CN106324651B - A kind of radiation-resource intelligent search engine and its working method - Google Patents
A kind of radiation-resource intelligent search engine and its working method Download PDFInfo
- Publication number
- CN106324651B CN106324651B CN201610649792.4A CN201610649792A CN106324651B CN 106324651 B CN106324651 B CN 106324651B CN 201610649792 A CN201610649792 A CN 201610649792A CN 106324651 B CN106324651 B CN 106324651B
- Authority
- CN
- China
- Prior art keywords
- radiation
- aircraft
- signal
- dose rate
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/02—Dosimeters
- G01T1/026—Semiconductor dose-rate meters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/36—Measuring spectral distribution of X-rays or of nuclear radiation spectrometry
Landscapes
- Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- High Energy & Nuclear Physics (AREA)
- Molecular Biology (AREA)
- Measurement Of Radiation (AREA)
Abstract
The present invention relates to nuclear safety fields, a kind of radiation-resource intelligent search engine and its working method are provided, which includes aircraft, radiation dose rate detector, source positions sensitive detector, signal processing analysis module, remote communication module, infrared radar, video camera, lithium battery group, monitoring control module.The present invention carries aircraft, radiation dose rate detector and source positions sensitive detector, and the radioactive source search of automation rapidly and efficiently can be realized by intelligent search algorithm.
Description
Technical field
The present invention relates to nuclear safety field, specifically a kind of radiation-resource intelligent search engine and its working method.
Background technique
With the development of radiotechnology, the application field of radioactive source is more and more extensive, covering industry, agriculture, scientific research side
Aspect face.The radioactive source of various types and various intensity is applied to medical diagnosis, industrial flaw detection, the measurement of liquid level material, packaging
A large amount of fields such as case detection, radioactive breeding, food fresh keeping.The quantity of the radioactive source used with various industries is more and more, though
The consciousness theory of right nuclear safety, radioactive source using management rules system there has also been developing on a large scale very much, but still because staff grasps
Making the factors such as improper or enterprise supervision missing causes various radioactive sources loss events constantly to occur.
Radioactive source is once lost, and finds and recycling is often extremely difficult, since the Probability Area being related to is more, search
Area is big, and traditional radiation source searching method user of service carries portable dose rate monitor table, carries out ground to doubt region
Blanket search, often activity is stronger for the radioactive source that often a few hours, a couple of days even longer time all difficulties have progressed, and lose, danger
Dangerous big, search time is longer, and the radiation hazradial bundle generated is bigger, therefore when radioactive source loses event generation, rapidly and efficiently
Find and recycle radioactive source, reduce its exposure duration, be reduce damage sequence important channel.
Summary of the invention
The purpose of the present invention is to overcome the above deficiencies in the prior art, provides a kind of radiation-resource intelligent and searches
Device is sought, aircraft, radiation dose rate detector and source positions sensitive detector are carried, it can by intelligent search algorithm
Realize the radioactive source search of automation rapidly and efficiently.
The purpose of the present invention is what is be achieved by the following technical measures.
A kind of radiation-resource intelligent search engine, including aircraft, radiation dose rate detector, source positions sensitive detection
Device, signal processing analysis module, remote communication module, infrared radar, video camera, lithium battery group, monitoring control module.
Aircraft is made of 4 propellers, flight control modules, high-speed motor with transmission gear, equipment delivery rack.Fly
Row control module carries out offline mode control, including flying height, flying speed and heading；High-speed motor by bearing and
Gear combination connects propeller and provides flying power, and the installation that equipment delivery rack carries out other assemblies is fixed, and is mounted with to report
Warning lamp.
Radiation dose rate detector includes radiation-detecting elements, signal pre-amplification circuit and metal detector shell.Spoke
It penetrates detecting element to measure real-time, quickly using the highly sensitive room temperature semiconductor progress Environmental γ-Radiation dosage rate of small size, using more
Layer energy compensating structure realizes uniform energy response, and multilayer energy compensating structure is successively laminated by lead, tin, iron, aluminium, polyethylene
Composition is rung using Monte Carlo simulation software combination radiation energy and tests the thickness and percent opening that determine every kind of material, this energy
Collocation structure can solve detector due to sensitive layer it is thin caused by different-energy γ radiation dose rate response different problems, will
Detector controls within 20% the deviation that different-energy γ radiation dose rate responds；Signal pre-amplification circuit is radiated
The enhanced processing of signal, and send a signal to signal processing analysis module.Metal detector shell, which contains various components, goes forward side by side
Row electromagnetic shielding and environmental protection.
