 15 (FIG. 5). This radiation dose distribution map 15 two-dimensionally displays the intensity distribution of the radiation dose received from the surroundings when the worker is at a certain position, and is the data of the two-dimensional plane coordinates and the radiation dose measured in advance at each coordinate. It is created based on. In the radiation dose distribution map 15 of FIG. 5, the region P having a high radiation dose is displayed in a dark color, and the region Q having a low radiation dose is displayed in a light color. The display mode of the radiation dose distribution map 15 may be displayed in three or more levels of gradation.

Further, the radiation dose distribution map 15 can provide the radiation dose distribution map 15 according to the floor surface 3 of the room 1 in which the worker exists by having the area information regarding the floor surface 3 of each room 1 in the building. It will be possible. Further, in addition to the above-mentioned area information, the radiation dose distribution map 15 is provided with position information (for example, map marker 16 (FIG. 5)) corresponding to the position of the marker 12 in the plan view of each room 1 of the building. ing. As a result, by matching the positions of the marker 12 in the plan view of the room 1 of the building and the map marker 16 of the radiation dose distribution map 15, radiation is emitted to all or a part of the floor surface 3 of the room 1 as described later. The quantity distribution map 15 can be virtually superposed and positioned.

As shown in FIG. 1, the terminal 11 possessed by the worker in the building includes an image acquisition means 20, a display means 21, a distance measurement means 22, an orientation detection means 23, a self-position estimation means 24, and a floor surface recognition means. 25, an image manipulation means 33, a dose distribution map superimposing means 26, a virtual display means 27, and a radiation measuring means 28 are included. The terminal 11 is preferably a device such as a wearable terminal (device) such as smart glasses, in addition to a mobile terminal such as a tablet terminal or a smartphone.

The image acquisition means 20 acquires an image around the terminal 11 in real time, and is, for example, a video camera or the like. The display means 21 displays the image 30 acquired by the image acquisition means 20 on the screen 29 (both of which are shown in FIG. 4), and is, for example, a liquid crystal display device.

The distance measuring means 22 measures the distance L (FIG. 3) from the object around the terminal 11, and is, for example, a distance sensor using infrared rays or laser light. The distance measuring means 22 measures the distance between each point 4 (FIGS. 3 and 4 (B)) of an object within the range of the image 30 displayed on the screen 29 of the display means 21 and the terminal 11 in three-dimensional coordinates. Measure and obtain. The orientation detecting means 23 detects the shooting orientation of the image acquiring means 20, that is, the inclination θ (FIG. 3) of the terminal 11, and is, for example, a three-axis accelerometer or a gyro sensor.

As shown in FIGS. 1 and 3, the self-position estimation means 24 estimates the position of the terminal 11 provided with the video acquisition means 20 as a self-position. That is, as shown in FIG. 3, the self-position estimation means 24 first acquires the reference position information presented by the marker 12 from the video captured by the image acquisition means 20, and the building in which the terminal 11 exists. Grasp the reference position of the three-dimensional space (absolute coordinate system) in the room 1.

Next, the self-position estimation means 24 acquires the distance L between the object around the terminal 11 and the terminal 11 from the measured value of the distance measuring means 22. That is, as shown in FIG. 4 (A), the self-position estimating means 24 sets the distance L between each point 4 (FIG. 4 (B)) of all the objects in the range in the image 30 and the terminal 11. Obtained from the measured value of the measuring means 22. When the terminal 11 moves or changes its direction after grasping the reference position, the self-position estimation main 24 moves from the reference position based on the change in the distance of each point 4 of all the objects acquired immediately before. Calculate the amount and amount of change in orientation. Even when the worker moves by repeating this process, the self-position estimation means 24 is the self-position, which is the position of the terminal 11, based on the reference position information acquired as described above and the distance L between the surrounding objects. To estimate.

The calculation process of the self-position estimation means 24 is Simultaneous Localization and Mapping (SLAM), which is an estimation method that simultaneously creates a three-dimensional space based on three-dimensional distance information from the surroundings and estimates the self-position, and has a surrounding structure. It is not necessary to grasp the arrangement and dimensional information of objects in advance.

