KR20110138947A - Radiation detection equipment which can control the distance between two image acquisition modules and the method which can control the maximum error rate in distance detection to the radiation source - Google Patents

Abstract

PURPOSE: A radiation source with a variable gap between image taking modules and a method of maintaining the distance error of the radiation source using the same are provided to map 3D radiation information in real time and measure a radiation source with a constant error range by a defined distance. CONSTITUTION: A radiation source with a variable gap between image taking modules comprises image taking modules(1,1') and a gap adjusting unit(2). The image taking modules are loaded on a mobile robot. The number of the image taking modules is two. The gap adjusting unit varies the gap between the image taking modules. A radiation source detecting unit varies and measures the radiation source so that when calculating the distance to the radiation source, the gap between the image taking modules maintain a distance error range set by a defined distance. The gap adjusting unit comprises a plate, a gear groove, a module supporting plate(23), a module moving motor(24), and a gear.

Description

Radiation detection equipment which can control the distance between two image acquisition modules and the method which can control the maximum error rate in distance detection to the radiation source}

The present invention relates to a radiation source detection apparatus having a variable interval between image acquisition modules and a method for maintaining a radiation source detection distance measurement error using the same. In detail, a radiation source distributed in a three-dimensional space can be mounted in a mobile robot for detection in real time. The present invention relates to an apparatus and method for maintaining a radiation source detection distance measurement error by allowing a high-sensitivity high-speed radiation source detection apparatus to vary the distance between two image acquisition modules according to the calculated distance in calculating the distance to the radiation source.

In the conventional radiation source detection apparatus, the distance between the image acquisition module modules for acquiring the radiation constituting the device is fixed, so that the angular resolution for rotating the image acquisition module becomes a major variable that defines the error when measuring the distance to the radiation source. When the distance to the radiation source is calculated, the distance error calculated on the basis of a certain distance has been reduced or increased.

An object of the present invention for solving the above problems is to define the maximum distance that can be measured when the high-speed radiation source detection device calculates the distance to the radiation source and to have a constant measurement error within the range below the prescribed distance An object of the present invention is to provide an apparatus and a method for maintaining a constant error for each distance by varying a distance between an image acquisition module that acquires radiated light that may affect measurement errors.

The present invention, which achieves the object as described above and removes the drawbacks of the related art, is carried out in a high-sensitivity high-speed radiation source detection apparatus capable of detecting in real time by mounting a radiation source distributed in a three-dimensional space on a mobile robot or the like. In

Two image acquisition modules mounted on the mobile robot; The interval adjusting unit for varying the interval between the image acquisition module; is configured to maintain the distance calculation error range set for each calculation distance defined by the distance between the two image acquisition module according to the calculation distance when calculating the distance to the radiation source It is achieved by providing a radiation source detection device that is configured to vary the interval between the image acquisition module, characterized in that configured to measure the radiation source.

The interval adjusting unit and the plate plate fixed to the upper portion of the rotating body of the mobile robot for supporting the lower two image acquisition module variable length of each other; A gear groove formed on the plate plate; An image acquisition module support plate installed on the plate plate to support each image acquisition module; An image acquisition module moving motor installed on the image acquisition module support plate to move the mounted image acquisition module; The image acquisition module is installed on the rotating shaft of the motor for moving the gear gear coupled to the gear groove formed on the plate plate; characterized in that consisting of.

Each image acquisition module performs a role of receiving radiation, and a collimator for maintaining linearity of radiation detection sensitivity during spatial scanning; A shield surrounding the collimator to block the influence of radiation incident on the CCD sensor outside the collimator inlet; A scintillator installed at the rear end of the collimator to convert ionizing radiation into visible light to enable indirect radiation measurement; A CCD sensor installed at the rear end of the scintillator to acquire radiated light and a real image; A sensor circuit unit for information processing for PC transmission and storage of the image information acquired from the CCD sensor; It is characterized by consisting of a shield for protecting the sensor circuit to protect the sensor circuit portion.

The left image acquisition module of the image acquisition module is horizontally fixed to the image acquisition module supporting plate constituting the gap adjusting unit, the other side of the right image acquisition module is configured to rotate left and right.

The prescribed calculation distance is characterized in that up to 5m.

The distance calculation error range is characterized in that up to 5%.