Source positions sensitive detector is by detecting element array, electrooptical device array, the preposition amplification of multiple signals
Module, collimator and metal detector shell composition.The detecting element array LaBr excellent using energy spectrum performance3Detecting element battle array
Column, internal each crystal is mutually indepedent and configures optical isolation coating；Electrooptical device array uses small size, low-voltage, height
The silicon photocell array and LaBr of gain3The coupling of detecting element array carries out actinometry and photoelectric conversion, each silicon photocell
It being corresponded with detecting element, multiple signals pre-amplifying module can simultaneously amplify all silicon photocell output signals of processing, and
Send a signal to signal processing analysis module.Collimator uses the tungsten alloy of high shield effectiveness and configures bellmouth and radiated
Search coverage orientation.Metal detector shell contains various components and carries out electromagnetic shielding and environmental protection.
Remote communication module uses the wireless communication module based on ICP/IP protocol, reads from signal processing analysis module logical
News and are externally sent data, can fast large according to measuring the reality for measuring dosage rate, aircraft field of view information, equipment parameters
When communicate, and radioactive source positioning when real-time Transmission source positions measure two-dimensional signal.Remote communication module is also people's industry control
Aircraft processed provides communication interface.
The infrared radar is set to aircraft, and front and back is on totally 6 directions up and down, infrared radar real-time detection flight
Device peripheral obstacle information alarms triggering when the infrared radar of a direction detects barrier (as distance is less than 1m)
Information is sent to signal processing analysis module, and flight control modules control aircraft according to evading algorithm cut-through object.
The video camera suspension type is installed on aircraft lower center position, and video camera default shooting flight is just
Front, and support 360 degree to rotate freely, automatic focusing and scaling, it can freely be shot in the case where signal processing analysis module controls
The visual field of all directions, and visual field focal length and image scaling are adjusted as needed.
Signal processing analysis module carries out the processing analysis and control of each signal inside equipment, including radiation dose rate is visited
Survey signal, source positions sensitive detection signal (multichannel), infrared radar and video camera signal, flight controls signal and long-range
Communication information.The each functional unit of signal processing analysis inside modules is according to functional independence, modularized design, subregion arrangement.
Monitor that control module includes wireless communication device, flying vehicles control handle, the laptop computer equipped with monitoring software.Wirelessly
Communicator is for receiving wireless signal and being sent to laptop computer.Flying vehicles control handle is for MANUAL CONTROL mode to aircraft
Flight carries out manual control, and by sending control instruction by wireless communication device after connection laptop computer, laptop computer can be real
When show radiation dose rate measurement result, radioactive source two-dimensional position map, camera video signal and search engine running parameter data.
Lithium battery group provides low-voltage direct working power to signal processing analysis device and aircraft module.
The signal processing analysis module respectively with video camera, infrared radar, source positions sensitive detector, spoke
Penetrate dosage rate detector, flight control modules, remote communication module connecting communication, remote communication module and monitoring control module without
Line communication.
The present invention also provides the working methods of radioactive source search, comprising the following steps:
(1) flying height is set according to region of search lineament by monitoring control module, sets search parameter: flight
Search range, i.e., it is long × wide, such as 500 meters × 500 meters, maximum flying speed, such as 2m/s, dosage rate threshold value, such as 0.2 μ Gy/h；
(2) aircraft starts scouting flight according to setting value.Traversal search is carried out first, in accordance with the search range of input, and
Environmental dose rate on real-time measurement flight path is horizontal；
(3) it once the Environmental dose rate point that notes abnormalities, then change search pattern is the search of dosage rate taxis at once, finds
Dosage rate maximum point on flight path, and flying height and original flight in this change of flight path, after changing path
Height is consistent, and heading is the vertical direction of original heading, increases mode according to dosage rate and gradually flies advance, and looks for
Maximum dose rate point on to path；
(4) measurement of source positions X-Y scheme is carried out using position sensitive detector at maximum dose rate point, finds and puts
Source accurate location is penetrated, and nucleic type is determined according to measurement power spectrum, estimates the general activity of radioactive source according to apart from ground level；
(5) aircraft hovers over above radioactive source and flashes alarm lamp after finding radioactive source, until controllers are switched to
Manual control mode carries out aircraft recycling.
