CN109490941A - Flight detection device, imaging system and its radiation detection method - Google Patents
Flight detection device, imaging system and its radiation detection method Download PDFInfo
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- CN109490941A CN109490941A CN201811630357.2A CN201811630357A CN109490941A CN 109490941 A CN109490941 A CN 109490941A CN 201811630357 A CN201811630357 A CN 201811630357A CN 109490941 A CN109490941 A CN 109490941A
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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
- G01T1/16—Measuring radiation intensity
- G01T1/20—Measuring radiation intensity with scintillation detectors
- G01T1/202—Measuring radiation intensity with scintillation detectors the detector being a crystal
Abstract
This application discloses a kind of flight detection device, imaging system and its radiation detection methods, the flight detection device includes the multiple aircraft being in communication with each other, each aircraft includes: detecting module, it is configured as being detected according to acquired detection indicator, and including the radioactive ray for receiving target object sending and generates the scintillation crystal of corresponding optical signal and the photoelectric converter for converting optical signals to electric signal；Flight transmission module is configured as carrying detecting module, and is flown according to acquired flight indicator；Aerial control module, it is configured as according to the operation for controlling detecting module and flight transmission module from acquired assignment instructions, and monitoring device sends detection data to determine the position of target object to the feedback information sent according to detecting module and/or flight transmission module to the ground.By utilizing technical solution provided by the present application, the purpose of long-range detection target object may be implemented.
Description
Technical field
This application involves radiation detection technology field, in particular to a kind of flight detection device, imaging system and its radiation
Detection method.
Background technique
The description of this part only provides and discloses relevant background information to the application, without constituting the prior art.
It in the prior art, can be by the side that is shot using unmanned plane in order to determine the specific location of target object
Formula detects.However, since unmanned plane is highly susceptible to the interference of signal interference and human factor, and have for shooting distance
Certain requirement cannot be completed to detect well, and being taken the photograph by common photo-beat is the appearance information based on being seen, so
The error signal issued by target object is easy to misleading.Moreover, currently, for some target objects not in earth's surface,
For example, nuclear submarine, can not determine its specific location using the technology that unmanned plane is shot.
Therefore, in order to long-range detection target object, it is desirable to provide a kind of new flight detection device.
Summary of the invention
The application's is designed to provide a kind of flight detection device, imaging system and its radiation detection method, to realize
Long-range detection target object.
In order to solve the above-mentioned technical problem, this application provides a kind of flight detection device, the flight detection device packets
The multiple aircraft being in communication with each other are included, each aircraft includes:
Detecting module is configured as detecting target object according to acquired detection indicator, and including with
In receiving radioactive ray that the target object issues and generate the scintillation crystal of corresponding optical signal and for will be described
The optical signal that scintillation crystal generates is converted to the photoelectric converter of electric signal；
Flight transmission module is configured as carrying the detecting module, and according to acquired flight indicator
It flies；
Aerial control module is configured as controlling the detecting module and described according to from acquired assignment instructions
The operation of flight transmission module, and the feedback information sent according to the detecting module and/or the flight transmission module to
Ground monitoring device sends detection data, so that the ground monitoring device determines the position of the target object.
In embodiments herein, multiple aircraft circularize arrangement when detecting the target object, and
Air position corresponding to the target object is within the annular that multiple aircraft are arranged in.
In embodiments herein, the detecting module further include:
Light guide is arranged between the scintillation crystal and the photoelectric converter.
Shell, inside it by the scintillation crystal, the photoelectric converter and the light guide package, and its inside
Fluorescent reflection layer is respectively arranged with outside and is protected from light layer.
In embodiments herein, the detecting module further include:
LED spectrum stabilization light source is arranged on the outer wall far from the light guide on the photoelectric converter；
Temperature sensor is evenly distributed on the outer wall of the close photoelectric converter in the fluorescent reflection layer.
In embodiments herein, the detecting module, which is fixed or detachable, to be arranged in the flight transmission module
On.
In embodiments herein, when the detecting module is detachably provided on the flight transmission module,
The detecting module further include:
Power-supply controller is configured as when the detecting module is separated with the flight transmission module to the detection
Module is powered, and is broken when the detecting module returns on the flight transmission module to the detecting module
Electricity.
In embodiments herein, the aerial control module includes multichannel pulse scope-analyzer, is configured as
The electric signal of photoelectric converter output is analyzed and generates the gamma-spectrometric data of decay event.
In embodiments herein, the detection data include electrical signal information caused by the photoelectric converter,
One of the location information of all crystal units for detecting radioactive ray in the scintillation crystal and following information
It is or a variety of: the decay thing that the location information of the detecting module and/or the flight transmission module, the detecting module detect
The gamma-spectrometric data that the time of origin of part, the quantity of the decay event, the multichannel pulse scope-analyzer generate.
