CN110337585A - Unmanned vehicle - Google Patents
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- CN110337585A CN110337585A CN201880012823.2A CN201880012823A CN110337585A CN 110337585 A CN110337585 A CN 110337585A CN 201880012823 A CN201880012823 A CN 201880012823A CN 110337585 A CN110337585 A CN 110337585A
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- 238000005259 measurement Methods 0.000 claims abstract description 75
- 238000004458 analytical method Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000004876 x-ray fluorescence Methods 0.000 claims abstract description 20
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 238000001228 spectrum Methods 0.000 claims description 10
- 230000014509 gene expression Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000004445 quantitative analysis Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000004451 qualitative analysis Methods 0.000 description 7
- 238000011835 investigation Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 230000003595 spectral effect Effects 0.000 description 5
- 238000002441 X-ray diffraction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000921 elemental analysis Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011236 particulate material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/22—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material
- G01N23/223—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material by irradiating the sample with X-rays or gamma-rays and by measuring X-ray fluorescence
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The present invention provides a kind of unmanned vehicle, can move in the sky and carry out x-ray fluorescence analysis to defined measurement object, the unmanned vehicle is characterized in that including: aircraft body；Fluorescent x-ray analyzer, comprising: X-ray irradiator is connect with the aircraft body, Xiang Suoshu measurement object X-ray irradiation；And fluorescent X-ray detection device, detect the fluorescent X-ray generated by the irradiation of the X-ray from the measurement object；And range unit, measure the distance between the measurement object and the fluorescent X-ray detection device.
Description
Technical field
It can be moved in the sky the present invention relates to one kind and nobody of x-ray fluorescence analysis is carried out to defined measurement object
Aircraft.
Background technique
In the past, composition was divided using primary X-ray is irradiated to sample as the device for carrying out sample analysis
The fluorescent x-ray analyzer of analysis.Fluorescent x-ray analyzer detects production when irradiating primary X-ray to sample using detector
Raw fluorescent X-ray (secondary x rays) can carry out being included in sample according to the spatial distribution etc. of the fluorescent X-ray detected
In element determination and the concentration calculation of the element etc..
It is for example developed as fluorescent x-ray analyzer and has popularized disclosed moveable fluorescence X in patent document 1
Ray analysis device, for coping with following demand: wanting the large size that not can enter sample chamber by fluorescent x-ray analyzer analysis
Sample or the sample that cannot be sampled, and want at manufacture scene or the scene such as scene of exploration easily to industrial products or
A variety of samples such as archaeology sample carry out x-ray fluorescence analysis.
But although develop and popularized this moveable fluorescent x-ray analyzer, such as in height above sea level
The high region of the ground surface or quantity of radiation on mountain, operator are difficult to go directly to scene to carry out x-ray fluorescence analysis.It is quoting
It is disclosed in document 2 and carries the measuring devices such as fluorescent x-ray analyzer in the aircraft such as balloon or aircraft, but it is captured
The skyborne particulate material that suspends is gone forward side by side row element analysis, and cannot precisely carry out the elemental analysis of ground surface etc..
Existing technical literature
Patent document 1: Japanese Patent Laid-Open Publication 2010-197229
Patent document 2: Japanese Patent Laid-Open Publication 2003-315244
Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of unmanned vehicles, even if in the field that people is difficult to enter
Institute also can precisely carry out x-ray fluorescence analysis.
The present invention provides a kind of unmanned vehicle, can move in the sky and carry out fluorescence X to defined measurement object and penetrate
Line analysis, the unmanned vehicle are characterized in that including: aircraft body；Fluorescent x-ray analyzer, comprising: roentgenogram
Injection device is connect with the aircraft body, Xiang Suoshu measurement object X-ray irradiation；And fluorescent X-ray detection device, inspection
Survey the fluorescent X-ray generated by the irradiation of the X-ray from the measurement object；And range unit, measure the measurement
The distance between object and the fluorescent X-ray detection device.