Structure of the invention is compact, easy to operate, efficient work, high degree of automation, and apparatus assembly is all set using modularization
Meter, maintenance easy to maintain, can the radioactive source to loss fast and accurately positioned, it is ensured that look for source work efficient quick.It is led
Novelty is wanted to have the following:
First is that aircraft, radiation dose rate detector and the mutually matched radioactive source search of source positions sensitive detector
Technology, search engine fly by aircraft assembly close proximity to ground, while quick using the radiation dose rate detector of fast-response
Detection is horizontal by the radiation dose rate in region, hovers in high dose rate local range search device and uses source positions sensitive detection
Device carries out radioactive source accurate positioning, and measures radioactive energy spectrum, screens out radionuclide type.
Second is that intelligent search algorithm, inch-by-inch search and the search of dosage rate taxis combine, do not have in Environmental dose rate
The region for having more than given threshold quickly carries out inch-by-inch search, once discovery dosage rate is more than the region of given threshold, then drops
Low search speed simultaneously changes search pattern as the search of dosage rate taxis, reduces flying speed, accurately finds out maximum agent on path
Then dose rate point finds out the maximum dose rate point of new route vertically to suspect radioactive source lost regions.
Third is that automation airmanship, equipment all around all configures infrared radar up and down, keeps height in flight course
Stablize, carries out obstacle detection automatically, keep search path after can bypass barrier, and adjust flying speed as needed.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of radiation-resource intelligent search engine of the present invention.
Wherein: 1. video cameras, 2. infrared radars, 3. aircraft, 4. signal processing analysis modules, 5. lithium battery groups,
6. remote communication module, 7. monitoring control modules, 8. source positions sensitive detectors, 9. radiation dose rate detectors.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments.
As shown in Figure 1, being radiation-resource intelligent search engine typical structure schematic diagram of the invention.
In the present embodiment, aircraft 3 delivers rack group by 4 propellers, flight control modules, high-speed motor and equipment
At flight control modules carry out offline mode control, including flying height, flying speed and heading；High-speed motor passes through
Bearing connects propeller with gear combination and provides flying power, and equipment delivery rack is for installing fixed radiation dose rate detection
Device, source positions sensitive detector, signal processing analysis module, remote communication module, infrared radar, video camera, lithium
Battery pack, equipment deliver and install alarm lamp on rack；Aircraft 3 and 4 connecting communication of signal processing analysis module, aircraft 3 will
Current search engine state of flight information is sent to signal processing analysis module 4, and signal processing analysis module 4 is sent out to aircraft 3
Flight control instruction is sent, aircraft 3 converts control parameter for flight directive and carries out real-time control to search engine state of flight.
In the present embodiment, infrared radar 2 and 4 connecting communication of signal processing analysis module, infrared radar 2 are set to aircraft
Up and down front and back 6 positions, separately detect the obstacle information of 6 different directions, searched once detecting obstacle distance
It seeks device distance and is less than setting value, infrared radar will send warning message to signal processing analysis module 4, signal processing analysis module
4, which control aircraft 3 according to the warning message, is adjusted state of flight.
In the present embodiment, video camera 1 is installed in aircraft lower center position suspension type, before default shooting flight just
Side, and support 360 degree to rotate freely, automatic focusing and scaling, video camera 1 and 4 connecting communication of signal processing analysis module,
The search engine sight field video information taken is sent to signal processing analysis module 4 by video camera 1.
In the present embodiment, lithium battery group 5 is connect with signal processing analysis module 4 and aircraft 3, provides low-voltage direct for it
Working power.
