CN108279702A - A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell - Google Patents
A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell Download PDFInfo
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- CN108279702A CN108279702A CN201810033645.3A CN201810033645A CN108279702A CN 108279702 A CN108279702 A CN 108279702A CN 201810033645 A CN201810033645 A CN 201810033645A CN 108279702 A CN108279702 A CN 108279702A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 38
- 230000007613 environmental effect Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000008054 signal transmission Effects 0.000 claims abstract description 20
- 230000003993 interaction Effects 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000005855 radiation Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009877 rendering Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
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- 230000009194 climbing Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention provides a kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell, unmanned plane includes：Flying platform, detection system, control system and external system；The flying platform specifically includes motion, driving mechanism and ultrasonic distance measuring module；The detection system specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes power module, main control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module；The present invention utilizes unmanned air vehicle technique, can enter in the unapproachable nuclear power plant containment shell of technical staff and detect, and Quick Acquisition needs the relevant information in the region monitored, and is transferred in host computer；The monitoring to safety in containment and early warning can be effectively realized, nuclear power system safety in operation is further increased.
Description
Technical field
The present invention relates to unmanned air vehicle technique more particularly to a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell and
Its control method.
Background technology
Support of the development dependent on the energy, nuclear energy are just receiving favor in future source of energy structure.In 2016, countries in the world
It signs《It reaches an agreement in Paris》, this also becomes the promoting factor that nuclear energy further develops.Future, nuclear energy probably become in the world very
The energy development of multinational family selects.
" wisdom nuclear power operation system is studied and demonstrative project " is divided into nuclear power high risk zone operation intelligent detecting robot
System, nuclear power maintenance period Intelligent Radiation protecting, monitoring system, the operation inspection of portable intelligent nuclear power are dodged examining system etc. seven and are ground
Study carefully project.This indicates that the operation of nuclear power system is strided forward towards intelligent direction.
Due to the limitation of current technology, while to realize that the intelligence of nuclear power operating system, various correlation projects start
It is paid close attention to by researcher.In April, 2015, Xu Wenfu et al. are proposed《For in nuclear power plant containment shell environmental monitoring it is small
Type climbing robot》.The it is proposed of this technology monitors environment in containment with small-sized wall-climbing robot, realizes unmanned probing, favorably
It is run in nuclear power intelligence.But meanwhile there is also relevant issues for this technology.For example, depending on robot technology, cause to have very
More place robots can not reach；The shortcomings of robot probe's efficiency is not high, and movement speed is slow.
Invention content
In order to solve shortcoming in the prior art, the present invention provides one kind for environment prison in nuclear power plant containment shell
The unmanned plane of survey, the unmanned plane utilize unmanned air vehicle technique, flexibly can promptly realize the environmental monitoring in containment, realization pair
The monitoring and early warning of safety in containment further improve the safety of nuclear power system operation.
Another object of the present invention is to provide a kind of controls for the unmanned plane of environmental monitoring in nuclear power plant containment shell
Method.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of unmanned plane for environmental monitoring in nuclear power plant containment shell, including：Flying platform, detection system, control system
System and external system.The flying platform specifically includes motion, driving mechanism and ultrasonic distance measuring module；The detection
System specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes power module, master
Control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module.
The flying platform realizes that the flight, landing and hovering of unmanned plane act by motion and driving mechanism, and
And the detection of barrier is carried out by ultrasonic distance measuring module in flight course, it avoids touching with the equipment in containment
It hits.
The ultra wide band locating module of the detection system, for positioning accurate location of the unmanned plane in containment.It is described
The detecting module of detection system, for detecting the temperature in containment, humidity and dosage rate.The camera shooting mould of the detection system
Block, acquisition and transmission for video in containment.
The power module of the control system, for providing different voltage for various devices.The master of the control system
Control module, the action behavior for controlling unmanned plane.The signal transmission module of the control system, the screen for overcoming containment
The effect of covering, that realizes signal stablizes transmission.
The host computer of the external system realizes the environment in containment for receiving the information detected and being handled
Monitoring.The human-computer interaction module of the external system realizes effective place of information for facilitating user to manipulate system
Reason.
The main control module respectively with driving mechanism, ultrasonic distance measuring module, ultra wide band locating module, detecting module, take the photograph
As module and signal transmitting apparatus connect.
The signal transmitting apparatus is connect with host computer.
The host computer is connect with human-computer interaction module.
The driving mechanism is connect with motion.
