CN111638542A - Water surface radioactive unmanned ship monitoring device and monitoring method - Google Patents
Water surface radioactive unmanned ship monitoring device and monitoring method Download PDFInfo
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- CN111638542A CN111638542A CN202010491586.1A CN202010491586A CN111638542A CN 111638542 A CN111638542 A CN 111638542A CN 202010491586 A CN202010491586 A CN 202010491586A CN 111638542 A CN111638542 A CN 111638542A
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- 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
- G01T1/167—Measuring radioactive content of objects, e.g. contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/02—Dosimeters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T7/00—Details of radiation-measuring instruments
- G01T7/005—Details of radiation-measuring instruments calibration techniques
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/03—Control of position or course in two dimensions using near-field transmission systems, e.g. inductive-loop type
Abstract
The invention relates to the field of nuclear radiation monitoring, in particular to a water surface radioactive unmanned ship detection device and a monitoring method. Comprises a ground system which is arranged on the ground and is communicated with an unmanned boat, a main control computer, a power system for providing energy, a positioning navigation module and a wireless communication module are arranged on a boat deck of the unmanned boat, two sides of the front end of the unmanned boat in the travelling direction are respectively suspended with an obstacle avoidance module, the middle position of the rear end of the unmanned boat in the travelling direction is suspended with a traction transmission corrector, a radiation detector and an environment calibration sensor for monitoring nuclear radiation in a water area are arranged on the traction transmission straightener, so that the postures of the radiation detector and the environment calibration sensor can be adjusted through the traction transmission corrector, meanwhile, through the flight path planning, the unmanned ship can cruise automatically, the radionuclide in the water area can be monitored automatically, the working intensity of workers is greatly reduced, and the danger of the workers exposed to nuclear radiation is avoided.
Description
Technical Field
The invention relates to the field of nuclear radiation monitoring, in particular to a water surface radioactive unmanned ship detection device and a monitoring method.
Background
At present, the common type of nuclear power station in China is a pressurized water reactor nuclear power station. The high temperatures generated inside the pressurized water reactor are generally cooled by seawater circulation, and the seawater carrying the waste heat of the power station is discharged back to the sea. Because the cooling system in the power station adopts a double-loop design, the cooling water discharged from the power station can be prevented from any pollution, and in addition, monitoring nets are required to be arranged for workers of the nuclear power station to densely distribute various high-tech monitoring devices around the nuclear power station so as to monitor the parameters of the atmosphere and the seawater all the time.
When monitoring radiation of a nuclear power plant, the sampling and monitoring of cooling water are complex and laborious works. In the operation process of the nuclear power station, the radiation dose of the surrounding water area is monitored manually, meanwhile, personnel are required to be arranged to take the ship to a fixed point regularly to collect water samples, and the water samples are sent back to a laboratory for analysis, so that the surrounding water area is ensured not to be polluted by the nuclear power station. Sampling and monitoring the water radiance for a long time is a great drain on human physical strength, is also inefficient, and may cause the risk of exposure of workers to the nuclear radiation source, thereby endangering the health of the workers.
Disclosure of Invention
Aiming at the problems, the invention provides a water surface radioactive unmanned ship monitoring device and a monitoring method, which effectively reduce the working intensity of workers, avoid the risk that the workers are exposed outside a nuclear radiation source during monitoring and ensure that the health of the workers is not damaged.
The technical scheme of the invention is as follows:
a water surface radioactive unmanned ship monitoring device comprises a ground system which is arranged on the ground and communicated with an unmanned ship, wherein a main control computer, a power system used for providing energy, a positioning navigation module and a wireless communication module are arranged on a ship board of the unmanned ship, two sides of the front end of the unmanned ship in the travelling direction are respectively provided with an obstacle avoidance module, a traction transmission corrector used for correcting the postures of a radiation detector and an environment calibration sensor is hung at the middle position of the rear end of the unmanned ship in the travelling direction, the traction transmission corrector is provided with the radiation detector used for monitoring the nuclear radiation of a water area, the environment calibration sensor and a gyroscope used for providing accurate azimuth, level, position, speed and acceleration signals for the traction transmission corrector, the environment calibration sensor comprises a temperature sensor, a thermocouple, a salinity meter, a current meter and a dynamic depth probe, so that the water surface flow velocity and temperature, salinity, depth and the like can be detected.
