CN109764905A - A kind of unmanned plane for nuclear radiation environment and robot monitor system - Google Patents
A kind of unmanned plane for nuclear radiation environment and robot monitor system Download PDFInfo
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- CN109764905A CN109764905A CN201811487890.8A CN201811487890A CN109764905A CN 109764905 A CN109764905 A CN 109764905A CN 201811487890 A CN201811487890 A CN 201811487890A CN 109764905 A CN109764905 A CN 109764905A
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Abstract
The invention discloses a kind of unmanned planes for nuclear radiation environment and robot to monitor system, which includes: unmanned aerial vehicle platform, robot platform, control operating platform；The unmanned aerial vehicle platform includes dynamical system, ultrasonic distance measuring module, navigation module, photographing module and wireless transport module；The robot platform includes dynamical system, control module, self-positioning module, nuclear radiation dosage detection device, data acquisition module and wireless transport module；The control operating platform includes wireless transport module, main control module, data transmission module, host computer and human-computer interaction interface；The present invention enters nuclear radiation region Quick Acquisition environmental geography information using unmanned plane, geography information is passed back control operating platform to formulate the cruise route of robot, and robot carries out region nuclear radiation detection along the route of setting and passes data back control operating platform；Present system can effectively realize nuclear radiation region dosage measurement and hot spot positioning, and real time on-line monitoring.
Description
Technical field
The present invention relates to environmental monitoring field more particularly to a kind of unmanned plane for nuclear radiation environment and robot to supervise
Examining system.
Background technique
When happening suddenly Nuclear Accidents, need to be accurately positioned the hot spot region of nuclear radiation, it is real due to health risk
Border positioning should not be executed by the mankind, it is therefore necessary to be researched and developed nuclear radiation unmanned probing system and be carried out quickly, accurately to radiation areas
Detecting, this is the classification of determining nuclear accident, evaluation nuclear accident radiation consequence, the important evidence for taking emergency response measure.
Robot has been widely used for the detection of nuclear accident at present, but since there are detection ranges for complicated landform influence
Limited disadvantage, and unmanned plane can carry radiation detector and ignore landform and be detected, and can obtain more multirobot and obtain not
The information arrived, but major defect is influenced by carrying equipment, there are certain requirements to unmanned plane self load bearing, environmental radiation dose
Detection accuracy be not so good as robot system.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of for nuclear radiation environment
Unmanned plane and robot monitor system, are responsible for the Quick Acquisition of environmental data, using unmanned plane to create the accurate of radiation areas
Orthography and topographic map, while UAV flight's signal relay device and ground robot real-time communication, so that robot
Investigative range is significantly increased；Figure of taking photo by plane based on unmanned plane simultaneously, the region that setting robot needs to check, machine
Device people carries Temperature Humidity Sensor and highly sensitive gamma radiation detector goes to the region to carry out the accurate core spoke of detection acquisition
Penetrate data.
