CN107521678A - The UAS and its method for positioning and capturing for nuclear radiation radioactive source - Google Patents
The UAS and its method for positioning and capturing for nuclear radiation radioactive source Download PDFInfo
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- CN107521678A CN107521678A CN201710693374.XA CN201710693374A CN107521678A CN 107521678 A CN107521678 A CN 107521678A CN 201710693374 A CN201710693374 A CN 201710693374A CN 107521678 A CN107521678 A CN 107521678A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
A kind of UAS and its method for positioning and capturing for nuclear radiation radioactive source, including：Ground station apparatus, unmanned plane, the solar-electricity power apparatus and positioning and grabbing device being arranged on unmanned plane；Ground station apparatus includes：Earth station's information process unit, man-machine interaction unit and earth station's data transmission unit；Solar-electricity power apparatus includes：Solar energy lens unit and corresponding solar panel；Positioning and grabbing device include：Information process unit, flight control units, positioning unit, barrier monitoring unit, nuclear radiation intensity sensor, image acquisition units, manipulator unit and the data transmission unit being respectively connected with information process unit；Emergency processing personnel send the control command of unmanned plane and manipulator by ground station apparatus real time inspection data message, so as to the crawl in teleradioloy source；The present invention can accurately be found out and the unknown radioactive source in nuclear radiation region, while can complete the crawl work to radioactive source.
Description
Technical field
The present invention relates to a kind of technology in unmanned aerial vehicle (UAV) control field, is specifically that a kind of nuclear radiation radioactive source that is used for positions
And the UAS and its method of crawl.
Background technology
Since last decade, the domestic accident lost, be stolen there occurs a lot of II class radioactive sources (high-risk source).Actually searching
Seek, in disposal process, in addition to minority has used vehicle under admissible condition and vehicle-mounted instrument enters line search, in most cases still
So it is forced to take tactics of human sea, mobilizes a large amount of librarian use portable instrument hauling type searches everywhere, it is less efficient.It is both domestic and external
Existing research fully proves, patrols measuring tool using unmanned plane expansion radiation for feasibility, but the platform also has many urgent need to resolve
Problem is present.Such as, the research for unmanned plane during flying scheme and flight path is mostly based on specific hypothetical accident scene, carries out
Analogue simulation is verified, and does not carry out measurement research.And when actually being detected, platform stabilization and institute's gathered data it is accurate
Property also needs further to be verified.
The content of the invention
The present invention due to structure design characteristic, can not detect obstacle environment around unmanned plane and not for prior art
Radiogen recovery operation can be carried out, is proposed a kind of for the positioning of nuclear radiation radioactive source and the UAS captured and its side
Method, unmanned plane and the positioning being mounted on unmanned plane and grabbing device are energized by solar-electricity power apparatus, unmanned plane during flying
Shi Dingwei and grabbing device carry out bidirectional data transfers with ground station apparatus, so that emergency operation personnel will by ground station apparatus
Control instruction is sent to unmanned plane and positioning and grabbing device, the radiation areas containing unknown radioactive source can be carried out continuous automatic
Monitoring, and grasping movement is completed after radioactive source is searched out.
The present invention is achieved by the following technical solutions：
The present invention relates to a kind of UAS for positioning and capturing for nuclear radiation radioactive source, including：Ground station apparatus,
Unmanned plane, the solar-electricity power apparatus being arranged on unmanned plane and positioning and grabbing device, wherein：Solar-electricity power apparatus is nothing
Man-machine, positioning and grabbing device energy supply, ground station apparatus receive unmanned plane and the information of positioning and grabbing device, and to positioning and
Grabbing device feeds back the control command of emergency processing personnel, controls unmanned plane and positioning and grabbing device to enter in nuclear radiation region
The positioning and crawl of row radioactive source.