Preferably, the positioning navigation module adopts one or more of a GPS system, a Beidou system, a GLONASS system and a Galileo satellite navigation system.
Preferably, the obstacle avoidance module adopts one or more of a laser radar, an underwater forward-looking sonar, an infrared sensor, an ultrasonic sensor and a microwave radar obstacle.
Preferably, the wireless communication module adopts one or more of microwave communication, satellite communication, Bluetooth, CDMA2000, GSM, Infra (IR), ISM, RFID, UMTS/3GPPw/HSDPA, UWB, WiMAXwi-Fi and ZigBee.
Preferably, the radiation detector adopts at least one of sodium iodide, high-purity germanium, lanthanum bromide, cadmium zinc telluride and the like.
A method for monitoring a radioactive unmanned surface vehicle comprises the following steps:
step 1, placing an unmanned ship in a channel communicated with a water area to be detected, and sending an instruction to a wireless communication module by a ground system to set a target coordinate of the water area to be detected;
step 4, after the unmanned ship reaches the vicinity of the target coordinate, the environment calibration sensor and the traction transmission corrector work, a group of background data is sent to the main control computer through the wireless communication module, the environment calibration sensor and the radiation detector are dragged into the water body at a constant speed through the traction transmission corrector and reach the preset traction depth of the main control computer, the radiation detector detects and sends a group of verification data to be compared with the local data detected before launching, and meanwhile, the depth information is fed back through the gyroscope;
and 6, in the cruising process, the main control computer arranges the data on the unmanned ship into return data, wherein the return data comprises time, coordinate information, nuclear radiation energy spectrum information, temperature, salinity, depth and cruising speed.
Step 7, after the ground system receives the returned data, resolving the spectrum of the nuclear radiation energy spectrum information at the coordinate, and waiting for the next group of returned data if the artificial radionuclide is not identified; if the artificial radionuclide is identified, distinguishing the artificial radionuclide species, counting the counting rate and the dose rate, calculating the corresponding nuclide activity, calculating the water nuclide concentration, and weighting and calculating the radioactive dose;
step 9, after the boundary detection of the unmanned ship is completed, the traction transmission corrector recovers the environment calibration sensor and the radiation detector to the ship belly, records a group of data after the boundary detection is completed and transmits the data back to the ground system, and the environment calibration sensor and the radiation detector are closed after the data are transmitted back;
and step 10, inputting the throwing coordinates into a positioning navigation module by the unmanned ship carrier, planning a flight path by the positioning navigation module according to geographic information, enabling a power system and an obstacle avoidance module to enter a working state after the flight path planning is finished, enabling the unmanned ship to autonomously return to the throwing coordinates by a main control computer controlling the power system, the navigation module and the obstacle avoidance module, and finishing the task execution after personnel finish recycling the ship body and evaluating the regional radioactivity level.
The above steps 2 to 8 all include a flight path planning, and the flight path planning includes a first step: carrying out coordinate dispersion; the second step is that: calculating the minimum step length of the unmanned ship; the third step: judging the maximum turning angle of the unmanned ship; the fourth step: judging the maximum sailing distance of the unmanned ship; the fifth step: determining the effective monitoring range of the radiation detector; and a sixth step: calculating a navigation objective function; if the radiation detection is abnormal, executing a first step; and if the radiation detection result is normal, executing the fourth step.
Has the advantages that: the water surface radioactive unmanned ship monitoring device provided by the invention realizes automatic monitoring of water area radioactive nuclides, greatly reduces the working intensity of workers, avoids the danger of exposure of the workers to nuclear radiation, and ensures that the body health of the workers is not damaged by the nuclear radiation.