In embodiments herein, the aircraft further include:
Locating module is configured as positioning the aircraft and search coverage, and including one or more
A locator, the locator are arranged in the detecting module, the flight transmission module and/or the aerial control module
In.
In embodiments herein, the detection indicator is real-time or receives in advance from the aerial control module
Or be set in advance in inside the detecting module, the flight indicator is real-time or in advance from the aerial control
Module is received or is set in advance in inside the flight transmission module.
In embodiments herein, when the detection indicator and the flight indicator are from the aerial control
When molding block is received, the detection indicator and the flight indicator be as the aerial reconnaissance module according to
Assignment instructions generate.
In embodiments herein, the assignment instructions are from preparatory or received from the ground monitoring device in real time
Or it is set in advance in inside the aerial control module.
Present invention also provides a kind of imaging system, the imaging system includes above-mentioned flight detection device and ground monitoring
Device, the ground monitoring device and flight detection device wireless communication, and be configured as detecting to the flight and fill
Transmission assignment instructions are set, receive the detection data that the flight detection device is sent, and figure is carried out according to the detection data
As reconstruction is handled.
In embodiments herein, the ground monitoring device includes:
Ground control module, the aerial control module being configured as into each aircraft send described appoint
Business instruction, to control the operation of the detecting module and the flight transmission module in each aircraft；
Data processing module is configured as receiving the detection data sent from the aerial control module, to the spy
Measured data carries out image reconstruction process, and is fed back according to image reconstruction process result to the ground control module.
In embodiments herein, the assignment instructions are to be sent out by the ground control module in response to triggering command
It send, or is sent by the ground control module according to the feedback result of the data processing module.
Present invention also provides a kind of method for carrying out radiation detection using above-mentioned flight detection device, the method packets
It includes:
Step S1: the flight transmission module in each aircraft flies according to acquired flight indicator；
Step S2: the detecting module in each aircraft detects target pair according to acquired detection indicator
As, and detection result is sent to corresponding aerial control module；
Step S3: control device is sent according to the spy the aerial control module in each aircraft to the ground
The detection data surveying result and generating, so that the ground control unit determines the position of the target object.
In embodiments herein, the method also includes:
Step S25: when the detecting module in each aircraft detects the decay that the target object generates
When event, each aircraft can signal the remaining aircraft in multiple aircraft, so that the residue
Aircraft adjusts flight path.
By the above technical solution provided by the present application as it can be seen that the application by using the multiple aircraft being in communication with each other come into
Row radiation detection, speed of detection can be improved in this, and can also be improved the accuracy of detection result.In addition, each aircraft
In by carrying out radiation detection using including the detecting module of scintillation crystal and photoelectric converter, rather than using camera come into
Row shooting, this can accurately determine out the position of target object, thus realize the purpose of long-range detection target object, and
The investigation ability and detection safety to target object can also be improved.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the application or technical solution in the prior art
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only in the application
The some embodiments recorded without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram for flight detection device that embodiments herein provides；
Fig. 2 is the structural schematic diagram of the aircraft in flight detection device；
Fig. 3 is the structural schematic diagram of the detecting module in aircraft；
Fig. 4 is the structural schematic diagram of the flight transmission module in aircraft；
Fig. 5 is the structural schematic diagram of the aerial control module in aircraft；
Fig. 6 is a kind of structural schematic diagram for imaging system that embodiments herein provides；
Fig. 7 is the structural schematic diagram of the ground monitoring device in imaging system；
Fig. 8 is the structural schematic diagram of the data processing module in ground monitoring device；
Fig. 9 is a kind of flow diagram for radiation detection method that embodiments herein provides.
Specific embodiment
Below in conjunction with the attached drawing in the application, the technical solution in the application is clearly and completely described, is shown
So, described embodiment is only used for illustrating a part of the embodiment of the application, instead of all the embodiments, and
It is not intended to limitation scope of the present application or claims.Based on the embodiment in the application, those of ordinary skill in the art exist
All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present application.
It should be noted that it can be arranged directly on another when element is referred to as on " setting exists " another element
On element or there may also be elements placed in the middle.When element is referred to as " connection/connection " to another element, it be can be directly
Another element is connect/be attached in succession or may be simultaneously present centering elements.Term as used herein " connection/connection " can
To include electrical and/or mechanical-physical connection/connection.Term as used herein "comprises/comprising" refers to feature, step or element
Presence, but the presence or addition of one or more other features, step or element is not precluded.Term as used herein
"and/or" includes any and all combinations of one or more related listed items.