Described ground station apparatus includes：Earth station's information process unit, it is respectively connected with earth station information process unit
Man-machine interaction unit and earth station's data transmission unit, wherein：Information process unit processing earth station of earth station data transfer
The data that unit receives, and the state of flight information and monitoring information of unmanned plane are included in man-machine interaction unit.
Described state of flight information includes but is not limited to：Flying speed, flying height, flight attitude and residing geographical position
The longitude and latitude put.
Described monitoring information includes：Obstacle information, the real-time monitoring result of nuclear radiation intensity and reality in flight path
When video image information.
Described solar-electricity power apparatus includes：Solar energy lens unit and corresponding solar panel, wherein：The sun
The luminous energy of the sunshine got is converted into electric energy by energy lens unit aggregation sunshine, solar panel.
Described solar-electricity power apparatus is located above the central plate or wing of unmanned plane.
Described positioning and grabbing device includes：Information process unit and information process unit carry out information exchange respectively
Flight control units, positioning unit, barrier monitoring unit, nuclear radiation intensity sensor, image acquisition units, manipulator list
Member and data transmission unit, wherein：The flight path and unmanned aerial vehicle (UAV) control that flight control units receive information processing unit is sent
Information；Positioning unit by real-time automatic monitoring to the geographical location information of unmanned plane send to information process unit；Barrier
Monitoring unit by auto-real-time monitoring to obstacle information send to information process unit；Nuclear radiation intensity sensor will be automatic
Nuclear radiation intensity monitoring result and relevant information in the region real-time monitored are sent to information process unit；IMAQ list
Member is stored after the video image information in radiation areas is obtained, and real-time Transmission is to information process unit；Manipulator list
The control command that first receive information processing unit is sent, and corresponding action is made according to control command；Data transmission unit with
Information process unit carries out bidirectional data transfers.
Described geographical location information includes：Longitude information, latitude information and altitude info ination.
Described obstacle information includes barrier and the range information of unmanned plane and barrier.
Described flight control units control unmanned plane cruises along flight path in radiation areas, and is finding radioactive source
Unmanned plane hovering is controlled afterwards.
Described nuclear radiation intensity sensor uses height double detector structure, and high range detector carries out high radiance
Measurement, lower range detector carry out the highly sensitive measurement of lower range.
Described nuclear radiation intensity sensor is provided with laser range finder, and laser range finder is connected with information process unit.
Described image acquisition units are high-definition tripod camera, and carry storage device.
Described manipulator unit is connected by rotary head with unmanned plane, and rotary head control machinery hand unit turns
It is dynamic.
The present invention relates to a kind of search method of disposal of the nuclear radiation radioactive source based on above-mentioned UAS, pass through first
Unmanned plane automatic cruising in nuclear radiation region detects, and information process unit carries out unmanned plane shape in real time with ground station apparatus
Determine to radiate according to the state of flight information and monitoring information of the unmanned plane received while state, control and Monitoring Data interact
The exact position in source, and send to ground station apparatus；Emergency processing personnel are real-time by the man-machine interaction unit of ground station apparatus
Data message is checked, and the control life of unmanned plane and manipulator is sent by man-machine interaction unit ground station information process unit
Order；The control command of unmanned plane and manipulator is sent out after earth station's information process unit coding by earth station's data transmission unit
Data transmission unit is delivered to, control command is sent to unmanned plane and manipulator unit after information process unit decodes, so as to distant
Control unmanned plane and manipulator unit capture to radioactive source.
Technique effect
Compared with prior art, the present invention carries positioning and grabbing device on unmanned plane, passes through flight control units control
The flight of unmanned plane processed, nuclear radiation intensity sensor and positioning unit monitor the nuclear radiation intensity distribution feelings in nuclear radiation region
Condition, barrier monitoring unit monitor barrier that may be present on unmanned plane during flying path, and image acquisition units fly in unmanned plane
Video image information is gathered during row in real time, information process unit integrates information above, to determine the accurate geographic position of radioactive source,
And control unmanned plane to carry out corresponding evasive action when running into barrier in unmanned plane during flying, enable nuclear radiation prevention and control center
The accurate unknown radioactive source searched in known region, realizes the recycling work based on unmanned plane, at utmost reduces personnel
Participation, ensure the personal safety of the emergency processing personnel in source of searching.