Drawings
FIG. 1 is a schematic view of the overall assembly of the present invention;
FIG. 2 is a scene plot of the cruise process and radioactivity level contours of the present invention;
FIG. 3 is a flow chart of the flight path planning of the present invention;
FIG. 4 is a schematic view of the radiation detector of the present invention lowered;
description of reference numerals: 1. an unmanned boat; 2. a main control computer; 3. a wireless communication module; 4. a positioning navigation module; 5. an obstacle avoidance module; 6. a radiation detector; 7. a power system; 8. an environmental calibration sensor; 9. a traction drive orthotic;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A preferred embodiment of the present invention will be described in detail with reference to fig. 1 and 2;
a water surface radioactive unmanned ship monitoring device comprises a ground system which is installed on the ground and communicated with an unmanned ship 1, wherein a main control computer 2, a power system 7 used for providing energy, a positioning navigation module 4 and a wireless communication module 3 are installed on a ship board of the unmanned ship 1, two obstacle avoidance modules 5 are respectively installed on two sides of the front end of the unmanned ship 1 in the travelling direction, a traction transmission corrector 9 used for correcting the postures of a radiation detector 6 and an environment calibration sensor 8 is hung in the middle position of the rear end of the unmanned ship 1 in the travelling direction, the traction transmission corrector 9 is provided with the radiation detector 6 used for monitoring the nuclear radiation of a water area, the environment calibration sensor 8 and a gyroscope used for providing accurate azimuth, level, position, speed and acceleration signals for the traction transmission corrector 9, and the environment calibration sensor 8 comprises a temperature sensor, The thermocouple, the salinity meter, the current meter, the dynamic depth of field probe for can detect surface of water velocity of flow and temperature, salinity, degree of depth etc..
Keep away barrier module 5 and be used for surveying the barrier, can cause the object that unmanned ship collided like the submerged reef etc. in the water, keep away barrier module 5 and imbed the installation in the abdomen, and make keep away the detecting head of barrier module 5 stretch out unmanned ship 1 with the casing of water contact can, so avoided unmanned ship when navigation, the water leads to the fact the impact to keep away barrier module 5 to damage to keeping away barrier module 5.
The traction drive rectifier 9 can be, but not limited to, an electric push rod or a mechanical arm, and the invention is described in detail below by using an electric push rod, the electric push rod is mounted on the belly, the rod head of the electric push rod can vertically extend downwards out of the bottom of the boat, and a mounting seat for mounting the radiation detector 6 and the environmental calibration sensor 8 is mounted on the rod head of the electric push rod, so that the radiation detector 6 and the environmental calibration sensor 8 can be mounted on the mounting seat, and the postures of the radiation detector 6 and the environmental calibration sensor 8 can be adjusted by the electric push rod, thereby achieving the technical purpose as shown in fig. 4, that is, when the unmanned boat 1 is cruising at high speed, the radiation detector 4 and the environmental calibration sensor 8 can be retracted into the belly by the electric push rod, and the damage of the radiation detector 4 and the environmental calibration sensor 8 caused by the water body of the unmanned boat 1 during high-speed movement can, when cruising at low-speed, can place the surface of water with radiation detector 4 and environment calibrator 8, so can play the detection effect, can protect radiation detector 4 and environment calibrator 8 again and be difficult for being strikeed by the water and lead to the harm, unmanned ship when cruising in-process stops, will transfer radiation detector 4 and environment calibrator 8 to under water through electric putter, detects the nuclear radiation in this waters. It is therefore clear from the above description that the invention allows for the selection of the traction drive orthosis 9 only to satisfy the three actuation mechanisms that enable the above-described unmanned vehicle to cruise at low speed, cruise at high speed and stop, i.e. the radiation detector 4 and the environmental calibrator 8 are retracted into the belly or brought to the surface or brought to the water. High speed, as used throughout the present invention, means cruising at a speed greater than 30km/h, low speed means cruising at a speed less than or equal to 30 km/h.
Preferably, the positioning navigation module 4 adopts one or more of a GPS system, a beidou system, a GLONASS system, and a galileo satellite navigation system.
Preferably, the obstacle avoidance module 5 adopts one or more of a laser radar, an underwater forward-looking sonar, an infrared sensor, an ultrasonic sensor and a microwave radar obstacle.
