KR102608026B1 - Stereo camera and quadrupedal robot combined system for unmanned detection of 3D radioactive contamination area - Google Patents

Abstract

The present invention relates to a system combining a stereo camera and a four-legged robot for unmanned detection of 3D radiation-contaminated areas.
Accordingly, the technical gist of the present invention is to provide a depth camera for measuring radiation (a coding aperture-based radiation (gamma ray and double particle) image fusion device including an indoor depth camera) as two units to obtain a perspective and three-dimensional image. As a three-dimensional terrain sensing module including LiDAR equipment (for outdoor use: has 3D shape information as digital information) is linked with a sensing module for radiation measurement including a depth camera (for indoor use), digital coordinates using trigonometry are converted into 3D Output as a three-dimensional image (whether the radiation measurement target area is contaminated or the detected radiation source is output in a 3D stereoscopic image, and when the radiation location is mapped to the LiDAR-shaped digital coordinates, it outputs which structure is the radioactive contaminated area). Of course, the three-dimensional terrain sensing module and the radiation measurement sensing module (which can measure distance or depth using trigonometry and links information with digital drawing in 3D while linking with LiDAR) can be installed in a miniaturized form on a four-legged robot. It is equipped with a feature that allows the robot dog to operate unmanned in ports, airports, Korea Hydro & Nuclear Power Plant, nuclear power facilities, military activity areas, and specific areas of interest in the environment where radiation sources enter the environment, while detecting radioactive contamination and creating a contamination map. .

Description

Stereo camera and quadrupedal robot combined system for unmanned detection of 3D radioactive contamination area}

The present invention is equipped with two units of a depth camera for measuring radiation (encoding aperture-based radiation (gamma ray and double particle) image fusion device including an indoor depth camera) to acquire perspective and three-dimensional images, and uses LiDAR equipment ( As the three-dimensional terrain sensing module including (for outdoor use: has 3D shape information as digital information) is linked with the sensing module for radiation measurement including a depth camera (for indoor use), digital coordinates using trigonometry are output as a 3D stereoscopic image. (Contamination of the radiation measurement target area or the detected radiation source is output on a 3D stereoscopic image, and when the radiation location is mapped to the LiDAR-shaped digital coordinates, the location of the radioactive contamination area in the structure is output) as well as three-dimensional terrain sensing. The module and the sensing module for radiation measurement (capable of measuring distance or depth using trigonometry and mapping information through digital drawing in 3D while linking with LiDAR) are mounted on a four-legged robot in a miniaturized form to be used in ports, ports, etc. 3D radiation pollution, which is characterized by allowing a robot dog to operate unmanned in airports, Korea Hydro & Nuclear Power Plant, nuclear power facilities, military activity areas, and specific areas of interest in the environment where radiation sources enter, detecting radioactive contamination and creating a pollution map. This is about a stereo camera and quadrupedal robot combined system for local unmanned detection.

In other words, the present invention maps the data collected while operating and autonomously driving a four-legged robot on an unmanned basis in a contaminated area or a dangerous area due to radiation exposure, using a stereo camera method and LiDAR equipment (existing computer The detection shortcomings of the Ftern camera are resolved with the encoding aperture system), which is characterized in that the 3D coordinates of the location of the radiation source along with the spatial coordinates inside the nuclear power plant are output in the form of digital coordinates.

In the use of gamma-ray imaging equipment based on domestic and international field measurements, the Central Research Institute of Korea Hydro & Nuclear Power Co., Ltd. visualizes radiation-contaminated areas by fusing equipment that acquires digital shape information in the form of an institution-specific project project and two CdZnTe-based gamma-ray imaging equipment. We are conducting research.

The gamma ray imaging equipment currently used is a Compton camera (Polaris-H, H3D) with a viewing angle of 4pi. It has the function of determining the position of gamma rays incident from all directions, but the background radiation is high like the internal environment of a nuclear power plant. In an environment where gamma rays are incident from all directions, it is difficult to acquire gamma ray images in a specific area of interest, so there are concerns about the possibility of using the equipment to be developed during the actual nuclear power plant decommissioning process.

At the IAEA, the Automated Radiation Mapping Integrated System (ARMIS) project was awarded to H3D Inc., Systel Electronique, Boston Dynamics, Intuitive Robots, and Lamer Pax. Companies formed a consortium and began developing an unmanned surveillance system using a four-legged robot.