In the present embodiment, radiation dose rate detector 9 includes that radiation-detecting elements, signal pre-amplification circuit and metal are visited
Device shell is surveyed, radiation-detecting elements carry out Environmental γ-Radiation dosage rate real-time measurement using room temperature semiconductor, using multilayer energy
Collocation structure realizes uniform energy response, and multilayer energy compensating structure is successively stacked by lead, tin, iron, aluminium, polyethylene layer,
It is rung using Monte Carlo simulation software combination radiation energy and tests the thickness and percent opening that determine every kind of material, this energy compensating knot
Structure can solve detector due to sensitive layer it is thin caused by different-energy γ radiation dose rate response different problems, by detector
The deviation of different-energy γ radiation dose rate response is controlled within 20%, signal pre-amplification circuit carries out radiation signal
Enhanced processing, and signal processing analysis module is sent a signal to, metal detector shell carries out electromagnetic shielding and environmental protection；
Radiation dose rate detector 9 is connect with signal processing analysis module 4, and radiation dose rate detector 9 is from signal processing analysis module 4
Obtain work low-voltage dc power supply, and by the radiation signal after enhanced processing be sent to signal processing analysis module 4 carry out into
The analysis of one step is handled, and is converted into radiation dose rate information in conjunction with calibration factor and correction factor.
In the present embodiment, source positions sensitive detection 8 includes detecting element array, electrooptical device array, multichannel
Signal pre-amplifying module, collimator and metal detector shell composition, detecting element array use LaBr3Detecting element battle array
Column, internal each crystal is mutually indepedent and configures optical isolation coating；Electrooptical device array using silicon photocell array and
LaBr3The coupling of detecting element array carries out actinometry and photoelectric conversion, and each silicon photocell and detecting element correspond, more
Road signal pre-amplifying module simultaneously amplifies all silicon photocell output signals of processing, and sends a signal to signal processing analysis
Module, collimator is using tungsten alloy and configures bellmouth progress radiation detection region orientation, and metal detector shell carries out electromagnetism
Shielding and environmental protection；Radioactive source sensitive detector 8 and signal processing analysis module 4 connect, and radioactive source sensitive detector 8 is from letter
Number processing analysis module 4 obtains low-voltage direct working power, and the multichannel radiation signal of measurement is sent to signal processing analysis
Module 4, signal processing analysis module 4 calculate two-dimensional source positions information using specific two-dimensional position inversion algorithm.
In the present embodiment, signal processing analysis module 4 is connected with remote communication module 6, and signal processing analysis module 4 is remote
Journey communication module 6 provides working power, and by radiation dose rate information, source positions metrical information, search engine working condition
Information etc. is transmitted to remote communication module 6.Received manual command is sent to signal processing analysis by remote communication module 6
Module 4.
In the present embodiment, remote communication module 6 and monitoring control module 7 realize wireless telecommunications, and remote communication module 6 is by spoke
Penetrate dosage rate information, source positions metrical information, search engine work state information etc. transmit control module 7 to monitoring,
Manual control instruction is sent to remote communication module 6 by monitoring control module 7.Monitor that control module 7 includes wireless communication device, flies
Row device controls handle, the laptop computer equipped with monitoring software, and wireless communication device is for receiving wireless signal and being sent to hand-held electric
Brain；Flying vehicles control handle carries out manual control to aircraft flight for MANUAL CONTROL mode, passes through connection laptop computer
Control instruction, laptop computer real-time display radiation dose rate measurement result, radioactive source Two-dimensional Position are sent by wireless communication device afterwards
Set figure, camera video signal and search engine running parameter data.
The working method of the present embodiment radioactive source search engine, comprising the following steps:
(1) flying height is set according to region of search lineament by monitoring control module, sets search parameter: flight
Search range, i.e., it is long × wide, such as 500 meters × 500 meters, maximum flying speed, such as 2m/s, dosage rate threshold value, such as 0.2 μ Gy/h；
(2) aircraft starts scouting flight according to setting value.Traversal search is carried out first, in accordance with the search range of input, and
Environmental dose rate on real-time measurement flight path is horizontal；
(3) it once the Environmental dose rate point that notes abnormalities, then change search pattern is the search of dosage rate taxis at once, finds
Dosage rate maximum point on flight path, and flying height and original flight in this change of flight path, after changing path
Height is consistent, and heading is the vertical direction of original heading, increases mode according to dosage rate and gradually flies advance, and looks for
Maximum dose rate point on to path；
(4) measurement of source positions X-Y scheme is carried out using position sensitive detector at maximum dose rate point, finds and puts
Source accurate location is penetrated, and nucleic type is determined according to measurement power spectrum, estimates the general activity of radioactive source according to apart from ground level；
(5) aircraft hovers over above radioactive source and flashes alarm lamp after finding radioactive source, until controllers are switched to
Manual control mode carries out aircraft recycling.