Preferably, the wireless communication module 3 adopts one or more of microwave communication, satellite communication, Bluetooth, CDMA2000, GSM, Infra Red (IR), ISM, RFID, UMTS/3GPPw/HSDPA, UWB, wimax wi-Fi and ZigBee.
Preferably, the radiation detector 6 employs at least one of sodium iodide, high-purity germanium, lanthanum bromide, cadmium zinc telluride, and the like.
A method for monitoring a radioactive unmanned surface vehicle comprises the following steps:
step 1, placing an unmanned ship 1 in a channel communicated with a water area to be detected, and sending an instruction to a wireless communication module 3 by a ground system to set a target coordinate of the water area to be detected;
step 4, after the unmanned ship 1 reaches the vicinity of the target coordinate, the environment calibration sensor 8 and the traction transmission corrector 9 work, a group of background data is sent to the main control computer 2 through the wireless communication module 3, then the traction transmission corrector 9 pulls the environment calibration sensor 8 and the radiation detector 6 into the water body at a constant speed and reaches the preset traction depth of the main control computer 2, the radiation detector 6 detects and sends a group of calibration data to be compared with the local data detected before launching, and meanwhile, the depth information is fed back through the gyroscope;
and 6, in the cruising process, the main control computer 2 arranges the data on the unmanned boat 1 into return data, wherein the return data comprises time, coordinate information, nuclear radiation energy spectrum information, temperature, salinity, depth and cruising speed.
Step 7, after the ground system receives the returned data, resolving the spectrum of the nuclear radiation energy spectrum information at the coordinate, and waiting for the next group of returned data if the artificial radionuclide is not identified; if the artificial radionuclide is identified, distinguishing the artificial radionuclide species, counting the counting rate and the dose rate, calculating the corresponding nuclide activity, calculating the water nuclide concentration, and weighting and calculating the radioactive dose;
step 9, after the boundary detection of the unmanned ship 1 is completed, the traction transmission corrector 9 recovers the environment calibration sensor 8 and the radiation detector 6 to the ship belly, records a group of data after the boundary detection is completed and transmits the data back to the ground system, and closes the environment calibration sensor 8 and the radiation detector 6 after the data is transmitted back;
step 10, inputting the throwing coordinates into a positioning navigation module 4 by a carrier of the unmanned ship 1, planning a flight path by the positioning navigation module 4 according to geographic information, enabling a power system 7 and an obstacle avoidance module 5 to enter a working state after the flight path planning is finished, controlling the power system 7, the navigation module and the obstacle avoidance module 5 by a main control computer 2 to enable the unmanned ship 1 to autonomously return to the throwing coordinates, and finishing the task execution after personnel finish recycling the ship body and evaluating the regional radioactivity level.
The track planning of the invention is explained in detail with reference to fig. 3:
the above steps 2 to 8 all include a flight path planning, and the flight path planning includes a first step: carrying out coordinate dispersion; the second step is that: calculating the minimum step length of the unmanned ship 1; the third step: judging the maximum turning angle of the unmanned ship 1; the fourth step: judging the maximum sailing distance of the unmanned ship 1; the fifth step: determining the effective monitoring range of the radiation detector 6; and a sixth step: calculating a navigation objective function; if the radiation detection is abnormal, executing a first step; and if the radiation detection result is normal, executing the fourth step.
Specifically, the flight planning must take into account the physical limitations of the unmanned vehicle 1, which include (1) the minimum step size, or else it is not possible to navigate along the generated flight path, and the unmanned vehicle 1 must maintain a straight-ahead minimum distance before changing course directions. The minimum step size limit depends on the maneuverability of the unmanned vehicle 1 on the one hand and on the other hand to reduce navigation errors, and frequent cornering and roundabout travel of the unmanned vehicle 1 is generally undesirable when cruising at a distance. (2) At the maximum yaw angle, the unmanned vehicle 1 can only be steered within the range of the maximum yaw angle. (3) The maximum sailing distance, due to the limited power of the unmanned boat 1, must be limited to a certain range for the maximum track. The navigation task requirements are as follows: (1) the unmanned ship 1 has a limited monitoring range of airborne equipment, so that a target point to be monitored in the navigation process must be within the effective monitoring range of a certain section of track. (2) The effective monitoring time is that the sum of the monitoring time of certain target points is required to reach a certain value or be as long as possible in the water surface radiation environment monitoring of the unmanned ship 1. (3) And the flight path re-planning time is that once an emergency is found in the monitoring process, the unmanned ship 1 needs to re-plan the flight path within a certain time, and the planning time is as short as possible.
