CN106324651A - Intelligent searching device for radioactive source, and operating method of intelligent searching device - Google Patents
Intelligent searching device for radioactive source, and operating method of intelligent searching device Download PDFInfo
- Publication number
- CN106324651A CN106324651A CN201610649792.4A CN201610649792A CN106324651A CN 106324651 A CN106324651 A CN 106324651A CN 201610649792 A CN201610649792 A CN 201610649792A CN 106324651 A CN106324651 A CN 106324651A
- Authority
- CN
- China
- Prior art keywords
- radiation
- signal
- aircraft
- flight
- 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.)
- Granted
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 invention relates to the field of nuclear safety, and provides an intelligent searching device for a radioactive source, and an operating method of the intelligent searching device. The searching device comprises an aircraft, a radiation dose rate detector, a radioactive source position sensitive detector, a signal processing and analysis module, a remote communication module, an infrared radar, a video camera, a lithium battery pack, and a monitoring control module. The searching device is provided with the aircraft, the radiation dose rate detector and the radioactive source position sensitive detector, and can achieve the quick, high-efficiency and automatic searching of the radioactive source through an intelligent searching algorithm.
Description
Technical field
The present invention relates to nuclear safety field, a kind of radiation-resource intelligent search engine and method of work thereof.
Background technology
Along with the development of radiotechnology, the application of radioactive source is more and more extensive, covers industry, agricultural, the side of scientific research
Aspect face.The radioactive source of all kinds and various intensity is applied to medical diagnosis, industrial flaw detection, the measurement of liquid level material, packaging
A large amount of field such as case detection, radioactive breeding, food fresh keeping.Along with the quantity of the radioactive source of industry-by-industry use gets more and more, though
So the consciousness theory of nuclear safety, radioactive source use management rules system there has also been and develop on a large scale very much, but still because staff grasps
Making the factors such as improper or enterprise supervision disappearance causes various radioactive sources lost event constantly to occur.
Radioactive source is once lost, and it is found and reclaims the most extremely difficult, owing to the Probability Area related to is many, and search
Area is big, and traditional radioactive source method for searching user of service carries portable dose rate monitor table, carries out ground to doubt region
Blanket is searched for, and often a few hours, a couple of days even more long-time all difficulties get along with, and the radioactive source lost often activity is relatively strong, danger
Dangerous search time is the longest greatly, and its radiation hazradial bundle produced is the biggest, therefore when radioactive sources lost event occurs, rapidly and efficiently
Find and reclaim radioactive source, reduce its open-assembly time, be reduce damage sequence important channel.
Summary of the invention
The purpose of the present invention is contemplated to overcome above-mentioned weak point of the prior art, it is provided that a kind of radiation-resource intelligent is searched
Seeking device, it carries aircraft, radiation dose rate detector and source positions sensitive detector, can by intelligent search algorithm
The radioactive source search of realization automatization rapidly and efficiently.
It is an object of the invention to 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 frequency pick-up head, lithium battery group, supervision control module.
Aircraft is joined change-speed gearing by 4 propellers, flight control modules, high-speed electric expreess locomotive, equipment delivery stand forms.Fly
Row control module carries out offline mode control, including flying height, flight speed and heading；High-speed electric expreess locomotive by bearing and
Gear combination connects propeller offer flying power, and equipment delivery stand carries out the installation of other assemblies to be fixed, and is mounted with report
Warning lamp.
Radiation dose rate detector includes radiation-detecting elements, signal pre-amplification circuit and metal detector housing.Spoke
Penetrating detecting element uses small size high-sensitive room temperature quasiconductor to carry out Environmental γ-Radiation close rate and measure real-time, and employing is many
Layer energy compensating structure realizes homogeneous energy response, and multilamellar energy compensating structure is successively by lead, stannum, ferrum, aluminum, polyethylene stacking
Composition, uses the combination radiation of Monte Carlo simulation software can ring test and determines thickness and the percent opening of every kind of material, this energy
Collocation structure can solve the problem that different-energy gamma-radiation dose rate response that detector causes is different owing to sensitive layer is thin, will
The deviation of different-energy gamma-radiation dose rate response is controlled within 20% by detector；Signal pre-amplification circuit radiates
The processing and amplifying of signal, and send a signal to signal processing analysis module.Metal detector housing contains each assembly 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 housing composition.Detecting element array uses the LaBr that energy spectrum performance is excellent3Detecting element battle array
Row, each crystal internal is separate and configures optically isolated coating；Electrooptical device array uses small size, low-voltage, height
The silicon photocell array of gain and LaBr3The coupling of detecting element array carries out actinometry and opto-electronic conversion, each silicon photocell
With detecting element one_to_one corresponding, multiple signals pre-amplifying module can simultaneously processing and amplifying all silicon photocells output signal, and
Send a signal to signal processing analysis module.Collimator uses the tungsten alloy of high shield effectiveness and configures bellmouth and radiate
Search coverage orients.Metal detector housing contains each assembly and carries out electromagnetic shielding and environmental protection.