The content being not described in detail in this specification belongs to the prior art well known to those skilled in the art.
Claims (3)
1. a kind of radiation-resource intelligent search engine, it is characterized in that: including aircraft, radiation dose rate detector, source positions spirit
Quick detector, signal processing analysis module, remote communication module, infrared radar, video camera, lithium battery group, monitoring control
Module；
The aircraft is made of 4 propellers, flight control modules, high-speed motor and equipment delivery rack, flight control mould
Block carries out offline mode control, including flying height, flying speed and heading；High-speed motor passes through bearing and gear combination
It connects propeller and flying power is provided, equipment delivery rack is for installing fixed radiation dose rate detector, source positions spirit
Quick detector, signal processing analysis module, remote communication module, infrared radar, video camera, lithium battery group, equipment delivery
Alarm lamp is installed on rack；
The radiation dose rate detector includes radiation-detecting elements, signal pre-amplification circuit and metal detector shell,
Middle radiation-detecting elements carry out Environmental γ-Radiation dosage rate real-time measurement using room temperature semiconductor, and signal pre-amplification circuit carries out
The enhanced processing of radiation signal, and signal processing analysis module is sent a signal to, metal detector shell is electromagnetically shielded
And environmental protection；
The source positions sensitive detector includes putting before detecting element array, electrooptical device array, multiple signals
Big module, collimator and metal detector shell composition, detecting element array use LaBr3Detecting element array, it is internal each
Crystal is mutually indepedent and configures optical isolation coating；Electrooptical device array uses silicon photocell array and LaBr3Detecting element
Array coupling carries out actinometry and photoelectric conversion, and each silicon photocell and detecting element are corresponded, put before multiple signals
Big module simultaneously amplifies all silicon photocell output signals of processing, and sends a signal to signal processing analysis module, collimator
Using tungsten alloy and bellmouth progress radiation detection region orientation is configured, metal detector shell carries out electromagnetic shielding and environment is anti-
Shield；
The remote communication module uses the wireless communication module based on ICP/IP protocol, reads from signal processing analysis module logical
News data are simultaneously externally sent, and measure the real-time communication of dosage rate, aircraft field of view information, equipment parameters, and putting
Real-time Transmission source positions measurement two-dimensional signal when penetrating source positioning, remote communication module also provides for manual control aircraft logical
Communication interface；
The infrared radar is set to aircraft, and front and back is on totally 6 directions up and down, infrared radar real-time detection aircraft week
Obstacle information is enclosed, when the infrared radar of a direction detects barrier, triggering warning message is sent to signal processing
Analysis module；
The video camera suspension type is installed on aircraft lower center position, before video camera default shooting flight just
Side, and support 360 degree to rotate freely, automatic focusing and scaling；
The signal processing analysis module carries out the processing analysis of each signal and controls, including radiation dose rate detectable signal,
Source positions sensitive detection signal, infrared radar and video camera signal, flight control signal and telecommunication information；
The monitoring control module includes wireless communication device, flying vehicles control handle, the laptop computer equipped with monitoring software, wirelessly
Communicator is for receiving wireless signal and being sent to laptop computer；Flying vehicles control handle is for MANUAL CONTROL mode to aircraft
Flight carries out manual control, and by sending control instruction by wireless communication device after connection laptop computer, laptop computer is real-time
Show radiation dose rate measurement result, radioactive source two-dimensional position map, camera video signal and search engine running parameter data；
The lithium battery group provides low-voltage direct working power to signal processing analysis module and aircraft；
The signal processing analysis module respectively with video camera, infrared radar, source positions sensitive detector, radiation agent
Dose rate detector, flight control modules, remote communication module connecting communication, remote communication module and monitoring control module channel radio
News.