Therefore, domestic researchers also need to make efforts to reduce the technological gap in accordance with this international research and development direction.

1. Republic of Korea Patent Registration No. 10-2123562 (registered on June 10, 2020)

The present invention is intended to solve the above-mentioned problems, and its technical gist is to provide a depth camera for measuring radiation (encoding aperture-based radiation (gamma ray and double particle) image fusion device including an indoor depth camera) as two units, To acquire three-dimensional images, a three-dimensional terrain sensing module including LiDAR equipment (for outdoor use: has 3D shape information as digital information) is combined with a sensing module for radiation measurement including a depth camera (for indoor use). As they are linked, digital coordinates based on trigonometry are output as a 3D stereoscopic image (whether the radiation measurement target area is contaminated or a detected radiation source is output in a 3D stereoscopic image, and when the radiation location is mapped to the LiDAR-shaped digital coordinates, radioactive contamination can be detected in any structure. The purpose is to provide a way to print out where the region is.

The present invention is a three-dimensional terrain sensing module and a radiation measurement sensing module (capable of measuring distance or depth using trigonometry and mapping information by digital drawing in 3D while linking with LiDAR) in a miniaturized form and a four-legged system. It is mounted on a robot and allows the robot dog to operate unmanned in ports, airports, Korea Hydro & Nuclear Power Plant, nuclear facilities, military activity areas, and specific areas of interest in the environment where radiation sources enter, detecting radioactive contamination and creating a contamination map. The purpose is to provide.

In order to achieve this purpose, the present invention arranges an encoding aperture-based radiation (gamma ray and double particle) image fusion device in two units side by side at a certain interval, and is built into each image fusion device separated into two units. A depth camera (which acquires two images using two imaging lenses like the human eye and then acquires the distance or depth as a three-dimensional image) is a sensing module for radiation measurement that allows obtaining perspective and three-dimensional images. 10) and; LiDAR equipment (which has 3D shape information as digital information) is installed on one side of the sensing module 10 for radiation measurement, and digital coordinates using trigonometry are output as 3D stereoscopic images (whether the radiation measurement target area is contaminated or not) A three-dimensional terrain sensing module 20 that outputs the detected radiation source in a 3D stereoscopic image and maps the radiation location to LiDAR-shaped digital coordinates to output which structure is the radioactive contaminated area; It is equipped with a radiation measurement sensing module (10) and a three-dimensional terrain sensing module (20), and is placed in rough terrain or areas subject to radiation contamination (traveling around to obtain the distribution of radiation contamination in the surrounding area) so that it can be driven unmanned or autonomously. An unmanned payload (30) that performs; It is composed and accomplished.

Accordingly, the sensing module 10 for radiation measurement is an encoding aperture-based radiation (gamma ray and double particle) image fusion device, which includes a depth camera (100), an encoding aperture (110), a scintillator array (125), and an optical sensor array. (130), a signal processing unit 140, an image fusion unit 150, and a display 180 are included, and in addition, a battery 160, a cooling fan 170, and a GPS (not shown) provide real-time location information of the radiation source. ) is included, and a boron polyethylene (Boron PE) mask 111 of the same pattern is added to the front end of the tungsten mask pattern of the coding aperture to ensure neutron shielding.

In addition, the unmanned payload 30 is a quadruped robot, robot dog, It is desirable to use one of the unmanned robots.

Accordingly, the unmanned operation radiation measuring device links with map applications (Naver, Daum, Google Map) on the online web (Internet portal sites, etc.) and allows the web server or computer server to dataify the degree of contamination in the area where radiation was measured. It is desirable to do so.

In addition, the sensing module 10 for measuring radiation is preferably mounted within a protective case when mounted on one side of the unmanned payload 30.

In addition, the three-dimensional terrain sensing module 20 is preferably mounted on one side of the unmanned payload 30 using the one-touch mounting hole 50.

As such, the present invention is equipped with two units of depth cameras for measuring radiation to obtain perspective and three-dimensional images, and the three-dimensional terrain sensing module including the LiDAR equipment is a sensing module for measuring radiation including the depth camera. It has the effect of allowing digital coordinates based on trigonometry to be output as a 3D stereoscopic image.

