A real-time 3D nuclear radiation environment reconstruction monitoring system

Abstract

The invention discloses a real-time 3D nuclear radiation environment reconstruction monitoring system, which is used to establish the 3D nuclear radiation dose distribution of the monitored nuclear radiation environment in real time, and includes: establishing the monitored nuclear radiation environment in a reference coordinate system with A realistic 3D environment model; the nuclear radiation dose data of different spatial positions of the monitored nuclear radiation environment are collected in the reference coordinate system by the nuclear radiation sensor loaded on the mobile robot, and the nuclear radiation dose data are placed in the reference coordinate system Establish a nuclear radiation dose model of the monitored nuclear radiation environment; perform point-to-point data fusion of the nuclear radiation dose model of the monitored nuclear radiation environment and the 3D environmental model in the reference coordinate system, and establish a 3D image of the monitored nuclear radiation environment Nuclear radiation dose distribution. The monitoring system of the invention realizes real-time reconstruction of the 3D spatial distribution of the radiation dose, and has visualization, so that the staff can have a clear view of the nuclear radiation conditions in various places in the monitored nuclear radiation environment.

Description

technical field [0001] The invention is a real-time 3D nuclear radiation environment reconstruction monitoring system realized by combining robotics, nuclear radiation technology, nuclear radiation detection technology and three-dimensional environment reconstruction technology, belonging to the fields of computer vision and nuclear radiation monitoring. Background technique [0002] The 3D lidar environment reconstruction technology based on the mobile robot platform is a comprehensive technology covering robot motion control, multi-sensor information fusion, computer vision, pattern recognition and other directions. [0003] 3D lidar can quickly and large-scale acquisition of 3D point cloud data of the scanned object, so as to perform 3D geometric reconstruction. Specifically, a large number of three-dimensional point clouds representing the surface of an object can be obtained through optical equipment including three-dimensional lidar, that is, the three-dimensional figu...

AI Technical Summary

Problems solved by technology

[0009] However, although the nuclear radiation monitoring system has begun to be applied in the nuclear radiation environment, there is no specific practice to reconstruct the 3D spatial distribution of the radiation dose in real time, guide the mobile robot to complete the safe autonomous navigation and efficiently complete the nuclear mission. Applications and suitable solutions

At the same time, it is common for mobile robots to model 3D environments in structured indoor environments and unstructured outdoor environments, but it is rare to model 3D environments in nuclear environments.

However, in the nuclear radiation environment, the combination of 3D environment modeling technology based on mobile robots and nuclear radiation detection technology is basically ineffective.

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