According to this configuration, even if the ground surface on the mountain of such as height above sea level, also the unmanned vehicle can be made to approach and held
Easily carry out x-ray fluorescence analysis.Further, since the user of the unmanned vehicle itself does not need to approach investigation scene, so
Even if, also can be by making that the nothing by exposing the health hazard risk generated is not present in the investigation of the high region of quantity of radiation
People's aircraft is close, carries out the higher x-ray fluorescence analysis of precision, generated when user may be not present close to investigation scene when
Between limit.
In addition, in x-ray fluorescence analysis, according to the measurement object and fluorescent X-ray detector for generating fluorescent X-ray it
Between distance change, the spectral intensity of the fluorescent X-ray of detection changes, but in the present invention, due to that ranging can be utilized to fill
Set to obtain the distance between measurement object and fluorescent X-ray detection device, thus can based on the range information of acquirement, to by
The variation of the spectral intensity for the fluorescent X-ray that x-ray fluorescence analysis obtains is modified.Furthermore it is possible to the distance based on acquirement
The distance between fluorescent X-ray detection device and measurement object are kept constant by information.It is more accurately fixed thus, it is possible to carry out
Amount analysis.
In addition, in the present specification, " the distance between measurement object and fluorescent X-ray detection device " refers to: in order to logical
Crossing operation, the fluorescent X-ray generated from measurement object is mobile in an atmosphere to be detected until by fluorescent X-ray detection device to calculate
Until during fluorescent X-ray intensity attenuation required for distance.Measurement object and fluorescent X-ray detection device it
Between distance can directly be measured by range unit, or can be by between measurement object and fluorescent X-ray detection device
Distance other than distance converted measure indirectly.
It is contactless that mode as range unit can be laser range finder or ultrasonic range finder etc..Range unit
It can be contact.It can enumerate in this case, have the contact portion that can be contacted with measurement object, by making this
Contact portion is contacted with measurement object, is measured to the distance between measurement object and fluorescent X-ray detection device.
Unmanned vehicle of the invention is preferably, by the light of the expression fluorescent X-ray of fluorescent x-ray analyzer measurement
The range data of the expression distance of measurement data and the range unit measurement of spectrum correspondingly stores.
According to this configuration, even if when multiple places carry out x-ray fluorescence analysis to obtain measurement data, due to storage
There is range data corresponding with the measurement data respectively, so also corresponding survey can be corrected based on the range data subsequent
Measure data.
Unmanned vehicle of the invention is preferably, and is corrected using the range data of range unit measurement and this is apart from number
According to the measurement data correspondingly stored.
It according to this configuration, can be using the range data obtained, in the atmosphere for considering the spectrum of the fluorescent X-ray of measurement
Attenuation be modified, therefore be able to carry out the quantitative analysis of higher precision.
Unmanned vehicle of the invention is preferably, and also has GPS receiver device, fluorescent x-ray analyzer is measured
Measurement data, range unit measurement expressions distance range data and by GPS receiver device acquirement position data phase
It accordingly stores.
According to this configuration, it can make to have recorded and be obtained by the spectroscopic data that x-ray fluorescence analysis obtains with by GPS device
The mapping of the relationship of the measurement position arrived.
Unmanned vehicle of the invention is preferably, and also has distance adjusting system, and the distance adjusting system is based on surveying
Distance away from device measurement, the distance between fluorescent X-ray detection device and measurement object are adjusted in the range of regulation.Tool
It says to body preferably, the distance between fluorescent X-ray detection device and measurement object is adjusted to 1cm or more, 10cm or less.
According to this configuration, by the way that the distance between fluorescent X-ray detection device and measurement object are adjusted to defined
In range, it can reduce the detection leakage of the small fluorescent X-ray of energy, be able to carry out the qualitative analysis of higher precision.