Accordingly, the present invention, as well as the three-dimensional terrain sensing module and the radiation measurement sensing module, are mounted on a four-legged robot in a miniaturized form to be used in ports, airports, Korea Hydro & Nuclear Power Plant, nuclear power facilities, military activity areas, and specific areas of interest in the radiation source incident environment. This has the effect of allowing the robot dog to operate unmanned, detect radioactive contamination, and create a contamination map.

Figure 1 is an example diagram showing a stereo camera and quadruped robot combination system for unmanned detection of 3D radiation-contaminated areas according to the present invention;
Figure 2 is a graph analyzing the time it takes to acquire an image with a conventional encoding aperture by two sources;
Figure 3 is an example diagram schematically showing the configuration of an encoding aperture-based radiation (gamma ray and double particle) image fusion device according to an embodiment of the present invention;
Figure 4(a) is a configuration of an existing imaging device encoding aperture, and Figure 4(b) is an example showing the shape of the neutron shielding encoding aperture of the present invention.
Figure 5(a) is a tungsten side shield that shields the top, bottom, and left and right sides of an existing optical sensor array, and Figure 5(b) shows a shape each coated with boron polyethylene (Boron PE) to shield the background radiation from the back of the present invention. An example showing,
Figure 6 is an example diagram showing the present invention's coding aperture, radiation (gamma ray and double particle) image fusion device in which boron polyethylene (Boron PE) is added to the top, bottom, left, right, and rear sides of the optical sensor array, respectively;
Figures 7 to 9 are exemplary diagrams showing the state of use of the one-touch mounting device according to the present invention.

Next, the present invention will be described in more detail with reference to the attached drawings.

First, as shown in FIG. 1, the present invention is largely comprised of a radiation measurement sensing module 10, a three-dimensional terrain sensing module 20, and an unmanned payload 30.

Accordingly, the sensing module 10 for radiation measurement arranges the coding aperture-based radiation (gamma ray and double particle) image fusion devices in two units side by side at a certain interval, but each image fusion device is separated into two units. The built-in depth camera uses the same principle as a stereo camera or depth camera (like the human eye, it uses two shooting lenses to acquire two images and then acquires the distance or depth as a three-dimensional image) to capture perspective and stereoscopic images. It is formed to obtain an image.

Accordingly, the sensing module 10 for radiation measurement is an encoding aperture-based radiation (gamma ray and double particle) image fusion device, which includes a depth camera (100), an encoding aperture (110), a scintillator array (125), and an optical sensor array. (130), a signal processing unit 140, an image fusion unit 150, and a display 180 are included, and in addition, a battery 160, a cooling fan 170, and a GPS (not shown) provide real-time location information of the radiation source. ) is included, and a boron polyethylene (Boron PE) mask 111 of the same pattern is added to the front end of the tungsten mask pattern of the coding aperture to ensure neutron shielding.

For reference, the sensing module 10 for measuring radiation of the present invention has already been described in a prior document (Patent No. 10-2389288: registered on April 18, 2022) for which the applicant of the present application has previously applied and registered, and this is also used in the present invention. Apply and explain.

First, the sensing module 10 for measuring radiation of the present invention is also a neutron shielding encoding aperture by adding a boron polyethylene (Boron PE) mask of the same pattern to the front end of the tungsten mask pattern of the encoding aperture.

Figure 2 is a table analyzing the shielding ability of tungsten and boron polyethylene (Boron PE) against thermal neutrons.

As can be seen in the table, tungsten is not suitable for shielding neutrons, and boron polyethylene (Boron PE) shows high shielding ability for neutrons and can show sufficient performance even at a thin thickness.

The encoding aperture (110) part of the encoding aperture imaging device is a mosaic pattern made of tungsten and is made up of small square pillars to create a mask pattern.

By adding a square-pillar mask 111 made of boron polyethylene (Boron PE) to the front of these small square pillars, the effect of shielding both gamma rays and neutrons can be expected.

The length of the shielding body made of boron polyethylene (Boron PE) is approximately 1 to 8 mm, and can be applied to the design as long as it does not harm the shape or size of the existing imaging device.

Figure 3 is a diagram schematically showing the configuration of an encoding aperture-based radiation (gamma ray and double particle) image fusion device according to an embodiment of the present invention.