Brief description of the drawings
Fig. 1 is UAS schematic diagram；
Fig. 2 is positioning and grabbing device schematic diagram；
Fig. 3 is ground station apparatus schematic diagram；
In figure：1 unmanned plane, 2 positioning and grabbing device, 3 ground station apparatus, 4 solar-electricity power apparatus, 200 information processings
Unit, 201 flight control units, 202 positioning units, 203 barrier monitoring unit, 204 nuclear radiation intensity sensors, 205 figures
As collecting unit, 206 manipulator units, 207 data transmission units, 300 earth station's information process units, 301 man-machine interaction lists
Member, 302 earth station's data transmission units；
Fig. 4 is the UAS pictorial diagram for positioning and capturing for nuclear radiation radioactive source；
Fig. 5 is activity distribution map in test zone in embodiment.
Embodiment
As shown in figure 1, the present embodiment includes：Ground station apparatus 3, unmanned plane 1, the solar-electricity being arranged on unmanned plane 1
Power apparatus 4 and positioning and grabbing device 2, wherein：Solar-electricity power apparatus 4 is that unmanned plane 1, positioning and grabbing device 2 energize, ground
Face station arrangement 3 receives unmanned plane 1 and the information of positioning and grabbing device 2, and feeds back emergency processing people to positioning and grabbing device 2
The control command of member, control unmanned plane 1 and positioning and grabbing device 2 carry out the positioning of radioactive source and grabbed in nuclear radiation region
Take.
Described unmanned plane 1 is the small unmanned vehicles manipulated by radio robot or airborne control panel,
Including but not limited to：Fixed-wing unmanned plane 1, multi-rotor unmanned aerial vehicle 1, unmanned parasol or the dirigible of unmanned plane 1.
As shown in figure 3, described ground station apparatus 3 includes：At earth station's information process unit 300 and earth station's information
The man-machine interaction unit 301 and earth station's data transmission unit 302 that reason unit 300 is respectively connected with, wherein：Earth station's information processing
Unit 300 handles the data that earth station data transmission unit 302 receives, and by the state of flight information of unmanned plane 1 and positioning
And the monitoring information of grabbing device 2 is shown in man-machine interaction unit 301.
Described state of flight information includes but is not limited to：Flying speed, flying height, flight attitude and residing geographical position
The longitude and latitude put.
Described monitoring information includes：Obstacle information, the real-time monitoring result of nuclear radiation intensity and reality in flight path
When video image information.
Described earth station's information process unit 300 can be microprocessor, process chip or have data processing and control
Microcontroller.
Described man-machine interaction unit 301 is the display system of touch-screen or support keyboard and mouse with LCD Panel
System, coordinate corresponding software application, carry out the reception of presentation of information and the control command of emergency processing personnel input, and be back to
Earth station's information process unit 300.
Described earth station's data transmission unit 302 for can distance data transmission information radio communication device, such as base
In the wireless data transmission radio station of the signal modulation principle such as GSM, GPRS, Wi-Fi, MSK or FSK/GFSK, for positioning and grabbing
Take the bidirectional data transfers between device 2 and ground station apparatus 3.
Described earth station's data transmission unit 302 can carry out the data communication of remote low latency high bandwidth.
Described ground station apparatus 3 can be computer or the Department of Electronics with data processing and display function
System or nuclear radiation prevention and control emergency center, for man-machine interaction.
Described solar-electricity power apparatus 4 includes：Solar energy lens unit and corresponding solar panel, wherein：Too
The luminous energy of the sunshine got is converted into electric energy by positive energy lens unit aggregation sunshine, solar panel.