Remote communication module uses wireless communication module based on ICP/IP protocol, reads logical from signal processing analysis module
News data also externally send, and can measure close rate, aircraft field of view information, the reality of equipment parameters according to amount by fast large
Time communication, and when radioactive source positions real-time Transmission source positions measure two-dimensional signal.Remote communication module is also artificial controlled
Aircraft processed provides communication interface.
Described infrared radar be arranged at aircraft up and down before and after on the most totally 6 directions, infrared radar real-time detection is flown
Device peripheral obstacle information, when the infrared radar of a direction detects barrier (if distance is less than 1m), reports to the police triggering
Information is sent to signal processing analysis module, and flight control modules controls aircraft according to evading algorithm cut-through thing.
Described video frequency pick-up head suspension type is installed on aircraft lower center position, and video frequency pick-up head acquiescence shooting flight is just
Front, and support 360 degree to rotate freely, automatic focusing and scaling, can freely shoot under signal processing analysis module controls
The visual field of all directions, and adjust visual field focal length and image scaling as required.
Signal processing analysis module carries out Treatment Analysis and the control of each signal of device interior, visits including radiation dose rate
Survey signal, source positions sensitive detection signal (multichannel), infrared radar and video camera signal, flight control signal and remotely
Communication information.Each functional unit of signal processing analysis inside modules is arranged according to functional independence, modularized design, subregion.
Monitor that control module includes wireless communication device, flying vehicles control handle, laptop computer equipped with monitoring software.Wireless
Communicator is used for receiving wireless signal and being sent to laptop computer.Flying vehicles control handle is used for MANUAL CONTROL mode to aircraft
Flight carries out Artificial Control, and it is by sending control instruction by wireless communication device after connecting laptop computer, and laptop computer can be real
Time 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.
Described signal processing analysis module respectively with video frequency pick-up head, infrared radar, source positions sensitive detector, spoke
Penetrate close rate detector, flight control modules, remote communication module connecting communication, remote communication module with monitor control module without
Line communication.
Present invention also offers the method for work that radioactive source is searched, comprise the following steps:
(1) by monitoring that control module sets flying height according to region of search lineament, setting search parameter: flight search
Scope is i.e. long × wide, such as 500 meters × 500 meters, maximum flying speed, such as 2m/s, close rate threshold value, such as 0.2 μ Gy/h etc.；
(2) aircraft starts scouting flight according to setting value.The hunting zone being first according to input carries out traversal search, and in real time
Measure the Environmental dose rate level on flight path；
(3) once note abnormalities Environmental dose rate point, and change search pattern is close rate tropism search the most at once, finds flight
Close rate maximum point on path, and in this change of flight path, change the flying height behind path and original flying height
Unanimously, heading is the vertical direction of original heading, increases pattern according to close rate and progressively flies advance, and finds road
Maximum dose rate point on footpath；
(4) use position sensitive detector to carry out source positions X-Y scheme measurement at maximum dose rate point, find radioactive source
Accurate location, and determine nucleic kind according to measuring power spectrum, estimate the general activity of radioactive source according to distance ground level；
(5) after finding radioactive source, aircraft hovers over above radioactive source and flashes alarm lamp, until controllers is switched to manually
Control model carries out aircraft recovery.