2. radiation-resource intelligent search engine according to claim 1, it is characterized in that: the radiation of the radiation dose rate detector
Detecting element realizes uniform energy response using multilayer energy compensating structure, multilayer energy compensating structure successively by lead, tin,
Iron, aluminium, polyethylene layer are stacked, using Monte Carlo simulation software combination radiation energy ring test determine every kind of material thickness and
Percent opening.
3. a kind of working method of radiation-resource intelligent search engine as described in claim 1, it is characterised in that this method include with
Lower step:
(1) flying height is set according to region of search lineament by monitoring control module, sets search parameter: flight search
Range, maximum flying speed, dosage rate threshold value；
(2) aircraft starts scouting flight according to setting value, carries out traversal search first, in accordance with the search range of input, and in real time
The Environmental dose rate measured on flight path is horizontal；
(3) once the Environmental dose rate point that notes abnormalities, then change search pattern is the search of dosage rate taxis at once, flight is found
Dosage rate maximum point on path, and flying height and original flying height in this change of flight path, after changing path
Unanimously, heading is the vertical direction of original heading, increases mode according to dosage rate and gradually flies advance, and finds road
Maximum dose rate point on diameter；
(4) measurement of source positions X-Y scheme is carried out using position sensitive detector at maximum dose rate point, finds radioactive source
Accurate location, and nucleic type is determined according to measurement power spectrum, radioactive source activity is estimated according to apart from ground level；
(5) aircraft hovers over above radioactive source and flashes alarm lamp after finding radioactive source, until controllers are switched to manually
Control model carries out aircraft recycling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649792.4A CN106324651B (en) | 2016-08-10 | 2016-08-10 | A kind of radiation-resource intelligent search engine and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610649792.4A CN106324651B (en) | 2016-08-10 | 2016-08-10 | A kind of radiation-resource intelligent search engine and its working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106324651A CN106324651A (en) | 2017-01-11 |
| CN106324651B true CN106324651B (en) | 2019-02-01 |
Family
ID=57740712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610649792.4A Active CN106324651B (en) | 2016-08-10 | 2016-08-10 | A kind of radiation-resource intelligent search engine and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106324651B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064987B (en) * | 2017-01-16 | 2019-10-22 | 北京科技大学 | A kind of radioactive source positioning system and localization method |
| CN108572397B (en) * | 2018-03-27 | 2019-07-02 | 西南科技大学 | A kind of radiation hunting system and method based on heterogeneous robot |
| CN108733070A (en) * | 2018-04-11 | 2018-11-02 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle (UAV) control method and control system |
| CN109407132B (en) * | 2018-11-02 | 2020-05-01 | 杭州湘亭科技有限公司 | Unmanned aerial vehicle radiation monitoring method and system |
| CN109490941A (en) * | 2018-12-29 | 2019-03-19 | 苏州瑞派宁科技有限公司 | Flight detection device, imaging system and its radiation detection method |
| CN110554422B (en) * | 2019-09-29 | 2020-10-13 | 中国医学科学院放射医学研究所 | Full artificial intelligence system based on many rotor unmanned aerial vehicle flight type nuclide identification appearance |
| CN111026163B (en) * | 2019-12-20 | 2021-10-26 | 华南理工大学 | Indoor-oriented uncontrolled radioactive source autonomous searching robot and searching method thereof |
| CN112180418A (en) * | 2020-04-21 | 2021-01-05 | 宁波甬东核辐射监测有限公司 | Method for positioning radioactive source, flight equipment, ground workstation and system |
| CN112817336A (en) * | 2021-02-08 | 2021-05-18 | 广东省环境辐射监测中心 | High-precision radioactive source searching and positioning system and positioning method based on civil small unmanned aerial vehicle |
| CN113156487A (en) * | 2021-04-27 | 2021-07-23 | 中国核动力研究设计院 | Method for adjusting discrimination threshold of pulse measurement circuit in program control manner |