The encoding aperture-based radiation (gamma ray and double particle) image fusion device according to an embodiment of the present invention largely includes a depth camera (100), an encoding aperture (110), a scintillator array (125), and an optical sensor array (130). , and includes a signal processing unit 140, an image fusion unit 150, and a display 180.

Additionally, in an additional embodiment, it may further include a battery 160, a cooling fan 170, and a GPS (not shown) that provides real-time location information of the radiation source.

First, the depth camera 100 is a CCD or CMOS image sensor that acquires on-site images by photographing the site of the radiation source.

The optical camera 100 captures images to be fused with gamma ray and neutron images in which the reaction positions of radioactive materials are processed into images through the operation program software of the image fusion unit 150, which will be described later. Images can be realized even in low lighting. It is adjusted so that

The encoding aperture 110 receives radiation emitted from a radiation source, and an encoded pattern is applied.

The encoding aperture 110 is a mechanical focusing device that blocks high-energy radiation from entering from an unwanted direction, and the material is tungsten.

This encoded aperture 110 is manufactured in the form of an encoded pattern mask to react with the scintillator array 125, which will be described later, and at this time, the encoded pattern is applied as a MURA pattern.

The mask pattern of the encoding aperture 110 may be any one of a mosaicked pattern, a centered mosaick pattern, and an antisymmetric MURA pattern, and this structure is an additional layer of the mask pattern. It has the advantage of being able to reconstruct a real-time radiation incident image at once without going through a process (e.g., rotation of the mask pattern, etc.).

The pattern structure of the mask pattern is such that a pair of pattern areas arranged in a diagonal area based on the center are symmetrical to each other. Based on two virtual diagonals passing through the center point of the center area, a pair of pattern areas are arranged on a virtual diagonal in the center area. Each area pattern is arranged in a structure that is symmetrical to each other.

This arrangement structure can accurately extract image information without taking more than two shots due to the symmetry of the pattern, and has the advantage of increasing the signal-to-noise ratio (removing noise) by realizing the same image without rotating the mask. have it

The scintillator array 125 has an NxN array of pixels and serves to generate scintillation signals for gamma rays and neutrons from radiation incident through the encoding aperture 110.

More specifically, the scintillator array 125 reacts with the audit rays and neutrons that pass through the encoding aperture 110 to generate a fine flash signal of light, and includes a scintillator body 120 formed as an array of one or more pixels, and a scintillator body. It is composed of a shielding body 121 made of a square ring-shaped tungsten material that shields both the upper, lower, and left and right sides of the unit 120, and takes advantage of the fact that the energy regions of the reaction energy spectrum between neutrons and gamma rays are different from each other. .

This scintillator body 121 is a pixel type liquid scintillator to which waveform discrimination (PSD) is applied, a plastic scintillator, a stilbene (1, 2-diphenylethylene, C14H12) scintillator, and a CLYC (Cs2LiYCl6:Ce) scintillator. , Organic Glass Scintillator can be applied.

In particular, when the scintillator body 120 is a stilbene organic scintillator, it also has the advantage of being able to obtain heterogeneous images in which neutrons and gamma rays are separated.

The optical sensor array 130 has an NxN array of pixels and serves to obtain an electrical signal for the scintillation signal generated through the scintillator array 125.

More specifically, the optical sensor array 130 serves to convert the scintillation signal converted into light in the scintillator array 125 into a fine electrical signal depending on the amount of light. At this time, the optical sensor array 130 is a silicon optoelectronic signal. An array-type semiconductor optical sensor corresponding to a multiplier (SiPM) or a pixel-type position-sensitive photomultiplier (PSPMT) can be applied.

In particular, in the case of SiPM, one-to-one coupling is possible with a small scintillator with a cross-sectional area of several mm2, so it has the advantage of maximizing the light receiving performance of collecting light emitted from the scintillator array 125.

In addition, as the optical sensor array 130 is accommodated in the shielding body 121 included in the scintillator array 125, both the upper and lower sides and the left and right sides can be shielded from radiation, similar to the scintillator body portion 120.

For reference, Figure 4(a) is a diagram showing the configuration of the coding aperture of an existing imaging device, and Figure 4(b) is a diagram showing the shape of the neutron shielding coding aperture of the present invention.