As shown in FIGS. 1, 3 and 4, the floor surface recognizing means 25 recognizes the floor surface 31 in the image 30 acquired by the image acquiring means 20 and displayed on the screen 29 of the display means 21. is there. That is, the floor surface recognition means 25 first acquires the reference position information presented by the marker 12 by the image acquisition means 20 photographing the marker 12. As a result, the floor surface recognizing means 25 acquires the information of the height H from the actual floor surface 3 to the marker 12 that the reference position information has. Next, the floor surface recognizing means 25 acquires the current self-position of the terminal 11 from the self-position estimating means 24.

Next, the floor surface recognizing means 25 sets each point 4 (FIGS. 3, FIG. 3) of all objects within the range of the image 30 displayed on the screen 29 of the display means 21 at the current position (self-position) of the terminal 11. The distance L (FIG. 3) between 4 (B)) and the terminal 11 is acquired from the measured value of the distance measuring means 22. Further, the floor surface recognizing means 25 acquires the inclination θ (FIG. 3) of the terminal 11 when the distance measuring means 22 measures the distance L from the detected value of the azimuth detecting means 23.

The floor surface recognizing means 25 is a distance L from the terminal 11 measured by the distance measuring means 22 to the point 4 of the object at the current position of the terminal 11 with reference to the height H of the marker 12 from the actual floor surface 3. And the inclination θ of the terminal 11 detected by the orientation detecting means 23, the position (height) of the point 4 of the object measured by the distance measuring means 22 is calculated. Then, when the floor surface recognizing means 25 determines that the position of the point 4 coincides with the actual position of the floor surface 3, a point cloud similar to this point 4 is displayed on the screen 29 of the display means 21. The area displayed in the image 30 is recognized as the floor surface 31. In FIG. 4C, the area recognized as the floor surface 31 by the floor surface recognizing means 25 is indicated by hatching.

In the floor surface recognition means 25, the floor surface 31 in the image 30 acquired by the image acquisition means 25 and displayed on the screen 29 of the display means 21 is touched on the screen 29 by the worker who possesses the terminal 11. When the selected position is selected, the selected position is output to the floor surface recognizing means 25 by the image operating means 33 (FIG. 1), so that the selected position is designated as the floor surface 31 in the image 30 on the screen 29. You may recognize it. Here, the image operating means 33 is a position input device such as a touch pad.

The dose distribution map superimposing means 26 shown in FIG. 1 is previously acquired on the floor surface 31 recognized by the floor surface recognizing means 25 in the image 30 displayed on the screen 29 of the display means 21, and the self-position of the terminal 11 is self-positioned. The radiation dose distribution map 15 corresponding to the above is superimposed and displayed by the method of augmented reality (AR).

That is, in the dose distribution map superposition means 26, there is a worker who possesses the terminal 11 based on the area information possessed by the radiation dose distribution map 15 and the self-position of the terminal 11 estimated by the self-position estimation means 24. The radiation dose distribution map 15 according to the floor surface 3 of the room 1 of the building is selected from the DB 14. Next, as shown in FIG. 5, the dose distribution map superimposing means 26 terminals the map marker 16 assigned to the radiation dose distribution map 15 corresponding to the position of the marker 12 in the plan view of the room 1 of the building. The radiation dose distribution map 15 selected as described above is displayed on the floor of the room 1 in which the worker (terminal 11) is present so as to match the marker 12 in the plan view of the room 1 in which the worker possessing the 11 is present. Positioning is done by virtually superimposing on all or part of the surface 3.

After that, as shown in FIG. 6, the dose distribution map superimposing means 26 displayed the radiation dose distribution map 15 positioned on the floor surface 3 of the room 1 as described above on the screen 29 of the display means 21. It is superimposed and displayed on the floor surface 31 in the image 30 by the method of augmented reality. At this time, if the structure 5 (FIG. 3) exists in front of the floor surface 3 of the room 1 (on the terminal 11 side), the distance information between the structure 5 and the terminal 11 acquired from the distance measuring means 22 is used. Based on this, it is also possible to eliminate the visual discomfort caused by the operator by not displaying the radiation dose distribution map 15 in the image of the structure 5.