| CN114236591A (en) * | 2021-10-29 | 2022-03-25 | 中国核电工程有限公司 | Dose rate measurement value-based method for adjusting size of collimation hole and distance of detector |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116235A (en) * | 2015-09-22 | 2015-12-02 | 西华大学 | Searching apparatus and method of automatically searching electromagnetic radiation source |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| CN105137204A (en) * | 2015-09-22 | 2015-12-09 | 西华大学 | Apparatus and method for locating indoor electromagnetic radiation source |
| CN105209933A (en) * | 2013-03-11 | 2015-12-30 | 布利斯脱大学 | Radiation detection device and method |
| CN205038266U (en) * | 2015-09-22 | 2016-02-17 | 西华大学 | Independently seek device in electromagnetic radiation source |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8431041B2 (en) * | 2008-03-31 | 2013-04-30 | Stc.Unm | Halide-based scintillator nanomaterial |
-
2016
- 2016-08-10 CN CN201610649792.4A patent/CN106324651B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105209933A (en) * | 2013-03-11 | 2015-12-30 | 布利斯脱大学 | Radiation detection device and method |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| CN105116235A (en) * | 2015-09-22 | 2015-12-02 | 西华大学 | Searching apparatus and method of automatically searching electromagnetic radiation source |
| CN105137204A (en) * | 2015-09-22 | 2015-12-09 | 西华大学 | Apparatus and method for locating indoor electromagnetic radiation source |
| CN205038266U (en) * | 2015-09-22 | 2016-02-17 | 西华大学 | Independently seek device in electromagnetic radiation source |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106324651A (en) | 2017-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106324651B (en) | A kind of radiation-resource intelligent search engine and its working method | |
| CN108033015B (en) | Unmanned aerial vehicle device and method for monitoring ignition point of coal gangue dump | |
| CN105510952B (en) | Offline mode CdZnTe cruising inspection system and method for inspecting | |
| US20200265729A1 (en) | Drone encroachment avoidance monitor | |
| EP2972499B1 (en) | Radiation detection device and method | |
| Gong et al. | Locating lost radioactive sources using a UAV radiation monitoring system | |
| JP2016515204A5 (en) | ||
| WO2017080028A1 (en) | Unmanned aerial vehicle system for positioning source of nuclear radiation | |
| JP6099738B2 (en) | Aircraft non-intrusive inspection method and system | |
| CN108363088A (en) | Nuclear radiation detection methods, devices and systems | |
| CN106379536A (en) | Natural gas pipeline tour-inspection system based on drone | |
| WO2021026280A1 (en) | Radiation source localization systems and methods | |
| CN108006439A (en) | A kind of chemical industry dangerous gas leaks air-ground integrated monitoring and warning technology and equipment | |
| US11875691B2 (en) | Drone encroachment avoidance monitor | |
| Lee et al. | Optimizing UAV-based radiation sensor systems for aerial surveys | |
| CN108845346A (en) | A kind of unmanned plane monitoring method, device and unmanned plane | |
| CN111311865A (en) | Forest fire prevention unmanned aerial vehicle platform based on carry on thermal imager | |
| CN110554422B (en) | Full artificial intelligence system based on many rotor unmanned aerial vehicle flight type nuclide identification appearance | |
| CN111323805A (en) | Air three-dimensional gamma imaging monitoring system | |
| CN206710892U (en) | Unmanned plane multiple remote avoidance obstacle device | |
| CN206460334U (en) | A kind of regional environment detecting system based on unmanned plane | |
| CN107884009A (en) | High pressure overhead power line line walking photoelectric detection system | |
| JP2016080529A (en) | Radiation measuring device and radiation measuring method | |
| Mukai et al. | Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging | |
| Vale et al. | Heterogeneous Drone Fleet for Radiological Inspection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220915 Address after: No. 1-21, Sunshine Avenue, Sunshine Chuanggu, Miaoshan Office, Jiangxia Economic Development Zone, Wuhan City, Hubei Province, 430200 Patentee after: Wuhan Haiwang Nuclear Energy Equipment Engineering Co.,Ltd. Address before: 430205 No. 19 Yangqiaohu Avenue, Tibetan Longdao Development Zone, Jiangxia District, Wuhan City, Hubei Province Patentee before: China State Shipbuilding Corporation, Limited (CSSC) 719th Research Institute |