The power module is connect with flying platform, detection system, control system.
Further, the motion of the flying platform specifically includes two right-handed screw paddles and two counterpropeller compositions
Quadrotor；The driving mechanism of the flying platform specifically includes four electron speed regulators and four motors, electron speed regulator and
Main control module is connected, and for receiving control signal, motor is connected with electron speed regulator, and electron speed regulator regulation motor turns
Speed；There are one propellers for installation on each motor；The ultrasonic distance measuring module specifically includes ultrasonic distance-measuring sensor.
Further, the ultra wide band locating module in the detection system includes positioning label, locating base station, engine of positioning
And device is presented, positioning method is specially：
The positioning label is carried for emitting super short-time pulse by unmanned plane during flying platform, realizes unmanned machine equipment
Positioning；
The locating base station is transmitted for receiving the pulse signal emitted by positioning label, and by signal transmission apparatus
To engine of positioning；
The engine of positioning, for carrying out location Calculation, location Calculation uses TDOA algorithms；
The presentation device, the location information that engine of positioning is handled for rendering.
Further, the detecting module in the detection system specifically includes temperature sensor, humidity sensor and with GM
Gamma radiation detector based on counting tube.
Further, the photographing module in the detection system specifically include image collecting device and image information conversion and
Transmitting device.
Further, the power module in the control system specifically includes battery and DC/DC increasing apparatus.
Further, the main control module in the control system specifically includes flight main control chip.
Further, the signal transmission module in the control system specifically includes radio transmitting device and wire transmission dress
It sets.Flying platform and the information of detection system detection are transferred to the signal in nuclear power plant containment shell by radio transmitting device and receive
Device, signal receiving device are transferred to host computer by wired transmission device again, overcome the shielding action of containment, realize letter
Number stablize transmission.
Another object of the present invention can be realized by following scheme：
A kind of control method for the unmanned plane of environmental monitoring in nuclear power plant containment shell, the method includes：
Host computer is arrived in some region of instruction in human-computer interaction module Input Monitor Connector containment, and host computer passes through signal transmission
Module sends instructions to main control module；Main control module is according to instruction by controlling driving mechanism so that driving mechanisms control moves
Mechanism, to control unmanned plane during flying region to be monitored into instructing；During unmanned plane during flying, ultrasonic distance measuring module
It carries out the detection of barrier and detection information is sent to main control module, be then communicated to host computer；Human-computer interaction module according to
The information of reception issues an instruction to control unmanned plane so that unmanned plane can avoid touching with the equipment in containment in real time
It hits, accurately arrives at the required region monitored；
Behind monitoring region needed for reaching, master control module controls unmanned plane hovers over the region；Ultra wide band in detection system
Locating module, detecting module and photographing module detect location information in the region, temperature data, humidity data, dosage rate
Data and video information will send information to the signal receiving device in nuclear power plant containment shell by wireless transmission, and signal receives
The information received is packaged by device, and host computer is transferred to by signal transmission module, the host computer letter to receiving again
Breath is handled and sends return instruction to main control module, and master control module controls unmanned plane returns to land at landing, terminates to institute
The monitoring in region need to be monitored；In entire monitoring process, power module provides different voltage for various devices.
The present invention compared with the prior art, has advantageous effect below：
1, the present invention utilizes Detection Techniques, can realize the measurement to humidity, temperature and radiation dose rate in containment,
And it is real-time transmitted to host computer；
2, the present invention utilizes unmanned air vehicle technique, can realize to rapid flexible the environmental monitoring in nuclear power plant containment shell；
3, the present invention uses video joint control technology, can understand unmanned plane local environment, easy to operation and monitoring in real time；
4, the present invention uses ultra wide band (UWB) location technology, have positioning accuracy is high, penetration capacity is strong, anti-multipath jamming,
Advantage at low cost, energy consumption is small；
5, present invention employs ultrasonic listening technologies, can collide to avoid with the equipment in containment, mitigate nothing
The workload of human operator.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram for the unmanned plane of environmental monitoring in nuclear power plant containment shell of the present invention；
Fig. 2 is a kind of system composition figure for the unmanned plane of environmental monitoring in nuclear power plant containment shell of the present invention；
Fig. 3 is ultra wide band (UWB) locating module schematic diagram in the present invention.
Specific implementation mode
Further detailed description is done to the present invention with embodiment below in conjunction with the accompanying drawings, but protection scope of the present invention is not
It is limited to this.