Mode as distance adjusting system can have a coupling member, and the coupling member is by aircraft body and fluorescence
X-ray analysis equipment is linked in a manner of distance variable.
According to this configuration, by being adjusted with by flight instruments such as propellers with the good coupling member of responsiveness
The height of aircraft body so as to adjust fluorescent X-ray detection device compared with the distance between measurement object, can rapidly and
Accurately adjust distance.Therefore, during the flight of unmanned vehicle side, Bian Jinhang x-ray fluorescence analysis, even if because of prominent wind etc.
Influence and so that the height of unmanned vehicle (aircraft body) is generated small variation, also can by fluorescent X-ray detect fill
It sets the distance between measurement object and remains substantially fixed, thus allow for high-precision quantitative analysis.
Mode as distance adjusting system, which can be also equipped with, to land with foot, and described land is set to aircraft with foot
Main body, and the distance between aircraft body and measurement object can be adjusted.
According to this configuration, after aircraft body lands on the ground, by adjusting aircraft body and measurement object
Distance, it is substantially fixed that the distance between fluorescent X-ray detection device and measurement object can be made, therefore be able to carry out high-precision
Quantitative analysis.
According to the present invention constituted in the above described manner, being capable of providing one kind can be into even if the region that people is difficult to enter
The unmanned vehicle of row x-ray fluorescence analysis.
Detailed description of the invention
Fig. 1 is the integrally-built schematic diagram for indicating the unmanned vehicle of one embodiment of the present invention.
Fig. 2 is the block diagram for indicating the structure of unmanned vehicle of one embodiment of the present invention.
Fig. 3 is the schematic diagram for indicating the structure of fluorescent x-ray analyzer of one embodiment of the present invention.
Fig. 4 is the integrally-built schematic diagram for indicating the unmanned vehicle of other embodiments of the present invention.
Fig. 5 is the schematic diagram for indicating the structure of fluorescent x-ray analyzer of other embodiments of the present invention.
Fig. 6 is the schematic diagram for indicating the structure of fluorescent x-ray analyzer of other embodiments of the present invention.
Fig. 7 is the integrally-built schematic diagram for indicating the unmanned vehicle of other embodiments of the present invention.
Description of symbols
100.... unmanned vehicle
10.... unmanned plane main body
12.... propeller
14.... control device
14a.... is apart from acquisition unit
14b.... distance controlling portion
14c.... location information acquisition unit
14d.... storage unit
20.... fluorescent x-ray analyzer
22.... cabinet
24....X ray tube
26....X ray detector
28.... analysis portion
30.... laser range finder
40.... coupling member
50.... it lands and uses foot
S....GPS satellite.
Specific embodiment
In the following, being illustrated referring to a kind of embodiment of the attached drawing to unmanned vehicle of the invention.
<structure of unmanned vehicle 100>
The unmanned vehicle 100 of present embodiment is for example preceding for being moved in the sky by remote operation or autonomous flight
Toward the scene to conduct a geological survey, x-ray fluorescence analysis is carried out close to the ground surface as respondent's (or measurement object).
As shown in Figure 1, unmanned vehicle 100 has: there is unmanned plane main body (aircraft body) 10 propeller 12 etc. to fly
The control device 14 of various control signals is set and sent to luggage；Fluorescent x-ray analyzer 20 is included in ground surface for carrying out
In element qualitative analysis and quantitative analysis；Coupling member 40, by unmanned plane main body 10 and fluorescent x-ray analyzer 20 with
The mode of distance variable links；And laser range finder (range unit) 30, measurement fluorescent x-ray analyzer 20 and measurement pair
The distance between as.
Hereinafter, being illustrated to each structure.
Unmanned plane main body 10 for moving and close to respondent, including propeller 12 and control device 14 in the sky.
