CN119001811B

CN119001811B - A passive nuclear profile imaging device, measurement method and robot

Info

Publication number: CN119001811B
Application number: CN202411480282.XA
Authority: CN
Inventors: 胡桂标
Original assignee: Shanghai Yunyu Intelligent Technology Co ltd
Current assignee: Shanghai Yunyu Intelligent Technology Co ltd
Priority date: 2024-10-23
Filing date: 2024-10-23
Publication date: 2025-04-18
Anticipated expiration: 2044-10-23
Also published as: CN119001811A

Abstract

The invention discloses a passive nuclear profile imaging device, a measuring method and a robot, which belong to the field of industry and comprise a main operation processor, a rotary scanning module and a moving module, wherein the main operation processor is in data communication with the rotary scanning module and/or the moving module in a wired or wireless mode, the rotary scanning module is used for measuring nuclear radiation data facing a plurality of angle directions of a measured container in a rotary scanning mode at a fixed measuring point outside the measured container, the moving module is used for driving the rotary scanning module to move among the fixed measuring points outside the measured container, and the main operation processor generates a profile image of a material in the measured container according to the data of the fixed measuring point and a preset algorithm during measurement. The invention realizes a low-cost container material profile measuring method and a profile imaging device.

Description

Passive nuclear section imaging device, measuring method and robot

Technical Field

The invention relates to the field of industry, in particular to a passive nuclear section imaging device, a measuring method and a robot.

Background

In the industrial field, acquiring images of materials in a container is an important field requirement, the shapes and the images of the materials in the container are known, and the method has very strong guiding significance for better production, potential safety hazard elimination, control parameter optimization and process optimization in the industrial field.

For an open container, three-dimensional images, videos and images of the surface of the material in the container can be acquired very well through machine vision, radar scanning, laser scanning or ultrasonic scanning. However, many containers in the industrial field are closed containers, and high temperature and dust in the containers are diffused and even steam boils under the condition that the upper ends of the containers are blanked in a large area. The measurement principle very suitable for the existing open container cannot work or operate effectively or for a long time under the working condition.

The imaging detection is carried out on the materials in the closed container with severe internal working conditions, and at present, only the imaging technical means of X-rays or other nuclear radiation with radioactive sources are adopted. However, because of the large size of industrial field containers, some containers may have diameters of tens of meters, and X-ray imaging analysis tools are not effective. Active imaging detection such as X-rays or gamma rays is mainly used for flaw detection of local structural parts of industrial field pipelines or equipment at present, and most of the active imaging detection cannot image a designated section. Because the radioactive source is strong in working, extremely strong harm is caused to the environment and personnel, and professional operators are required to operate equipment with extremely strong radioactive sources, the using process is extremely complicated, and the imaging means with the radioactive source has obvious defects.

In the industrial field, there is no measuring equipment which is based on the passive nuclear detection technology, does not need a radioactive source, is arranged outside a container through the outer wall of the container, has no harm to operators and environment in working, and can perform profile imaging on the profile of the specified requirement of the material in the container.

Disclosure of Invention

The invention aims to provide a passive nuclear profile imaging device and a measuring method, which are used for measuring nuclear radiation data of a fixed measuring point in a material profile of a container to be imaged in advance by adopting a rotary scanning mode at the fixed measuring point of the outer wall of the measured container, collecting nuclear radiation data of various angles of the fixed measuring point in the container profile, and realizing profile imaging of the material profile of the container outside the container through the outer wall of the container by overlapping a plurality of obtained fixed measuring points and a large number of multi-angle measuring data. The invention is realized by the following technical scheme.

In a first aspect, the present invention features a coreless nuclear cross-section imaging apparatus comprising:

the device comprises a main operation processor, a rotary scanning module and a moving module;

The main operation processor is in data communication with the rotary scanning module and/or the mobile module;

The rotary scanning module is used for measuring nuclear radiation data which are positioned in a plane where a pre-imaged material section is positioned and face a measured container in a plurality of angle directions at a plurality of fixed measuring points;

The moving module is used for driving the rotary scanning module to move between positions of the fixed measuring points on the outer wall of the measured container;

The main operation processor is used for generating a profile image of the material in the measured container according to the position data of the fixed measuring points during measurement, the angle direction data during measurement of each fixed measuring point, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

Optionally, before the step of generating the cross-sectional image of the material in the measured container, the method further includes step S:

And setting geometric data of the section of the measured container where the pre-imaged material section is located in the main operation processor.

Optionally, before step S, the main operation processor automatically generates cross-section geometric data of the measured container where the pre-imaged material cross-section is located according to the obtained external cross-section instruction and a preset geometric mathematical model of the measured container.

Optionally, after step S and before the step of generating a cross-sectional image of the material in the measured container, the main operation processor divides the measured container cross-section expressed in the form of geometric data or images into a plurality of pixels.

Because the dot pattern obtained by using the preset algorithm may be discrete or poor in display effect, the container section expressed in the form of geometric data or images is divided into a plurality of pixels in the main operation processor. The smaller the pixels are divided, the greater the number of pixels filled in the section, and the higher the image accuracy.

Optionally, before the step of moving the rotary scanning module to the position of the fixed measuring point on the outer wall of the measured container by the moving module, the method further comprises the following steps:

The main operation processor generates the number of fixed measuring points, the specific position data of the fixed measuring points, the working sequence of the rotating scanning module at each fixed measuring point and/or the scanning angle direction range measured by each fixed measuring point in the plane of the pre-imaged material profile according to the measured container profile geometric data, nuclear radiation data of a plurality of positions obtained by the rotating scanning module after the outer wall of the measured container moves along the measured container profile contour line, working condition data of the container, sensor data outside the non-rotating scanning module and/or user instructions.

Optionally, the rotary scanning module comprises a rotary scanning driving part, the rotary scanning driving part comprises a rotary driving motor, the moving module comprises a moving driving motor, the fixed measuring point position data is obtained by the main operation processor according to the instruction or the operation data of the moving driving motor, and the angle direction data during measurement is obtained by the main operation processor according to the instruction or the operation data of the rotary driving motor.

Optionally, before the step of generating the cross-sectional image of the material in the measured container, the method further comprises the steps of:

The main operation processor also obtains closed shielding nuclear radiation data, wherein the closed shielding nuclear radiation data is generated by the nuclear radiation correction component or is obtained by the rotary scanning module in a state that the nuclear radiation acquisition window is closed or covered.

Optionally, before or during the step of generating a profile image of the material in the measured container, the method further comprises the steps of:

When the rotary scanning module reaches a new fixed measuring point or each time the radiation measurement of the material in the measured container is carried out at the fixed measuring point, the main operation processor controls the nuclear radiation shielding component to carry out structural deformation or position change, so that the nuclear radiation acquisition window of the rotary scanning module is closed or covered;

The main operation processor acquires the closed shielding nuclear radiation data under the condition that the nuclear radiation acquisition window is closed.

Optionally, in the step of generating a cross-sectional image of the material in the measured container, the nuclear radiation data measured in the angular direction of the fixed measurement point is served as a nuclear radiation correction value, and the nuclear radiation correction value is calculated according to the following formula:

C_v=(C_m-C_f)/(1-u),

wherein C _v is a nuclear radiation correction value, C _m is a nuclear radiation value measured in the angle direction of the fixed measurement point, C _f is a closed shielding nuclear radiation value, and u is a nuclear radiation attenuation proportion number of a shielding material when the nuclear radiation acquisition window is closed or covered.

Optionally, the preset algorithm includes:

constructing a planar geometry relationship between the fixed measurement point and the container profile based on the container profile geometry data and the position data of the fixed measurement point;

creating a line of radiation within the container profile based on the angular direction data as measured by the fixed measurement points;

Calculating the position of each radial intersection point according to the radial line from each fixed measurement point;

Counting the radiation passing through the positions of the radiation intersection points;

adding the radiation values of the corresponding angles of the radiation rays passing through the positions of the radiation joint points and corresponding to the fixed measurement points to obtain the sum of the nuclear radiation values of the joint points;

counting the maximum value and the minimum value of the sum of the nuclear radiation values of each intersection point;

The maximum value and the minimum value of the sum of the nuclear radiation values of each intersection point are corresponding to the color gray scale for display;

and displaying each intersection point in a color gray scale mode, so as to generate a cross-sectional image of the material in the measured container.