In order to achieve the above object, the present invention adopts the following technical scheme that:
A kind of unmanned plane for nuclear radiation environment and robot monitor system, which includes: unmanned aerial vehicle platform, machine
Device people platform and control operating platform；The unmanned aerial vehicle platform includes unmanned plane dynamical system, ultrasonic distance measuring module, leads
Model plane block and photographing module；The robot platform includes robot dynamical system, control module, self-positioning module, nuclear radiation
Dosage detection device and data acquisition module；The control operating platform includes main control module, data transmission module, host computer
And human-computer interaction interface；In addition, the unmanned aerial vehicle platform, robot platform and control operating platform also each include one
Wireless communication module；
The unmanned aerial vehicle platform, robot platform and control operating platform are carried out by respective wireless transport module
It is in communication with each other；The wireless transport module of the unmanned aerial vehicle platform respectively with the unmanned plane dynamical system, photographing module and navigation
Module connection, the ultrasonic distance measuring module are connect with unmanned plane dynamical system；The data acquisition module of the robot platform
Respectively with the wireless transport module of robot platform, control module, self-positioning module, nuclear radiation dosage detection equipment, Yi Jiji
The connection of device people's dynamical system；It is described control operating platform wireless transport module connect with main control module, the main control module and
Host computer is connected by data transmission module, and the human-computer interaction interface loads on host computer；
The unmanned aerial vehicle platform controls unmanned plane dynamical system by wirelessly communicating with main control module, realizes unmanned plane
Flight, landing and hovering movement, and in flight course by ultrasonic distance measuring module carry out obstacle detection so that
Unmanned plane can be avoided to collide with barrier；The navigation module of the unmanned aerial vehicle platform is being radiated for positioning unmanned plane
Accurate location in region；The photographing module of the unmanned aerial vehicle platform, for acquiring environmental geography information in radiation areas；Institute
The wireless transport module of unmanned aerial vehicle platform is stated, is used for control operating platform real-time Transmission environmental geography information；
The robot platform controls robot dynamical system by wirelessly communicating with main control module, realizes robot
Advance, retrogressing, stopping movement；The nuclear radiation dosage detection device, for measuring environmental radiation number during traveling
According to, temperature, humidity；The wireless transport module of the robot platform comes from the revised environment of host computer for real-time reception
Geography information navigates for robot travel track, and is used for transmission environmental radiation data collected；It is described to make by oneself
Position module is used for the measurement position of positioning robot；The data acquisition module, the robot for acquiring self-positioning module are fixed
The warm and humid data of environment and environmental radiation data of position information and the measurement of nuclear radiation dosage detection device；The control module, is used for
Processing passes through the revised environmental geography information of host computer of radio transceiver, and carries out calculating autonomous positioning to robot；
It is described control operating platform wireless transport module, for receive unmanned plane detection environmental geography information, nobody
The warm and humid data of the environment of machine location information and robot probe, environmental radiation data, robot localization information, and transmitting master
The control information and the environmental geography information after host computer correcting process for controlling module；The main control module, for controlling unmanned plane
With the behavior of robot；The data transmission module, for transmitting the information and user operation instruction of acquisition；The host computer,
It is fixed by the environmental geography information and unmanned plane of wireless transmission real-time reception unmanned plane detection for transmitting user operation instruction
Position information, and environmental geography information is modified, then by revised environmental geography information by being transferred to
Robot platform, and then the environmental radiation measurement data and robot localization information of real-time reception machine people's platform acquisition, are realized
Nuclear environment monitoring in region, is presented area radiation distribution map；The human-computer interaction interface, for inputting user operation instruction
To host computer, user is facilitated to manipulate system, realizes being effectively treated for information.
The cooperation mode of the control operating platform and unmanned aerial vehicle platform is as follows as a preferred technical solution:
To host computer, host computer passes through number for the environmental area instruction that human-computer interaction interface input setting needs to detect
Main control module is sent by environmental area instruction according to transmission module；Main control module instructs by wireless communication according to environmental area
Control unmanned aerial vehicle platform dynamical system, control unmanned plane during flying region to be monitored into environmental area instruction；In unmanned plane
In flight course, ultrasonic distance measuring module carries out the detection of barrier and obstacle information is transmitted to unmanned plane dynamical system, makes
Unmanned plane can be avoided and collide with barrier, the region monitored needed for accurately arriving at；It is fast during unmanned plane during flying
Speed acquisition environmental geography information and self poisoning information, then send control for the information of acquisition by its wireless transport module
The information received is packaged by the wireless transport module of operating platform processed, the wireless transport module, transmits mould by data
Block is transferred to host computer, and the host computer handle and be modified search coverage landform to the information received again,
Using revised search coverage as target acquisition region, then operator sets robot by human-computer interaction interface
Target acquisition region is to host computer.