Described solar-electricity power apparatus 4 is located above the central plate or wing of unmanned plane 1.
Described solar-electricity power apparatus 4 is unmanned plane 1 and positioning thereon and the offer electric energy of grabbing device 2, extends system
The flight running time of system.
As shown in Fig. 2 described positioning and grabbing device 2 includes：Information process unit 200 and information process unit 200
The flight control units 201 of progress information exchange, positioning unit 202, barrier monitoring unit 203, nuclear radiation intensity pass respectively
Sensor 204, image acquisition units 205, manipulator unit 206 and data transmission unit 207, wherein：Flight control units 201
The flight path information for the unmanned plane 1 that receive information processing unit 200 is sent；What positioning unit 202 arrived real-time automatic monitoring
The geographical location information of unmanned plane 1 is sent to information process unit 200；Barrier monitoring unit 203 arrives auto-real-time monitoring
Obstacle information send to information process unit 200；In the region that nuclear radiation intensity sensor 204 arrives auto-real-time monitoring
Nuclear radiation intensity monitoring result and relevant information send to information process unit 200；Image acquisition units 205 are obtaining radiation
Stored after video image information in region, and real-time Transmission is to information process unit 200；Manipulator unit 206 receives
The control command that information process unit 200 is sent, and corresponding action is made according to control command；Data transmission unit 207 with
Information process unit 200 carries out bidirectional data transfers.
Described geographical location information includes：Longitude information, latitude information and altitude info ination.
Described obstacle information includes the range information of barrier and unmanned plane 1 and barrier.
Because the cruise process route of unmanned plane 1 is calculated accordingly according to different environment terrains, Wu Fabao
Appeared in card cruise route in the absence of accidental barrier on flight path, barrier monitoring unit is equipped with unmanned plane 1
203, information process unit 200 is fed back in time after finding barrier, and information process unit 200 and flight control units 201 are controlled
Unmanned plane 1 processed makes corresponding evasive action, ensures flight safety when unmanned plane 1 searches source.
Described flight control units 201 control unmanned plane 1 to be cruised by flight path in radiation areas, and are put finding
Control unmanned plane 1 hovers after penetrating source.
Described positioning unit 202 can use differential GPS to position, and other can also be used to have the core of positioning function
Piece, the geographical position residing for unmanned plane 1 can be accurately positioned.
Described barrier monitoring unit 203 is used to monitor the distance between barrier on unmanned plane 1 and flight path,
Including ultrasonic distance-measuring sensor and depth image camera.
Described ultrasonic distance-measuring sensor and image pickup head are located at forward and backward, the up, down, left and right of unmanned plane 1,
Measured simultaneously on six direction.
Described information process unit 200 can be microprocessor, process chip or the micro-control with data processing and control
Device processed.
Described nuclear radiation intensity sensor 204 uses height double detector structure, and high range detector carries out high radiation
The measurement of intensity, lower range detector carry out the highly sensitive measurement of lower range, avoid lower range detector by the spoke of high intensity
Penetrate damage.
Described nuclear radiation intensity sensor 204 is provided with laser range finder, when measurement nuclear radiation intensity sensor 204 samples
Terrain clearance, and corresponding range information is sent to information process unit 200.
Described nuclear radiation intensity sensor 204 can monitor nuclear radiation high-velocity particles α, β, gamma-rays.
Described image acquisition units 205 are three axle high-definition tripod cameras, can rotate horizontally 360 °, vertical to rotate
180 °, and carry storage device.
Described manipulator unit 206 for can rotate horizontally 360 °, front end have the flexible electronics control of gripper components, middle part
Device processed.
Described manipulator unit 206 is connected by rotary head with unmanned plane 1, rotary head control machinery hand unit
206 rotation.
Described rotary head is by step motor control, and energy control machinery hand unit 206 carries out 360 ° of rotations and grabbed
Take.
