CN104460671B - Cross positioning method and system for radioactive source in three-dimensional space - Google Patents
Cross positioning method and system for radioactive source in three-dimensional space Download PDFInfo
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- CN104460671B CN104460671B CN201410640941.1A CN201410640941A CN104460671B CN 104460671 B CN104460671 B CN 104460671B CN 201410640941 A CN201410640941 A CN 201410640941A CN 104460671 B CN104460671 B CN 104460671B
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Abstract
The invention discloses a cross positioning method and system for a radioactive source in three-dimensional space. The method includes the steps that environmental information collected by an aerial robot when the aerial robot flies in a nuclear radiation area is used for initially positioning a radioactive source pollution area; the aerial robot is controlled to enter and fly in the initially-positioned radioactive source pollution area to reposition a radioactive source pollution area; the aerial robot is controlled to enter and fly in the repositioned radioactive source pollution area to position the position of the radioactive source in air; a land robot is controlled to enter the position, corresponding to the position of the radioactive source in the air, of the land, and the radioactive source is accurately positioned according to the environmental information at the position around the land. According to the cross positioning method and system for the radioactive source, the multiple robots are adopted for collaborated, multi-layer and spatial searching; wide-range detection is carried out for locking the small-range area, and therefore high-accuracy direction identification and high-accuracy space identification are achieved; rapid detection and accurate positioning of the radioactive source are achieved, known radioactive sources can be monitored and handled, and unknown radioactive sources can also be accurately positioned.
Description
Technical field
The present invention relates to radioactive substance Detection Techniques field is and in particular to radioactive source cross bearing side in three dimensions
Method and system.
Background technology
With the development and utilization of nuclear energy and nuclear technology, radioactive source is in fields such as industry, agricultural, medical treatment, scientific research and education
Application increasingly extensive, China apply radioactive source unit reach tens thousand of families, the radioactive source of grasp also has hundreds thousand of remaining pieces；Radioactive source
While bringing interests to us, its hot also can cause mortal injury to the mankind, once out of control, social influence pole
Greatly；Due to using, many reasons such as keeping, radioactive sources lost, the accident such as stolen, out of control happen occasionally；Recent years, domestic
Raw radioactive source, by card event out of control, causes a large amount of personnel health's infringements and environmental radiation contact scar, brings huge economic damage
Lose, or even the social unrest causing some areas；Meanwhile, in recent years terrorist activities rampant so that anti-terrorism situation becomes
In sternness, the out of control of radioactive source is possible to terrorist's opportunity, and then causes bigger harm to society.
At present, the radiation source electricity transposition of domestic and international market is broadly divided into two big class: a class is that known radioactive source is carried out
Positioning, by installing the sender units such as rfid electronic tag on radioactive source, by technology such as radio communication, gps positioning
Positioned, such device is not suitable for unknown radioactive source is positioned；Another kind of is that unknown radioactive source is positioned, and leads to
Cross gamma camera, positioned using the gamma spectra distributed image that optical imaging concept synthesizes radioactive source, this kind of localization method
Be restricted using flexibility, and single gamma camera can only two-dimensional imaging, lead to the depth of the disposal to unknown radioactive source
Loss of learning.
Content of the invention
It is directed to the above-mentioned problems in the prior art, it is an object of the present invention to provide in a kind of three dimensions
Radioactive source Cross Location Method is it is achieved that being accurately positioned to the radioactive source in three dimensions.
It is a further object to provide the radioactive source cross bearing system in a kind of three dimensions.
To achieve these goals, the invention provides a kind of radioactive source Cross Location Method in three dimensions, comprising:
Using air-robot in the gathered environmental information of nuclear radiation region flight, Primary Location radioactive source contaminated area
Domain；
Control air-robot to enter the radioactive source Polluted area flight of Primary Location, obtain radioactive source Polluted area simultaneously
Environmental information, according to the environmental information of radioactive source Polluted area, relocate radioactive source Polluted area；
Air-robot is controlled to enter the radioactive source Polluted area flight of reorientation, the radioactive source simultaneously obtaining reorientation is dirty
The environmental information in dye region, the environmental information of the radioactive source Polluted area according to reorientation, the skyborne position in located irradiation source；
Control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain and pass through land machine
Environmental information around at the land that people is gathered, according to the environmental information around at land, is accurately positioned radioactive source.