The cooperation mode of the control operating platform and robot platform is as follows as a preferred technical solution:
After the unmanned aerial vehicle platform and control operating platform determine target acquisition region, the host computer passes through number
Main control module is sent by the instruction of target acquisition region according to transmission module；The main control module is instructed according to target acquisition region
Robot dynamical system is controlled by wireless communication, and deployment robot carries nuclear radiation dosage detection device and is equipped with self-positioning
The module edges of regions position to be monitored, host computer into the instruction of target acquisition region is real-time according to unmanned aerial vehicle platform
The terrain data passed back constantly updates the travel track of calculating robot, so that robot probe's range substantially increases；The core
Temperature data, humidity data and radiation dose rate data in dose of radiation detection target acquisition region, while institute
The measurement position of the real-time positioning robot of self-positioning module is stated, then by being wirelessly transferred the data and location information of detection
It is sent to the wireless transport module of control operating platform, operating platform is controlled by the data received and location information and passes through it
Signal transmission module is transferred to host computer, host computer processing environment temperature and humidity, nuclear radiation dose data and robot localization letter
Breath, and the environmental geography information and unmanned plane location information of real-time reception, formation zone radiation profiles are handled together.
As a preferred technical solution, when the robot platform and control operating platform are short range transmission signal,
The data and robot localization information that the platform detects are sent directly to control by the wireless transport module of robot platform
The wireless transport module of operating platform；
When the robot platform and control operating platform are remote transmission signal, pass through the nothing of robot platform
Line transmission module sends the data that the platform detects and robot localization information to the wireless transport module of unmanned aerial vehicle platform,
The wireless transport module of the unmanned aerial vehicle platform will be transferred to the wireless transmission mould of control operating platform after data-signal transfer
Block.
The self-positioning module of the robot platform is further provided with global navigation satellite system as a preferred technical solution,
The location information of module of uniting and inertial navigation module, the robot passes through Global Satellite Navigation System module and inertial navigation
The data of module calculate amendment and obtain；The robot that the Global Satellite Navigation System module is used to receive centimetre class precision surveys
Measure position；Position error of the inertial navigation module for Global Satellite Navigation System module during revise signal delay.
The system is specific as follows to the positioning method of robot as a preferred technical solution:
Environmental geography information and location information from unmanned plane are received and processed by host computer, creates nuclear radiation area
The orthography and digital elevation model of domain geographic registration, are modified environmental geography information, then by revised environment
Geography information is transmitted to robot platform by wireless communication, handles revised geographical environment information by its control module,
And calculating autonomous positioning is carried out, finally measured by the position that autonomous positioning module completes robot.
It is described as a preferred technical solution, according to the two bit plane information in host computer processing environment geographical location
Human-computer interaction interface establishes threedimensional model, to rebuild ground environment, positions radiation source, carries out interpolation to measurement to provide map
Or a series of coordinate of source items, formation zone radiation profiles.
The unmanned plane dynamical system includes two right-handed screw paddles and two counterpropellers as a preferred technical solution,
The quadrotor of composition, four electron speed regulators and four motors, electron speed regulator adjust motor speed, the corresponding control of each motor
Make a propeller；
The robot dynamical system includes four by respective stepper motor driven Mecanum wheel, each stepper motor
Power output shaft respectively with corresponding Mecanum wheel be drivingly connected.
The nuclear radiation dosage detection device of the robot platform includes temperature and humidity sensing as a preferred technical solution,
Device and the gamma radiation detector based on GM counting tube.
The wireless transport module of the unmanned aerial vehicle platform specifically includes WiFi signal device as a preferred technical solution,
With 4G network equipment；
The wireless transport module of the robot platform specifically includes WiFi signal device, wireless bridge and 4G network dress
It sets；
The wireless transport module of the control operating platform specifically includes wireless router, wireless bridge and 4G network dress
It sets；
The unmanned aerial vehicle platform and the information of robot platform acquisition are transferred to main control module by wireless communication, described
Main control module is transferred to host computer by data transmission module.