Unless otherwise defined, all technical and scientific terms used herein and the technical field for belonging to the application
The normally understood meaning of technical staff is identical.Term used herein is intended merely to the purpose of description specific embodiment, and
It is not intended to limitation the application.
In addition, term " first ", " second " etc. are used for description purposes only pair similar with distinguishing in the description of the present application
As between the two and sequencing being not present, indication or suggestion relative importance can not be interpreted as.In addition, the application's
In description, unless otherwise indicated, the meaning of " plurality " is two or more.
In embodiments herein, target object can be the device for referring to issue radioactive ray, for example, core is latent
Power device in ship, core kinetic energy aircraft carrier or guided missile etc., being also possible to injection has radioactive substance (to put for example, being marked with thereon
The compound of penetrating property nucleic) detected object.The decay event, which can be, refers to inside target object there is radioactive original
Daughter nucleus becomes relatively stable event after radiating particle and energy.When target object generates decay event, can issue
Radioactive ray, for example, neutron ray, X-ray, gamma-rays, β ray and/or alpha ray etc..
Flight detection device provided herein, imaging system and its radiation detection method are carried out with reference to the accompanying drawing
It is described in detail.
It may include that be in communication with each other multiple fly as shown in Figure 1, this application provides a kind of flight detection device 1000
Row device 10, each aircraft 10 may each be can free flight aircraft, may include multi-rotor aerocraft (for example, four
Rotor craft) and/or the aircraft whole or part such as unmanned plane, it is also possible to other types of aircraft.Moreover, multiple
Aircraft 10 may be the same or different.Each aircraft 10 can be configured as according to acquired assignment instructions into
Row flight detection, and after detection can initiatively or in response to ground monitoring device send data requesting instructions and
Monitoring device sends detection data to the ground.The assignment instructions can be from ground monitoring device in real time or in advance it is received,
It is also possible to be set in advance in inside aircraft 10.The data requesting instructions, which can be, individually to be sent, and also may include
In the assignment instructions.Moreover, multiple aircraft 10 can circularize arrangement, and target pair when detecting target object
As corresponding air position is within the annular that multiple aircraft 10 are arranged in, so as to improve the accurate of detection result
Property.
As shown in Fig. 2, each aircraft may each comprise detecting module 100, flight transmission module 200 and control mould in the air
Block 300.Wherein, detecting module 100 can be configured as according to acquired detection indicator and detect target object, and
Including the radioactive ray for receiving target object sending and generates the scintillation crystal 110 of corresponding optical signal and be used to incite somebody to action
The optical signal that scintillation crystal generates is converted to the photoelectric converter 120 of electric signal；Flight transmission module 200, which can be configured as, to be held
Set detection module 100, and flown according to acquired flight indicator；Aerial control module 300 can be configured
According to the operation of detecting module 100 and flight transmission module 200 is controlled from the assignment instructions of acquisition, and according to detection mould
Monitoring device sends detection data to the feedback information that block 100 and/or flight transmission module 200 are sent to the ground, so that ground is supervised
Control device determines the position of target object.Specifically:
Detecting module 100, which can be fixed or detachable, to be arranged on flight transmission module 200, and is both configured to root
Carry out radiation detection according to acquired detection indicator, and can be directly or by flight transmission module 200 to aerial
Control module 300 feeds back its detection result.The detection indicator can be real-time or connect in advance from aerial control module 300
It receives, is also possible to be set in advance in inside detecting module 100.As shown in figure 3, detecting module 100 may include phase mutual coupling
The scintillation crystal 110 and photoelectric converter 120 of conjunction.Wherein, scintillation crystal 110 can be made of multiple crystal units.Moreover, dodging
Bright crystal 110 can be inorganic scintillation crystal, for example, yttrium silicate (YSO) crystal, yttrium luetcium silicate (LYSO) crystal, silicic acid lutetium
(LSO) crystal, bismuth germanium oxide (BGO) crystal, barium fluoride (BaF2) crystal, lanthanum bromide (LaBr3) crystal, yttrium aluminate (YAP) crystal,
Aluminic acid lutetium (LuAP) crystal, sodium iodide (NaI) crystal or cesium iodide (CsI) crystal etc., are also possible to organic scintillation crystal, example
Such as, anthracene, Stilbene or naphthalene etc..Photoelectric converter 120 can be silicon photoelectric multiplier (SiPM), photomultiplier tube (PMT) or snowslide light
Electric diode (APD) etc., but not limited to this.The material and ruler of scintillation crystal 110 and photoelectric converter 120 in different aircraft
It is very little to may be the same or different.Detecting module 100 can also include setting scintillation crystal 110 and photoelectric converter 120 it
Between light guide 130 to be accepted to scintillation crystal 110 and photoelectric converter 120, can be silicone oil photoconductive layer, acrylic piece
Or optical glass etc., and it can be single or multi-layer structure.By light guide 130, can effectively detect from scintillation crystal
The optical signal that 110 edge issues, so as to improve the detection efficient of detecting module 100.Detecting module 100 can also include
The signal multiplexing circuit (not shown) being electrically connected with photoelectric converter 120 can be used for the electricity exported to photoelectric converter 120
Signal carries out signal multiplexing to reduce exported signal number, to reduce subsequent data calculation amount.