Described data transmission unit 207 for can distance data transmission information radio communication device, such as based on GSM,
The wireless data transmission radio station of the signal modulation principle such as GPRS, Wi-Fi, MSK or FSK/GFSK, for positioning and grabbing device 2
With the bidirectional data transfers between ground station apparatus 3.
Described bidirectional data transfers refer to：Information process unit 200 packing integrate positioning unit 202 monitor nobody
Obstacle information that the geographical location information of machine 1, barrier monitoring unit 203 monitor, nuclear radiation intensity sensor 204 monitor
To the coding information of video image information that obtains of nuclear radiation intensity monitoring information and image acquisition units 205 passed by data
Defeated unit 207 is back to earth station's data transmission unit 302, supplies anxious treatment people and understands system state in which in real time；Together
When, emergency processing personnel send control command to data transmission unit 207, information by earth station's data transmission unit 302
Processing unit 200 receives control command by data transmission unit 207 and it is parsed, and is controlled by flight control units 201
Unmanned plane 1 flies, manipulator unit 206 controls crawl to nuclear radiation radioactive source.
Described positioning and grabbing device 2 is a kind of head for integrating each equipment, for monitoring the spoke in nuclear radiation region
Intensity is penetrated, to determine the particular location of the region internal source.
The present embodiment comprises the following steps：
S1：Positioning and grabbing device 2 and solar-electricity power apparatus 4 are installed on unmanned plane 1, opens ground station apparatus 3.
S2：Information process unit 200 voluntarily plans flight path of the unmanned plane 1 in nuclear radiation region, flight control list
Member 201 is flown search according to the route control unmanned plane 1 of planning in nuclear radiation region；The nuclear radiation intensity that unmanned plane 1 carries
Sensor 204 and positioning unit 202 are in continuous duty, and the nuclear radiation of diverse location is strong in accurate record nuclear radiation region
Spend, and the accurate geographic position of radioactive source is determined according to nuclear radiation strength signal；Barrier monitoring unit 203 continuously works to supervise
The obstacle information surveyed on the flight path of unmanned plane 1, and barrier monitoring result is sent to information process unit 200 in real time,
If the flight safety that barrier threatens unmanned plane 1 on flight path be present, information process unit 200 plans road of dodging in time
Line simultaneously controls unmanned plane 1 to carry out corresponding avoiding action.
S3：In the flight course of unmanned plane 1, the video image information around the continuous acquisition unmanned plane 1 of image acquisition units 205
And send to information process unit 200, information process unit 200 is to the state of flight information of unmanned plane 1 received and monitoring
Information integration, and sent by data transmission unit 207 to earth station's data transmission unit 302, earth station's data transmission unit
The data message received is sent to earth station's information process unit 300, earth station's information process unit 300 and will received by 302
To information decode and be shown in man-machine interaction unit 301, for checking.After the completion of flight, information process unit 200 can be certainly
The dynamic record data according in flight course obtains the latitude and longitude coordinates information of radiation intensity peak, completes the essence to radioactive source
It is determined that position.
S4：Manipulator control order is inputted man-machine interaction unit 301, earth station's information process unit by emergency processing personnel
Through earth station's data transmission unit 302 and data transfer list after the 300 control command codings for transmitting man-machine interaction unit 301
Member 207 is sent to information process unit 200 and decoded, and decoded control command is sent to flight control units 201, control
Unmanned plane 1 processed is specifying the hovering of crawl place；Send to manipulator unit 206, manipulator unit 206 and acted accordingly
Complete the crawl work to radioactive source.
Described information process unit 200 plans flying for unmanned plane 1 in real time according to the range information of unmanned plane 1 and barrier
Walking along the street footpath, prevent from colliding.
The present embodiment controls unmanned plane 1 to be cruised inside radiation areas by flight control units 201, while nuclear radiation is strong
Spend the radiation intensity information of diverse location inside sensor 204 and positioning unit 202 while posting field so that data acquisition is more
It is accurate efficient.