The unmanned ship 1 track planning is to search in a two-dimensional space, set as a certain point coordinate of the planning space, wherein the longitude and latitude are represented, then the planning space can be represented as a set { (x, y) |0 ≦ x ≦ MaxX, and 0 ≦ y ≦ MaxY }, which represents a water surface area. In the actual planning, the space region needs to be discretized, that is, x and y are divided according to different resolutions, so as to obtain a discretized planning space. The higher the discretization resolution is, the higher the planning result precision is, but the larger the required calculation amount is; conversely, the lower the resolution, the lower the precision of the planning result, and the smaller the calculation amount.
Generally, before and after the unmanned surface vehicle 1 makes a maneuver such as a turn, the unmanned surface vehicle 1 should keep a straight-going distance, which is called a minimum step length and is denoted by L, and the length L of any flight path is defined asiAnd, both are not less than L:
li≤L(i＝1,2,3…n)
the maximum turning angle means that the track of the unmanned ship 1 can be turned only within a predetermined maximum turning angle range. This constraint is related to the maneuverability and sailing mission of the particular unmanned boat 1. Assuming that the maximum turning angle is θ as shown in the figure, the track can be turned only in the left and right θ angles in the original direction when the track is at the home position. Recording the coordinate of the ith track point as (x)i,yi) Let thetai＝(xi-xi-1,yi-yi-1)TAssuming that θ is the maximum turning angle, the angle isThe beam can be formulated as:
the maximum sailing distance is defined as the length of the flight path that must be less than a predetermined maximum distance due to the fuel that can be carried by the unmanned vehicle 1 and the limited sailing time. In the course planning, the straight-line distance between the starting point and the end point is D, but since the unmanned vehicle 1 does not simply navigate along a straight line according to the mission requirements, the feasible course is necessarily longer than D. On the other hand, since unmanned ships 1 have a range limit or a time limit for task execution, the total length of the track is necessarily limited. Let the maximum distance dmaxThe constraint may be represented by:
the monitoring range of the onboard equipment of the unmanned ship 1 is limited, so that a target point to be monitored in the navigation process must be in an effective monitoring range. If the unmanned ship 1 sails along the planned track and does not monitor a certain target point or a plurality of target points, the track planning task fails. Suppose the ith segment and l of the trackiThe distance of the kth target point to be monitored is dikThen the constraint may be formulated as a defined effective monitoring range.
Tasks of the unmanned ship 1 in water environment monitoring mainly include two tasks: one is that the normal patrol of target points to be monitored requires that the unmanned ship 1 takes as long as possible to monitor the target points; secondly, when the unmanned ship 1 monitors sudden water environment problems, track adjustment, namely track re-planning, needs to be made as soon as possible, and at the moment, a suboptimal or feasible track is required to be obtained in as short a time as possible, so that the unmanned ship 1 can monitor a new target point by sailing along the new track. In addition, the risk factors and the like suffered by the unmanned ship 1 in the water environment monitoring need to be considered.