In addition, detecting module 100 may include shell 140, by scintillation crystal 110, photoelectric converter 120 and light guide
130 are wrapped in it, and scintillation crystal 110 and photoelectric converter 120 can be located at the both ends inside shell 140.?
The outside and inside of shell 140 can be respectively arranged with light shield layer 150 and fluorescent reflection layer 160, wherein light shield layer 150 can be with
Light screening material is used to block extraneous optical signal, is interfered to avoid extraneous light；Fluorescent reflection layer 160 can be used for flashing
The optical signal that crystal 110 issues is reflected, to further increase the detection efficient of detecting module 100.Shell 140, shading
Layer 150 and the shape of 160 three of fluorescent reflection layer match, for example, can be square or circle etc..
In addition, detecting module 100 can also include light emitting diode (LED) spectrum stabilization light source 170, it is arranged in photoelectric conversion
On the outer wall of separate light guide 130 on device 120, the effect that light intensity is adjustable, intensity signal can be fed back can have, to reach
Best spectrum stabilization effect.
In addition, detecting module 100 can also include multiple temperature sensors 180, it is evenly distributed in fluorescent reflection layer
On the outer wall of close photoelectric converter 120 in 160, for example, can be attached in fluorescent reflection layer 160 and photoelectric converter
The middle part for the outer wall that 120 side and end face are connected to each other.Temperature sensor 180 can be micro high sensitivity temperature sensor,
The temperature of its outer wall that can be used for measuring fluorescent reflection layer 160, for carrying out temperature drift school to subsequent obtained power spectrum
It is quasi-.
When detecting module 100 is detachably provided on flight transmission module 200, detecting module 100 can also also be wrapped
Power-supply controller (not shown) is included, can be used for when detecting module 100 is separated with flight transmission module 200 to detecting module
100 are powered, and power off when detecting module 100 returns on flight transmission module 200 to detecting module 100.
Flight transmission module 200, which can be configured as, carries out flight according to acquired flight indicator and to aerial
Control module 300 feeds back its state of flight.As shown in figure 4, flight transmission module 200 may include being provided with detection on its bottom end
The rack 210 of module 100.Detecting module 100 can be fixed in rack 210；Rack 210 can also be detachably provided in
On, for example, can be detachably provided in rack 210 in such a way that electromagnet 220 adsorbs, other sides can also be passed through
Formula separates.Flight transmission module 200 can change its course and height according to acquired flight indicator.Moreover,
After detection terminates, flight transmission module 200 can also return to the predetermined area (for example, originating according to flight indicator
Ground).The flight indicator can be real-time or received from aerial control module 300 in advance, be also possible to preset
Inside flight transmission module 200.
In addition, each flight transmission module 200 can also include power-supply controller 230, detecting module 100 can control
Power supply and power-off, can also be that the electromagnet 220 that is arranged on flight transmission module 200 is powered and to control electromagnet 220 disconnected
Electricity separates detecting module 100 with flight transmission module 200, so that detecting module 100 can enter narrow space
It is detected.
Aerial control module 300, which can be configured as according to acquired assignment instructions, controls flight transmission module 200
Flight and control detector 200 detection, and can with ground monitoring device wirelessly communicate with real-time reception ground prison
It controls the assignment instructions (including data requesting instructions and/or control instruction) that device is sent and monitoring device Real-time Feedback is visited to the ground
The detection event of module 100 and the flight progress of flight transmission module 200 are surveyed, for example, aerial control module 300 can be according to spy
The feedback information that survey module 100 and/or flight transmission module 200 are sent to the ground supervise to the ground by monitoring device transmission detection data
It controls device and sends detection data.The assignment instructions can be from preparatory or received from ground monitoring device in real time, can also be with
Preset 300 inside of control module in the sky.The feedback information may include the detection result of detecting module 100,
It also can also include the state of flight of flight transmission module 200.The detection data may include the detection knot of detecting module 100
Fruit, for example, in electrical signal information caused by photoelectric converter 220 (including amplitude, time and energy etc.), scintillation crystal 210
All crystal units for detecting radioactive ray location information etc., also can also include detecting module 100 and/or flight
The location information of transmission module 200.The detection data sent by detecting module 100, ground monitoring device can determine mesh
Mark object position.