Present configuration is compact, easy to operate, efficient work, and automaticity is high, and apparatus assembly all uses modularity to set
Meter, easy care maintains, and can position the radioactive source lost fast and accurately, it is ensured that look for the efficient quick that source works.It is main
Want novelty have following some:
One is that the radioactive source that aircraft, radiation dose rate detector and source positions sensitive detector cooperate searches skill
Art, search engine flies by aircraft assembly close proximity to ground, uses the radiation dose rate detector of fast-response quickly to visit simultaneously
Survey the radiation dose rate level through region, hover at high dose rate local range search device and use source positions sensitive detector
Carry out radioactive source to be accurately positioned, and measure radioactive energy spectrum, screen out radionuclide kind.
Two is intelligent search algorithm, and inch-by-inch search and close rate tropism search combine, and do not have at Environmental dose rate
The region having more than setting threshold value quickly carries out inch-by-inch search, once finds that close rate exceedes the region setting threshold value, then drop
Low search speed to change search pattern be close rate tropism search, reduces flight speed, accurately finds out on path maximum agent
Dose rate point, the most vertically finds out the maximum dose rate point of new route for suspecting radioactive sources lost region.
Three is automatization's airmanship, and equipment the most all configures infrared radar, keeps height in flight course
Stable, automatically carry out obstacle detection, keep search path after can bypass barrier, and adjust flight speed as required.
Accompanying drawing explanation
Fig. 1 is the structural representation of radiation-resource intelligent search engine of the present invention.
Wherein: 1. video frequency pick-up head, 2. infrared radar, 3. aircraft, 4. signal processing analysis module, 5. lithium battery group,
6. remote communication module, 7. monitors control module, 8. source positions sensitive detector, 9. radiation dose rate detector.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described.
As it is shown in figure 1, be the radiation-resource intelligent search engine typical structure schematic diagram of the present invention.
In the present embodiment, aircraft 3 is delivered stand group by 4 propellers, flight control modules, high-speed electric expreess locomotive and equipment
Becoming, flight control modules carries out offline mode control, including flying height, flight speed and heading；High-speed electric expreess locomotive passes through
Bearing and gear combination connect propeller provides flying power, equipment delivery stand to be used for installing the detection of fixing radiation dose rate
Device, source positions sensitive detector, signal processing analysis module, remote communication module, infrared radar, video frequency pick-up head, lithium
Set of cells, alarm lamp installed by equipment delivery stand；Aircraft 3 and signal processing analysis module 4 connecting communication, 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 to 3, aircraft
Sending flight control instruction, flight directive is converted into control parameter and controls search engine state of flight in real time by aircraft 3.
In the present embodiment, infrared radar 2 and signal processing analysis module 4 connecting communication, infrared radar 2 is arranged at aircraft
Up and down before and after 6 positions, separately detect the obstacle information of 6 different directions, once detect obstacle distance and search
Seek device distance and will send warning message to signal processing analysis module 4, signal processing analysis module less than setting value, infrared radar
4 control aircraft 3 according to this warning message is adjusted state of flight.
In the present embodiment, video frequency pick-up head 1 is installed in aircraft lower center position suspension type, before acquiescence shooting flight just
Side, and support 360 degree to rotate freely, automatic focusing and scaling, video frequency pick-up head 1 and signal processing analysis module 4 connecting communication,
The search engine sight field video information photographed is sent to signal processing analysis module 4 by video frequency pick-up head 1.
In the present embodiment, lithium battery group 5 is connected 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
Surveying device housing, radiation-detecting elements uses room temperature quasiconductor to carry out Environmental γ-Radiation close rate and measures in real time, uses multilamellar energy
Collocation structure realizes homogeneous energy response, and multilamellar energy compensating structure is stacked by lead, stannum, ferrum, aluminum, polyethylene layer successively,
Using the combination radiation of Monte Carlo simulation software can ring test and determine thickness and the percent opening of every kind of material, this energy compensating is tied
Structure can solve the problem that different-energy gamma-radiation dose rate response that detector causes is different owing to sensitive layer is thin, by detector
Controlling within 20% to the deviation of different-energy gamma-radiation dose rate response, signal pre-amplification circuit carries out radiation signal
Processing and amplifying, and send a signal to signal processing analysis module, metal detector housing carries out electromagnetic shielding and environmental protection；
Radiation dose rate detector 9 is connected 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 the radiation signal after processing and amplifying is sent to signal processing analysis module 4 enters
The analyzing and processing of one step, 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 housing composition, detecting element array uses LaBr3Detecting element battle array
Row, each crystal internal is separate and configures optically isolated coating；Electrooptical device array use silicon photocell array and
LaBr3The coupling of detecting element array carries out actinometry and opto-electronic conversion, each silicon photocell and detecting element one_to_one corresponding, many
Road signal pre-amplifying module processing and amplifying all silicon photocells output signal simultaneously, and send a signal to signal processing analysis
Module, collimator uses tungsten alloy and configures bellmouth and carry out radiation detection region orientation, and metal detector housing 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 Treatment 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 utilizes specific two-dimensional position inversion algorithm to calculate the source positions information of two dimension.