And Figure 5(a) shows a tungsten side shield that shields the top, bottom, and left and right sides of the existing optical sensor array 120, and Figure 5(b) shows a boron polyethylene (Boron PE) shield for background radiation shielding on the back of the present invention. This is a drawing showing the added shape.

In the present invention, a boron polyethylene (Boron PE) side shield 121 is added to the outside of the tungsten that shields the top, bottom, and left and right sides of the optical sensor array, and a boron polyethylene (Boron PE) side shield 121 is added behind the tungsten shielding plate that is responsible for shielding the background radiation at the rear. PE) shielding body (133) was added.

Figure 6 is a diagram showing a radiation (gamma ray and double particle) image fusion device in which boron polyethylene (Boron PE) is added to the encoding aperture, the top, bottom, left, right, and rear sides of the optical sensor array, respectively.

The final drawing of the neutron-shielded encoding aperture of the present invention and the radiation (gamma ray and double particle) image fusion device using the same shows the front mosaic pattern portion, the top, bottom, and left and right sides of the optical sensor array behind the encoding aperture, and the boron polyethylene (Boron) on the back of the device. PE) is added, and has the feature of adding neutron shielding to the overall imaging device.

The signal processing unit 140 serves to distinguish reaction signals for the reaction location and reaction size of gamma rays and neutrons, based on the electrical signal acquired through the optical sensor array 130. This signal processing unit 140 extracts the size, position, and PSD value of the signal for each pixel obtained through the optical sensor array 130.

The image fusion unit 150 records reaction images of each gamma ray and neutron based on the reaction signal of the signal processing unit 140, and then acquires the reaction image of each gamma ray and neutron through the depth camera 100. It functions to obtain a fusion image by fusing the on-site images of the radiation source.

At this time, the image fusion unit 150 acquires, stores, and analyzes gamma-ray image and neutron image data using a software program, acquires, stores, and analyzes gamma-ray and neutron spectra, and acquires, stores, and analyzes information by time and radiation dose. It also corresponds to a type of computer that stores programmed software that calculates the reaction positions of gamma rays and neutrons and edits them into images.

It allows reconstruction of on-site images in real time, and the algorithm for this reconstruction uses iterative image reconstruction algorithms such as MLEM and Compressed-sensing, and the system functions required for this are simulation experiments such as MCNP and GEANT4. It is produced using code, or a system function obtained by applying mathematical modeling is used.

At this time, to reconstruct the image in real time, the minimum number of iterations and reconstruction time must be used and previous information must be initialized. Reconstruction time means the minimum time to obtain at least 100 pieces of information.

Meanwhile, there are two major methods for reconstruction by fusing gamma-ray images, neutron images, and field images in the image fusion unit 150.

Firstly, an integration mode that sets the total detection time and uses all signals detected during that time, and secondly, only during the time when the total number of detected signals reaches 3000 using the count rate information in the GUI. It is a real-time mode that accumulates and uses the detector map information at that time in the image reconstruction technique mentioned above.

For example, an image of a radiation source can be reconstructed using an image reconstruction technique with only 3000 detection signals. If the count rate from the radiation source is 300 cps (counts per second), events are recorded for 10 seconds and a map of the detector is created. Next, the image is reconstructed, and at this time, there is a display on the GUI that shows the progress rate of 100%, so you can predict when the radiology image will be displayed.

The display 180 serves to output image data, energy spectrum, count rate, and temperature values processed through the image fusion unit 150.

At this time, the present invention obtains real-time location information of the radiation source through GPS and outputs it on the screen through the display 180.

In addition, in the present invention, power can be supplied to the entire coding aperture-based radiation (gamma ray and double particle) image fusion device through the battery 160. In this case, the battery 160 may be a rechargeable secondary battery, and in another embodiment In this case, the battery 160 may be connected to an external power cable to directly receive power.

Additionally, in the present invention, a cooling fan 170 may be provided to radiate and cool heat generated during the data processing of the signal processing unit 140 and the image fusion unit 150 to the outside.

In addition, as a shield made of tungsten is provided between the optical sensor array 130 and the signal processing unit 140, background radiation emitted from the rear of the signal processing unit 130 toward the optical sensor array 130 is shielded. This has the advantage of being able to obtain more accurate data.