The unmanned plane main body 10 of present embodiment includes teleoperation mode, and the controller in operator opponent is grasped
Make, wirelessly sends control signal to unmanned plane main body 10, the movement of unmanned plane main body 10 is remotely operated to come
It measures；And autonomous flight mode, it is measured based on the program autonomous flight being pre-installed in control device 14,
The unmanned plane main body 10 can arbitrarily switch mode.
Propeller 12 provides propulsive force to unmanned vehicle 100.There are four spiral shells for the tool of unmanned plane main body 10 of present embodiment
Paddle 12 is revolved, based on the control signal sent from control device 14, not shown motor adjusts the revolving speed of each propeller 12, by
This can make unmanned vehicle 100, and left and right is freely up and down moved forwards, backwards in the sky.
Control device 14 is arranged in unmanned plane main body 10, obtains range information from laser range finder 30, and to spiral
The transmissions such as paddle 12, fluorescent x-ray analyzer 20 and coupling member 40 control signal.Be physically include CPU, memory and
The computer of A/D converter etc. makes CPU and peripheral equipment cooperate according to the program for the predetermined region for being stored in the memory,
Thus it is played as shown in Figure 2 as apart from acquisition unit 14a, distance controlling portion 14b, location information acquisition unit 14c and storage unit 14d
Function.
Pass through wired or wireless way from the acquirement of laser range finder 30 and fluorescent x-ray analyzer apart from acquisition unit 14a
The relevant range information in the distance between 20 and measurement object.
Distance controlling portion 14b receives range information from apart from acquisition unit 14a, and unmanned owner is determined based on the range information
The target value of the distance between body 10 and fluorescent x-ray analyzer 20, and by the control signal comprising the target value to even
Structural member 40 is sent.
More specifically, distance controlling portion 14b is determined based on from the range information obtained apart from acquisition unit 14a in order to make
The distance between fluorescent x-ray analyzer 20 and ground surface become the required unmanned plane main body 10 of 1cm or more, 10cm or less
The target value of the distance between fluorescent x-ray analyzer 20.Also, by the control signal of the target value comprising the determination to
Coupling member 40 as distance control device is sent, and the distance between fluorescent x-ray analyzer 20 and ground surface are controlled
For 1cm or more, 10cm or less.
Distance controlling portion 14b will control signal and send to coupling member 40, and control signal is sent to propeller 12,
Can the height of unmanned vehicle 100 be kept constant or is finely adjusted.Thereby, it is possible to make propeller 12 and coupling member 40
Cooperation, the distance between fluorescent x-ray analyzer 10 and ground surface are controlled as 1cm or more, 10cm or less.
Location information acquisition unit 14c obtains the positional number for indicating the position of unmanned vehicle 100 in-flight from GPS satellite S
According to.Position data is made of longitude data, dimension data and elevation data.Unmanned vehicle 100 can be based on the position of acquirement
Data and autonomous flight are to the place measured.
Storage unit 14d is formed in the defined region of memory, is stored with signal procedure, carries out autonomous flight and surveyed
The autonomous flight program of amount and the remote operation program etc. flown and measured for passing through remote operation.In addition,
The measurement data that the spectrum of the expression fluorescent X-ray obtained by analysis portion 28 can be received, the table measured by laser range finder 30
The position data showing the range data of distance and being obtained by location information acquisition unit 14c, and they are corresponded to and is stored.
Fluorescent x-ray analyzer 20 irradiates primary X-ray to the ground surface as measurement object, carries out being included in earth's surface
The qualitative analysis and quantitative analysis of element in face.As shown in figure 3, fluorescent x-ray analyzer 20 has in the inside of cabinet 22
Standby X-ray tube (X-ray irradiator) 24, X-ray detector (fluorescent X-ray detection device) 26 and analysis portion 28, and also
Has laser range finder 30.