Optionally, the preset algorithm is a pixel data superposition imaging algorithm.

Optionally, the image element data superposition imaging algorithm includes:

Dividing the measured container section into a plurality of pixels based on the geometric data of the measured container section, and determining the position of the pixels in the measured container section;

constructing a plane geometry relation of the fixed measuring point, the container section and the pixel based on the container section geometry data, the pixel position data and the position data of the fixed measuring point;

calculating the total number of pixels positioned in the measuring angle direction of the fixed measuring point according to the position data of the fixed measuring point, the angle direction data when measuring nuclear radiation data and the plane geometric relationship;

Filling nuclear radiation data measured in the measuring angle direction at the fixed measuring point into a pixel located in the measuring angle direction;

Sequentially repeating nuclear radiation data measured in each measuring angle direction on each fixed measuring point, and filling the nuclear radiation data into each pixel positioned in the measuring angle direction according to the measuring angle direction;

Solving the sum of all nuclear radiation values filled in each pixel as pixel data of the pixel;

Replacing each piece of pixel data with a color block based on a preset relation between the pixel data and the color block;

The color blocks of the pixels are displayed in the cross-sectional geometry to generate a cross-sectional image of the material in the measured container.

Optionally, the image element data superposition imaging algorithm includes:

Averaging the nuclear radiation data measured in the measuring angle direction at the fixed measuring point according to the total number of pixels positioned in the measuring angle direction to obtain pixel average data, and distributing the pixel average data to the passed pixels;

sequentially filling nuclear radiation data measured in each measuring angle direction on each fixed measuring point onto each pixel positioned in the measuring angle direction according to the measuring angle direction;

carrying out weighted summation on all the distribution data filling the pixels to serve as pixel data;

In a third aspect, the invention provides a passive nuclear section imaging robot for crawling and scanning on the outer wall of a measured container, which comprises a skeleton module, a magnetic attraction driving wheel, a rotary scanning module, a positioning module, a robot operation processor and a main operation processor;

The main operation processor and the robot operation processor are in data communication in a wired or wireless mode, and the robot operation processor is connected with the rotary scanning module and/or the magnetic driving wheel;

The robot operation processor, the magnetic attraction driving wheel, the rotary scanning module and the positioning module are all arranged on the framework module;

the magnetic driving wheel is used for integrally adsorbing the robot on the outer wall of the measured container and moving between the positions of the fixed measuring points of the measured container;

The positioning module is connected with the main operation processor and used for providing the position information of the rotary scanning module and/or the magnetic driving wheel for the main operation processor;

The robot operation processor is used for automatically controlling the magnetic driving wheel to move and/or controlling the rotary scanning module to rotationally scan at a fixed measuring point to measure nuclear radiation according to an external instruction or an instruction of the main operation processor;

The main operation processor is used for generating a section image of the material in the measured container according to the position data of the fixed measuring points, the angle direction data when each fixed measuring point is measured, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

Advantageous effects

(1) By the section imaging device and the section imaging measurement method, section imaging of the material containing radioactive impurities in the container can be realized outside the container under the condition of no special radioactive source, and the container material section imaging device with low cost is realized.

(2) By the section imaging device and the section imaging measurement method, the section of the material in the container, which is required to be imaged, or the designated section can be imaged on the outer wall of the container.

(3) By the section imaging device and the section imaging measurement method, the measurement capability of effective nuclear radiation can be greatly improved, the influence of the environment and materials in the peripheral container can be effectively eliminated, and the accurate measurement in an industrial field can be truly realized.

(4) The application obviously improves the nuclear radiation acquisition capability in the measuring angle direction and the angle resolution capability of nuclear radiation, realizes the automatic planning of calculation of the measuring section of the container, the layout of measuring points on the outer wall of the container, the route planning, the automatic planning of the scanning range of the measuring points and the like, and greatly improves the measuring effect.

(5) The passive nuclear section imaging robot effectively improves the working efficiency of industrial site material section imaging.

Drawings

FIG. 1 is a schematic diagram of a passive nuclear cross-section imaging device of the present invention;

FIG. 2 is a schematic diagram of a rotary scanning module according to the present invention;

FIG. 3 is a schematic view of the position of the rotary scanning module relative to the outer wall of the container according to the present invention;

FIG. 4 is a schematic diagram of a rotary scanning module of the present invention positioned at a fixed measurement point;

FIG. 5 is a schematic view of a nuclear radiation collection window of the present invention;

FIG. 6 is a schematic diagram showing a normal measurement state of the nuclear radiation collection window according to the present invention;

FIG. 7 is a schematic view of a nuclear radiation collection window obscuration measurement state according to the present invention;

FIG. 8 is a schematic diagram showing a normal measurement state of a nuclear radiation collection window according to another embodiment of the present invention;

FIG. 9 is a schematic view showing a nuclear radiation collection window covering measurement status according to another embodiment of the present invention;

FIG. 10 is a schematic cross-sectional view of a passive nuclear cross-sectional imaging device of the present invention;

FIG. 11 is a schematic view of a radiation imaging system of the present invention;

FIG. 12 is a schematic diagram of the imaging of a pixel in accordance with the present invention;

FIG. 13 is a schematic view of a passive nuclear cross-section imaging robot according to the present invention;

FIG. 14 is a schematic view of another view of the passive nuclear profile imaging robot of the present invention;

In the figure, a 1-main operation processor, a 2-rotary scanning module, a 3-mobile module, a 4-scintillation crystal, a 5-photomultiplier, a 6-signal acquisition and operation processing unit, a 7-nuclear radiation shielding unit, an 8-rotary scanning driving unit, a 9-nuclear radiation acquisition window, a 10-fixed measuring point, a 11-fixed measuring point measuring angle range, a 12-measured container section, a 13-pre-imaged material section, a plane of the 14-pre-imaged material section, a 15-container section contour line, a 16-magnetic attraction driving wheel, a 17-skeleton module, an 18-robot operation processor, a 19-positioning module, a 20-nuclear radiation shielding and covering component and a 21-closed driving component are arranged.

Detailed Description

Further description is provided below in connection with the drawings and the specific embodiments. In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature.

Example 1

The present embodiment provides a passive nuclear profile imaging device, as shown in fig. 1, including:

a main operation processor 1, a rotation scanning module 2 and a moving module 3;

the main operation processor 1 is in data communication with the rotary scanning module 2 and/or the mobile module 3;

the rotary scanning module 2 is configured to rotationally measure nuclear radiation in a plane 14 where a pre-imaged material section is located at a position where a fixed measurement point 10 is located, and the fixed measurement point 10 is used as a center to face nuclear radiation in multiple angle directions of the measured container, where the fixed measurement point 10 is distributed in the plane 14 where the pre-imaged material section is located, and on a container section contour line 15 formed by intersecting an outer wall of the measured container with the plane 14 where the pre-imaged material section is located;

The moving module 3 is used for driving the rotary scanning module 2 to move between the positions of the fixed measuring points 10 on the outer wall of the measured container;

The main operation processor 1 generates a profile image of the material in the measured container according to the position data of the fixed measuring points during measurement, the angle direction data during measurement of each fixed measuring point, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

The pre-imaged material profile 13 in this embodiment refers to the material profile image of the container that the user wishes to be able to obtain last. The rotary scanning module 2 in the passive nuclear profile imaging device of the application can rotationally measure nuclear radiation in a plane 14 where a pre-imaged material profile is located, with a fixed measuring point 10 as a center, facing a measured container at a plurality of angles. The fixed measurement point 10 is the center of the angular change during the rotational scan measurement, the rotational scan module 2 measures nuclear radiation in one angular direction in the plane 14 of the pre-imaged material section, then rotates to another angular direction with the fixed measurement point 10 as the center, and then measures nuclear radiation in another angular direction. The path taken by the change in angular movement is measured in or parallel to the plane 14 of the pre-imaged material section.