When acquired assignment instructions be include the control instruction of flight instruction information when, aerial control module 300 can be with
Flight indicator is generated according to the flight instruction information in control instruction to control the flight of flight transmission module 200.Institute
It states flight instruction information and can be and be used to indicate the flight of 200 avoidance of flight transmission module, fly according to specified flight path
Data, may include 200 region position of flight transmission module, target object region position and/or barrier
Size and its position etc., can also include feedback instruction.In addition, aerial control module 300 can initiatively or response
In ground monitoring device data requesting instructions and to the ground monitoring device feedback flight transmission module 200 status information, example
Such as, the current location and/or target position of flight transmission module 200, flight path information etc..
In addition, when acquired assignment instructions be include detection instruction information control instruction when, aerial control module 300
It can also indicate that information is visited to generate detection indicator to control detecting module 100 according to the detection in control instruction
It surveys, and receives the detection result of the feedback of detecting module 100.The detection instruction information may include detected object, detection model
Enclose, detection time and/or feedback instruction etc..Aerial control module 300 can initiatively or in response to ground monitoring device number
The received detection result of institute is directly sent to ground monitoring device according to request instruction, detection result can also be handled
And treated detection result as detection data is sent to ground monitoring device.For the latter, as shown in figure 5, aerial control
Molding block 300 may include multichannel pulse scope-analyzer 310, can be used for the electric signal exported to photoelectric converter 120
Analyzed and generated the gamma-spectrometric data of decay event.The principle of multichannel pulse scope-analyzer is as follows: will be by using A/D conversion
The impulse amplitude range of measurement is equally divided into 2n(n is positive integer) a amplitude interval, thus analog pulse signal be converted into
Its corresponding digital quantity, and corresponding digital quantity is recorded, to obtain the distributed data of impulse amplitude, i.e. gamma-spectrometric data.It is this
In the case of, other than above-mentioned data, detection data can also include the decay event that multichannel pulse scope-analyzer 310 generates
Gamma-spectrometric data.
In addition, aerial control module 300 can also include data processor 320, can be configured as according to detection mould
The detection result that block 100 is sent determines the time of origin of decay event and the quantity of the decay event, and as spy
Measured data is sent to ground monitoring device.Data processor 320 can be integrated in one with multichannel pulse scope-analyzer 310,
It can also be independently arranged.
In another embodiment of the application, aerial control module 300 can also include data link 330, can be with
For transmitting data to detecting module 100, flight transmission module 200 and ground monitoring device, and receive the feedback letter of its transmission
Breath.
In another embodiment of the application, aerial control module 300 can also include memory 340, can be used for
The power spectrum number of feedback information, multichannel pulse scope-analyzer generation that storage detection module 100 and flight transmission module 200 are sent
According to and the obtained time of origin of decay event of data processor and the quantity of the decay event etc..
In another embodiment of the application, each aircraft 10 can also include locating module 400, can be matched
It is set to and aircraft itself and search coverage is positioned.Locating module 400 may include one or more locators, example
Such as, GPS (global positioning system), the GPS can be set in detecting module 100, flight transmission module 200 and/or aerial control
In module 300, to improve positioning accuracy.By locating module 400, the real time position of each aircraft can be determined.
In another embodiment of the application, each aircraft 10 can also include communication module 500, can be set
In rack 210, and can be configured as with other aircraft communications, to understand other carry-on detecting modules
100 detection event so as to real-time change of flight path, and then improves the detection efficient of detecting module 100.
It can be seen from the above description that this can by carrying out radiation detection using the multiple aircraft being in communication with each other
To improve speed of detection, and it can also be improved the accuracy of detection result.In addition, by using including dodging in each aircraft
The detecting module of crystal and photoelectric converter is sparkled to carry out radiation detection, rather than is shot using camera, this can be quasi-
It really determines the position of target object, to realize the purpose of long-range detection target object, and can also improve to mesh
Mark the investigation ability and detection safety of object.In addition, the modules in each aircraft can integrate in one, this makes
Apparatus structure is more compact, and reduces complexity.
Flight detection device provided by the present application can be applied to detect in hidden region (for example, in water) or danger zone
Target object, can be applied to military field, this has widened its application range.
Present invention also provides a kind of imaging systems, as shown in fig. 6, its may include above-mentioned flight detection device 1000 with
And ground monitoring device 2000.Ground monitoring device 2000 can be wirelessly communicated with flight detection device 1000, and can be by
It is configured to send assignment instructions (including data requesting instructions and/or control instruction) to flight detection device 1000, receives flight
The detection data that detection device 1000 is sent, and detection data is handled so that target object to be imaged.