Further, using air-robot in the gathered environmental information of nuclear radiation region flight, Primary Location is radiated
Source Polluted area specifically includes:
Control air-robot to carry out autonomous flight according to the nuclear radiation region autonomous flight route setting, obtain empty simultaneously
The nuclear radiation dosage information of the flight range that middle robot is gathered, positional information and image information；
According to nuclear radiation dosage information, radioactive source Polluted area is primarily determined that using field method.
Further, control air-robot to enter the radioactive source Polluted area flight of Primary Location, obtain radiation simultaneously
The environmental information of source Polluted area, according to the environmental information of radioactive source Polluted area, relocates radioactive source Polluted area and specifically wraps
Include:
Obtain the minimum region putting place of the radioactive source Polluted area center radiation dose information of Primary Location, and should
Region division is several zonules, controls several air-robots to enter flight in several zonules respectively, obtains simultaneously
Take nuclear radiation dosage information, positional information and the image information of each zonule being gathered by several air-robots；
According to the nuclear radiation dosage information of each zonule, radioactive source Polluted area is relocated using field method.
Further, control air-robot to enter the radioactive source Polluted area flight of reorientation, obtain reorientation simultaneously
Radioactive source Polluted area environmental information, according to reorientation radioactive source Polluted area environmental information, located irradiation source exists
Aerial position specifically includes:
Control air-robot to enter the radioactive source Polluted area flight of reorientation, obtain simultaneously and pass through air-robot institute
The nuclear radiation dosage information of the radioactive source Polluted area of reorientation of collection, positional information and image information；
Obtain the radioactive source Polluted area kernel radiation dose information highest point of reorientation, with this point as the center of circle, adopt
Fixed point backpitch searching method is flown, and obtains the backpitch scouting flight region being gathered by air-robot simultaneously
Nuclear radiation dosage information, positional information and image information；
According to the nuclear radiation dosage information in backpitch scouting flight region, using field method located irradiation source contaminated area
Domain, whether there is according to the border that regional boundary condition judges described radioactive source Polluted area simultaneously and overlaps；
If overlapped, continue search for, till the border of radioactive source Polluted area does not overlap；
Control air-robot to enter the maximum region flight of radioactive source Polluted area center dose of radiation, obtain and gathered
The maximum region of nuclear radiation dosage in nuclear radiation dosage information, positional information and image information；
Obtain the point of the nuclear radiation dosage information maximum in the maximum region of nuclear radiation dosage, the i.e. skyborne position of radioactive source
Put.
Further, obtain the radioactive source Polluted area kernel radiation dose information highest point of reorientation, with this point be
The center of circle, carries out flight using fixed point backpitch searching method and further includes:
With the radioactive source Polluted area kernel radiation dose information highest point of reorientation as the center of circle, set maiden flight half
Footpath, then carries out backpitch autonomous flight with the increasing velocity often enclosing radius increase 2.5m every time.
Further, according to the nuclear radiation dosage information in described backpitch scouting flight region, using field method positioning
Radioactive source Polluted area, simultaneously according to regional boundary condition judge described radioactive source Polluted area border whether there is overlap into
One step includes:
Backpitch scouting flight region kernel radiation dose information identical point is built on electronic chart single
Closed figure；
Nuclear radiation dosage information relatively at described single closed figure and the initial nuclear radiation dosage information setting, determine
The region of closed figure composition being more than the nuclear radiation dosage information setting is as radioactive source Polluted area；
Judge whether radioactive source Polluted area has common border；
If there is common border, increasing flying radius and continuing search for, until a radioactive source Polluted area completely includes
Till another radiation source region.
Further, field method specifically includes:
Flight range kernel radiation dose information identical point is built into single closed figure on electronic chart；
Nuclear radiation dosage information relatively at single closed figure is more than with the initial nuclear radiation dosage information setting, determination
The region that the closed figure of the nuclear radiation dosage information setting is constituted is as radioactive source Polluted area.