In the present application the fixed measuring points 10 are distributed on the vessel cross-sectional contour 15 of the plane 14 of the pre-imaged material cross-section and the outer wall of the measured vessel. In practical implementations, of course, the fixed measuring point 10 is on the plane 14 of the pre-imaged material section, either on the container section contour line 15 or in the vicinity of this contour line. The fixed measuring point 10 is reasonably in the range of 0-150dm adjacent to the contour line, of course in practice the closer to the contour line the better.

The fixed measurement point 10 is the center of each measurement angle on the plane 14 of the pre-imaged material section, and can be at a specific position on the rotary scanning module or at the center of a scanning angle formed by the movement of a certain component in the rotary scanning assembly, and not necessarily at a specific structural member position of the rotary scanning assembly.

In practical implementations, the rotational scanning module 2 is generally larger in spatial geometry than the fixed measurement point 10, so the rotational scanning module 2 actually operates at the location of the fixed measurement point, which should include or be adjacent to the actual location of the space in which the fixed measurement point is located.

It should be emphasized that the above-mentioned "rotation scanning measurement at a plurality of angles with respect to the measured container with the fixed measuring point 10 as the center in the plane 14 of the pre-imaged material section" is performed by the rotation scanning module 2, and the actual working forms of the components in the rotation scanning module 2 are various, which can be performed by the circumferential rotation of the components in the rotation scanning module 2, or by the linear movement of the components in the rotation scanning module 2, or by the rotation based on the rotation axis, or by the movement on the arc track. When the parts in the rotary scanning module 2 perform circumferential rotation measurement, the center taking the fixed measuring point 10 as the center is the circle center of the circular motion, and when the parts in the rotary scanning module 2 perform other forms of motion, the center taking the fixed measuring point 10 as the center is still the circle center surrounded by the rotary scanning angle forming the sector scanning motion. The cross-section image generated by the passive nuclear cross-section imaging device not only can see the cross-section outline of the material in the container through the container shell, but also can see the view inside the cross-section of the material, such as the cavity or bypass view inside the material, and the like, so that a user can clearly know the overall external outline or the internal condition of the material in a certain container cross-section of the container. For the actual industrial field, the material state in the container is very complex, and the material state in the container directly influences the smooth operation of the process flow and the setting of the process parameters, so that the cross-section imaging of the material in the container can be realized by measuring the nuclear radiation released by the material in the container, and the method has extremely important practical significance.

In the passive nuclear profile imaging device of the present embodiment, the main operation processor 1 may be a single operation processor, may be a combination of a plurality of operation processors, or may be a computer terminal. In practical applications, the device of the present embodiment is generally used as a high-performance computer device because the amount of data computation involved in use is relatively large. The material section information has a good display effect in the form of an image which can be visually and intuitively observed by a user, so that the main operation processor 1 is also provided with a corresponding display component for displaying the material section image. In addition, a plurality of parameters may be set in the use process of the device, so that the device can be configured with a good human-computer interface, and is convenient for a user to operate.

In practical implementations, the main operation processor 1 communicates data with the rotary scanning module 2 and/or the mobile module 3 by wired or wireless means. The passive nuclear profile imaging device of the present application is moved on the outer wall of the container by the moving module 3, because the material in the container is changed and flowed substantially in the vertical direction perpendicular to the ground, the moving module 3 and the rotary scanning module 2 are generally moved in the vertical direction perpendicular to the ground. In order to reduce the overall weight of the mobile module 3 and the rotary scanning module 2, the power supply, the main operation processor 1, and the like are designed to be structurally separated from the mobile module 3 and the rotary scanning module 2, and the power supply, the main operation processor 1, and the like can be placed on the ground, a vehicle, or other conveniently operable positions. The main operation processor 1, the power supply and the like are usually connected with the mobile module 3 and/or the rotary scanning module 2 in a wired manner, but in order to further reduce the possible quality influence caused by the cable, the main operation processor 1 and the mobile module 3 and/or the rotary scanning module 2 can also be connected in a wireless communication manner under the condition of better working conditions, so as to realize data interaction between the main operation processor 1 and the mobile module 3 and/or the rotary scanning module 2.

In the device of the embodiment, the moving module 3 comprises a robot arm, a moving part arranged on a fixed guide rail of the outer wall of the measured container, or a moving part arranged on a hanging rope structure outside the measured container. In practical implementation, the moving module moves the rotary scanning module to the position of each fixed measuring point.

Because the industrial field container is huge, the outer wall of the container and the peripheral equipment are complex, and the selection of the corresponding mobile module is very important in combination with the actual conditions of the container and the working conditions. In the device of this embodiment, the moving module 3 generally moves and positions the rotary scanning module 2 to a position where a fixed measurement point outside the container where positioning measurement is required, according to a path planned by the main operation processor 1 or a path controlled by an operator.

The mobile module 3 with space position sensing capability and independent operation capability can also automatically move to the position of the main operation processor or the self-planned fixed measuring point, and then feed back the position information of the fixed measuring point to the main operation processing component. That is, in the present application, the mobile module having the self-operation management capability can plan a mobile plan on the container profile line by itself and then feed back the fixed-side metering point position information actually executed by itself to the main operation processor 1.

In practical application, the guide rail-based mobile module is more practical for large containers, and the robot arm is used as a mobile module for smaller containers due to the increasing maturity of the robot arm technology, so that the flexibility and the efficiency are improved. The user can select the device according to the actual situation. Even sometimes, the user himself can drag the movement module, setting the rotary movement module to move to a fixed measuring point outside the container.

Since the actual position of the rotary scanning module 2 on the container is critical for the device according to the application, the passive nuclear profile imaging device according to the application comprises a positioning module 19 in addition to the fact that the actual measured fixed measurement point position data is fed to the main arithmetic processor by means of an operator via an external device or a man-machine interface of the device according to the application. The positioning module 19 is connected to the main operation processor 1, and provides the main operation processor 1 with position information of the rotary scanning module 2 and/or the moving module 3, i.e. position information of the fixed measuring point 10. In practical applications, the positioning module 19 may be disposed on the mobile module 3 or on the rotary scanning module 2. In general, the space positioning is realized by using laser positioning, such as emitting laser to the ground, or using the laser to emit to a laser reflecting plate arranged on a moving module or a rotary scanning module for space positioning, or using wireless positioning means, such as arranging a wireless positioning module on the moving module or the rotary scanning module for wireless communication with a wireless module around the container. As machine vision technology matures, machine vision devices with positioning capabilities may also be used directly to spatially position by capturing a ground reference object, or a container or reference point on a mobile or rotating scanning module. For a mobile module such as a mobile module based on a guide rail or a robot arm, a relatively precise positioning device is usually arranged in the mobile module, so that positioning data can be directly sent to a main operation processor.

The rotary scanning module 2 in the passive nuclear profile imaging device of this embodiment is the most critical component in the whole device, and its performance directly relates to whether the working objective of the whole device can be achieved. In the application, the rotary scanning module is shown in fig. 2 and comprises a scintillation crystal 4, a photomultiplier component 5, a signal acquisition and operation processing component 6, a nuclear radiation shielding component 7 and a rotary scanning driving component 8. The signal acquisition and operation processing unit 6 may be a processor or a combination of multiple processors or a computer terminal. In practical implementation, the efficiency of the signal acquisition and the arithmetic processing of the initial data is very important, and therefore, the signal acquisition and arithmetic processing part 6 is generally integrated with other parts in the rotary scanning module 2. The signal acquisition and processing unit 6 transmits the acquired and processed information, in particular the measured nuclear radiation data, to a main processor in the device according to the application.

The scintillation crystal 4 is selected to be the most optimal columnar scintillation crystal. The axial side surface of the columnar scintillation crystal refers to the side surface along the axial direction of the columnar scintillation crystal, namely the side surface except the upper bottom surface and the lower bottom surface on the columnar geometric shape.