The detection data may include the photoelectric converter institute in each detecting module in flight detection device 1000
The all of radioactive ray are detected in the electrical signal information (including amplitude, time and energy etc.) and scintillation crystal of generation
The location information of crystal unit can also include one of following information or a variety of: each detecting module and/or each flight
Time of origin, each detecting module for the decay event that the location information of transmission module, each detecting module detect detect
The power spectrum number of multichannel pulse scope-analyzer decay event generated in the quantity of decay event, each aerial control module
According to and each aerial control module in temperature sensor measured by temperature data etc..
As shown in fig. 7, ground monitoring device 2000 may include: ground control module 2100, can be used for flight
Detection device 1000 sends assignment instructions, to control the operation of flight detection device 1000；Data processing module 2200, can be with
It is configured as receiving the detection data sent from flight detection device 1000 and detection data is amplified, is analyzed, image weight
The processing such as build, and control module 2100 is fed back to the ground, so that 2100 real-time control of ground control module is flown detection dress
Set 1000 operation.Ground monitoring device 2000 can also include display module 2300, can be configured as at display data
Manage the reconstruction image generated of module 2200.Ground monitoring device 2000 also can also include memory module 2400, can be by
It is configured to the received detection data of 2200 institute of storage receiving module and/or the obtained data processing knot of data processing module 2300
Fruit (including reconstruction image).Specifically:
Ground control module 2100 can each aircraft in response to triggering command and into flight detection device 1000
Aerial control module send assignment instructions to control the detecting module in each aircraft and the flight and be driven
The operation of module can also refer to according to the feedback result of data processing module 2200 to 1000 transmission task of flight detection device
It enables, flight detection device 1000 is allowed to adjust flight path in time.The triggering command can refer to the control of triggering ground
Module sends the condition of assignment instructions, can be from external received, is also possible to be arranged in flight detection device 1000
Portion.
As shown in figure 8, data processing module 2200 may include: receiving unit 2210, it can be used for real-time or timing
Receive the detection data that flight detection device 1000 is sent；Reading unit 2220 can be used for reading receiving unit 2210 and connect
The detection data received；Integral unit 2230 can be used for integrating the read detection data of reading unit 2220
Processing is to remove repeated data；And image reconstruction unit 2240 (for example, computer platform), it can be used for according at integration
The temporal information and energy information of the electric signal in detection data after reason and the scintillation crystal for detecting radioactive ray
Location information carries out image reconstruction process, so that it is determined that the position where target object out.Specifically, image reconstruction unit 2240
Event handling can be met according to the temporal information and energy information of electric signal, confirm that each meets event, it then can be with
According to it is obtained meet event information determine the radionuclide in target object possibility decay position.Specifically, scheme
As reconstruction unit 2240 may determine that generate electric signal time whether in preset time window (for example, 80ns), if being judged as
It is that the decay event composition that then may determine that detecting module detects meets event；If being judged as NO, detection mould may determine that
The decay event that block detects, which is not constituted, meets event, gives up this decay event；After determining to meet event, image reconstruction
Unit 2240 can received electric signal energy whether it is default can be in window；If not giving up this in default energy window
Meet event；If put in default energy window according to the location information for the crystal unit for detecting radioactive ray to calculate
The projection line of decay position occurs for penetrating property nucleic, and according to the location information of the energy information of electric signal and crystal unit
Calculate radionuclide occur decay position projection circular conical surface, thus according to projection line and projection circular conical surface intersection point come
Determine the decay possible position of radionuclide.After determining the decay possible position of radionuclide, image reconstruction
Unit 2240 can be according to all decay possible positions for the radionuclide determined, with maximum likelihood maximum expected value
(Maximum Likelihood Expectation Maximization, abbreviation MLEM) algorithm, ordered subset expectation maximization value
The image reconstruction algorithms such as (Ordered Subsets Expectation Maximization, abbreviation OSEM) algorithm carry out image
It rebuilds, obtains reconstruction image using the distribution as radionuclide inside target object, and determine target object place
Position.According to obtained reconstruction image, target object can be intuitively understood, also can contribute to further goal in research
Object.
Image reconstruction unit 2240 can also be for according to image reconstruction process result to the ground control module 2100 into
Row feedback, so that ground control module 2100 can change the control to flight detection device immediately.
In addition, data processing module 2200 can also include preamplifier (not shown), can be used for carrying out figure
As amplifying processing to the electric signal in the detection data after integration before reconstruction processing, consequently facilitating subsequent image reconstruction
Processing.