The virtual display means 27 shown in FIG. 1 has the radiation dose distribution map 15 as shown in FIG. 7 when the radiation dose distribution map 15 is virtually displayed on the image 30 displayed on the screen 29 of the display means 21. The AR tag 34 as a label relating to the radiation dose in the above is virtually displayed by the method of augmented reality. The AR tag 34 is a warning display indicating that the radiation dose is high, a numerical display of the radiation dose, and the like.

The radiation measuring means 28 shown in FIG. 1 measures the radiation dose around the terminal 11 provided with the image acquiring means 20 and the like in real time or at a predetermined timing. The radiation dose measured by the radiation measuring means 28 is reflected in the radiation dose distribution map 15 stored in the DB 14. That is, the radiation dose measured by the radiation measuring means 28 is transmitted to the server 13 via the wireless communication line as shown in FIGS. 1 and 2. The server 13 includes a data updating means 35, and the data updating means 35 updates the radiation dose data in the radiation dose distribution map 15 in the DB 14 to the value measured by the radiation measuring means 28.

Further, the radiation dose measured by the radiation measuring means 28 may be displayed on the AR tag 34 by the virtual display means 27 or at a position on the screen 29 different from the AR tag 34 by the augmented reality method.

Since it is configured as described above, according to the present embodiment, the following effects (1) and (2) are obtained.
(1) As shown in FIGS. 1 and 6, the terminal 11 of the radiation dose distribution display device 10 displays the image acquisition means 20 for acquiring the surrounding image and the image acquired by the image acquisition means 20 on the screen 29. A display means 21 for displaying and a dose distribution map superimposing means 26 are provided. The dose distribution map superimposing means 26 has a radiation dose corresponding to the position (self-position) of the terminal 11 on the floor surface 31 in the image 30 acquired by the image acquisition means 20 and displayed on the screen 29 of the display means 21. The distribution map 15 is superimposed and displayed by the method of augmented reality. As a result, the worker who has acquired the image 30 using the image acquisition means 20 can accurately grasp the radiation dose distribution in the surroundings, particularly in the direction in which the image acquisition means 20 of the terminal 11 is directed.

(2) In addition to the radiation dose distribution map 15 being virtually displayed by the dose distribution map superimposing means 26 on the floor surface 31 of the image 30 displayed on the screen 29 of the display means 21, this radiation dose distribution map On the image 30 on which 15 is displayed, the virtual display means 27 displays information on the radiation dose, for example, an AR tag 34 that calls attention because the radiation dose is high, by an augmented reality method. The display of the AR tag 34 can contribute to reducing the exposure of workers.

Although the embodiment of the present invention has been described above, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention, and the replacements and changes thereof can be made. , It is included in the scope and gist of the invention, and is also included in the scope of the invention described in the claims and the equivalent scope thereof.

For example, the self-position estimation means 24 is not limited to the case of estimating the self-position of the terminal 11 based on the distance information to the object around the terminal 11 and the reference position information presented by the marker 12, and is not limited to GPS (Global). The self-position of the terminal 11 may be estimated by using a Positioning System (Global Positioning System), a beacon, or the like. That is, the self-position estimation means 24 may estimate the position (self-position) of the terminal 11 by wirelessly communicating with a base station or satellite arranged with position information.

Further, the height H from the actual floor surface 3 to the marker 12 as a reference when the floor surface recognizing means 25 recognizes the floor surface 31 in the image 30 displayed on the screen 29 of the display means 21 is a marker. Not only when 12 has as reference position information, it may be calculated based on the value measured by the distance measuring means 22.

That is, as shown in FIG. 8, the floor surface recognizing means 25 includes the distance between the terminal 11 and the marker 12 measured by the distance measuring means 22 and the inclination of the terminal 11 detected by the orientation detecting means 23 at the time of measuring the distance. From, the height H1 between the terminal 11 and the marker 12 is obtained. Next, the floor surface recognizing means 25 uses the distance between the terminal 4 and the terminal 11 on the actual floor surface 3 measured by the distance measuring means 22, and the terminal detected by the orientation detecting means 23 at the time of measuring the distance. From the inclination of 11, the height H2 between an arbitrary point 4 on the actual floor surface 3 and the terminal 11 is obtained. After that, the floor surface recognizing means 25 adds the height H1 between the terminal 11 and the marker 12 obtained as described above, and the height H2 between an arbitrary point 4 on the actual floor surface 3 and the terminal 11. Then, the height H from the actual floor surface 3 to the marker 12 may be calculated.