The present invention has the following advantages compared with the existing technology and effect:
1, the present invention utilizes unmanned air vehicle technique, radiation areas geography information rapid data collection is realized, with radiation areas
Accurate orthography and topographic map；
2, the present invention uses video joint control technology, can understand unmanned plane local environment in real time, while using ground machine
People's onboard sensor system directly carries out geographic registration, does not need land mark；
3, the present invention uses Radio Transmission Technology, is robot navigation using unmanned plane, so that setting robot may have access to
Region find reach target area shortest path, increase the investigative range of robot；
4, the present invention uses Detection Techniques, can be realized quickly adopting to the geographical environment information in nuclear radiation environment region
Collection, the measurement of humidity, temperature and radiation dose rate, and it is real-time transmitted to host computer；
5, present invention employs self align technologies, allow robot to avoid colliding with barrier, have planned travelling route
Avoiding robot from going to terrain slope is more than the region of its climbing capacity threshold range, mitigates the workload of operator.
Detailed description of the invention
Fig. 1 is the unmanned plane and robot monitoring system composition schematic diagram for nuclear radiation environment of the invention；
Fig. 2 is robot platform of the present invention and unmanned aerial vehicle platform and the wireless transmission schematic diagram for controlling operating platform；
Fig. 3 is the work flow diagram that the present invention monitors system for the unmanned plane and robot of nuclear radiation environment.
Specific embodiment
In order to which the purpose of the present invention, technical solution and advantage is more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention is further described in detail.It should be appreciated that specific embodiment described herein is only used for explaining this
Invention, however it is not limited to the present invention.
Embodiment
As shown in Figure 1, a kind of unmanned plane for nuclear radiation environment and robot monitor system, specifically include: unmanned plane
Platform, robot platform and control operating platform；The unmanned aerial vehicle platform specifically includes unmanned plane dynamical system, ultrasonic wave
Range finder module, navigation module and photographing module；The robot platform specifically include robot dynamical system, control module, from
Locating module, nuclear radiation dosage detection device and data acquisition module；The control operating platform includes main control module, data
Transmission module, host computer and human-computer interaction interface；In addition, the unmanned aerial vehicle platform, robot platform and control operation are flat
Platform also each includes a wireless communication module.
The unmanned aerial vehicle platform, robot platform and control operating platform are carried out by respective wireless transport module
It is in communication with each other；The wireless transport module of the unmanned aerial vehicle platform respectively with the unmanned plane dynamical system, photographing module and navigation
Module connection, the ultrasonic distance measuring module are connect with unmanned plane dynamical system；The data acquisition module of the robot platform
Respectively with the wireless transport module of robot platform, control module, self-positioning module, nuclear radiation dosage detection equipment, Yi Jiji
The connection of device people's dynamical system；It is described control operating platform wireless transport module connect with main control module, the main control module and
Host computer is connected by data transmission module, and the human-computer interaction interface loads on host computer.
The unmanned aerial vehicle platform controls unmanned plane dynamical system by wirelessly communicating with main control module, realizes unmanned plane
Flight, landing and hovering movement, and in flight course by ultrasonic distance measuring module carry out obstacle detection so that
Unmanned plane can be avoided to collide with barrier；The navigation module of the unmanned aerial vehicle platform is being radiated for positioning unmanned plane
Accurate location in region；The photographing module of the unmanned aerial vehicle platform, for acquiring environmental geography information in radiation areas；Institute
The wireless transport module of unmanned aerial vehicle platform is stated, is used for control operating platform real-time Transmission environmental geography information, and be used for conduct
Transit module when robot platform and control operating platform distance data transmission；
As shown in Fig. 2, the robot platform controls robot dynamical system by wirelessly communicating with main control module,
Realize advance, retrogressing, the stopping movement of robot；The nuclear radiation dosage detection device, for measured during traveling into
Row environmental radiation data, temperature, humidity.The wireless transport module of the robot platform is corrected for real-time reception host computer
Environmental geography information afterwards navigates for robot travel track, and is used for transmission environmental radiation data collected.