X-ray tube 24 is to the ground surface X-ray irradiation as measurement object.Thereby, it is possible to generate fluorescence X from ground surface to penetrate
Line.As shown in figure 3, X-ray tube 24 is configured to the lower surface (face with opening) when cabinet 22 and the ground as measurement object
When the general parallel orientation of face, make from X-ray tube 24 with the general center axis of the X-ray (shown in arrow) of radial irradiation relative to ground
Normal with defined angle tilt.It is sent in addition, X-ray tube 24 can be received from the control device 14 of unmanned plane main body 10
Control signal, at a prescribed interval with the time to ground surface X-ray irradiation.It is not limited especially as used x-ray source
It is fixed, reflective and transmission-type X-ray source or radiation source can be used.In addition, irradiated from the X-ray tube 24 of present embodiment
The energy of X-ray is less than 10keV.
X-ray detector 26 detects the fluorescent X-ray generated from ground surface.Thereby, it is possible to detect by X-ray tube 24 to
The X-ray that ground surface X-ray irradiation generates.Specifically, using the semiconductors detecting element such as Si element, energy as detecting element
The enough output electric current proportional to the energy of the fluorescent X-ray detected.As shown in figure 3, X-ray detector 26 is configured to by arrow
The central axis of detection range shown in head forms about 90 ° of angle relative to the central axis for the X-ray irradiated from X-ray tube 24
Degree.
Analysis portion 28 receives the electric current that X-ray detector 26 exports, and counts to the electric current of each current value, and obtain
The energy for the fluorescent X-ray that X-ray detector 26 detects and the spectrum of the relationship of count value, i.e. fluorescent X-ray.Also, it is based on
The spectrum of the fluorescent X-ray of acquirement carries out the qualitative analysis and quantitative analysis that produce the element of fluorescent X-ray.
Laser range finder 30 obtains the range information for indicating the distance between X-ray detector 26 and ground.Laser ranging
Instrument 30 is configured to send the range information to the control device 14 of unmanned plane main body 10 by wired or wireless way.
As shown in figure 3, in the present embodiment, the cabinet of fluorescent x-ray analyzer 20 is arranged in laser range finder 30
22 inside.And it is configured to, when the lower surface in cabinet 22 is with ground general parallel orientation as measurement object, from laser ranging
The normal general parallel orientation of laser and ground that instrument 30 emits, can measure by the range of X-ray tube 24 to the ground X-ray irradiation
Specified position X-ray detector 26 and the distance between ground.
The quantity of laser range finder 30 possessed by the unmanned vehicle 100 of present embodiment can be one, Huo Zheye
It can be multiple.In the case where being configured with multiple laser range finder 30, X-ray detector 26 and ground can be more accurately measured
The distance between face.
Coupling member 40 links unmanned plane main body 10 and fluorescent x-ray analyzer 20 in a manner of distance variable.Even
Structural member 40 is the stretching structure constituted as follows: having the driving mechanisms such as motor (not shown), receives and fill from control
The control signal for setting 14 transmissions, by driving the motor etc. to stretch, so as to adjust fluorescent x-ray analyzer 20 and nothing
The distance between man-machine main body 10.
<effect of present embodiment>
According to the unmanned vehicle 100 of the present embodiment constituted in the above described manner, can move freely in the sky
Unmanned plane on fluorescent x-ray analyzer is installed, therefore such as even ground surface on the mountain of height above sea level can also make the nothing
People's aircraft is close, is easy to carry out x-ray fluorescence analysis.Further, since the user of the unmanned vehicle itself does not need to connect
Nearly investigation scene, so even if in the investigation of the high region of quantity of radiation can also make that the health generated by exposure is not present
The unmanned vehicle for endangering risk is close, thus carries out the x-ray fluorescence analysis of higher precision, and user may be not present close to tune
The time restriction generated when looking into scene.