Further, control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain logical
Cross the environmental information around at the described land that land robot is gathered, according to the environmental information around at described land, essence
Determine that position radioactive source further includes:
Control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain and pass through land machine
Around at the land that the periscopic image capture device of people, oriented nuclei activity-sensing equipment and 3 D laser scanning equipment are gathered
Image information, nuclear radiation dosage information and object cloud data；
Compare the nuclear radiation agent at nuclear radiation dosage information around at gathered land and radioactive source in the air position
Amount information, determines whether land robot enters radiation source region；
If entering nuclear radiation region, controlling oriented nuclei activity-sensing equipment to carry out 360 degree of rotations, obtaining simultaneously and rotating
During the cloud data of the image information of surrounding environment, nuclear radiation dosage information and object that gathered；
Obtain the maximum in the nuclear radiation dosage information of surrounding environment being gathered in rotation process, according to maximum
The coordinate of the point at place, determines the general direction of radioactive source；
With the general direction of radioactive source for basic detection direction, obtain and adopted when repeatedly being rotated by land robot
The distance of the coordinate of point at the nuclear radiation dosage information of collection and land robot and described maximum, believes according to nuclear radiation dosage
Breath and range information, determine the dimensional orientation coordinate of radioactive source, are accurately positioned radioactive source.
Present invention also offers the radioactive source cross bearing system in a kind of three dimensions, comprising:
For gathering the environmental information in flight range the air-robot being transmitted；
For gathering the environmental information in land area the land robot being transmitted；
Put for receiving the environmental information of air-robot and land robot being accurately positioned according to described environmental information
Penetrate the ground control centre in source.
Further, air-robot includes nuclear radiation detector, attitude heading reference system equipment, location equipment, figure
As collecting device, air-robot control device and air-robot communication equipment；Described nuclear radiation detector, attitude course ginseng
Test system equipment, location equipment, image capture device and air-robot communication equipment all with air-robot control device phase
Connect.
Further, land robot includes periscopic image capture device, the orientation nuclear radiation spy being arranged on head
Measurement equipment and 3 D laser scanning equipment, land robot communication equipment, land Robert controller；Described periscopic image
Collecting device, oriented nuclei activity-sensing equipment, 3 D laser scanning equipment and land robot communication equipment all with land machine
People's control device is connected.
Further, ground control centre includes background communication equipment, server, land robot joystick and aerial
Robot joystick；Described land robot joystick is connected with server, and server is connected with background communication equipment
Connect.
The air-robot flight control operation of the present invention is strong, can adapt to the flight environment of vehicle of complexity, and can be extreme low-altitude
Radiation source, thus carrying out inch-by-inch search to radioactive source, can be quickly locked in the range of several square metres by flight, effectively shortens big
The range searching time；Locked after the scope of radioactive source using air-robot, orientation nuclear radiation is carried by land robot and visits
Survey instrument and carry out dimensional orientation analysis in the range areas of locking, carry out High-precision angle identification.
Radioactive source Cross Location Method in the three dimensions of the present invention and system adopt multi-robot Cooperation, multi-level,
Space multistory is searched for, and by detecting locking small range region on a large scale, thus high accuracy direction recognition and space identification, realizes
Radioactive source quick detection and precise positioning, not only can carry out supervising to known radioactive source, dispose, and can be to unknown radioactive source
It is accurately positioned.
Brief description
Fig. 1 is the structured flowchart of the embodiment of radioactive source cross bearing system in the three dimensions of the present invention；
Fig. 2 is the flow chart of the embodiment of radioactive source Cross Location Method in the three dimensions of the application；
Fig. 3 is the flow chart of an embodiment of Primary Location radioactive source Polluted area of the application；
Fig. 4 is the flow chart of an embodiment of reorientation radioactive source Polluted area of the application；
Fig. 5 is the flow chart of an embodiment of the skyborne position in located irradiation source of the application；
Fig. 6 is the flow chart of the embodiment of position being accurately positioned radioactive source using land robot of the application；
Fig. 7 is the schematic diagram using fixed point backpitch searching method flight search of the application.
Specific embodiment
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
Corresponding accompanying drawing is clearly and completely described to technical solution of the present invention.
With reference to Fig. 1, Fig. 1 is the structure of the embodiment of radioactive source cross bearing system in the three dimensions of the present invention
Block diagram；This radioactive source cross bearing system includes air-robot 1, land robot 2, ground control centre 3 and retractable cable and sets
Standby 4；Air-robot 1 includes nuclear radiation detector 11, attitude heading reference system equipment 12, location equipment 13, IMAQ
Equipment 14, air-robot control device 15 and air-robot communication equipment 16；Air-robot control device 15 is with the air
Robot communication equipment 16 connects；Air-robot communication equipment 16 includes 3g, 4g and 2.4g wireless communication module, wherein, 3g,
4g wireless communication module is used for transmitting nuclear radiation dosage, attitude, longitude and latitude, height and image information, 2.4g wireless communication module
Control instruction for server 32；The control that 2.4g wireless communication module is used for transmitting air-robot joystick 34 refers to
Order；Nuclear radiation detector 11, attitude heading reference system equipment 12, location equipment 13 and image capture device 14 all with aerial machine
Device people's control device 15 connects.