Shanghai Communications University has together carried out performance test with Shanghai City radiation environment supervisory station to present example.
In performance test, experiment head is 30 meters wide 25 meters, and unmanned plane is entered in checkout area with altitude simulation of the 1m/s speed in 10m
Row radioactive source search out of control, radioactive source to be sought is IV class radioactive source.
It is illustrated in figure 4 the UAS pictorial diagram for positioning and capturing for nuclear radiation radioactive source.Unmanned plane passes through certainly
After dynamic search, success, which is hovered above radioactive source to be searched and delineates activity in test zone as shown in Figure 5, to divide
Butut.Test result shows that the errors in position measurement of UAS in ± 1m, searches source function admirable.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (8)
- A kind of 1. UAS for positioning and capturing for nuclear radiation radioactive source, it is characterised in that including：Ground station apparatus, Unmanned plane, the solar-electricity power apparatus being arranged on unmanned plane and positioning and grabbing device, wherein：Solar-electricity power apparatus is nothing Man-machine, positioning and grabbing device energy supply, ground station apparatus receive unmanned plane and the information of positioning and grabbing device, and to positioning and Grabbing device feeds back the control command of emergency processing personnel, controls unmanned plane and positioning and grabbing device to enter in nuclear radiation region The positioning and crawl of row radioactive source.
- 2. UAS according to claim 1, it is characterized in that, described ground station apparatus includes：Earth station's information Processing unit, the man-machine interaction unit and earth station's data transmission unit being respectively connected with earth station's information process unit, wherein： The data that earth station information process unit processing earth station data transmission unit receives, and by the state of flight information of unmanned plane It is shown in monitoring information in man-machine interaction unit；Described state of flight information includes but is not limited to：Flying speed, flying height, flight attitude and residing geographical position Longitude and latitude；Described monitoring information includes：Obstacle information, the real-time monitoring result of nuclear radiation intensity in flight path and regard in real time Frequency image information.
- 3. UAS according to claim 1, it is characterized in that, described solar-electricity power apparatus includes：Solar energy Lens unit and corresponding solar panel, wherein：Solar energy lens unit assembles sunshine, and solar panel will obtain To the luminous energy of sunshine be converted into electric energy.
- 4. UAS according to claim 1, it is characterized in that, described positioning and grabbing device include：At information Reason unit, carry out respectively with information process unit the flight control units of information exchange, positioning unit, barrier monitoring unit, Nuclear radiation intensity sensor, image acquisition units, manipulator unit and data transmission unit, wherein：Flight control units receive The flight path and unmanned aerial vehicle (UAV) control information that information process unit is sent；The unmanned plane that positioning unit arrives real-time automatic monitoring Geographical location information is sent to information process unit；The obstacle information that barrier monitoring unit arrives auto-real-time monitoring is sent To information process unit；Nuclear radiation intensity monitoring result in the region that nuclear radiation intensity sensor arrives auto-real-time monitoring, Laser range finder monitoring result and relevant information are sent to information process unit；Image acquisition units are being obtained in radiation areas Stored after video image information, and real-time Transmission is to information process unit；Manipulator unit receive information processing unit is sent out The control command sent, and corresponding action is made according to control command；Data transmission unit carries out two-way with information process unit Data transfer；Described geographical location information includes：Longitude information, latitude information and altitude info ination；Described obstacle information includes barrier and the range information of unmanned plane and barrier.
- 5. UAS according to claim 4, it is characterized in that, described nuclear radiation intensity sensor is double using height Panel detector structure, high range detector carry out the measurement of high radiance, and it is highly sensitive that lower range detector carries out lower range Measurement, and nuclear radiation intensity sensor is provided with laser range finder, and laser range finder is connected with information process unit.
- 6. UAS according to claim 4, it is characterized in that, described ultrasonic distance-measuring sensor and image pickup Head is located at forward and backward, the up, down, left and right of unmanned plane, is measured simultaneously on six direction.