As seen, through the above-described configuration of the present invention, the present invention visualizes information such as the location of radiation fused with the actual site image, dose per second, nuclide discrimination through spectral information, and site location through GPS information, so that the operator can It has the advantage of being able to create a radiation distribution map according to location movement by promoting safety and making it easy to carry.

Meanwhile, the three-dimensional terrain sensing module 20 installs LiDAR equipment (which has three-dimensional shape information as digital information) on one side of the sensing module for radiation measurement (10) to convert digital coordinates using trigonometry into a three-dimensional image. It is formed to output (the contamination of the radiation measurement target area or the detected radiation source is output in a 3D stereoscopic image, and when the radiation location is mapped to the LiDAR-shaped digital coordinates, it outputs which structure is the radioactive contaminated area). .

Accordingly, the unmanned payload 30 is equipped with a sensing module 10 for measuring radiation and a three-dimensional terrain sensing module 20, but is placed in a rough area or an area subject to radiation contamination (moving around to obtain the distribution of radiation contamination in the surrounding area). It is configured to operate in an unmanned or autonomous manner.

At this time, the unmanned payload 30 is a four-legged robot, a robot dog, or a robot that moves unmanned (forward and backward, rotates or moves) while the driving body (one of wheels, crawler tracks, and articulated walking legs) is controlled by wireless communication. It is desirable to use one of the unmanned robots.

Accordingly, the unmanned operation radiation measuring device links with map applications (Naver, Daum, Google Map) on the online web (Internet portal sites, etc.) and allows the web server or computer server to dataify the degree of contamination in the area where radiation was measured. It is desirable to do so.

In addition, the three-dimensional terrain sensing module 20 is preferably mounted on one side of the unmanned payload 30 using the one-touch mounting hole 50.

That is, the three-dimensional terrain sensing module 20 is cased by a case 40, and the case 40 is formed with a one-touch mounting hole 50 at the bottom so that it can be mounted and detached from the upper surface of the unmanned payload 30.

Accordingly, the one-touch mounting device 50 is largely composed of a holder 51 and a support bracket 52, as shown in FIGS. 7 to 9.

At this time, the holder 51 is integrally provided with the case 40 and has a type of panel shape, and an insertion ring 55 for fitting is provided on the bottom of the holder.

Accordingly, the outer peripheral surface of the insertion ring 55 is formed to be provided with a plurality of stoppers 56 and a locking protrusion 57 at set intervals and steps, and the stopper 56 is formed on an uphill inclined surface 56 along one rotation direction. -1) is formed and inserted into the insertion hole 53 of the support bracket (52: formed of a plate-shaped plate integrally provided on the upper surface of the unmanned payload), the hemispherical surface of the hemispherical protrusion 54 formed on the inner peripheral surface of the insertion hole and It is formed to be tightly fixed.

At this time, an arc-shaped or hemispherical mounting groove 56-2 is formed on the high-top height side of the section of the inclined surface 56-1, so that the hemispherical surface of the hemispherical protrusion 54 corresponds to it, preventing over-rotation in the circumferential direction and one-touch insertion. It is formed to be joined in a way (stored at the highest height and then pressed together).

At this time, the locking protrusion 57 is disposed in a direction perpendicular to the stopper (approximately 90°) or protrudes at an angle spaced apart from the stopper by a set angle, and is formed to have a diagonal cross-section with an opening in one direction.

The long side of this locking protrusion (the long side that connects the short legs in the form of a digger) enters the bottom (or side end) of the hemispheric protrusion with the rotation of the insertion ring, and is formed to prevent the insertion ring inserted into the insertion hole from falling outward.

In other words, the one-touch mounting device 50 of the present invention is composed of a holder 51 and a support bracket 52, and the insertion ring of the holder corresponds to the insertion hole of the support bracket and is assembled by fitting, and the insertion ring is attached to the outer peripheral surface. A stopper and a locking protrusion are formed to correspond to the hemispherical protrusion of the insertion hole, and when rotating, the hemispherical surface of the hemispherical protrusion is pressed and fastened in the form of male and female protrusions through the inclined surface of the stopper and the mounting groove. It is formed to be caught on one end (inner end) of the hemispherical protrusion so that it does not separate from each other in the assembled state. (Conversely, it is formed to be released when rotated in reverse).

This is to ensure quick assembly and fastening, easy workability, and high fastening reliability.