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 duty
Information etc. transmit to remote communication module 6.The manual command of reception is sent to signal processing analysis by remote communication module 6
Module 4.
In the present embodiment, remote communication module 6 and supervision control module 7 realize wireless telecommunications, and remote communication module 6 is by spoke
Penetrate close rate information, source positions metrical information, search engine work state information etc. and transmit to monitoring control module 7,
Monitor that Artificial Control instruction is sent to remote communication module 6 by control module 7.Monitor that control module 7 includes wireless communication device, flies
Row device joystick, laptop computer equipped with monitoring software, wireless communication device is used for receiving wireless signal and being sent to hand-held electric
Brain；Flying vehicles control handle carries out Artificial Control for MANUAL CONTROL mode to aircraft flight, and it is by connecting laptop computer
Sending control instruction by wireless communication device afterwards, laptop computer shows radiation dose rate measurement result, radioactive source Two-dimensional Position in real time
Put figure, camera video signal and search engine running parameter data.
The method of work of the present embodiment radioactive source search engine, comprises the following steps:
(1) by monitoring that control module sets flying height according to region of search lineament, setting search parameter: flight search
Scope is i.e. long × wide, such as 500 meters × 500 meters, maximum flying speed, such as 2m/s, close rate threshold value, such as 0.2 μ Gy/h etc.；
(2) aircraft starts scouting flight according to setting value.The hunting zone being first according to input carries out traversal search, and in real time
Measure the Environmental dose rate level on flight path；
(3) once note abnormalities Environmental dose rate point, and change search pattern is close rate tropism search the most at once, finds flight
Close rate maximum point on path, and in this change of flight path, change the flying height behind path and original flying height
Unanimously, heading is the vertical direction of original heading, increases pattern according to close rate and progressively flies advance, and finds road
Maximum dose rate point on footpath；
(4) use position sensitive detector to carry out source positions X-Y scheme measurement at maximum dose rate point, find radioactive source
Accurate location, and determine nucleic kind according to measuring power spectrum, estimate the general activity of radioactive source according to distance ground level；
(5) after finding radioactive source, aircraft hovers over above radioactive source and flashes alarm lamp, until controllers is switched to manually
Control model carries out aircraft recovery.
The content not being described in detail in this specification, belongs to prior art known to those skilled in the art.