In addition, in x-ray fluorescence analysis, according to the measurement object and fluorescent X-ray detection device for generating fluorescent X-ray
The distance between variation, the spectral intensity of the fluorescent X-ray of detection changes, but in the present invention, using range unit come
The distance between measurement object and fluorescent X-ray detection device are obtained, so can be based on the information of the distance of acquirement, to by glimmering
The intensity variation of the spectrum for the fluorescent X-ray that light X-ray analysis obtains is modified, so as to obtain more accurate fluorescence X
The spectrum of ray.Furthermore it is possible to the range information based on acquirement, by between fluorescent X-ray detection device and measurement object away from
From being kept constant.Thus, it is possible to carry out accurate quantitative analysis.
<other embodiments>
In addition, the present invention is not limited to above embodiment.
Such as in said embodiment, unmanned plane main body 10 and fluorescence X is adjusted by making coupling member 40 stretch to penetrate
Thus the distance between line analysis device 20 adjusts fluorescent x-ray analyzer 20 at a distance from ground, but is not limited to
This.In other embodiments, as shown in figure 4, being provided with that tool is articulate to be bent and stretched in the bottom surface of unmanned plane main body 10
It lands with foot 50, so that this is landed to be bent and stretched with foot 50 and is adjusted nothing by receiving the control signal from distance controlling portion 14b
Man-machine main body 10 is at a distance from ground, it is possible thereby to adjust the fluorescence X for being fixed on unmanned plane main body 10 by coupling member 40
The distance between ray analysis device 20 and ground.
In this embodiment, unmanned vehicle 100 is when carrying out x-ray fluorescence analysis, once it lands in as survey
The ground for measuring object, hereafter makes to land and be bent and stretched with foot 50, and the distance between fluorescent x-ray analyzer 20 and ground are adjusted
In the range of regulation.Further, it is possible to not influenced in the measurements by prominent wind etc., by fluorescent x-ray analyzer 20 and ground
The distance between be kept constant, therefore be able to carry out the qualitative and quantitative analysis of higher precision.
In the above-described embodiment, laser range finder 30 is located at the inside of the cabinet 22 of fluorescent x-ray analyzer 20, if
It is set to adjacent with X-ray tube 24 and X-ray detector 26, but is not limited to aforesaid way.
For example, laser range finder 30 may be mounted in unmanned plane main body 10, by obtaining laser range finder 30 and earth's surface
The distance between face is simultaneously converted, and can measure the distance between fluorescent x-ray analyzer 20 and ground surface indirectly.And
Make coupling member 40 flexible based on the range information measured indirectly, it will be between fluorescent x-ray analyzer 20 and ground surface
Distance is adjusted in the range of regulation.
In addition, above embodiment is measured between fluorescent x-ray analyzer 20 and measurement object by laser range finder
Distance, but in other embodiments, the distance can be measured by ultrasonic range finder.Especially on the surface of measurement object
Fluctuating it is big in the case where it is preferable to use ultrasonic range finders.
In the above-described embodiment, it using noncontacting proximity sensors such as laser range finder or ultrasonic range finders, measures glimmering
The distance between light x-ray analysis equipment 20 and ground surface, but it's not limited to that.For example, unmanned vehicle 100 includes adjusting
The contact portion of the whole predetermined length extended in downward direction from the bottom surface of unmanned plane main body 10, by making the contact portion and ground surface
Contact, can measure the distance between fluorescent x-ray analyzer 20 and measurement object indirectly.In the case where this mode,
It preferably constitutes as follows: logical when touch sensor, contact portion and earth's surface face contact is arranged in the top of contact portion
Wirelessly or non-wirelessly mode is crossed thus to drive the flight instruments such as propeller from the sensor to the transmission signal of control device 14, make nothing
People's aircraft 100 is relative to ground surface with fixed altitude.By being kept in contact the top in portion and the shape of earth's surface face contact
State simultaneously moves in the horizontal direction, and unmanned vehicle 100 can be flown in a manner of the height being always kept in a fixed state relative to ground,
Therefore the distance between fluorescent x-ray analyzer 20 and measurement object can be made fixed always.Therefore, even if measurement object is
On a wide range of widened ground, quantitative analysis also can be simply and rapidly carried out with high precision.