- 7. a kind of search method of disposal of the nuclear radiation radioactive source based on UAS described in any of the above-described claim, it is special Sign is that automatic cruising detects in nuclear radiation region by unmanned plane first, and information process unit fills in real time with earth station Put and carry out while unmanned plane state, control and Monitoring Data interact according to the state of flight information and prison of the unmanned plane received Measurement information determines the exact position of radioactive source, and sends to ground station apparatus；The people that emergency processing personnel pass through ground station apparatus Machine interactive unit real time inspection data message, and by man-machine interaction unit ground station information process unit send unmanned plane and The control command of manipulator；The control command of unmanned plane and manipulator passes through earth station after earth station's information process unit coding Data transmission unit is sent to data transmission unit, and control is sent to unmanned plane and manipulator unit after information process unit decodes System order, so as to which remotely pilotless machine and manipulator unit capture to radioactive source.
- 8. according to the method for claim 7, it is characterized in that, specifically include following steps：S1：Positioning and grabbing device and solar-electricity power apparatus are installed on unmanned plane, opens ground station apparatus；S2：Information process unit voluntarily plans flight path of the unmanned plane in nuclear radiation region, and flight control units are according to rule The route control unmanned plane drawn flies search in nuclear radiation region；The nuclear radiation intensity sensor of UAV flight and positioning are single Member is in continuous duty, the accurate nuclear radiation intensity for recording diverse location in nuclear radiation region, and according to nuclear radiation intensity Signal determines the accurate geographic position of radioactive source；Barrier monitoring unit continuously works to monitor the barrier on unmanned plane during flying path Hinder thing information, and barrier monitoring result is sent to information process unit in real time, if barrier prestige on flight path be present Coerce the flight safety of unmanned plane, information process unit planning in time is dodged route and to control unmanned plane to be evaded accordingly dynamic Make；S3：During unmanned plane during flying, video image information and transmission around image acquisition units continuous acquisition unmanned plane are extremely Information process unit, information process unit is integrated to the state of flight information of unmanned plane and monitoring information that receive, and is passed through Data transmission unit sends to earth station's data transmission unit, earth station's data transmission unit and sends the data message received To earth station's information process unit, the information received is decoded and including in man-machine interaction unit by earth station's information process unit In, for checking；After the completion of flight, information process unit can obtain radiation intensity automatically according to the record data in flight course The latitude and longitude coordinates information of peak, completes to be accurately positioned radioactive source；S4：Manipulator control order is inputted man-machine interaction unit by emergency processing personnel, and earth station's information process unit will be man-machine After the control command coding that interactive unit transmits information processing is sent to through earth station's data transmission unit and data transmission unit Unit is decoded, and decoded control command sends to flight control units, control unmanned plane and specifying the hovering of crawl place； Send to manipulator unit, manipulator unit carries out crawl work of the corresponding action completion to radioactive source.
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| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
| CN109490939A (en) * | 2018-11-23 | 2019-03-19 | 南京航空航天大学 | A kind of radioactive source localization method applied to small drone |
| CN109581458A (en) * | 2018-12-14 | 2019-04-05 | 中国人民解放军第二军医大学 | Nuclear radiation based on unmanned plane sources system |
| CN110803283A (en) * | 2019-12-05 | 2020-02-18 | 贵州电网有限责任公司 | External unmanned aerial vehicle ray radiation detection system and measurement method thereof |
| CN113126652A (en) * | 2021-04-02 | 2021-07-16 | 中国人民解放军海军航空大学 | Dispatching method and device for unmanned aerial vehicle cluster cooperative electronic reconnaissance |
| CN113359173A (en) * | 2021-06-07 | 2021-09-07 | 苏州大学 | Comprehensive evaluation method and system for nuclear radiation resistance performance of unmanned aerial vehicle based on transponder |
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