Land robot 2 includes head 21, periscopic image capture device 211, oriented nuclei activity-sensing equipment 212 and three
Dimension Laser Scanning Equipment 213, land robot communication equipment 22, inversion box 23 and land Robert controller 24；Periscopic
Image capture device 211, oriented nuclei activity-sensing equipment 212 and 3 D laser scanning equipment 213 are fixed on head 21,
And the high definition camera of periscopic image capture device 211 and 3 D laser scanning equipment 213 are arranged in radome；Land machine
Upper 2 all devices of device people are all powered by the inversion box 23 in shielding case；Inversion box 23 passes through cable with retractable cable equipment 4 even
Connect；Land robot communication equipment 22 includes switch 221, serial server 222 and video server 223；Switch 221 with
It is respectively adopted netting twine between serial server 222 and video server 223 to connect；Inversion box 23 passes through netting twine access switch
221；Oriented nuclei activity-sensing equipment 212,3 D laser scanning equipment 213 and land Robert controller 24 adopt Serial Port Line
It is connected with the port of serial server 222 respectively；Periscopic image capture device 211 passes through netting twine with video server 223 even
Connect；Oriented nuclei activity-sensing equipment 212 includes oriented nuclei radiation detection instrument, nuclear energy spectrometer and reserved gamma camera interface；Fixed
It is made up of to nuclear radiation detection instrument collimater and nuclear radiation detector, collimator material is processed using tungsten, shielding
The incident gamma ray of non-frontal.
Ground control centre 3 includes background communication equipment 31, server 32, land robot joystick 33 and aerial machine
Device people's joystick 34；Background communication equipment 31 includes wire communication module and wireless communication module, and wire communication module is main
Play bridge joint effect, wireless communication module is mainly 3g, 4g, 2.4g wireless communication module；Server 32 includes locating module, image
Acquisition module, data processing module and air-robot autonomous flight module, for obtain, process and store air-robot and
The information that land robot is gathered；The server 32 of ground control centre 3 is connected using netting twine with background communication equipment 31；Land
Floor-washing robot joystick 33 is connected with server 32 by data wire.
Air-robot 1 is connected with background communication equipment 31 by 3g, 4g wireless communication module；Air-robot 1 passes through
2.4g wireless communication module is connected with air-robot joystick 34；Land robot 2 passes through cable and retractable cable equipment 4
Connect；Retractable cable equipment 4 is connected with server 32 by netting twine.
Referring to Fig. 2, Fig. 2 show the embodiment of radioactive source cross bearing system in the three dimensions of the present invention
Flow chart；This embodiment s100 comprises the steps s101 to s104；
In step s101, using air-robot in the gathered environmental information of nuclear radiation region flight, Primary Location
Radioactive source Polluted area；
According to an embodiment of the application, Primary Location radioactive source Polluted area comprises the following steps:
Referring to Fig. 3, Fig. 3 show the flow process of embodiment s101 of Primary Location radioactive source Polluted area of the application
Figure；Detailed process is:
Machine of establishing by cable on a1, air-robot 1, air-robot joystick 34 and ground control centre 3 runs；Server
Air-robot autonomous flight module in 32 sets air-robot nuclear radiation region autonomous flight scope；Air-robot is certainly
The data-interface of main flight module is connected with Google Earth application system interface, can quickly introduce and comprise there is a longitude and latitude letter
The map of breath；Click on mouse editor's destination on map, and automatically destination is linked to be course line successively, complete air-robot in core
The setting of radiation areas autonomous flight route；
A2, with air-robot joystick 34 control air-robot 1 rise to after specified altitude assignment 5m, be switched to service
The software-controlled manner of device 32, sends control instruction by server 32 to backstage communication equipment 31, then passes through 3g, 4g, 2.4g
Wireless communication module is transferred to air-robot communication equipment 16, and 16 control instructions of air-robot communication equipment pass in the air
Robert controller 15, the autonomous flight pattern of air-robot 1 entrance immediately；
After a3, air-robot 1 enter autonomous flight pattern, start nuclear radiation detector 11, attitude heading reference system
Equipment 12, location equipment 13 and image capture device 14 obtain flight range longitude and latitude, highly, course, attitude, nuclear radiation agent
Measure and image information, this data message is sent out by air-robot communication equipment 16 by 3g, 4g, 2.4g wireless communication module simultaneously
Deliver to ground control centre 3；The background communication equipment 31 of ground control centre 3 is received this data message and is arrived by network cable transmission
Server 32；
A4, server 32 receive longitude and latitude, highly, course, attitude, nuclear radiation dosage and image information, through image
Acquisition module data processing module carries out processing, filter after, then show on electronic chart and record；On electronic chart with
The form of d (x, y, h) shows every nuclear radiation dosage collecting and latitude and longitude information, and is stored；Finally by service
The locating module of device 32 constitutes single closed figure according to d identical point in record data on electronic chart, using difference
Color represents the value of zones of different nuclear radiation dosage, represents that the dosage of nuclear radiation is descending from redness to purple, such as nuclear radiation
Dose value d is represented with redness between d1 and d2, is represented with orange between d2 and d3；Simultaneously in the locating module of server 32
The region setting nuclear radiation dose value more than the point composition of certain value d0 is as radioactive source Polluted area.