It can be seen from the above description that the application passes through the detection number using ground monitoring device to flight detection device
According to being handled, the position of target object can be accurately determined out, and improves the spatial resolution of reconstruction image.
Present invention also provides a kind of methods for carrying out radiation detection using above-mentioned flight detection device, as shown in figure 9, should
Method may comprise steps of:
S1: the flight transmission module in each aircraft flies according to acquired flight indicator.
Aerial control module in each aircraft receives the assignment instructions sent from ground monitoring device or interior
The assignment instructions of portion's setting were triggered after (for example, triggering can refer to pre-set detection time), can basis
Assignment instructions generate corresponding flight indicator, and send flight indicator to corresponding flight transmission module, then fly
The flight path that row transmission module can be specified according to flight indicator flies.Moreover, in the mistake of flight transmission module flight
Cheng Zhong can send its real-time position information to aerial control module.
S2: the detecting module in each aircraft detects target object according to acquired detection indicator, and to
Corresponding aerial control module sends detection result.
Aerial control module in each aircraft receives the assignment instructions sent from ground monitoring device or interior
After the assignment instructions of portion's setting are triggered, corresponding detection indicator can also be generated according to assignment instructions, and to correspondence
Detecting module respectively send detection indicator, then detecting module can carry out radiation spy according to detection indicator
It surveys.Moreover, during detecting module carries out radiation detection its real-time position information can be sent to aerial control module.
When the detecting module in aircraft detects the decay event of target object generation, the flashing in detecting module is brilliant
Body can generate corresponding optical signal in response to the received radioactive ray of institute and optical signal is sent to photoelectric converter, light
The received optical signal of institute can be converted to electric signal by electric transducer, and generated electric signal is sent to aerial control mould
Block.
S3: control device sends the spy generated according to detection result to the aerial control module in each aircraft to the ground
Measured data, so that ground control unit determines the position of target object.
It, can be direct after the aerial control module in each aircraft receives the detection result of detecting module transmission
It is transmitted directly to ground control unit using the received detection result of institute as detection data, electric signal can also be digitized
Processing is to obtain the crystal unit for receiving radioactive ray in amplitude, time and the energy and scintillation crystal of electric signal
The gamma-spectrometric data of the information such as position and decay event, and determine that the time of origin of the decay event detected, statistics decline
The quantity etc. of change event.Then, it is sent to ground control unit using obtained above-mentioned data as detection data, so that
Ground control unit can determine the position of target object according to detection data.
In another embodiment of the application, this method can also include:
S25: when the detecting module in each aircraft detects the decay event of target object generation, each aircraft
The remaining aircraft in multiple aircraft can be signaled, so that remaining aircraft adjusts flight path.
About the detailed description of above-mentioned all steps, it is referred to above-mentioned retouch flight detection device and imaging system
It states, it is no longer superfluous herein to chat.It should be noted that be not intended to limit above-mentioned steps herein executes sequence, for example, step S1 and S2 can
To execute parallel.
By utilizing method provided by the present application, the purpose detected at a distance to target object may be implemented, it can be with
Accurately determine out the specific location of target object.
Although this application provides flight detection device, imaging system and its detections as described in above-described embodiment or attached drawing
Method, but based on conventional or can be in flight detection device provided by the present application and imaging system without creative labor
Including more or less component.
System, device, module, unit, device that above-described embodiment illustrates etc., specifically can by computer chip and/or
Entity is realized, or is realized by the product with certain function.For convenience of description, it describes to divide when apparatus above with function
It is described respectively for various parts.It certainly, when implementing the application can be the function of each component in same or multiple computers
It is realized in chip and/or entity.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and the highlights of each of the examples are differences from other embodiments.
Above-described embodiment be for convenient for those skilled in the art it will be appreciated that and being described using the application
's.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiments without having to go through creative labor.Therefore, the application is not limited to the above embodiments,
Those skilled in the art do not depart from improvement that the application scope is made and modification all should be in this Shens according to the announcement of the application
Within protection scope please.
Claims (17)
1. a kind of flight detection device, which is characterized in that the flight detection device includes the multiple aircraft being in communication with each other, often
A aircraft includes:
Detecting module is configured as detecting target object according to acquired detection indicator, and including for connecing
It receives the radioactive ray that the target object issues and generates the scintillation crystal of corresponding optical signal and be used for the flashing
The optical signal that crystal generates is converted to the photoelectric converter of electric signal；
Flight transmission module is configured as carrying the detecting module, and is carried out according to acquired flight indicator
Flight；
Aerial control module is configured as controlling the detecting module and the flight according to from acquired assignment instructions
The operation of transmission module, and to the ground according to the detecting module and/or the feedback information of flight transmission module transmission
Monitoring device sends detection data, so that the ground monitoring device determines the position of the target object.