The performance of the columnar scintillation crystal 4 is a core performance embodiment of the rotary scanning module 2, and in order to obtain more effective signals, columnar scintillation crystals with a length of more than 20mm can be selected. Generally, the columnar scintillation crystal 4 is mainly a columnar scintillation crystal, and may also have a rectangular column geometry, or other geometries mainly including columns. The photomultiplier 5 in the rotary scanning module 2 is coupled with the optical window of the columnar scintillation crystal through an optical coupling device, and collects and amplifies optical signals generated by the physical reaction of the columnar scintillation crystal to nuclear radiation. The photomultiplier 5 may use one photomultiplier, two photomultiplier tubes, or several silicon photomultiplier tubes, may also be used. In the present application, if an array type photomultiplier such as a silicon photomultiplier or a microchannel plate is used, the photomultiplier does not need to have a positioning capability for space nuclear radiation, but a single nuclear radiation signal is transmitted to the main operation processor 1.

In this embodiment, after the rotary scanning module 2 is moved by the moving module 3 to the position where the fixed measuring point of the outer wall of the measured container is located, as shown in fig. 3 and 4, the rotary scanning module 2 faces the measured container, and the rotary measurement is performed on nuclear radiation in a plane 14 where the pre-imaged material section is located, with the fixed measuring point 10 as the center, and facing multiple angular directions of the measured container. The more the angle of rotation scanning is at each fixed measuring point, the smaller the angle is at each rotation, and the better the imaging effect of the finally obtained profile is.

In the passive nuclear profile imaging device of the present embodiment, the angular resolution of the rotary scanning module 2 is extremely critical, and the angular resolution is largely dependent on the nuclear radiation shielding component 7 in the rotary scanning module. The nuclear radiation shielding part 7 wraps at least a part of the columnar scintillation crystal to form a nuclear radiation acquisition window 9, and nuclear radiation data acquired by the columnar scintillation crystal 4 from the nuclear radiation acquisition window 9 is not shielded by the nuclear radiation shielding part 7. In practical implementation, the nuclear radiation shielding component 7 can simultaneously wrap the columnar scintillation crystal 4, the photomultiplier component 5 and the signal acquisition and operation processing component 6, and can shield the nuclear radiation outside the nuclear radiation acquisition window 9 to the greatest extent.

Specifically, in order to better realize the angular resolution of the rotary scanning module 2, in practical implementation, the nuclear radiation shielding component 7 is disposed along a side surface of the scintillation crystal, so that in a part of the 360-degree angular directions of the side surface of the columnar scintillation crystal 4, the nuclear radiation data that can be collected is shielded by the nuclear radiation shielding component 7, and a portion where the nuclear radiation shielding component 7 cannot shield the nuclear radiation collected by the columnar scintillation crystal 4 forms a nuclear radiation collection window 9 that is disposed along the side surface direction of the columnar scintillation crystal 4. As shown in fig. 5, the nuclear radiation collection window formed finally is a rectangle of 1 cm by 20 cm, and the rectangular nuclear radiation collection window 9 is parallel to the axial direction of the columnar scintillation crystal. This design is important in the passive nuclear profile imaging device of the present application, and it is a critical issue how to better and more acquire nuclear radiation in the measured container at the scan angle on the profile of the material that is desired to be pre-imaged due to nuclear radiation interference from the industrial field cosmic environment and other materials in the surrounding container. If the area caliber is increased, the nuclear radiation acquisition windows are set to be round windows, and the number of the nuclear radiation acquisition windows is increased, and although the acquired nuclear radiation data is increased, the resolution of the scanning angle is reduced during the rotary scanning. If the area caliber of the nuclear radiation acquisition window is reduced, the acquired effective nuclear radiation is reduced. By the design of the application, the formed long-strip nuclear radiation acquisition window is perpendicular to the plane where the material section imaging is located, and during scanning, the scanning is equivalent to simultaneous scanning of nuclear radiation in all sections with the same length as the scanning window, and simultaneous and same-angle scanning is performed on a plurality of parallel planes. Because the cross-sectional images in the width of the nuclear radiation acquisition window are basically consistent or nearly consistent for a large container, the scanning window width is consistent in thickness, so that the total nuclear radiation data of the cross section can be used as angle measurement data of one plane, and the angle resolution can be remarkably improved.

The rotary scanning effect achieved by the rotary scanning module in this embodiment is achieved by the rotary scanning driving part 8 in the rotary scanning module 2. It should be emphasized that the effect of the rotational scanning measurement by the rotational scanning module 2 does not necessarily mean that the rotational scanning module 2 itself is rotated, and the rotational scanning effect by the rotational scanning module 2 is achieved, and the operations and operation modes of the respective components included in the rotational scanning module 2 or the rotational scanning module 2 are various. But is realized by the driving action of the rotary scanning driving part 8 in the rotary scanning module 2 in the present application regardless of the various forms.

In practical application, the measurement effect of the rotary scanning is mainly realized by the spatial motion characteristics of the nuclear radiation acquisition window 9 and the columnar scintillation crystal 4 after being driven by the rotary scanning driving component 8. The nuclear radiation collecting window 9 can be moved, the columnar scintillation crystal 4 is static, the nuclear radiation collecting window 9 is static, the columnar scintillation crystal 4 can be moved, and the nuclear radiation collecting window 9 and the columnar scintillation crystal 4 can be moved.

The preferred technical scheme of the application is that the rotary scanning driving part 8 is utilized to drive the nuclear radiation shielding part 7 in the rotary scanning module 2 to act so as to drive the nuclear radiation collecting window 9 to move in the area adjacent to the fixed measuring point 10, thereby realizing the rotary scanning measurement of the nuclear radiation of the rotary scanning module 2 in the plane 14 where the pre-imaged material section is located, taking the fixed measuring point 10 as the center and facing the multiple angle directions of the measured container.

In practical implementations, the nuclear radiation collection window 9 is in spatial motion while the columnar scintillation crystal 4 is stationary or rotates about the axial direction of the columnar scintillation crystal. The nuclear radiation collection window 9 may move on a circular orbit centered on the columnar scintillation crystal 4, or may move in a linear motion or other form within a region adjacent to the columnar scintillation crystal 4.

In practical implementation, the device of the application is also connected with accessories such as a power supply cable, a signal cable and the like, and if the rotary scanning driving part 8 drives more parts including the nuclear radiation shielding part 7, such as the columnar scintillation crystal 4, the photomultiplier part 5 and the signal acquisition and operation processing part 6 to rotate together, larger driving power is required, so that a more suitable technical scheme is realized by only driving the nuclear radiation shielding part 7 to move.

Sometimes the rotary scanning module 2 of the passive nuclear profile imaging device of the present application comprises a stationary nuclear radiation acquisition device with a collimator or code plate that can measure nuclear radiation data in a plane 14 of the pre-imaged material profile and facing a plurality of angular directions of the measured container. Since the application itself is different from the projection imaging principle commonly used in the existing gamma imaging technology, the collimator and the coding plate do not need to be used for generating images parallel to the photomultiplier array in the gamma camera, and therefore, the measuring component based on the collimator and the coding plate only needs to collect nuclear radiation in a pre-imaging section and facing a plurality of angle directions of a measured container. It is emphasized, however, that the design of suitable structures and solutions in practical implementations is extremely difficult due to the measurement of nuclear radiation within the pre-imaging profile centered at the fixed measurement point. Meanwhile, because the signal-to-noise ratio of the industrial site is too poor relative to medical treatment and laboratories, in practical implementation, the accuracy of the measurement angle of a fixed measurement point is difficult to be high by the device, and the device is difficult to realize high angle resolution which can be realized by rotary scanning.

Because the passive nuclear profile imaging device is not equipment in a laboratory or a medical scene, the signal to noise ratio can not be improved like large equipment by adopting hundreds of thousands of high-performance scintillation crystals, or nuclear radiation interference released by cosmic environmental radiation or other materials in a container can be eliminated by adopting a nuclear radiation shielding component of a top ton level. Even as the rotating scanning module needs to be moved, crawled, over a large container driven by the moving module, the nuclear radiation shielding components in the rotating scanning module need to be controlled to a very small mass and size range. Obviously, the device of the application cannot obtain the shielding effect of environmental interference brought by a large-scale nuclear radiation shielding component. Thus, even with a nuclear radiation shielding component, in actual operation, a significant amount of cosmic environmental radiation, as well as nuclear radiation released by material in other surrounding containers, will be measured by the columnar scintillation crystal in the rotary scanning module of the present application through the nuclear radiation shielding component. If nuclear radiation interference caused by the universe environment and other materials in other surrounding containers cannot be effectively eliminated, the device cannot achieve the aim of effective imaging.