In step s102, control air-robot to enter the radioactive source Polluted area flight of Primary Location, obtain simultaneously
The environmental information of described radioactive source Polluted area, according to the environmental information of described radioactive source Polluted area, relocates radioactive source dirty
Dye region；
According to an embodiment of the application, relocate radioactive source Polluted area and comprise the following steps:
Referring to Fig. 4, Fig. 4 show the flow process of embodiment s102 of reorientation radioactive source Polluted area of the application
Figure；Detailed process is:
B1, the region that single closed figure minimum for the radioactive source Polluted area center dose of radiation of Primary Location is located
It is divided into this four radioactive source Polluted areas of n1, n2, n3, n4；
B2, corresponded with four air-robot joystick 34 remote sensing control four air-robot n1, n2, n3,
N4, respectively enters this four radioactive source Polluted area flights of n1, n2, n3, n4, starts the core spoke on each air-robot simultaneously
Penetrate detector 11, attitude heading reference system equipment 12, location equipment 13 and image capture device 14 and obtain each radioactive source dirt
The longitude and latitude in dye region, highly, course, attitude, nuclear radiation dosage and image information, air-robot communication equipment 16 will simultaneously
This feedback of the information is to ground control centre 3；
B3, the background communication equipment 31 of ground control centre 3 receive what four air-robots n1, n2, n3, n4 passed back
Tetra- groups of data of b1, b2, b3, b4, and pass to server 32；Data processing module in server 32 is to tetra- groups of b1, b2, b3, b4
Data carries out processing, stores；
Locating module in b4, server 32 adopts in step a4 according to the nuclear radiation dosage after processing, latitude and longitude information
Method redefine radioactive source Polluted area；Then, four are controlled in the air with four air-robot joystick 34 remote sensing
Robot 1 is landed.
In step s103, control air-robot to enter the radioactive source Polluted area flight of described reorientation, obtain simultaneously
Take the environmental information of the radioactive source Polluted area of described reorientation, the environment letter of the radioactive source Polluted area according to described reorientation
Breath, the skyborne position in located irradiation source；
According to an embodiment of the application, the skyborne position in located irradiation source comprises the following steps:
Referring to Fig. 5, Fig. 5 show the flow process of embodiment s103 of the skyborne position in located irradiation source of the application
Figure；Detailed process is:
C1, the radiation by redefining in air-robot joystick 34 remote sensing air-robot 1 entrance b4 step
Source Polluted area flight, starts nuclear radiation detector 11, attitude heading reference system equipment 12, location equipment 13 and image simultaneously
Collecting device 14 obtain longitude and latitude in reorientation region, highly, course, attitude, nuclear radiation dosage and image information；Server
32 locating module, according to above-mentioned nuclear radiation dosage, latitude and longitude information, controls air-robot with air-robot joystick
Seek the radioactive source Polluted area kernel dose of radiation highest point d that must relocatem(xm、ym、hm)；
C2, on the electronic chart of the air-robot autonomous flight module of server 32 set fixed point backpitch flight search
The autonomous flight pattern of Suo Fangfa；With the point d that nuclear radiation dosage information is maximumm(xm、ym、hm) it is the center of circle, set maiden flight half
Footpath is 5m, carries out autonomous flight with the circular arc often enclosing radius increase 2.5m every time afterwards, as shown in Figure 7；Start nuclear radiation simultaneously
Detector 11, attitude heading reference system equipment 12, location equipment 13 and image capture device 14 obtain backpitch scouting flight
The longitude and latitude in region, highly, course, attitude, nuclear radiation dosage and image information, air-robot communication equipment 16 should simultaneously
Feedback of the information is to ground control centre 3；
C3, ground control centre 3 receive data message and process mould by the image collection module data of server 32
Block is filtered to data, smoothing processing, and is stored；Then pass through the locating module of server 32 according in record data
D identical point constitutes single closed figure on electronic chart, represents the size of dosage using different colours, from redness to purple
Color table shows that the dosage of nuclear radiation is descending；
By the boundary condition relation of Closed Graph picture, c4 is as shown in fig. 7, judge whether radioactive source Polluted area positioning is accurate