Claims (4)
1. a radiation-resource intelligent search engine, is characterized in that: include the spirit of aircraft, radiation dose rate detector, source positions
Quick detector, signal processing analysis module, remote communication module, infrared radar, video frequency pick-up head, lithium battery group, supervision control
Module；
Described aircraft is made up of 4 propellers, flight control modules, high-speed electric expreess locomotive and equipment delivery stand, and flight controls mould
Block carries out offline mode control, including flying height, flight speed and heading；High-speed electric expreess locomotive passes through bearing and gear combination
Connecting propeller provides flying power, equipment delivery stand to be used for installing fixing radiation dose rate detector, source positions spirit
Quick detector, signal processing analysis module, remote communication module, infrared radar, video frequency pick-up head, lithium battery group, equipment delivers
Alarm lamp is installed on stand；
Described radiation dose rate detector includes radiation-detecting elements, signal pre-amplification circuit and metal detector housing, its
Middle radiation-detecting elements uses room temperature quasiconductor to carry out Environmental γ-Radiation close rate and measures in real time, and signal pre-amplification circuit is carried out
The processing and amplifying of radiation signal, and send a signal to signal processing analysis module, metal detector housing carries out electromagnetic shielding
And environmental protection；
Described source positions sensitive detector is put before including detecting element array, electrooptical device array, multiple signals
Big module, collimator and metal detector housing composition, detecting element array uses LaBr3Detecting element array, internal each
Crystal is separate and configures optically isolated coating；Electrooptical device array uses silicon photocell array and LaBr3Detecting element
Array coupling carries out actinometry and opto-electronic conversion, each silicon photocell and detecting element one_to_one corresponding, puts before multiple signals
Big module processing and amplifying all silicon photocells output signal simultaneously, and send a signal to signal processing analysis module, collimator
Using tungsten alloy and configure bellmouth and carry out radiation detection region orientation, metal detector housing carries out electromagnetic shielding and environment is prevented
Protect；
Described remote communication module uses wireless communication module based on ICP/IP protocol, reads logical from signal processing analysis module
News data also externally send, and measure close rate, aircraft field of view information, the real-time communication of equipment parameters, and are putting
When penetrating source location, real-time Transmission source positions measures two-dimensional signal, and remote communication module also provides logical for Artificial Control aircraft
Communication interface；
Described infrared radar be arranged at aircraft up and down before and after on the most totally 6 directions, infrared radar real-time detection aircraft week
Enclose obstacle information, when the infrared radar of a direction detects barrier (if distance is less than 1m), warning message will be triggered
It is sent to signal processing analysis module；
Described video frequency pick-up head suspension type is installed on aircraft lower center position, before video frequency pick-up head acquiescence shooting flight just
Side, and support 360 degree to rotate freely, automatic focusing and scaling；
Described signal processing analysis module carries out Treatment Analysis and the control of each signal, including radiation dose rate detectable signal,
Source positions sensitive detection signal, infrared radar and video camera signal, flight control signal and telecommunication information；
Described supervision control module includes wireless communication device, flying vehicles control handle, laptop computer equipped with monitoring software, wireless
Communicator is used for receiving wireless signal and being sent to laptop computer；Flying vehicles control handle is used for MANUAL CONTROL mode to aircraft
Flight carries out Artificial Control, and it is by sending control instruction by wireless communication device after connecting laptop computer, and laptop computer is real-time
Display radiation dose rate measurement result, radioactive source two-dimensional position map, camera video signal and search engine running parameter data；
Described lithium battery group provides low-voltage direct working power to signal processing analysis module and aircraft；
Described signal processing analysis module respectively with video frequency pick-up head, infrared radar, source positions sensitive detector, radiation agent
Dose rate detector, flight control modules, remote communication module connecting communication, remote communication module and supervision control module channel radio
News.
The calibration system platform of radioaerosol monitoring device the most according to claim 1, is characterized in that: described radiation
The radiation-detecting elements of close rate detector uses multilamellar energy compensating structure to realize homogeneous energy response, multilamellar energy compensating
Structure is stacked by lead, stannum, ferrum, aluminum, polyethylene layer successively, uses the combination radiation of Monte Carlo simulation software can ring test and determines
The thickness of every kind of material and percent opening.
The calibration system platform of radioaerosol monitoring device the most according to claim 1, is characterized in that: described gas is molten
The exit of glue retracting device is provided with highly-sensitive detector.
4. the method for work of a radiation-resource intelligent search engine as claimed in claim 1, it is characterised in that the method include with
Lower step:
(1) by monitoring that control module sets flying height according to region of search lineament, setting search parameter: flight search
Scope, maximum flying speed, close rate threshold value；
(2) aircraft starts scouting flight according to setting value, and the hunting zone being first according to input carries out traversal search, and in real time
Measure the Environmental dose rate level on flight path；
(3) once note abnormalities Environmental dose rate point, and change search pattern is close rate tropism search the most at once, finds flight
Close rate maximum point on path, and in this change of flight path, change the flying height behind path and original flying height
Unanimously, heading is the vertical direction of original heading, increases pattern according to close rate and progressively flies advance, and finds road
Maximum dose rate point on footpath；
(4) use position sensitive detector to carry out source positions X-Y scheme measurement at maximum dose rate point, find radioactive source
Accurate location, and determine nucleic kind according to measuring power spectrum, estimate radioactive source activity according to distance ground level；
(5) after finding radioactive source, aircraft hovers over above radioactive source and flashes alarm lamp, until controllers is switched to manually
Control model carries out aircraft recovery.