In order to solve this problem, in the apparatus of the present embodiment, the nuclear radiation shielding member 7 also has a function of allowing the rotary scanning module 2 to perform nuclear radiation measurement in a state where the nuclear radiation collection window 9 is open, and also to perform closed nuclear radiation measurement in a state where the nuclear radiation collection window 9 is closed or completely hidden.

In particular, as shown in fig. 8 and 9, the nuclear radiation shielding component 7 of the rotary scanning module 2 of the present application further includes a separately disposed nuclear radiation shielding and obscuring assembly 20. When the nuclear radiation collection window 9 is not moved below the nuclear radiation shielding and covering assembly 20, the nuclear radiation measurement of the nuclear radiation collection window 9 in an open state is realized, and when the nuclear radiation collection window 9 is moved below the nuclear radiation shielding and covering assembly 20, the closed nuclear radiation measurement of the nuclear radiation collection window 9 in a state completely covered by the nuclear radiation shielding and covering assembly 20 is realized.

Or as shown in fig. 6 and 7, the nuclear radiation shielding component 7 further includes a closure drive assembly 21 and a nuclear radiation shielding veil assembly 20. The closing driving component 21 is connected with the nuclear radiation shielding and covering component 20, the closing driving component 21 can drive the nuclear radiation shielding and covering component 20 to act so as to enable the nuclear radiation collecting window 9 to be closed or opened, after the closing driving component 21 drives the nuclear radiation shielding and covering component 20 to enable the nuclear radiation collecting window 9 to be closed, closed nuclear radiation measurement is achieved, and after the closing driving component 21 drives the nuclear radiation shielding and covering component 20 to enable the nuclear radiation collecting window 9 to be opened, nuclear radiation measurement of the nuclear radiation collecting window 9 is achieved under the open state.

In practical implementation, the movement of the moving module 3 of the present application, the rotational scanning of the rotational scanning module 2 is usually driven by a motor, and thus the rotational scanning module 2 usually includes a rotational driving motor, and the moving module 3 usually includes a moving driving motor.

As a technical option for eliminating interference of nuclear radiation released from materials in the cosmic environment and other surrounding containers, the device of the application further comprises a nuclear radiation correction component. A nuclear radiation correction component includes an enclosed nuclear radiation containment and a nuclear radiation measurement sensor within the nuclear radiation containment. The nuclear radiation correction component is connected with the main operation processor of the device and transmits the collected nuclear radiation measurement data in a closed state to the main operation processor. The technical scheme is equivalent to integrating two sets of nuclear radiation acquisition components in the rotary scanning module, wherein one set is specially used for rotary scanning measurement of materials in the container, and the other set is specially in a closed state to measure nuclear radiation interference released by the universe environment and materials in other peripheral containers in the environment.

In practical implementation, the nuclear radiation collection window 9 is closed or covered, or a separate nuclear radiation correction component is provided, so that in practical measurement, in addition to the nuclear radiation interference released by the materials in the environment and other surrounding containers, the nuclear radiation released by the materials in the measured container can be definitely measured.

In practical implementation, besides the above various modules, a cursor indication module may be further included, where the cursor indication module is used to project a cursor to indicate the measurement direction of the nuclear radiation collection window 9 to the outside of the container, so that an operator can grasp the measurement direction in real time. The cursor indication module is connected with the rotary scanning module 2 through a connecting structure and can be used as a laser indication lamp or an intense ray lamp.

In practical implementation, in order to increase the measurement speed during scanning, the device may be configured with a plurality of moving modules 3 and a plurality of rotating scanning modules 2, and perform scanning measurement operations at different fixed measurement points at the same time, or a plurality of rotating scanning modules 2 are configured on one moving module 3 to respectively and rotatably scan and measure nuclear radiation in different directions at one fixed measurement point.

Example 2

The embodiment describes a passive nuclear section imaging measurement method, which includes:

Step S1, a moving module 3 of the passive nuclear profile imaging device moves a rotary scanning module to a position where a fixed measuring point of the outer wall of a measured container is located, wherein the fixed measuring point is located on a container profile line formed by intersecting a plane where the outer wall of the measured container and a pre-imaged material profile are located, and a plurality of fixed measuring points are located on the measured container profile line.

Referring to fig. 10, a schematic cross-sectional view of the apparatus according to the present application includes a pre-imaged material section 13, a plane 14 of the pre-imaged material section, where the plane 14 of the pre-imaged material section cuts a measured container to form a measured container section 12, and the plane 14 of the pre-imaged material section cuts an outer wall of the measured container to form a container section contour line 15. The pre-imaged material profile 13 is here the pre-imaged material profile that the user expects to obtain an image. In practical implementation, the user may plan a plurality of fixed measurement points 10 on the container profile line 15 in advance, or may select a plurality of measurement points actually measured fixedly on the same plane as the fixed measurement points from a plurality of actual measurement results, form the container profile line based on the determined fixed measurement points, and thereby determine the plane of the pre-imaged material profile, or determine the container profile.

The fixed measuring point 10 on the measured container is located at the position where the rotary scanning module 2 performs rotary scanning measurement after the mobile module 3 stays. The moving module 3 of the passive nuclear section imaging device can be controlled by a preset program of the moving module 3, or controlled by an external device such as a wireless or wired controller used by a user, or controlled by the main operation processor 1, or driven by the user to move to the position of the fixed measuring point 10 by manpower, so that the rotary scanning module 2 is driven by the moving module 3 to move to the position of the fixed measuring point 10 of the measured container.

In step S2, the rotary scanning module 2 is located at the position of the fixed measurement point 10, and the rotary scanning is located in the plane 14 of the pre-imaged material section, and the rotary scanning module is oriented to nuclear radiation in multiple angles of the measured container with the fixed measurement point 10 as the center. Part or all of the region in the pre-imaged material section 13 is rotationally scanned and measured by the rotational scanning module 2 from a plurality of different fixed measuring points, and the rotational scanning module 2 sends acquired nuclear radiation data to the main operation processor 1.

As shown in fig. 4, in the plane 14 of the pre-imaged material section, facing the container to be measured, the rotary scanning module 2 rotationally measures nuclear radiation in a plurality of different angular directions, centered on the fixed measurement point 10. The smaller the angle, the denser the number of angles, and the better the final profile imaging effect. It has to be emphasized that the inner or the whole area of the pre-imaged material section 13 has to be rotationally scanned by the rotational scanning module 2 from a plurality of different said stationary measuring points. For example, the container profile is scannable by the fixed measurement points D1, D2, D3, D4..

In step S3, the main operation processor 1 acquires or generates position data of the fixed measurement points 10 for each measurement, angular direction data at the time of measurement of each of the fixed measurement points 10, and nuclear radiation data measured in the angular direction of the fixed measurement points 10.

In the measurement process of the application, the main operation processor 1 can acquire data required by imaging calculation through the mobile module 3 and/or the rotary scanning module 2, and can generate the data required by imaging according to own control instructions or the data provided by the mobile module 3 and/or the rotary scanning module 2, such as the data of the fixed measurement point 10 and the angle data during measurement of the fixed measurement point 10, and the main operation processor 1 can directly acquire the data from the mobile module 3 and the rotary scanning module 2, and can also generate the data according to own sent control instructions and the operation data of driving motors in the mobile module 3 and the rotary scanning module 2.

The main operation processor 1 acquires or generates position data of the fixed measurement points 10 at each measurement, and based on the position data of the fixed measurement points 10, the relative positions of the respective fixed measurement points 10 on the container cross-sectional profile 15 can be known, and the main operation processor 1 also acquires angle data, such as A1, A2, A3, a4, of the rotational scanning module 2 when the fixed measurement points 10 are measured, and the main operation processor 1 also needs to acquire nuclear radiation data, such as C1, C2, C3, C4, measured at specific angle positions on the fixed measurement points 10.

In step S4, the main operation processor 1 generates a cross-sectional image of the material in the measured container according to the position data of the fixed measurement points 10 during measurement, the angular direction data measured at each of the fixed measurement points 10, the nuclear radiation data measured at the angular direction of the fixed measurement points 10, and a preset algorithm.