In another embodiment of the present invention, the above-described radiation source detecting apparatus includes the above-described radiation source detecting apparatus, and when the radiation source detecting apparatus calculates the distance to the radiation source, the distance between the image capturing modules is reduced at a close distance, and the image capturing modules are located at a long distance. Providing a method for maintaining a distance detection error of a radiation source detection distance using a radiation source detection device having a variable interval between image acquisition modules, characterized by a method of maintaining a constant error within a prescribed distance range by reducing an error of distance calculation by increasing an interval of a distance. Is achieved.

In the method of maintaining a constant error within the prescribed distance range, the mobile body equipped with the image acquisition module and the spacing control unit is expected to leak radiation while the left image acquisition module is positioned at the center of the plate plate to match the direction of the radiation source. Searching and moving a moving object path to a point;

Detecting spatial radiation by the moving object arriving at an expected point;

If no radiation is detected in the space radiation detection step, the process returns to the movement and rescanning process. If the radiation source is detected, the space is scanned to match the direction of the maximum radiation with the acquisition direction of the image acquisition module located in the center of the plate. ;

Calculating a moving angle with respect to a reference state by moving the acquisition direction of the right image acquisition module to the center of the radiation source;

Calculating a reference distance based on the calculated moving angle;

Adjusting the distance between the image acquisition modules based on the calculated reference distance;

Re-exploring the rotation angle to the center of the radiation source after moving the right image acquisition module to a reference state (horizontal with the plate) after adjusting the distance between the image acquisition modules to maintain a constant error;

Recalculating the distance information through the rotation angle of the re-discovered right image acquisition module and scanning the space by moving the left image acquisition module equally to the distance from the center of the plate plate by the distance from the right image acquisition module;

Providing radiation information in three-dimensional space;

After the providing of the three-dimensional radiation information to the observer is characterized by consisting of the moving object re-detection and moving step to move to the radiation leakage expected point again.

If the radiation is not detected in the step of detecting the spatial radiation is characterized in that it is configured to go directly to the moving object re-detection and movement step.

Adjusting the distance between the image acquisition module based on the calculated reference distance is characterized in that the step of adjusting the distance to move the actual image acquisition module for each reference distance according to the following table.

(table)

The prescribed calculation distance is characterized in that up to 5m.

The distance calculation error range is characterized in that up to 5%.

The present invention is mounted on a mobile robot for calculating three-dimensional stereoscopic visualization and a real distance to a radiation source using two image acquisition modules, and maps three-dimensional radiation information in real time and has a constant error for each prescribed calculation distance (up to 5m). It is a useful invention having the advantage of measuring the radiation source while having a range (5%), and is an invention that is highly expected to be used industrially.

1 is an exemplary view showing a schematic configuration in a mode for matching the direction with a radiation source according to an embodiment of the present invention,
2 is an exemplary view showing a schematic configuration in a general mode state of the distance between the image acquisition module according to an embodiment of the present invention,
3 is an exemplary view showing a schematic configuration in the maximum mode state of the distance between the image acquisition module according to an embodiment of the present invention,
4 is an exemplary view showing a principle of measuring a distance to a radiation source,
FIG. 5 is a flowchart illustrating a flow of operation having a predetermined error range when calculating distances to radiation within a certain distance range using two image acquisition modules according to an embodiment of the present invention.

Hereinafter, the configuration and the operation of the embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

1 is an exemplary view showing a schematic configuration in a mode for matching a direction with a radiation source according to an embodiment of the present invention, Figure 2 is a general mode state of the distance between the image acquisition module according to an embodiment of the present invention Figure 3 is an exemplary view showing a schematic configuration, Figure 3 is an exemplary view showing a schematic configuration in the maximum mode state of the distance between the image acquisition module according to an embodiment of the present invention,

As shown, the present invention is largely divided into two image acquisition modules 1 and 1 'and an interval adjusting unit 2 for varying an interval between the image acquisition modules and a left side of the image acquisition modules 1 and 1'. The image acquisition module 1 is horizontally fixed to the image acquisition module supporting plate constituting the gap adjusting unit, and the other image acquisition module 1 'is rotated left and right (the illustration of the rotating motor for left and right rotation is omitted). Configured to do so.

The reason for obtaining the emission light by using the two image acquisition modules 1 and 1 'is to map the radiation information onto the three-dimensional space by using the acquired emission light scan information to implement the three-dimensional stereoscopic image.

Looking at the configuration of the image acquisition module (1,1 ') and serves to receive the radiation, and a collimator (Collimator, 11) for maintaining the linearity of the radiation detection sensitivity during spatial scanning; A shield 12 surrounding the collimator to block the influence of radiation incident on the CCD sensor outside the collimator inlet; A scintillator (Scintillator 13) installed at the rear end of the collimator to convert ionizing radiation into visible light to enable indirect radiation measurement; A CCD sensor 14 installed at the rear end of the scintillator to acquire radiated light and a real image; A sensor circuit unit 15 for processing information for PC transmission and storage of the image information acquired from the CCD sensor; It consists of a sensor circuit protection shield 16 wrapped to protect the sensor circuit section 15.