It is a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell as shown in Figure 1, specifically includes：Quadrotor, machine
Body, supporting rack and picture pick-up device；Fuselage interior includes：Ultrasonic distance measuring module, ultra wide band locating module, detecting module, electricity
Source module, main control module, wireless transport module and photographing module.
It is illustrated in figure 2 a kind of system composition figure for the unmanned plane of environmental monitoring in nuclear power plant containment shell, it is specific to wrap
It includes：Flying platform, detection system, control system and external system.The flying platform specifically includes motion, driving machine
Structure and ultrasonic distance measuring module.The detection system specifically includes ultra wide band locating module, detecting module and photographing module.It is described
Control system specifically includes power module, main control module and signal transmission module.The external module specifically include host computer and
Human-computer interaction module.
The motion includes：The quadrotor being made of two right-handed screw paddles and two counterpropellers；The driving machine
Structure includes：Four electron speed regulators and four motors；The ultrasonic distance measuring module includes：Ultrasonic distance-measuring sensor；It is described
Detecting module includes：Temperature sensor, humidity sensor and the gamma radiation detector based on GM counting tubes；The photographing module
Including：Image collecting device, image information conversion and transmitting device；The power module includes：Battery and DC/DC boosting dresses
It sets；The main control module is aircraft main control chip；The signal transmission module includes：Radio transmitting device and wire transmission dress
It sets.
It is illustrated in figure 3 ultra wide band locating module schematic diagram, the ultra wide band locating module specifically includes：Positioning label,
Locating base station, engine of positioning and presentation device.The ultra wide band locating module realization method is specially：It is attached on unmanned plane
Positioning label emit super short-time pulse, the locating base station reception pulse signal, by signal transmission apparatus by pulse signal
It is transferred to engine of positioning, engine of positioning carries out location Calculation by using TDOA algorithms again, and gained finally is presented by presentation device
The location information arrived.Ultra wide band locating module can realize the positioning accuracy of Centimeter Level.
The working method of unmanned plane is as follows：
Host computer is arrived in some region of instruction in human-computer interaction module Input Monitor Connector containment, and host computer passes through signal transmission
Module sends instructions to main control module；Main control module is according to instruction by controlling driving mechanism so that driving mechanisms control moves
Mechanism, to control unmanned plane during flying region to be monitored into instructing；During unmanned plane during flying, ultrasonic distance measuring module
It carries out the detection of barrier and detection information is sent to main control module, be then communicated to host computer；Human-computer interaction module according to
The information of reception issues an instruction to control unmanned plane so that unmanned plane can avoid touching with the equipment in containment in real time
It hits, accurately arrives at the required region monitored；
Behind monitoring region needed for reaching, master control module controls unmanned plane hovers over the region；Ultra wide band in detection system
Locating module, detecting module and photographing module detect location information in the region, temperature data, humidity data, dosage rate
Then data and video information will send information to the signal receiving device in nuclear power plant containment shell by wireless transmission method,
The information received is packaged by signal receiving device, is transferred to host computer by signal transmission module, host computer docks again
The information received is effectively treated and sends return instruction to main control module, and master control module controls unmanned plane returns to drop at landing
It falls, terminates the monitoring to required monitoring region；In entire monitoring process, power module provides different electricity for various devices
Pressure.
The above, patent preferred embodiment only of the present invention, but the protection domain of patent of the present invention is not limited in
This, any one skilled in the art is in the range disclosed in patent of the present invention, according to the skill of patent of the present invention
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the protection domain of patent of the present invention.
Claims (8)
1. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell, it is characterised in that：Including flying platform, detection system
System, control system and external system；The flying platform specifically includes motion, driving mechanism and ultrasonic ranging mould
Block；The detection system specifically includes ultra wide band locating module, detecting module and photographing module；The control system specifically includes
Power module, main control module and signal transmission module；The external system specifically includes host computer and human-computer interaction module；
The main control module respectively with driving mechanism, ultrasonic distance measuring module, ultra wide band locating module, detecting module, camera shooting mould
Block and signal transmission module connection；
The signal transmission module is connect with host computer；
The host computer is connect with human-computer interaction module；
The driving mechanism is connect with motion；
The power module is connect with flying platform, detection system, control system；
The flying platform controls driving mechanism by being connect with main control module, and driving mechanisms control motion realizes nothing
Man-machine flight, landing and hovering action, and in flight course obstacle detection is carried out by ultrasonic distance measuring module；
The ultra wide band locating module of the detection system, for positioning accurate location of the unmanned plane in containment；The detection
The detecting module of system, for detecting the temperature in containment, humidity and dose of radiation；The camera shooting mould of the detection system
Block, acquisition and transmission for video in containment；
The power module of the control system, for providing different voltage for various devices；The master control mould of the control system
Block, the behavior for controlling unmanned plane；The signal transmission module of the control system, the shielding action for overcoming containment,
That realizes signal stablizes transmission；
The host computer of the external system realizes the environmental monitoring in containment for receiving the information detected and being handled；
The human-computer interaction module of the external system, facilitates user to manipulate system, realizes being effectively treated for information.
2. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It includes the quadrotor being made of two right-handed screw paddles and two counterpropellers to state motion；The driving mechanism includes four electricity
Sub- governor and four motors, electron speed regulator are connected with main control module, electron speed regulator regulation motor rotating speed, each motor
One propeller of corresponding control.
3. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
Ultra wide band locating module is stated to include positioning label, locating base station, engine of positioning and device is presented；Positioning method is specially：
The positioning label is carried for emitting super short-time pulse by unmanned plane during flying platform；
The locating base station passes signal for receiving the pulse signal emitted by positioning label, and by signal transmission apparatus
It is defeated to arrive engine of positioning；
The engine of positioning, for carrying out location Calculation by using TDOA algorithms；
The presentation device, the location information that engine of positioning is handled for rendering.
4. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the detecting module in detection system and specifically includes temperature sensor, humidity sensor and the γ radiation spies based on GM counting tubes
Survey device.
5. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the photographing module in detection system and specifically includes image collecting device and image information conversion and transmitting device.
6. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
It states the power module in control system and specifically includes battery and DC/DC increasing apparatus.
7. a kind of unmanned plane for environmental monitoring in nuclear power plant containment shell according to claim 1, it is characterised in that：Institute
The signal transmission module stated in control system specifically includes radio transmitting device and wired transmission device；Flying platform and detection are
The information of system detection is transferred to the signal receiving device in nuclear power plant containment shell by radio transmitting device, and signal receiving device is again
The host computer being transferred to by wired transmission device outside containment.
8. a kind of control based on claim 1-7 any one of them for the unmanned plane of environmental monitoring in nuclear power plant containment shell
Method, it is characterised in that：Specific steps include：
Host computer is arrived in some region of instruction in human-computer interaction module Input Monitor Connector containment, and host computer passes through signal transmission module
Send instructions to main control module；Main control module is according to instruction by controlling driving mechanism so that driving mechanisms control motion,
To control unmanned plane during flying region to be monitored into instructing；During unmanned plane during flying, ultrasonic distance measuring module carries out
Detection information is simultaneously sent to main control module by the detection of barrier, is then communicated to host computer；Human-computer interaction module is according to reception
Information, issue an instruction to control unmanned plane in real time so that unmanned plane can avoid colliding with the equipment in containment, accurate
The region monitored needed for really reaching；
Behind monitoring region needed for reaching, master control module controls unmanned plane hovers over the region；Ultra wide band positioning in detection system
Module, detecting module and photographing module detect location information in the region, temperature data, humidity data, dosage rate data
And video information, the signal receiving device in nuclear power plant containment shell, signal receiving device will send information to by wireless transmission
The information received is packaged, host computer is transferred to by signal transmission module, host computer again to the information that receives into
Row handles and sends return instruction to main control module, and master control module controls unmanned plane returns to land at landing, terminates to required prison
Survey the monitoring in region；In entire monitoring process, power module provides different voltage for various devices.
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| CN201810033645.3A CN108279702A (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell |
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| CN201810033645.3A CN108279702A (en) | 2018-01-12 | 2018-01-12 | A kind of unmanned plane and its control method for environmental monitoring in nuclear power plant containment shell |
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| WO2022000195A1 (en) * | 2020-06-29 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Operation method, control device, operation unmanned aerial vehicle, system, and storage medium |
| CN114877945A (en) * | 2022-05-31 | 2022-08-09 | 上海握蓝物联科技(集团)有限公司 | Space-air-ground integrated hyperspectral multidimensional multiparameter ecological monitoring system |
| CN114967529A (en) * | 2022-04-07 | 2022-08-30 | 中核工程咨询有限公司 | Nuclear power station environment monitoring flight inspection device, method and system |
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