3 ... Actual floor surface, 10 ... Radiation dose distribution display device, 11 ... Terminal, 12 ... Marker (reference position presentation means), 14 ... DB, 15 ... Radiation dose distribution map, 20 ... Image acquisition means, 21 ... Display means , 22 ... Distance measuring means, 23 ... Orientation detecting means, 24 ... Self-position estimating means, 25 ... Floor surface recognition means, 26 ... Dose distribution map superimposing means, 27 ... Virtual display means, 28 ... Radiation measuring means, 29 ... Display means screen, 30 ... video, 31 ... floor surface in video, 33 ... image manipulation means, 34 ... AR tag (marker), 35 ... data updating means, H ... marker height from floor, L ... Distance between the terminal and surrounding objects, θ ... Tilt (shooting direction).

Claims (10)

It is a radiation dose distribution display device that displays the radiation dose distribution.
Video acquisition means to acquire surrounding images and
A display means for displaying the image acquired by the image acquisition means on the screen, and
A self-position estimation means that estimates the position of the video acquisition means as a self-position,
A floor surface recognition means that recognizes a floor surface in an image acquired by the image acquisition means and displayed on the screen of the display means, and
A dose distribution map superimposition that displays a radiation dose distribution map acquired in advance and corresponding to the self-position on the floor surface recognized by the floor surface recognition means in the image displayed on the screen of the display means. A radiation dose distribution display device comprising a matching means. The self-position estimating means estimates the self-position based on the reference position information from the reference position presenting means that presents the reference position information and the distance from the distance measuring means that measures the distance to the surrounding object. The radiation dose distribution display device according to claim 1, wherein the device is configured to perform the same. The radiation dose distribution display device according to claim 1, wherein the self-position estimation means is configured to estimate the self-position by wirelessly communicating with a base station arranged with position information. The floor surface recognizing means is derived from the distance from the distance measuring means for measuring the distance between the self-position estimated by the self-position estimating means and the surrounding object, and the orientation detecting means for detecting the shooting direction of the image acquisition means. Based on the shooting direction of the above and the height information from the floor surface of the reference position presenting means, the floor surface in the image acquired by the image acquisition means and displayed on the screen of the display means is recognized. The radiation amount distribution display device according to any one of claims 1 to 3, wherein the radiation amount distribution display device is characterized in that. The radiation dose distribution display device according to claim 4, wherein the height information from the floor surface of the reference position presenting means is configured to have the reference position information presented by the reference position presenting means. When the floor surface in the image acquired by the image acquisition means and displayed on the screen of the display means is selected on the screen, the floor surface recognition means recognizes the selected position as the floor surface. The radiation dose distribution display device according to any one of claims 1 to 3, wherein the radiation dose distribution display device is configured. The invention according to any one of claims 1 to 6 , further comprising a virtual display means for virtually displaying a sign including a warning on the image displayed by the dose distribution map superimposing means. Radiation dose distribution display device. It further has a radiation measuring means for measuring the radiation dose around the image acquisition means, and the radiation dose measured by the radiation measuring means is reflected in the radiation dose distribution map so that the radiation dose distribution map is updated. The radiation dose distribution display device according to any one of claims 1 to 7 , wherein the radiation dose distribution display device is configured. The radiation dose according to claim 7 , wherein the virtual display means is configured to virtually display the radiation dose measured by the radiation measuring means for measuring the radiation dose around the image acquisition means. Distribution display device. It is a radiation dose distribution display method that displays the radiation dose distribution.
A process of preparing a display device provided with a video acquisition means for acquiring surrounding images and a display means for displaying the video acquired by the video acquisition means on a screen.
A step of estimating the position of the image acquisition means as a self-position, and
A step of recognizing a floor surface in an image acquired by the image acquisition means and displayed on the screen of the display means, and
It is characterized by having a step of superimposing and displaying a radiation dose distribution map acquired in advance and corresponding to the self-position on the floor surface recognized in the image displayed on the screen of the display means. Radiation dose distribution display method.

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