The present invention is not limited to the specific preferred embodiments described above, and various modifications can be made by anyone skilled in the art without departing from the gist of the invention as claimed in the claims. Of course, such changes are within the scope of the claims.

10 ... sensing module for radiation measurement 20 ... three-dimensional terrain sensing module
30 ... unmanned payload 40 ... case
50 ... one-touch mounting hole
100 ... Depth camera 110 ... Encoding aperture
125 ... scintillator array 130 ... optical sensor array
140 ... signal processing unit 150 ... image fusion unit
160 ... Battery 170 ... Cooling fan
180 ... display

Claims (5)

The coding aperture-based radiation image fusion device is arranged in two units side by side at a certain interval, and the depth camera built into each image fusion device separated into two units is designed to obtain perspective and three-dimensional images. A sensing module 10 for measuring radiation; A three-dimensional terrain sensing module (20) that installs LiDAR equipment on one side of the radiation measurement sensing module (10) to output digital coordinates using trigonometry as a 3D stereoscopic image; An unmanned payload (30) is equipped with a radiation measurement sensing module (10) and a three-dimensional terrain sensing module (20), and is deployed in rough terrain or radiation-contaminated areas to operate in an unmanned or autonomous manner; In the system consisting of a stereo camera and a four-legged walking robot for unmanned detection of 3D radiation-contaminated areas,
The sensing module 10 for radiation measurement is an encoding aperture-based radiation image fusion device, which includes a depth camera (100), an encoding aperture (110), a scintillator array (125), an optical sensor array (130), and a signal processor (140). ), an image fusion unit 150, a display 180, and additionally a battery 160, a cooling fan 170, and a GPS (not shown) that provides real-time location information of the radiation source. A boron polyethylene (Boron PE) mask 111 of the same pattern is added to the front end of the tungsten mask pattern to ensure neutron shielding,
The three-dimensional terrain sensing module 20 is mounted on one side of the unmanned payload 30 using the one-touch mounting hole 50. The three-dimensional terrain sensing module 20 is cased by the case 40, and the case 40 ) is formed with a one-touch mounting port 50 at the bottom so that it can be mounted and detached from the upper surface of the unmanned payload 30. The one-touch mounting port 50 is composed of a holder 51 and a support bracket 52, and the holder (51) is provided integrally with the case 40 and is in the form of a kind of panel, and is formed so that an insertion ring 55 for fitting is provided on the bottom of the holder, and the outer peripheral surface of the insertion ring 55 is left at a set interval and step. It is formed to be provided with a plurality of stoppers 56 and a locking protrusion 57, and the stopper 56 is formed with an inclined surface 56-1 in an uphill shape along one rotation direction to insert the insertion hole 53 of the support bracket 52. ), when inserted into the insertion hole, it is formed to be tightly fixed to the hemispherical surface of the hemispherical protrusion 54 formed on the inner peripheral surface of the insertion hole, and an arc-shaped or hemispherical mounting groove 56-2 is formed on the high-top height side of the section of the inclined surface 56-1. This is formed so that the hemispherical surface of the hemispherical protrusion 54 corresponds to prevent over-rotation in the circumferential direction and is coupled in a one-touch insertion method, and the locking protrusion 57 is oriented perpendicular to the stopper or spaced apart from the stopper according to a set angle. It is placed at an angle and protrudes, and is formed to have a cross-section in the form of a diagonal opening in one direction. As the long side of the locking jaw moves into the bottom or side end of the hemispherical protrusion with the rotation of the insertion ring, the insertion ring inserted into the insertion hole moves to the outer side. A stereo camera and four-legged robot combination system for unmanned detection of 3D radiation-contaminated areas, characterized in that it is fastened so as not to fall out. delete The method of claim 1, wherein the unmanned payload (30) is
A stereo camera and four-legged robot combination system for unmanned detection of 3D radiation-contaminated areas, characterized in that it is one of a quadruped robot, a robot dog, and an unmanned robot that operates unmanned while the driving body is controlled by wireless communication. The three-dimensional radiation contaminated area according to claim 1, wherein the unmanned operation radiation measurement device is linked with a map application on the online web and allows a web server or computer server to convert the contamination level of the area where radiation was measured into data. A stereo camera and four-legged robot combined system for unmanned detection. delete