The self-positioning module is used for the measurement position of positioning robot, another to be equipped with Global Satellite Navigation System module and inertial navigation
The location information of module, the robot is repaired by the calculating of the data of Global Satellite Navigation System module and inertial navigation module
Just obtain；The Global Satellite Navigation System module is used to receive the robot measurement position of centimetre class precision；The inertia is led
Position error of the model plane block for Global Satellite Navigation System module during revise signal delay.The data acquisition module
Block, geography information and self-positioning module for acquiring Global Satellite Navigation System module are corrected through the inertial navigation module
Operating instruction and nuclear radiation the dosage detection of location information afterwards, acquisition transmission control module and robot dynamical system fill
Set the ambient temperature and humidity and environmental radiation data of measurement.The control module passes through the upper of radio transceiver for handling
The revised environmental geography information of machine, and calculating autonomous positioning is carried out to robot.
It is described control operating platform wireless transport module, for receive unmanned plane detection environmental geography information, nobody
The warm and humid data of the environment of machine location information and robot probe, environmental radiation data, robot localization information, and transmitting master
The control information and the environmental geography information after host computer correcting process for controlling module；The main control module, for controlling unmanned plane
With the behavior of robot；The data transmission module, for transmitting the information and user operation instruction of acquisition；The host computer,
It is fixed by the environmental geography information and unmanned plane of wireless transmission real-time reception unmanned plane detection for transmitting user operation instruction
Position information, and environmental geography information is modified, then by revised environmental geography information by being transferred to
Robot platform, and then the environmental radiation measurement data and robot localization information of real-time reception machine people's platform acquisition, are realized
Nuclear environment monitoring in region, is presented area radiation distribution map；The human-computer interaction interface, for inputting user operation instruction
To host computer, user is facilitated to manipulate system, realizes being effectively treated for information.
In the present embodiment, the system is to the positioning method of robot, specifically: it is received and processed by host computer
Environmental geography information and location information from unmanned plane, the orthography and number of creation nuclear radiation regional geography registration are high
Journey model is modified environmental geography information, and revised environmental geography information is then transmitted to machine by wireless communication
Device people's platform handles revised geographical environment information by the control module of robot platform, and calculate and independently determine
Position is finally measured by the position that autonomous positioning module completes robot.
In the present embodiment, the unmanned plane dynamical system specifically includes two right-handed screw paddles and two counterpropeller groups
At quadrotor, four electron speed regulators and four motors, electron speed regulator adjusts motor speed, the corresponding control of each motor
One propeller；
The ultrasonic distance measuring module of the unmanned aerial vehicle platform is ultrasonic distance-measuring sensor；
The robot dynamical system specifically includes four by respective stepper motor driven Mecanum wheel, each stepping
The power output shaft of motor is drivingly connected with corresponding Mecanum wheel respectively；
The nuclear radiation dosage detection device of the robot platform specifically includes Temperature Humidity Sensor and is with GM counting tube
Main gamma radiation detector；
The wireless transport module of the unmanned aerial vehicle platform specifically includes WiFi signal device and 4G network equipment；The machine
The wireless transport module of device people's platform specifically includes WiFi signal device, wireless bridge and 4G network equipment；The control operation
The wireless transport module of platform specifically includes wireless router, wireless bridge and 4G network equipment；The unmanned aerial vehicle platform and machine
The information of device people's platform acquisition is transferred to main control module by wireless communication, and the main control module is passed by data transmission module
It is defeated by host computer.