Really；Its different region can not have common border, if having common boundary condition, increasing flying radius and continuing to receive
Rope, till the low region of dosage completely includes the high region of dosage and does not have common border；If meeting this condition, enter
Enter step c5；
C5, by air-robot joystick 34 remote sensing air-robot 1 reach radioactive source Polluted area in nuclear radiation
Maximum region (gray area in Fig. 7) flight of dosage, starts nuclear radiation detector 11, attitude heading reference system sets simultaneously
Standby 12, location equipment 13 and image capture device 14 obtain longitude and latitude in the maximum region of this nuclear radiation dosage, highly, boat
To, attitude, nuclear radiation dosage and image information, simultaneously air-robot communication equipment 16 feed this information in the control of ground
The heart 3；Air-robot 1 finds (gray area in Fig. 7) nuclear radiation dosage highest point d in the maximum region of nuclear radiation dosage
`m(x`m、y`m、h`m), the as skyborne position of radioactive source.
In step s104, control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain
Take the environmental information around at the described land being gathered by land robot, believed according to the environment around at described land
Breath, is accurately positioned radioactive source.
According to an embodiment of the application, the skyborne position in located irradiation source comprises the following steps:
Referring to Fig. 6, Fig. 6 show the flow process of embodiment s104 of the position being accurately positioned radioactive source of the application
Figure；Detailed process is:
D1, land robot 2 obtain nuclear radiation dosage by oriented nuclei activity-sensing equipment 212, are surveyed by multiple power spectrum
Amount determines nucleic information；Obtain the image information at nuclear radiation scene by periscopic image capture device 211；Nuclear radiation dosage,
Power spectrum and image information are sent to ground control centre 3 in real time by communication cable；The figure of the server 32 of ground control centre 3
As acquisition module, data processing module are processed to data, analyze and show；According in nuclear radiation dosage size and step c5
Pinpoint coordinate d`m(x`m、y`m、h`m) the nuclear radiation dosage at place contrasted, judge whether to enter radioactive source contaminated area
Domain；If so, then enter step d2；If it is not, then continuing to detect and observation；
D2, with the geometric center of the 3 D laser scanning equipment 213 in land robot 1 for observation initial point o (0,0,0),
Set up coordinate system, set up coordinate system (x, y, z) in the locating module of server 32；Land robot transfixion, rotates cloud
Platform 21, gathers ambient image information using periscopic image capture device 211, and oriented nuclei activity-sensing equipment 212 detects core spoke
Penetrate dosage and nucleic information, 3 D laser scanning equipment 213 obtains the cloud data of object；By land robot communication equipment
All information are transferred back to the server 32 of ground control centre 3；3 D laser scanning equipment 213 output observation data has two
Angle value and a distance value, and reflected intensity i of also scanning element, this reflected intensity i is used for pip matching color,
By calculating the point coordinates (x of the object of 3 D laser scanning device measuringp、yp、zp)；Land robot joystick 33
Control head 21 to carry out 360 degree of wholecircles and turn to the nuclear radiation dosage after obtaining 360 degree of steerings, the point coordinates of the object of measurement, from
And constitute the cloud data of nuclear radiation dose data and object being measured；Nuclear radiation dose data and cloud data are looked for first
To nuclear radiation dose maximum, find the coordinate (x of this object s further according to this value1、y1、z1), connect initial point o and s point and constitute os
Direction, and the distance of initial point o to s point is l；Land robot joystick 33 controls land robot 1 mobile, and duplicate measurements
5 times；Relatively 5 measurement results, determine the general direction of radioactive source；
D3, the general direction of radioactive source is determined in advance according to step d2；With the head 21 of land robot 2 for basic point k,
Os direction is detection direction, chooses the few direction of preceding object thing and is detected；Land robot 2 is on the basis of y-axis to moving to left
Dynamic with respect to y-axis θ angle, the s point phase of equipment dead ahead extended line and determination in step d2 on the head 21 of land robot 2
Hand over, i.e. ks direction, carry out the object that first time detected and recorded nuclear radiation dosage d1,3 D laser scanning equipment 213 measures
Cloud data, s point are to k1 point apart from l1；Measure for second: land robot is moved to the left with respect to y-axis 2 θ with y-axis benchmark