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 true CN106324651A (en) | 2017-01-11 |
| CN106324651B 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) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064987A (en) * | 2017-01-16 | 2017-08-18 | 北京科技大学 | A kind of radioactive source alignment system and localization method |
| CN108572397A (en) * | 2018-03-27 | 2018-09-25 | 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 |
| CN109407132A (en) * | 2018-11-02 | 2019-03-01 | 杭州湘亭科技有限公司 | A kind of unmanned plane 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 |
| CN110554422A (en) * | 2019-09-29 | 2019-12-10 | 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 |
| CN111026163A (en) * | 2019-12-20 | 2020-04-17 | 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 (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100001209A1 (en) * | 2008-03-31 | 2010-01-07 | Stc.Unm | Halide-based scintillator nanomaterial |
| 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 |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| 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 |
-
2016
- 2016-08-10 CN CN201610649792.4A patent/CN106324651B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100001209A1 (en) * | 2008-03-31 | 2010-01-07 | Stc.Unm | Halide-based scintillator nanomaterial |
| 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 |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107064987A (en) * | 2017-01-16 | 2017-08-18 | 北京科技大学 | A kind of radioactive source alignment system and localization method |
| CN107064987B (en) * | 2017-01-16 | 2019-10-22 | 北京科技大学 | A kind of radioactive source positioning system and localization method |
| CN108572397A (en) * | 2018-03-27 | 2018-09-25 | 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 |
| CN109407132A (en) * | 2018-11-02 | 2019-03-01 | 杭州湘亭科技有限公司 | A kind of unmanned plane 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 |
| CN110554422A (en) * | 2019-09-29 | 2019-12-10 | 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 |
| CN111026163A (en) * | 2019-12-20 | 2020-04-17 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106324651B (en) | 2019-02-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106324651A (en) | Intelligent searching device for radioactive source, and operating method of intelligent searching device | |
| US11567019B2 (en) | Solar panel inspection using unmanned aerial vehicles | |
| CN105510952B (en) | Offline mode CdZnTe cruising inspection system and method for inspecting | |
| CN108033015B (en) | Unmanned aerial vehicle device and method for monitoring ignition point of coal gangue dump | |
| CN103913223B (en) | Laser acquisition and warning system | |
| Li | The UAV intelligent inspection of transmission lines | |
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| WO2017080028A1 (en) | Unmanned aerial vehicle system for positioning source of nuclear radiation | |
| CN107202793A (en) | A kind of detecting system and method for detecting external wall mass defect | |
| CN104918008A (en) | Unmanned aerial vehicle-based closed fire scene heat source location method | |
| JP6099738B2 (en) | Aircraft non-intrusive inspection method and system | |
| CN108279702A (en) | A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell | |
| CN1639751A (en) | System and method for territory thermal monitoring | |
| CN206990108U (en) | A kind of fiery cigarette monitoring system based on unmanned plane | |
| CN106197380A (en) | Aquatic vegetation monitoring method based on unmanned plane and system | |
| CN108363088A (en) | Nuclear radiation detection methods, devices and systems | |
| RU2612937C1 (en) | Unmanned aircraft system for the corona discharge coordinates determination | |
| CN107117312A (en) | A kind of unmanned vehicle low latitude radiation monitoring system | |
| CN114502988A (en) | Radiation source positioning system and method | |
| CN109581458A (en) | Nuclear radiation based on unmanned plane sources system | |
| CN110554422B (en) | Full artificial intelligence system based on many rotor unmanned aerial vehicle flight type nuclide identification appearance | |
| Mulero-Pázmány et al. | A low cost way for assessing bird risk hazards in power lines: Fixed-wing small unmanned aircraft systems | |
| CN106210675A (en) | A kind of transmission line forest fire monitoring method, device and system | |
| CN108845346A (en) | A kind of unmanned plane monitoring method, device and unmanned plane | |
| CN102706331B (en) | Correction method for aerial surveying and mapping images |
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 |
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 |
|
| TR01 | Transfer of patent right |