In the above-described embodiment, coupling member 40 is flexible, but it's not limited to that.As shown in figure 5, other realities
The coupling member 40 for applying mode can be made of multiple components, and have multi-joint.In this manner it is achieved that for example by making to connect
Structural member 40 is horizontally elongated, can be easy to carry out x-ray fluorescence analysis the wall surface to precipitous steep cliff.And
And by by the wall surface of wall between fluorescent x-ray analyzer 20 at a distance from be kept constant in the state of, make nobody fly
Row device 100 vertically rises or falls, and can easily and rapidly carry out the qualitative analysis in vertical direction with high precision
And quantitative analysis.
In the above-described embodiment, the shape of the cabinet 22 of fluorescent x-ray analyzer 20 is substantially rectangular shape, but
It is that it's not limited to that.As shown in fig. 6, in other embodiments, the shape of cabinet 22 can be the thin shape in top.If
The shape of cabinet 22 is this shape, even if then also fluorescence X can be made to penetrate in the case where the fluctuating on the surface of measurement object is big
The top of line analysis device 20 closer surface, it will not be made to leak even for the small fluorescent X-ray of energy and can
It is detected, qualitative analysis can be carried out with higher precision.
In the above-described embodiment, X-ray tube 24 is configured to make the central axis of the X-ray of radiation relative to measurement object
Normal to a surface tilts predetermined angular, but is not limited to this mode.In other embodiments, as shown in fig. 7, X is penetrated
Spool 24 is configured to keep the central axis of the X-ray of radial irradiation vertical with the surface of measurement object.In this fashion, X is penetrated
The tubular shape of the central axis for being preferably shaped to surround the X-ray radiated from X-ray tube 24 of thread detector 26.If X-ray
Pipe 24 and X-ray detector 26 are this modes, then detection solid angle can be made to become larger, can be improved the detection intensity of X-ray,
Thus allow for the quantitative analysis of higher precision.
In the above-described embodiment, the electric current that analysis portion 28 is exported based on X-ray detector 26, without amendment to glimmering
The spectrum of light X-ray is calculated, but it's not limited to that.It can constitute as follows in other embodiments: base
In the range information that laser range finder 30 obtains, the intensity of the fluorescent X-ray generated from ground is calculated until by X-ray detector
The attenuation to decay until 26 detections, and consider that the attenuation is modified come the spectrum of the fluorescent X-ray to detection.Pass through
This amendment is carried out, the quantitative analysis of higher precision is able to carry out.In addition, though actually in detector side and X-ray side
Absorption in the optical path of two sides by atmosphere is influenced, but the calculating of the following presentation only decaying of the optical path of detector side is repaired
Just.
Specifically, can be declined according to Lambert-Beer (Lambert-Beer) law by formula below (1) to calculate
It is reduced and is modified.
I=I0exp(-μair,E×ρair×x)/exp(-μair,E×ρair×x0) (1)
(wherein, I0: the spectral intensity on the surface of measurement object, I: the spectral intensity of observation, μair,E: ENERGY E is relative to X
The mass-absorption coefficient of the air of ray, ρair: the density of air, x: the path length of air, x0: common path length)
In addition, in the case where being reduced in view of solid angle because of distance, such as can use formula below (2) to calculate
Attenuation is simultaneously modified.
I=I0exp(-μair,E×ρair×x)/exp(-μair,E×ρair×x0)×(x0 2/x2) (2)
In addition, can be carried out without departing from the spirit and scope of the present invention the present invention is not limited to the embodiment
Various modifications.
Industrial applicibility
According to the present invention, it is capable of providing a kind of even if fluorescence X can be accurately proceed the place that people is difficult to enter
The unmanned vehicle of ray analysis.