Looking at the path through which radiation is incident from the radiation source to the image acquisition module having the above configuration, the image is obtained by passing through the collimator and entering the CCD sensor to process the signal in the sensor circuit to obtain the emission light.

In addition, looking at the configuration of the gap adjusting unit 2 and the plate plate 21 fixed to the rotating body (not shown) of the mobile robot for supporting the lower portion of the two image acquisition modules (1, 1 ') of variable length; A gear groove 22 formed on the plate plate; An image acquisition module support plate 23 installed above the plate plate (rotator 21) to support each image acquisition module 1, 1 '; An image acquisition module moving motor 24 installed on the image acquisition module support plate 23 for moving the mounted image acquisition module; The image acquisition module is installed on the rotating shaft of the motor for moving consists of a gear 25 and a gear coupling gear.

Because of the above configuration, the distance between each image acquisition module is variable. Accordingly, when calculating the distance to a radiation source distributed in a three-dimensional space, the distance between the image acquisition modules is adjusted to adjust the distance within a predetermined distance. It is to establish a radiation source detection system to keep the constant.

Look at each configuration in more detail below.

The collimator 11 is a form of a collimator that maintains the linearity of the radiation scan sensitivity during spatial scanning. If the structure can be designed and manufactured through MCNP simulation, the collimator forms a cone shape. To make.

The shield 12 reduced the shield volume by using a tungsten (W) material instead of lead (Pb) in applying the shield to block the effect of radiation incident to the CCD sensor outside the collimator inlet.

The scintillator 13 converts ionizing radiation into visible light, and a scintillator is a CsI most suitable for implementing a CCD type radiation sensor in terms of light output, decay time, light reach length, and water absorption. (Tl) was used to construct a cylindrical shape suitable for circular inlet and CCD sensors.

The CCD sensor 14 is a sensor for acquiring radiated light and a real image, and may be composed of a CCD and a CMOS sensor. However, in the present invention, a CCD sensor that is effective for acquiring radiated light is applied.

The sensor circuit unit 15 is a circuit portion for information processing for PC transmission and storage of the image information acquired from the CCD sensor.

The shield circuit 16 for protecting the sensor circuit may be damaged due to strong radiation and the semiconductor device and the electronic component may malfunction, and thus may malfunction. Therefore, the sensor circuit protection shield 16 may protect the electronic component used in the sensor circuit for processing image information. I play my role as a radiation.

The plate plate 21 is installed on the upper part of the rotating body to rotate in the lower two image acquisition module support plate is installed, and each image acquisition module is installed here, respectively. In addition, the plate plate 21 is provided with a plate plate guide (not shown) for moving the image acquisition module support plate to guide the movement of the image acquisition module support plate.

The gear groove 22 is a gear groove formed in the plate plate 21 and is engaged with a gear inserted into a rotation shaft of an image acquisition module moving motor installed at a point of an image acquisition module supporting plate on which an image acquisition module is installed. The module support plate is transferred.

The image acquisition module support plate 23 is a plate plate for supporting the two fixed and left and right rotation image acquisition modules, respectively, the left image acquisition module is fixed, and the right image acquisition module is configured to rotate left and right. Was placed on the plate plate.

The image acquisition module moving motor 24 is a motor for moving the image acquisition module, and rotates appropriately according to the distance of the radiation source to move and position the radiation light acquisition module.

The gear 25 is a gear connected to the axis of rotation of the image acquisition module motor to move the image acquisition module on the plate plate fixed to the rotating body.

According to the present invention having the above configuration, when calculating the distance to the detected radiation source using the two image acquisition modules, the center of the radiation source is first positioned in the mode for aligning the direction with the radiation source based on the fixed image acquisition module. When the plate is rotated so as to be viewed, and the image acquisition module which is rotatable from side to side is positioned at the center of the radiation source, it is possible to calculate the distance by using the information rotated in the initial horizontal state. In order to perform the operation, the two image acquisition modules move in the mode for the direction matching with the radiation source shown in FIGS. 1 to 3, the normal mode of the distance between the image acquisition modules, and the maximum mode of the distance between the image acquisition modules. Will be maintained.