Angle, and record nuclear radiation dosage d2, the data of 3 D laser scanning equipment 213 measurement, s point to k1 point apart from l2；From two
Measured value d2, d1 of secondary nuclear radiation dosage can try to achieve nuclear radiation dose difference d3, then d3 asked and thoroughly deserve d4；From twice
Measured value l2, l1 of distance can try to achieve distance difference l3, then l3 asked and thoroughly deserve l4；According to right angled triangle three side
Relation, sinusoidal, cosine correlation theorem, nuclear radiation dose data d1, d2, d3, apart from l1, l2, l4, rotational angle θ, 2 θ, can be true
Determine the dimensional orientation coordinate of radioactive source；Again choose θ angle value, be repeated 5 times measurement, and result is compared, final determination
The dimensional orientation coordinate of radioactive source；
D4, according to nuclear radiation scene situation judge land robot whether also need to continue detection；If desired, then return
Step d1 continues to detect；If not needing, complete radioactive source is accurately positioned.
Claims (7)
1. the radioactive source Cross Location Method in three dimensions, is characterized in that, comprising:
Using air-robot in the gathered environmental information of nuclear radiation region flight, Primary Location radioactive source Polluted area；
Control air-robot to enter the radioactive source Polluted area flight of Primary Location, obtain described radioactive source Polluted area simultaneously
Environmental information, according to the environmental information of described radioactive source Polluted area, relocate radioactive source Polluted area；
Control air-robot to enter the radioactive source Polluted area flight of described reorientation, obtain the radiation of described reorientation simultaneously
The environmental information of source Polluted area, the environmental information of the radioactive source Polluted area according to described reorientation, located irradiation source is in sky
In position；And
Control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain and pass through institute of land robot
Environmental information around at the described land of collection, according to the environmental information around at described land, final located irradiation source.
2. the radioactive source Cross Location Method in three dimensions according to claim 1, is characterized in that, described utilization is aerial
Robot specifically includes in the gathered environmental information of nuclear radiation region flight, Primary Location radioactive source Polluted area:
Control air-robot to carry out autonomous flight according to the nuclear radiation region autonomous flight route setting, obtain aerial machine simultaneously
The nuclear radiation dosage information of the flight range that device people is gathered, positional information and image information；
According to described nuclear radiation dosage information, radioactive source Polluted area is primarily determined that using field method；
Described field method specifically includes:
Flight range kernel radiation dose information identical point is built into single closed figure on electronic chart；
Nuclear radiation dosage information relatively at described single closed figure is more than with the initial nuclear radiation dosage information setting, determination
The region that the closed figure of the nuclear radiation dosage information setting is constituted is as radioactive source Polluted area.
3. the radioactive source Cross Location Method in three dimensions according to claim 1, is characterized in that, described control is aerial
Robot enters the radioactive source Polluted area flight of Primary Location, obtains the environmental information of described radioactive source Polluted area simultaneously,
According to the environmental information of described radioactive source Polluted area, relocate radioactive source Polluted area and specifically include:
Obtain the region that the minimum point of radioactive source Polluted area center radiation dose information of Primary Location is located, and by this region
It is divided into several zonules, control several air-robots to enter in several zonules described respectively and fly, obtain simultaneously
Take nuclear radiation dosage information, positional information and the image information of each zonule being gathered by several air-robots；
According to the nuclear radiation dosage information of each zonule described, radioactive source Polluted area is relocated using field method；
Described field method specifically includes:
Flight range kernel radiation dose information identical point is built into single closed figure on electronic chart；
Nuclear radiation dosage information relatively at described single closed figure is more than with the initial nuclear radiation dosage information setting, determination
The region that the closed figure of the nuclear radiation dosage information setting is constituted is as radioactive source Polluted area.