Finally, the main operation processor 1 generates a cross-sectional image of the material in the measured container according to the position data of the fixed measuring points 10 measured each time, the angle direction data measured at each fixed measuring point 10, the nuclear radiation data measured at the angle direction of the fixed measuring points 10, and a preset algorithm.

In general, the material cross-sectional image generated by the main operation processor 1 is displayed on a display provided on the main operation processor 1.

It should be noted that the rotational scanning module 2 may also generate nuclear radiation data of the measurement angle for use in the later imaging based on nuclear radiation data measured multiple times in the same measurement direction after scanning the same measurement direction multiple times at a fixed measurement point. The method can obtain more accurate measurement data.

Or the rotary scanning module 2 measures only nuclear radiation data of one or a few measuring angles after moving to a fixed measuring point each time, and then measures nuclear radiation data of other measuring angles after reaching the same fixed measuring point next time. In this way, the number of rotations of the rotary scanning module 2 can be reduced, but there is a disadvantage in that the number of movements of the moving module at each fixed measurement point is increased.

Before step S4, the method further comprises the following steps:

the main processor 1 sets geometric data of the measured container section 12 of the pre-imaged material section.

The container profile geometry data is important for later generation of a profile image of the material in the container being measured. The container profile geometry data may represent container profile image data of the measured container in digital or graphical form. The feature positions on the sectional image of the container are very important for users to understand the finally generated image, and often relate to analysis on actual working conditions or analysis on imaging accuracy, especially the feature positions of a feed port, a discharge port and the like on the measured container. The geometric data of the container profile can also be used for determining the position relation between each characteristic point on the container and the fixed measuring point 10, so that the actual position of the material on the measured container profile 12 in the material profile imaging can be displayed more accurately in the finally presented profile image. Meanwhile, the container section geometric data has important parameter significance for the main operation processor 1 of the passive nuclear section imaging device to control the mobile module 3 and the rotary scanning module 2 to perform highly intelligent work in actual use.

In practical implementation, the main operation processor 1 can automatically generate the section geometric data of the measured container where the pre-imaged material section is located according to the acquired external section instruction and the preset geometric mathematical model of the measured container.

The main operation processor 1 automatically generates the measured container section geometric data according to the section instruction acquired from the outside and the preset geometric mathematical model of the container, and has very positive significance for practical application. In practical use, a user can directly input a three-dimensional model of a container in combination with the actual demand of the user to construct a three-dimensional space model of the measured container, wherein the three-dimensional model comprises geometric data of each part in the measured container, when the geometric data of the section 12 of the measured container needs to be set, only on the geometric mathematical model, the position of the section of the measured container is selected, after the position is determined, a section instruction is sent to the main operation processor 1, and the main operation processor 1 can generate a container section image and container section geometric data of the container at the position.

The picture elements are usual in image algorithms, so in the measuring method of the application, in particular, before step S4 of the measuring method of the application, the main operation processor 1 may divide the container profile expressed in the form of geometric data or images into a plurality of picture elements. In practical application, the more the divided pixels are, the higher the density is, and the finally generated material profile is clearer under the conditions of higher precision and denser scanning angles.

In practical industrial sites, the industrial containers are usually huge, sometimes even up to tens of meters, and when the industrial site obtains nuclear radiation released by the material in the container to be measured, the signal-to-noise ratio is usually low due to the influence of the environment and other materials in the container in the site, and in order to realize the profile imaging of the material in the container to be measured, a large number of fixed measuring points 10 need to be arranged on the surface of the container to be measured. The higher the density of the fixed measurement points 10 on the profile of the measured container profile 12, the smaller the spacing, the finer the angle measured at each fixed measurement point 10, the denser the number of angles, and the better the resulting material profile image. The overall and high density measurement on the measured container profile 15 requires a significant amount of time and is very inefficient.

To solve this problem, the application also provides a method comprising, before step S1 of the measuring method of the application, the steps of:

The main operation processor 1 generates the number of the fixed measurement points 10, the specific position data of the fixed measurement points 10, the working sequence of the rotary scanning module 2 at each fixed measurement point 10 and/or the scanning angle direction range measured by each fixed measurement point 10 in the plane 14 where the pre-imaged material profile is located according to the geometric data of the measured container profile 12, the nuclear radiation data of a plurality of positions obtained by the rotary scanning module 2 after the outer wall of the measured container moves along the measured container profile contour line 15, the working condition data of the container, the sensor data outside the non-rotary scanning module and/or the user instructions.

Through the means, the approximate distribution condition and distribution characteristics of the materials in the measured container can be known, the areas where the materials exist are scanned by high-density fixed measuring point layout and high-angle density, and the areas where the materials do not exist are scanned by the container, so that the fixed measuring points are arranged less, the density and the range of the scanning angle are reduced, and the whole measuring efficiency is greatly improved.

In addition, in practical implementation, in order to improve the measurement efficiency of the passive nuclear profile imaging device, two or more rotary scanning modules 2 may be configured in the passive nuclear profile imaging device, and simultaneous measurement is performed at a plurality of different positions of the fixed measurement points 10 on the outer wall of the measured container.

In this embodiment, the passive nuclear profile imaging device may input the position data of the fixed measurement point 10 and the angle measurement data of the rotation angle of the fixed measurement point 10 provided by the rotation scanning module 2 through an external device or a man-machine interface of the passive nuclear profile imaging device itself by a user, or may provide the position data of the fixed measurement point 10 and the angle measurement data of the rotation angle of the fixed measurement point 10 by the positioning module 19 in the passive nuclear profile imaging device. Meanwhile, the application also provides a method for realizing the fixed measuring point 10 and measuring the angle data at the fixed measuring point 10 without a special positioning module 19, specifically, in the step S3, the position data of the fixed measuring point 10 is obtained by a main operation processor according to the instruction or the operation data of the mobile driving motor of the mobile module 3, and the angle direction data during measurement is obtained by the main operation processor 1 according to the instruction or the operation data of the rotary driving motor of the rotary scanning driving component 8. In practical use, since a stepping motor or the like is used to drive the motor, the main operation processor 1 can calculate and generate the data of the fixed measurement point 10 and the angle measurement data of the rotation angle of the fixed measurement point 10 by itself from the data or instructions that such a motor can operate.

In the passive nuclear profile imaging device and the measuring method thereof, it is extremely important how to obtain higher signal-to-noise ratio data in extremely severe field environments. The application also provides a measuring method, and particularly before the step S4, the method further comprises the following steps:

The main operation processor 1 obtains closed shielding nuclear radiation data, which is generated by a nuclear radiation correction part or is measured by the rotary scanning module 2 in a state that the nuclear radiation collection window 9 is closed or hidden.

In practical use, it is also a relatively important step how the closed-loop shielding nuclear radiation data is obtained by a change of the nuclear radiation shielding component 7 itself, in particular in the measuring method of the application, before or during step S4, the following steps are also included:

after the rotary scanning module 2 reaches a new fixed measuring point 10 or before the fixed measuring point 10 performs radiation measurement on the material in the measured container, the main operation processor 1 controls the nuclear radiation shielding component 7 to perform structural deformation or position change, so that the nuclear radiation acquisition window 9 of the rotary scanning module 2 is closed or covered;

when the nuclear radiation collection window 9 is closed or obscured, the main operation processor 1 acquires the closed shielding nuclear radiation data in the case where the nuclear radiation collection window 9 is closed.