Figure 4 is an exemplary view showing a principle of measuring the distance to the radiation source, the distance between the two image acquisition modules according to the present invention is described the basic principle of calculating the distance to the radiation source.

In detail, when the fixed image acquisition module 1 located at the center of the plate is looking at the center of the radiation source, the rotating image acquisition module 1 'knows each rotated angle a, Given the distance dc, you can calculate the distance to the radiation source.

이 된다. That is, the distance to the calculated radiation source

Becomes

In addition, the distance calculation error of interest in the present invention, when assuming that the rotating body is rotatable with a resolution of 0.1 degrees, looking at the error based on the distance between the camera and the distance to be calculated as shown in Table 1 below.

In Table 1, if the radiation source is located at a certain distance (1m) and the distance is calculated by applying the formula to calculate the distance to the radiation source, the error according to the calculation distance depends on the distance dc between the image acquisition modules. As the distance between the image acquisition modules increases, the error of distance calculation is relatively decreased.

Table 2 below shows the distance between the image acquisition modules to maintain the distance calculation error of 5% according to the reference distance (approximate distance to the radiation source). For example, if the approximate distance to the radiation source is 3m, The distance between the acquisition modules is 22cm and the distance calculation error can be maintained when the distance calculation is performed.

However, when calculating the distance to the radiation source at the maximum distance of 5m specified in the mode for matching the direction with the original radiation source (dc = 10cm), there is an error of about 20%. In consideration of the margin of error of 20% in the distance between modules, the distance to which the actual image acquisition module should be moved can be calculated. For example, the distance between the actual cameras to be moved at the reference distance of 3 m becomes 27 cm.

Based on the above results, when constructing a system that can vary the interval between image acquisition modules to calculate distance, the calculated distance has a 5% error range within the range of 5m.

5 is a flowchart illustrating a flow in which a predetermined error range is operated when calculating distances to radiation within a certain distance range using two image acquisition modules according to an embodiment of the present invention. The process of providing radiation information in three-dimensional space is described.

As shown in the present invention, a method for providing distance calculation and 3D spatial radiation information is as follows.

First, after having the apparatus shown in FIGS. 1 to 3, the moving object equipped with the image acquisition module and the interval adjusting unit is positioned to the anticipated position of radiation leakage while the left image acquisition module is positioned at the center of the plate plate to match the direction of the radiation source. Searching and moving a moving vehicle path;

Detecting spatial radiation by the moving object arriving at an expected point;

If no radiation is detected in the space radiation detection step, the process returns to the movement and rescanning process. If the radiation source is detected, the space is scanned to match the direction of the maximum radiation with the acquisition direction of the image acquisition module located in the center of the plate. ;

Calculating a moving angle with respect to a reference state by moving the acquisition direction of the right image acquisition module to the center of the radiation source;

Calculating a reference distance based on the calculated moving angle;

Adjusting the distance between the image acquisition modules based on the contents mentioned in Table 2 based on the calculated reference distance;

Re-exploring the rotation angle to the center of the radiation source after moving the right image acquisition module to a reference state (horizontal with the plate) after adjusting the distance between the image acquisition modules to maintain a constant error;

Recalculating the distance information through the rotation angle of the re-discovered right image acquisition module and scanning the space by moving the left image acquisition module equally to the distance from the center of the plate plate by the distance from the right image acquisition module;

Providing radiation information in three-dimensional space;

Reconstruction and movement of the moving object moving the radiation information in the three-dimensional space to the expected point of radiation leakage after providing the observer.

In addition, if the radiation is not detected in the step of detecting the spatial radiation is configured to go directly to the moving object re-detection and movement step.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

(1): collimator (2): shield
(3): scintillate (4): CCD sensor
(5): sensor circuit part (6): shield for protecting the sensor circuit
(7): plate plate (rotary body) (8): plate plate for camera support
9: gear 10: gear groove
(11): motor for moving the light acquisition module

Claims (12)