4. the radioactive source Cross Location Method in three dimensions according to claim 1, is characterized in that, controls aerial machine
People enters the radioactive source Polluted area flight of described reorientation, obtains the environment of the radioactive source Polluted area of described reorientation simultaneously
Information, the environmental information of the radioactive source Polluted area according to described reorientation, the skyborne position in located irradiation source specifically includes:
Control air-robot to enter the radioactive source Polluted area flight of described reorientation, obtain simultaneously and pass through air-robot institute
The nuclear radiation dosage information of the radioactive source Polluted area of reorientation of collection, positional information and image information；
Obtain the radioactive source Polluted area kernel radiation dose information highest point of reorientation, with this point as the center of circle, using fixed point
Backpitch searching method is flown, and obtains the core spoke in the backpitch scouting flight region being gathered by air-robot simultaneously
Penetrate dosage information, positional information and image information；
According to the nuclear radiation dosage information in described backpitch scouting flight region, using field method located irradiation source contaminated area
Domain, whether there is according to the border that regional boundary condition judges described radioactive source Polluted area simultaneously and overlaps；
If overlapped, continue search for, till the border of radioactive source Polluted area does not overlap；
Control air-robot to enter the maximum region flight of described radioactive source Polluted area center dose of radiation, obtain and gathered
The maximum region of nuclear radiation dosage in nuclear radiation dosage information, positional information and image information；
Obtain the point of the nuclear radiation dosage information maximum in the maximum region of nuclear radiation dosage, the i.e. skyborne position of radioactive source.
5. the radioactive source Cross Location Method in three dimensions according to claim 4, is characterized in that, described acquisition resets
The radioactive source Polluted area kernel radiation dose information highest point of position, with this point as the center of circle, using fixed point backpitch searcher
Method carries out flight and further includes:
With the radioactive source Polluted area kernel radiation dose information highest point of reorientation as the center of circle, set maiden flight radius,
Then backpitch autonomous flight is carried out with the increasing velocity often enclosing radius increase 2.5m every time.
6. the radioactive source Cross Location Method in three dimensions according to claim 4, is characterized in that, described in described basis
Nuclear radiation dosage information in backpitch scouting flight region, using field method located irradiation source Polluted area, simultaneously according to area
Domain boundary condition judges that the border of described radioactive source Polluted area further includes with the presence or absence of coincidence:
Backpitch scouting flight region kernel radiation dose information identical point is built into single closing on electronic chart
Figure；
Nuclear radiation dosage information relatively at described single closed figure is more than with the initial nuclear radiation dosage information setting, determination
The region that the closed figure of the nuclear radiation dosage information setting is constituted is as radioactive source Polluted area；
Judge whether radioactive source Polluted area has common border；
If there is common border, increasing flying radius and continuing search for, until radioactive source Polluted area completely include another
Till radiation source region.
7. the radioactive source Cross Location Method in three dimensions according to claim 1, is characterized in that, described control land
Robot enters at the land corresponding with the skyborne position of radioactive source, obtains the described land being gathered by land robot
It is located in the environmental information of surrounding, according to the environmental information around at described land, final located irradiation source further includes:
Control land robot to enter at the land corresponding with the skyborne position of radioactive source, obtain by land robot
Figure around at the land that periscopic image capture device, oriented nuclei activity-sensing equipment and 3 D laser scanning equipment are gathered
Cloud data as information, nuclear radiation dosage information and object；
The nuclear radiation dosage information comparing around at gathered land is believed with the nuclear radiation dosage at radioactive source in the air position
Breath, determines whether land robot enters radiation source region；
If entering radiation source region, controlling oriented nuclei activity-sensing equipment to carry out 360 degree of rotations, obtaining in rotation process simultaneously
The cloud data of the image information, nuclear radiation dosage information and object of middle gathered surrounding environment；
Obtain the maximum in the nuclear radiation dosage information of surrounding environment being gathered in rotation process, according to described maximum
The coordinate of the point at place, determines the direction of radioactive source；
With the direction of described radioactive source for basic detection direction, acquisition is gathered when repeatedly being rotated by land robot
The distance of the coordinate of point at nuclear radiation dosage information and land robot and described maximum, believes according to described nuclear radiation dosage
Breath and range information, determine the dimensional orientation coordinate of radioactive source, final located irradiation source.
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