In the preamble measurement of the present embodiment, the obtained nuclear radiation data is the nuclear radiation data actually measured in the respective angular directions of the fixed measurement point 10, including the nuclear radiation released in the measured container, and also including the cosmic radiation in the industrial field environment received by the rotary scanning module 2 through the nuclear radiation shielding member 7 or the nuclear radiation released from the materials in other containers around the circumference. When the nuclear radiation collection window 9 is closed or obscured, the resulting closed shielded nuclear radiation data includes nuclear radiation released by material in the measured container, as well as cosmic radiation in an industrial field environment or other material in other containers around the perimeter. The application also provides an algorithm for obtaining the nuclear radiation with more effective measuring angles, which filters the interference of the nuclear radiation of the environment and even other non-needed measuring angles of the measured materials, and further compensates the interference. Specifically, in step S4, in generating a material profile image according to a preset algorithm, nuclear radiation data measured in the angular direction of the fixed measurement point 10 is served as a nuclear radiation correction value, which is calculated according to the following formula:

C_v=(C_m-C_f)/(1-u),

wherein C _v is a nuclear radiation correction value, C _m is a nuclear radiation value measured in an angular direction of the fixed measurement point 10, C _f is a closed shielding nuclear radiation value, and u is a nuclear radiation attenuation proportion of a shielding material when the nuclear radiation collection window 9 is closed or hidden. Since the nuclear radiation data requiring the measurement angle to be masked by the nuclear radiation shielding member 7 is also included in C _f, the present algorithm is back-compensated by (1-u).

In the original preset algorithm, C _m is used for participating in calculation to generate a section image of the material, and C _v is used for participating in calculation to generate the section image of the material.

The embodiment also provides a preset section imaging algorithm, and in combination with fig. 11, the method specifically includes the following steps:

constructing a plane geometry relationship between the fixed measurement point 10 and the container profile based on the container profile geometry data and the position data of the fixed measurement point 10;

Creating a line of radiation within the container profile based on the angular direction data as measured by the fixed measurement point 10;

Calculating the position of each radial intersection point according to the radial line from each fixed measurement point 10;

adding the radiation values of the corresponding angles of the radiation rays passing through the positions of the radiation intersection points and corresponding to the fixed measurement points 10 to obtain the sum of the nuclear radiation values of the intersection points;

Image expression based on picture elements is a common technical approach. The cross-sectional imaging algorithm of the present application may be a pixel data superposition imaging algorithm.

The application also provides a preset section imaging algorithm, which comprises the following steps in combination with fig. 12:

Dividing the measured container section 12 into a plurality of pixels based on the geometric data of the measured container section 12, and determining the position of the pixels in the measured container section 12;

constructing a plane geometry relation of the fixed measuring point 10, the container section and the pixel based on the container section geometry data, the pixel position data and the position data of the fixed measuring point 10;

According to the position data of the fixed measuring point 10, the angular direction data when measuring nuclear radiation data and the plane geometric relationship, calculating the pixel positioned in the measuring angular direction of the fixed measuring point 10;

Filling nuclear radiation data measured in the measuring angle direction at the fixed measuring point 10 into the above-mentioned passing pixels;

sequentially repeating the nuclear radiation data measured in each measuring angle direction on each fixed measuring point 10, and filling the nuclear radiation data on each pixel according to the preamble method;

The application also provides another image element data superposition imaging algorithm, which comprises the following steps:

the nuclear radiation data measured in the measuring angle direction at the fixed measuring point 10 is averaged according to the number of the passing pixels to obtain pixel average data, and the pixel average data is distributed to the passing pixels;

Sequentially filling nuclear radiation data measured in each measuring angle direction on each fixed measuring point 10 onto each pixel according to a preamble method;

In practical application, in the 3 imaging algorithms, it is also considered that after the intersection position or the pixel data are obtained, the intersection position or the pixel data are further optimized by adding inversion, filtering, normalization or iteration steps, so that the intersection position or the pixel data for establishing an image are more approximate to the radioactivity data of the real position, and the accuracy of the finally obtained image is ensured.

There are many ways to further enhance the imaging quality in the imaging field, which are not described in detail herein. It should be emphasized that the device and the measuring method according to the present application have the measuring object that the measured container has radioactive material therein, which is different from the active or other measuring principle, and has its own principle characteristics in the actual calculation, and should be considered in the process of performing the section imaging calculation, so as to obtain a more accurate section image of the material.

Example 3

The present embodiment describes a passive nuclear section imaging robot, as shown in fig. 13 to 14, which includes a skeleton module 17, a magnetic attraction driving wheel 16, a rotary scanning module 2, a positioning module 19, a robot operation processor 18, and a main operation processor 1;

the main operation processor 1 and the robot operation processor 18 perform data communication in a wired or wireless manner, and the robot operation processor 18 is connected with the rotary scanning module 2 and/or the magnetic attraction driving wheel 16;

The robot operation processor 18, the magnetic attraction driving wheel 16, the rotary scanning module 2 and the positioning module 19 are all arranged on the framework module 17;

The rotary scanning module 2 is used for measuring nuclear radiation data which are positioned in a plane where a pre-imaged material section is positioned and face a plurality of angle directions of a measured container at a plurality of fixed measuring points 10;

The magnetic driving wheel 16 is used for adsorbing the whole robot on the outer wall of the measured container and moving between the positions of the fixed measuring points 10 of the measured container;

The positioning module 19 is connected with the main operation processor 1 and is used for providing the position information of the rotary scanning module 2 and/or the magnetic attraction driving wheel 16 for the main operation processor 1;

The robot operation processor 18 is configured to automatically control the magnetic driving wheel 16 to move and/or control the rotary scanning module 2 to rotationally scan at the fixed measurement point 10 to measure nuclear radiation according to an external instruction or an instruction of the main operation processor;

The main operation processor 1 is used for generating a profile image of the material in the measured container according to the position data of the fixed measuring points, the angle direction data when each fixed measuring point is measured, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the protection of the present invention.

Claims

1. A passive nuclear cross-sectional imaging apparatus, comprising:

a main operation processor (1), a rotary scanning module (2) and a moving module (3);

The main operation processor (1) is in data communication with the rotary scanning module (2) and/or the mobile module (3);

The rotary scanning module (2) is used for measuring at a plurality of fixed measuring points (10), and nuclear radiation data which are positioned in a plane (14) where a pre-imaged material section is positioned and face a plurality of angle directions of a measured container are measured at least one fixed measuring point;

The moving module (3) is used for driving the rotary scanning module (2) to move between positions of the fixed measuring points (10) on the outer wall of the measured container;

The main operation processor (1) is used for generating a section image of the material in the measured container according to the position data of the fixed measuring points during measurement, the angle direction data during measurement of each fixed measuring point, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

2. A passive nuclear profile imaging device according to claim 1, characterized in that the movement module (3) comprises a robotic arm, or a movement member mounted on a stationary rail of the outer wall of the measured vessel, or a movement member outside the measured vessel that moves based on rope traction.

3. A passive nuclear profile imaging device according to any one of claims 1 or 2, characterized in that the rotary scanning module (2) comprises a stationary nuclear radiation acquisition device with a collimator or a code plate.

4. A passive nuclear profile imaging device according to claim 1, further comprising a positioning module (19), the positioning module (19) being connected to the main arithmetic processor (1), the main arithmetic processor (1) being provided with position information of the rotational scanning module (2) and/or the movement module (3).

5. The passive nuclear profile imaging device according to claim 1, wherein the rotational scanning module (2) comprises a scintillation crystal (4), a photomultiplier (5), a signal acquisition and processing unit (6), a nuclear radiation shielding unit (7) and a rotational scanning drive unit (8),

The scintillation crystal (4) is connected with the photomultiplier (5) in an optical coupling mode, the signal acquisition and operation processing component (6) is connected with the photomultiplier (5), the signal acquisition and operation processing component (6) is connected with the main operation processor (1), the nuclear radiation shielding component (7) wraps part of the scintillation crystal (4), and the rotary scanning driving component (8) is connected with the nuclear radiation shielding component (7).

6. A passive nuclear profile imaging arrangement according to claim 5, characterized in that the nuclear radiation shielding member (7) encloses a portion of the scintillation crystal (4), that a portion of the scintillation crystal (4) not enclosed by the nuclear radiation shielding member (7) is provided with a nuclear radiation collection window (9), and that the scintillation crystal (4) collects nuclear radiation through the nuclear radiation collection window (9).

7. A passive nuclear profile imaging device according to claim 6, characterized in that the scintillation crystal (4) is a columnar scintillation crystal.

8. A passive nuclear profile imaging arrangement according to claim 7, characterized in that the nuclear radiation shielding means (7) are arranged along an axial side of the columnar scintillation crystal (4), the nuclear radiation collection window (9) being capable of collecting nuclear radiation in a part of the angular directions of three hundred sixty degrees of the axial side of the columnar scintillation crystal (4).