2. flight detection device according to claim 1, which is characterized in that multiple aircraft are detecting the target
Arrangement, and the annular that air position corresponding to the target object is arranged in multiple aircraft are circularized when object
Within.
3. flight detection device according to claim 1, which is characterized in that the detecting module further include:
Light guide is arranged between the scintillation crystal and the photoelectric converter.
Shell, inside it by the scintillation crystal, the photoelectric converter and the light guide package, and its inside is with outside
Side is respectively arranged with fluorescent reflection layer and is protected from light layer.
4. flight detection device according to claim 3, which is characterized in that the detecting module further include:
LED spectrum stabilization light source is arranged on the outer wall far from the light guide on the photoelectric converter；
Temperature sensor is evenly distributed on the outer wall of the close photoelectric converter in the fluorescent reflection layer.
5. flight detection device according to claim 1, which is characterized in that the detecting module, which is fixed or detachable, to be set
It sets on the flight transmission module.
6. flight detection device according to claim 5, which is characterized in that when the detecting module is detachably provided in
When on the flight transmission module, the detecting module further include:
Power-supply controller is configured as when the detecting module is separated with the flight transmission module to the detecting module
It is powered, and the detecting module is powered off when the detecting module returns on the flight transmission module.
7. flight detection device according to claim 1, which is characterized in that the aerial control module includes multiple tracks pulse
Amplitude analyzer is configured as analyzing the electric signal that the photoelectric converter exports and generates the power spectrum of decay event
Data.
8. flight detection device according to claim 7, which is characterized in that the detection data includes the photoelectric conversion
The position letter of electrical signal information caused by device, all crystal units for detecting radioactive ray in the scintillation crystal
One of breath and following information are a variety of: the location information of the detecting module and/or the flight transmission module, institute
State the power spectrum number of the time of origin for the decay event that detecting module detects, the quantity of the decay event, the decay event
According to.
9. flight detection device according to claim 1, which is characterized in that the aircraft further include:
Locating module is configured as positioning the aircraft and search coverage, and fixed including one or more
Position device, the locator are arranged in the detecting module, the flight transmission module and/or the aerial control module.
10. flight detection device according to claim 1, which is characterized in that the detection indicator is real-time or pre-
Elder generation is received from the aerial control module or is set in advance in inside the detecting module, and the flight indicator is
It is in real time or received from the aerial control module in advance or be set in advance in inside the flight transmission module.
11. flight detection device according to claim 10, which is characterized in that when the detection indicator and it is described fly
When row indicator is received from the aerial control module, the detection indicator and the flight indicator be by
What the aerial reconnaissance module was generated according to the assignment instructions.
12. according to claim 1 or flight detection device described in 11, which is characterized in that the assignment instructions be from advance or
It is received from the ground monitoring device in real time or be set in advance in inside the aerial control module.
13. a kind of imaging system, which is characterized in that the imaging system includes flight of any of claims 1-12
Detection device and ground monitoring device, the ground monitoring device and flight detection device wireless communication, and be configured
To send assignment instructions to the flight detection device, the detection data that the flight detection device is sent is received, and according to
The detection data carries out image reconstruction process.
14. imaging system according to claim 13, which is characterized in that the ground monitoring device includes:
Ground control module, the aerial control module transmission task being configured as into each aircraft refer to
It enables, to control the operation of the detecting module and the flight transmission module in each aircraft；
Data processing module is configured as receiving the detection data sent from the aerial control module, to the detection number
According to progress image reconstruction process, and fed back according to image reconstruction process result to the ground control module.
15. imaging system according to claim 14, which is characterized in that the assignment instructions are to control mould by the ground
Block is sent in response to triggering command, or by the ground control module according to the feedback knot of the data processing module
Fruit and send.
16. a kind of method for carrying out radiation detection using the flight detection device of any of claims 1-12, special
Sign is, which comprises
Step S1: the flight transmission module in each aircraft flies according to acquired flight indicator；
Step S2: the detecting module in each aircraft detects target object according to acquired detection indicator,
And detection result is sent to corresponding aerial control module；
Step S3: control device is sent according to detection knot the aerial control module in each aircraft to the ground
Fruit and the detection data generated, so that the ground control unit determines the position of the target object.
17. the method in 6 according to claim 1, which is characterized in that the method also includes:
Step S25: when the detecting module in each aircraft detects the decay event that the target object generates
When, each aircraft can signal the remaining aircraft in multiple aircraft, so that the remaining flight
Device adjusts flight path.
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