Claims (10)
1. a kind of unmanned vehicle can move in the sky and carry out x-ray fluorescence analysis, the nothing to defined measurement object
People's aircraft is characterized in that
Aircraft body；
Fluorescent x-ray analyzer, comprising: X-ray irradiator is connect with the aircraft body, Xiang Suoshu measurement object
X-ray irradiation；And fluorescent X-ray detection device, detection are generated by the irradiation of the X-ray from the measurement object glimmering
Light X-ray；And
Range unit measures the distance between the measurement object and the fluorescent X-ray detection device.
2. unmanned vehicle according to claim 1, which is characterized in that the range unit is laser range finder or ultrasound
Wave rangefinder.
3. unmanned vehicle according to claim 1, which is characterized in that the range unit has can be with the measurement
The contact portion of object contact, by contacting the contact portion with the measurement object, measure the measurement object with it is described glimmering
The distance between light x-ray detection device.
4. unmanned vehicle according to claim 1, which is characterized in that measure the fluorescent x-ray analyzer
The range data of the expression distance of the measurement data and range unit measurement of the spectrum of expression fluorescent X-ray is correspondingly
Storage.
5. unmanned vehicle according to claim 4, which is characterized in that corrected using the range data with it is described away from
The measurement data correspondingly stored from data.
6. unmanned vehicle according to claim 4, which is characterized in that also there is GPS receiver device, by the measurement number
It is correspondingly stored according to, the range data and the position data obtained by the GPS receiver device.
7. unmanned vehicle according to claim 1, which is characterized in that also there is distance adjusting system, the distance is adjusted
The distance that engagement positions are measured based on the range unit, will be between the fluorescent X-ray detection device and the measurement object
Distance is adjusted in the range of regulation.
8. unmanned vehicle according to claim 7, which is characterized in that the distance adjusting system has coupling member,
The coupling member links the aircraft body and the fluorescent x-ray analyzer in a manner of distance variable.
9. unmanned vehicle according to claim 7, which is characterized in that the distance adjusting system, which has to land, uses foot
Portion, described land are set to the aircraft body with foot, and can adjust the aircraft body and the measurement pair
The distance between as.
10. unmanned vehicle according to claim 1, which is characterized in that the distance adjusting system penetrates the fluorescence X
The distance between line detector and the measurement object are adjusted to 1cm or more, 10cm or less.
Applications Claiming Priority (3)
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| JP2017094933 | 2017-05-11 | ||
| JP2017-094933 | 2017-05-11 | ||
| PCT/JP2018/017387 WO2018207678A1 (en) | 2017-05-11 | 2018-05-01 | Unmanned aerial vehicle |
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| CN110337585A true CN110337585A (en) | 2019-10-15 |
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| JP (1) | JP7155114B2 (en) |
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| GB2575057A (en) * | 2018-06-27 | 2020-01-01 | Secr Defence | Scanning system |
| KR102119519B1 (en) * | 2018-11-23 | 2020-06-08 | 한국로봇융합연구원 | Quad-copter for multiple disaster environment |
| KR102170907B1 (en) * | 2019-05-09 | 2020-10-28 | 주식회사 이쓰리 | Apparatus for measuring fine dust using unmanned aerial vehicle |
| JP6725171B1 (en) * | 2020-04-03 | 2020-07-15 | 株式会社センシンロボティクス | Aircraft, inspection method and inspection system |
| JP2020169023A (en) * | 2020-06-22 | 2020-10-15 | 株式会社センシンロボティクス | Flying vehicle, inspection method, and inspection system |
| JP7514704B2 (en) | 2020-09-01 | 2024-07-11 | キヤノンメディカルシステムズ株式会社 | X-ray tube holding device and X-ray imaging system |
| CN112085482B (en) * | 2020-09-24 | 2021-05-04 | 江西恒实建设管理股份有限公司 | Engineering project supervision quality monitoring and management system based on big data |
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| WO2018207678A1 (en) | 2018-11-15 |
| JPWO2018207678A1 (en) | 2020-03-12 |
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