9. A passive nuclear profile imaging device according to claim 6, characterized in that the rotary scanning driving means (8) drives the nuclear radiation shielding means (7) to act, driving the nuclear radiation collection window (9) to move in the vicinity of the fixed measurement point (10), so as to realize the rotary scanning measurement of the nuclear radiation of the rotary scanning module (2) in the plane (14) of the pre-imaged material profile, centering on the fixed measurement point (10), facing a plurality of angular directions of the measured container.

10. A passive nuclear profiling imaging device according to claim 6, characterized in that the nuclear radiation shielding component (7) further comprises a separately arranged nuclear radiation shielding and shielding assembly, which enables nuclear radiation measurement of the nuclear radiation collection window (9) in an open state when the nuclear radiation collection window (9) is not moved under the nuclear radiation shielding and shielding assembly, and which enables closed nuclear radiation measurement of the nuclear radiation collection window (9) in a fully shielded state by the nuclear radiation shielding and shielding assembly after the nuclear radiation collection window (9) is moved under the nuclear radiation shielding and shielding assembly;

Or the nuclear radiation shielding component (7) further comprises a closing driving component and a nuclear radiation shielding and covering component, the closing driving component is connected with the nuclear radiation shielding and covering component, the closing driving component can drive the nuclear radiation shielding and covering component to act so as to enable the nuclear radiation acquisition window (9) to be closed or opened, the closed driving assembly drives the nuclear radiation shielding and covering assembly to enable the nuclear radiation collecting window (9) to be closed, closed nuclear radiation measurement is achieved, and the closed driving assembly drives the nuclear radiation shielding and covering assembly to enable the nuclear radiation collecting window (9) to be opened, so that nuclear radiation measurement of the nuclear radiation collecting window (9) in an opened state is achieved.

11. A passive nuclear profile imaging device according to claim 5, characterized in that the rotary scanning drive means (8) comprise a rotary drive motor and the movement module (3) comprises a movement drive motor.

12. A passive nuclear profile imaging device according to claim 1, further comprising a nuclear radiation correction component comprising a closed nuclear radiation closed housing and a nuclear radiation measurement sensor within the nuclear radiation closed housing, the nuclear radiation measurement sensor being connected to the main arithmetic processor (1) for transmitting acquired nuclear radiation measurement data in a closed state to the main arithmetic processor (1).

13. A passive nuclear profile imaging measurement method employing a passive nuclear profile imaging device as claimed in any one of claims 1 to 12, comprising the steps of:

the rotary scanning module is moved to the position of a fixed measuring point on the outer wall of the measured container by using the moving module;

The rotary scanning module is used for rotationally scanning nuclear radiation in a plane where a pre-imaged material section is located and facing a plurality of angle directions of the measured container, part or all of the areas in the pre-imaged material section are rotationally scanned and measured by the rotary scanning module from a plurality of different fixed measuring points, and the rotary scanning module sends acquired nuclear radiation data to the main operation processor;

The main operation processor acquires or generates position data of the fixed measurement points measured each time, angle direction data when each fixed measurement point is measured, and nuclear radiation data measured in the angle direction of the fixed measurement points;

The main operation processor generates a section image of the material in the measured container according to the position data of the fixed measuring points, the angle direction data when each fixed measuring point is measured, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.

14. The passive nuclear cross-section imaging measurement method of claim 13, further comprising the step S, prior to the step of generating a cross-sectional image of the material in the measured container:

15. The method of claim 14, wherein prior to step S, the main operation processor automatically generates the measured container profile geometry data of the pre-imaged material profile according to the acquired external profile command and a preset geometric mathematical model of the measured container.

16. A passive nuclear cross-section imaging measurement method according to claim 15, wherein after step S and before the step of generating a cross-sectional image of the material in the measured vessel, the main arithmetic processor divides the measured vessel cross-section expressed in geometric data or in image form into a plurality of pixels.

17. The method of claim 13, further comprising the step of, prior to the step of moving the rotary scanning module to the location of the fixed measurement point on the outer wall of the container being measured, the step of:

18. The passive nuclear profile imaging measurement method of claim 17, wherein the rotary scanning module comprises a rotary scanning driving component, the rotary scanning driving component comprises a rotary driving motor, the mobile module comprises a mobile driving motor, fixed measurement point position data are obtained by the main operation processor according to instructions or operation data of the mobile driving motor, and angle direction data during measurement are obtained by the main operation processor according to instructions or operation data of the rotary driving motor.

19. The passive nuclear cross-section imaging measurement method of claim 18, further comprising, prior to the step of generating a cross-sectional image of the material in the measured container, the steps of:

The passive nuclear section imaging device also comprises a nuclear radiation correction component, wherein the nuclear radiation correction component comprises a closed nuclear radiation closed shell and a nuclear radiation measurement sensor positioned in the nuclear radiation closed shell, and the nuclear radiation measurement sensor is connected with the main operation processor (1) and is used for sending acquired nuclear radiation measurement data in a closed state to the main operation processor (1);

The rotary scanning module (2) comprises a nuclear radiation shielding component (7) and a scintillation crystal (4), wherein the nuclear radiation shielding component (7) wraps a part of the scintillation crystal (4), a nuclear radiation acquisition window (9) is arranged at a part of the nuclear radiation shielding component (7) which does not wrap the scintillation crystal (4), and the scintillation crystal (4) acquires nuclear radiation through the nuclear radiation acquisition window (9);

20. A passive nuclear cross-section imaging measurement method as claimed in claim 19, wherein prior to or during the step of generating a cross-sectional image of the material in the measured container, further comprising the steps of:

21. A passive nuclear profiling method according to claim 20, wherein in the step of generating a profile image of the material in the measured container, the nuclear radiation data measured in the angular direction of the fixed measurement point is served by a nuclear radiation correction value calculated according to the following formula:

C_v=(C_m-C_f)/(1-u),

22. The passive nuclear profile imaging measurement method of claim 13, wherein the predetermined algorithm comprises:

23. A passive nuclear cross-section imaging measurement method according to any one of claims 13 to 16, wherein the predetermined algorithm is a data-on-pixel imaging algorithm.

24. The passive nuclear profile imaging measurement method of claim 23, wherein the image element data superposition imaging algorithm comprises:

25. The passive nuclear profile imaging measurement method of claim 23, wherein the image element data superposition imaging algorithm comprises:

averaging the nuclear radiation data measured in the measuring angle direction at the fixed measuring point according to the total number of pixels positioned in the measuring angle direction to obtain pixel average data, and distributing the pixel average data to pixels in the measuring angle direction;

26. The passive nuclear section imaging robot is characterized by comprising a skeleton module (17), a magnetic attraction driving wheel (16), a rotary scanning module (2), a positioning module (19), a robot operation processor (18) and a main operation processor (1), wherein the skeleton module is used for crawling and scanning the outer wall of a measured container;

The main operation processor (1) and the robot operation processor (18) are in data communication in a wired or wireless mode, and the robot operation processor (18) is connected with the rotary scanning module (2) and/or the magnetic driving wheel (16);

The robot operation processor (18), the magnetic attraction driving wheel (16), the rotary scanning module (2) and the positioning module (19) are all arranged on the skeleton module (17);

The magnetic driving wheel (16) is used for adsorbing the whole robot on the outer wall of the measured container and moving between the positions of the fixed measuring points (10) of the measured container;

the positioning module (19) is connected with the main operation processor (1) and is used for providing the position information of the rotary scanning module (2) and/or the magnetic attraction driving wheel (16) for the main operation processor (1);

The robot operation processor (18) is used for automatically controlling the magnetic driving wheel (16) to move and/or controlling the rotary scanning module (2) to rotationally scan and measure nuclear radiation at a fixed measuring point (10) according to an external instruction or an instruction of the main operation processor;

The main operation processor (1) is used for generating a section image of the material in the measured container according to the position data of the fixed measuring points, the angle direction data when each fixed measuring point is measured, the nuclear radiation data measured in the angle direction of the fixed measuring points and a preset algorithm.