In a high-sensitivity, high-speed radiation source detection device that can be mounted in a three-dimensional space in a real time by mounting a radiation source in a mobile robot,
Two image acquisition modules mounted on the mobile robot; The interval adjusting unit for varying the interval between the image acquisition module; is configured to maintain the distance calculation error range set for each calculation distance defined by the distance between the two image acquisition module according to the calculation distance when calculating the distance to the radiation source The radiation source detection device of which the interval between the image acquisition module, characterized in that configured to measure the radiation source. The method according to claim 1,
The interval adjusting unit and the plate plate fixed to the upper portion of the rotating body of the mobile robot for supporting the lower two image acquisition module variable length of each other; A gear groove formed on the plate plate; An image acquisition module support plate installed on the plate plate to support each image acquisition module; An image acquisition module moving motor installed on the image acquisition module support plate to move the mounted image acquisition module; The image acquisition module is installed on the rotating shaft of the motor for moving the gear groove and the gear coupled to the gear groove formed on the plate plate; Radiation source detection device is variable interval between the image acquisition module, characterized in that consisting of. The method according to claim 1,
Each image acquisition module performs a role of receiving radiation, and a collimator for maintaining linearity of radiation detection sensitivity during spatial scanning; A shield surrounding the collimator to block the influence of radiation incident on the CCD sensor outside the collimator inlet; A scintillator installed at the rear end of the collimator to convert ionizing radiation into visible light to enable indirect radiation measurement; A CCD sensor installed at the rear end of the scintillator to acquire radiated light and a real image; A sensor circuit unit for information processing for PC transmission and storage of the image information acquired from the CCD sensor; Radiation source detection device having a variable interval between the image acquisition module, characterized in that consisting of a shield for shielding the sensor circuit to protect the sensor circuit portion. The method according to claim 1,
The left image acquisition module of the image acquisition module is horizontally fixed to the image acquisition module supporting plate constituting the gap adjusting unit, and the other image acquisition module of the right side is configured to rotate left and right. Radiation source detection device that the interval between the variable. The method according to claim 1,
The prescribed output distance is a radiation source detection device is variable interval between the image acquisition module, characterized in that the maximum 5m. The method according to claim 1,
The distance calculation error range is a radiation source detection device is variable interval between the image acquisition module, characterized in that the maximum 5%. The apparatus for detecting a radiation source according to any one of claims 1 to 4, wherein when the radiation source detector calculates the distance to the radiation source, the distance between the image acquisition modules is reduced at a close distance, and the image acquisition module is located at a long distance. A method for maintaining a distance detection error of a radiation source detection distance using a radiation source detection device having a variable distance between image acquisition modules, characterized by a method of maintaining an error within a prescribed distance range by reducing an error of distance calculation by increasing an interval of a distance. The method according to claim 7,
The method for keeping the error constant within the prescribed distance range
A moving object path searching and moving step of moving the moving object equipped with the image acquisition module and the gap adjusting unit to the anticipated location of the radiation leakage while the left image acquisition module is positioned at the center of the plate to match the direction of the radiation source;
Detecting spatial radiation by the moving object arriving at an expected point;
If no radiation is detected in the space radiation detection step, the process returns to the movement and rescanning process. If the radiation source is detected, the space is scanned to match the direction of the maximum radiation with the acquisition direction of the image acquisition module located in the center of the plate. ;
Calculating a moving angle with respect to a reference state by moving the acquisition direction of the right image acquisition module to the radiation source center;
Calculating a reference distance based on the calculated moving angle;
Adjusting the distance between the image acquisition modules based on the calculated reference distance;
Re-exploring the rotation angle to the center of the radiation source after moving the right image acquisition module to a reference state (horizontal with the plate) after adjusting the distance between the image acquisition modules to maintain a constant error;
Recalculating the distance information through the rotation angle of the re-discovered right image acquisition module and scanning the space by moving the left image acquisition module equally to the distance from the center of the plate plate by the distance from the right image acquisition module;
Providing radiation information in three-dimensional space;
Maintaining the distance detection error of the radiation source detection using a radiation source detection device with a variable interval between the image acquisition modules, characterized in that the moving object moving back to the expected location of the radiation leakage after providing the observer with three-dimensional space radiation information Way. The method according to claim 8,
If the radiation is not detected in the step of detecting the spatial radiation, moving source moving distance detection error measurement method using a radiation source detection device variable interval between the image acquisition module, characterized in that configured to go to the moving object re-detection and moving step.
The method according to claim 8,
The step of adjusting the distance between the image acquisition module based on the calculated reference distance is the step of adjusting the distance to move the actual image acquisition module for each reference distance according to the following table is variable interval between the image acquisition module A method for maintaining a distance detection error of a radiation source detection using a radiation source detection device.
(table)

The method according to claim 7,
The prescribed calculation distance is a method of maintaining a source detection distance measurement error using a radiation source detection device that the interval between the image acquisition module is variable, characterized in that the maximum 5m. The method according to claim 7,
The distance calculation error range is a maximum of 5%, the source detection distance measurement error maintenance method using a radiation source detection device that the interval between the image acquisition module is variable, characterized in that the maximum.

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