In the present embodiment, shown in Fig. 3, the work side of unmanned plane and robot the monitoring system for nuclear radiation environment
Formula, specific as follows:
Human-computer interaction interface input setting needs the environmental area detected instruction to host computer, and host computer passes through data biography
Environmental area instruction is sent main control module by defeated module；Main control module controls by wireless communication according to environmental area instruction
Unmanned aerial vehicle platform dynamical system, control unmanned plane during flying region to be monitored into environmental area instruction；In unmanned plane during flying
In the process, ultrasonic distance measuring module carries out the detection of barrier and obstacle information is transmitted to unmanned plane dynamical system, so that nothing
Man-machine can be avoided collides with barrier, the region monitored needed for accurately arriving at；It is quickly adopted during unmanned plane during flying
Collect environmental geography information and self poisoning information, control behaviour is then sent for the information of acquisition by its wireless transport module
Make the wireless transport module of platform, which is packaged the information received, passes by data transmission module
Defeated to arrive host computer, the host computer is again effectively treated the information received and is modified to search coverage landform,
Using revised search coverage as target acquisition region, then operator sets robot by human-computer interaction interface
Target acquisition region is to host computer；
Host computer sends main control module for the instruction of target acquisition region by data transmission module；Main control module according to
The instruction of target acquisition region controls robot dynamical system by wireless communication, and deployment robot carries the detection of nuclear radiation dosage
Device is simultaneously equipped with self-positioning module edges of regions position to be monitored into the instruction of target acquisition region, and host computer is according to nothing
The terrain data that man-machine platform is passed back in real time constantly updates the travel track of calculating robot, so that robot probe's range is big
Width increases；Temperature data, humidity data and radiation dose rate data in nuclear radiation dosage detection target area,
Then the measurement position of the self-positioning real-time positioning robot of module simultaneously passes through wireless transmission method for detection data and positioning
Information is sent to the wireless transport module (when short range transmission) of control operating platform, or is sent to (when remote transmission)
The wireless transport module of the wireless transport module of unmanned aerial vehicle platform, the unmanned aerial vehicle platform will be transferred to after data-signal transfer
Operating platform is controlled, the data received and location information are transferred to by control operating platform by its signal transmission module
Position machine, host computer processing environment temperature and humidity, nuclear radiation dose data and robot localization information, and real-time reception is handled together
Environmental geography information and unmanned plane location information, to measurement result carry out interpolation, radiation source can be positioned as early as possible, with provide
A series of coordinate of map or source items, formation zone radiation profiles；Host computer is again effectively treated the information received
And return instruction is sent to main control module, main control module controls unmanned plane by wireless transport module and robot returns to landing
Place's landing terminates the monitoring to required monitoring region.
The above, only the invention patent preferred embodiment, but the scope of protection of the patent of the present invention is not limited in
This, anyone skilled in the art is in the range disclosed in the invention patent, according to the present invention the skill of patent
Art scheme and its inventive concept are subject to equivalent substitution or change, belong to the scope of protection of the patent of the present invention.
Claims (10)
1. a kind of unmanned plane for nuclear radiation environment and robot monitor system, it is characterised in that: the system includes: unmanned plane
Platform, robot platform and control operating platform；The unmanned aerial vehicle platform includes unmanned plane dynamical system, ultrasonic distance measurement
Module, navigation module and photographing module；The robot platform include robot dynamical system, control module, self-positioning module,
Nuclear radiation dosage detection device and data acquisition module；The control operating platform include main control module, data transmission module, on
Position machine and human-computer interaction interface；In addition, the unmanned aerial vehicle platform, robot platform and control operating platform also each include
One wireless communication module；
The unmanned aerial vehicle platform, robot platform and control operating platform are carried out mutual by respective wireless transport module
Communication；The wireless transport module of the unmanned aerial vehicle platform respectively with the unmanned plane dynamical system, photographing module and navigation module
Connection, the ultrasonic distance measuring module are connect with unmanned plane dynamical system；The data acquisition module of the robot platform is distinguished
With wireless transport module, control module, self-positioning module, nuclear radiation dosage detection equipment and the robot of robot platform
Dynamical system connection；It is described control operating platform wireless transport module connect with main control module, the main control module with it is upper
Machine is connected by data transmission module, and the human-computer interaction interface loads on host computer；
The unmanned aerial vehicle platform controls unmanned plane dynamical system by wirelessly communicating with main control module, realizes flying for unmanned plane
Row, landing and hovering movement, and obstacle detection is carried out by ultrasonic distance measuring module in flight course, so that unmanned plane
It can be avoided and collide with barrier；The navigation module of the unmanned aerial vehicle platform, for positioning unmanned plane in radiation areas
Accurate location；The photographing module of the unmanned aerial vehicle platform, for acquiring environmental geography information in radiation areas；The unmanned plane
The wireless transport module of platform is used for control operating platform real-time Transmission environmental geography information；
The robot platform controls robot dynamical system by wirelessly communicating with main control module, before realizing robot
Into, retreat, stopping movement；The nuclear radiation dosage detection device, for measuring environmental radiation data, temperature during traveling
Degree, humidity；The wireless transport module of the robot platform, for real-time reception from the revised environmental geography letter of host computer
Breath navigates for robot travel track, and is used for transmission environmental radiation data collected；The self-positioning module is used
In the measurement position of positioning robot；The data acquisition module, for acquire self-positioning module robot localization information and
The warm and humid data of environment and environmental radiation data of nuclear radiation dosage detection device measurement；The control module passes through for handling
The revised environmental geography information of the host computer of radio transceiver, and calculating autonomous positioning is carried out to robot；
The wireless transport module of the control operating platform, environmental geography information, the unmanned plane for receiving unmanned plane detection are fixed
The warm and humid data of environment, environmental radiation data, the robot localization information of position information and robot probe, and transmitting main control module
Control information and host computer correcting process after environmental geography information；The main control module, for controlling unmanned plane and machine
The behavior of people；The data transmission module, for transmitting the information and user operation instruction of acquisition；The host computer, for passing
User operation instruction is passed, the environmental geography information and unmanned plane location information detected by wireless transmission real-time reception unmanned plane,
And environmental geography information is modified, then revised environmental geography information is put down by being transferred to robot
Platform, and then the environmental radiation measurement data and robot localization information of real-time reception machine people's platform acquisition, are realized in region
Nuclear environment monitoring, is presented area radiation distribution map；The human-computer interaction interface, for inputting user operation instruction to host computer,
Facilitate user to manipulate system, realizes being effectively treated for information.
2. the unmanned plane according to claim 1 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
The cooperation mode for stating control operating platform and unmanned aerial vehicle platform is as follows:
The environmental area that the human-computer interaction interface input setting needs to detect is instructed to host computer, and host computer, which passes through data, to be transmitted
Environmental area instruction is sent main control module by module；Main control module controls nobody according to environmental area instruction by wireless communication
Machine platform dynamical system, control unmanned plane during flying region to be monitored into environmental area instruction；In unmanned plane during flying process
In, ultrasonic distance measuring module carries out the detection of barrier and obstacle information is transmitted to unmanned plane dynamical system, so that unmanned plane
It can be avoided and collide with barrier, the region monitored needed for accurately arriving at；Quick Acquisition ring during unmanned plane during flying
Then border geography information and self poisoning information send control operating platform for the information of acquisition by its wireless transport module
Wireless transport module, which is packaged the information received, is transferred to by data transmission module
Position machine, the host computer handle and be modified search coverage landform to the information received again, by revised spy
Region is surveyed as target acquisition region, then operator is arrived by the target acquisition region that human-computer interaction interface sets robot
Host computer.
3. the unmanned plane according to claim 2 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
The cooperation mode for stating control operating platform and robot platform is as follows:
After the unmanned aerial vehicle platform and control operating platform determine target acquisition region, the host computer is transmitted by data
The instruction of target acquisition region is sent main control module by module；The main control module passes through wireless according to the instruction of target acquisition region
Communication control machine people's dynamical system, deployment robot carry nuclear radiation dosage detection device and are equipped with self-positioning module to target
The edges of regions position to be monitored in search coverage instruction, the ground figurate number that the host computer is passed back in real time according to unmanned aerial vehicle platform
According to the travel track for constantly updating calculating robot, so that robot probe's range substantially increases；The nuclear radiation dosage detection
Device detects temperature data, humidity data and the radiation dose rate data in target acquisition region, while the self-positioning module
Then the measurement position of real-time positioning robot sends control operation for the data of detection and location information by wireless transmission
The wireless transport module of platform, control operating platform transmit the data received and location information by its signal transmission module
To host computer, host computer processing environment temperature and humidity, nuclear radiation dose data and robot localization information, and processing connects in real time together
The environmental geography information and unmanned plane location information of receipts, formation zone radiation profiles.
4. the unmanned plane according to claim 3 for nuclear radiation environment and robot monitor system, it is characterised in that: when
It, will by the wireless transport module of robot platform when the robot platform and control operating platform are short range transmission signal
The data and robot localization information of platform detection are sent directly to the wireless transport module of control operating platform；
When the robot platform and control operating platform are remote transmission signal, pass through the wireless transmission of robot platform
Module sends the data that the platform detects and robot localization information to the wireless transport module of unmanned aerial vehicle platform, it is described nobody
The wireless transport module of machine platform will be transferred to the wireless transport module of control operating platform after data-signal transfer.
5. the unmanned plane according to claim 4 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
The self-positioning module for stating robot platform is further provided with Global Satellite Navigation System module and inertial navigation module, the robot
Location information calculate amendment by the data of Global Satellite Navigation System module and inertial navigation module and obtain；It defends in the whole world
Star navigation system module is used to receive the robot measurement position of centimetre class precision；The inertial navigation module is used for revise signal
The position error of Global Satellite Navigation System module during delay.
6. the unmanned plane according to claim 5 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
System is stated to the positioning method of robot, specific as follows:
Environmental geography information and location information from unmanned plane are received and processed by host computer, creates nuclear radiation regional geography
The orthography and digital elevation model of registration, are modified environmental geography information, then believe revised environmental geography
Breath is transmitted to robot platform by wireless communication, handles revised geographical environment information by its control module, and carry out
Autonomous positioning is calculated, is finally measured by the position that autonomous positioning module completes robot.
7. the unmanned plane according to claim 6 for nuclear radiation environment and robot monitor system, it is characterised in that: root
According to the two bit plane information in host computer processing environment geographical location, the human-computer interaction interface establishes threedimensional model, with weight
Ground environment is built, radiation source is positioned, interpolation is carried out to measurement to provide a series of coordinate of map or source items, formation zone radiation
Distribution map.
8. the unmanned plane according to claim 7 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
State the quadrotor that unmanned plane dynamical system includes two right-handed screw paddles and two counterpropellers composition, four electron speed regulators and four
A motor, electron speed regulator adjust motor speed, each motor one propeller of corresponding control；
The robot dynamical system includes four by respective stepper motor driven Mecanum wheel, the power of each stepper motor
Output shaft is drivingly connected with corresponding Mecanum wheel respectively.
9. the unmanned plane according to claim 8 for nuclear radiation environment and robot monitor system, it is characterised in that: institute
The nuclear radiation dosage detection device for stating robot platform includes Temperature Humidity Sensor and the γ radiation detection based on GM counting tube
Device.
10. the unmanned plane according to claim 9 for nuclear radiation environment and robot monitor system, it is characterised in that:
The wireless transport module of the unmanned aerial vehicle platform specifically includes WiFi signal device and 4G network equipment；
The wireless transport module of the robot platform specifically includes WiFi signal device, wireless bridge and 4G network equipment；
The wireless transport module of the control operating platform specifically includes wireless router, wireless bridge and 4G network equipment；
The unmanned aerial vehicle platform and the information of robot platform acquisition are transferred to main control module, the master control mould by wireless communication
Block is transferred to host computer by data transmission module.
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