Therefore, the objective function used should include the above factors. For any track, assuming that n +1 track points are included, and setting q1iFor the effective monitoring distance of the 1 st section of the track, q2iFor the track length value of the 2 nd section of the track, the starting point is assumed to be the land location, and the navigation area of the unmanned ship 1 is in the water environment. t is tsThe sum of the distances between each track point and the starting point in the track is the following objective function:
the penalty function is h, the tracks which do not meet constraint conditions of the sections are punished, w1 and w2 are weighting coefficients, and w1+ w2 is 1. In a specific task, if the monitoring time for the target point is required to be the longest, w1 is 1, w2 is 0, if the unmanned boat 1 is required to finish monitoring the target point quickly and drive to the terminal point, w1 is 0, w2 is 1, and finally the course is determined by referring to the minimum value of the course target function f.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a surface of water radioactivity unmanned ship monitoring devices which characterized in that: the unmanned ship comprises a ground system which is arranged on the ground and communicated with an unmanned ship (1), wherein a main control computer (2), a power system (7) used for providing energy, a positioning navigation module (4) and a wireless communication module (3) are arranged on a ship board of the unmanned ship (1), obstacle avoidance modules (5) used for detecting obstacles are respectively arranged on two sides of the front end of the unmanned ship (1) in the travelling direction, a traction transmission corrector (9) used for correcting the postures of a radiation detector (6) and an environment calibration sensor (8) is arranged in the middle position of the rear end of the unmanned ship (1) in the travelling direction, the radiation detector (6) used for monitoring the nuclear radiation of a water area, the environment calibration sensor (8) and a gyroscope used for providing accurate azimuth, level, position, speed and acceleration signals for the traction transmission corrector (9) are arranged on the traction transmission corrector (9), the environment calibration sensor (8) comprises a temperature sensor, a thermocouple, a salinity meter, a current meter and a dynamic depth of field probe.
2. The surface radioactivity unmanned ship detection device of claim 1, wherein: the obstacle avoidance module (5) is embedded into the abdomen of the ship for installation, and a detection head of the obstacle avoidance module (5) extends out of the shell of the unmanned ship (1) and contacts with the water body.
3. The surface radioactivity unmanned ship detection device of claim 1, wherein: the traction drive straightener (9) can be but is not limited to an electric push rod or a mechanical arm.
4. The surface radioactivity unmanned ship detection device of claim 3, wherein: the electric push rod is arranged on the belly of the ship, the rod head of the electric push rod can vertically extend out of the bottom of the ship, and a mounting seat used for mounting the radiation detector (6) and the environment calibration sensor (8) is arranged on the rod head of the electric push rod, so that the radiation detector (6) and the environment calibration sensor (8) can be mounted on the mounting seat.
5. The surface radioactivity unmanned ship detection device of claim 1, wherein: the positioning navigation module (4) adopts one or more of a GPS system, a Beidou system, a GLONASS system and a Galileo satellite navigation system.
6. A surface radioactive unmanned ship detection apparatus as claimed in claim 1 or 2, wherein: the obstacle avoidance module (5) adopts one or more of laser radar, underwater forward-looking sonar, infrared sensors, ultrasonic sensors and microwave radar obstacles.
7. The surface radioactivity unmanned ship detection device of claim 1, wherein: the wireless communication module (3) adopts one or more of microwave communication, satellite communication, Bluetooth, CDMA2000, GSM, Infra (IR), ISM, RFID, UMTS/3GPPw/HSDPA, UWB, WiMAXwi-Fi and ZigBee.
8. The surface radioactivity unmanned ship detection device of claim 1, wherein: the radiation detector (6) adopts at least one of sodium iodide, high-purity germanium, lanthanum bromide, cadmium zinc telluride and the like.
9. A method for monitoring a water surface radioactive unmanned ship is characterized by comprising the following steps: the method comprises the following steps:
step 1, placing an unmanned ship (1) in a channel communicated with a water area to be detected, and sending an instruction to a wireless communication module (3) by a ground system to set a target coordinate of the water area to be detected;
step 2, the wireless communication module (3) inputs the target coordinates into the positioning navigation module (4), and the positioning navigation module (4) carries out route planning according to geographic information;
step 3, the main control computer (2) controls the output of the power system (7) to enable the unmanned ship (1) to sail to the target coordinate independently, and meanwhile, the navigation module and the obstacle avoidance module (5) are started;
step 4, after the unmanned ship (1) reaches the vicinity of the target coordinate, the environment calibration sensor (8) and the traction transmission corrector (9) work, a group of background data is sent to the main control computer (2) through the wireless communication module (3), then the traction transmission corrector (9) pulls the environment calibration sensor (8) and the radiation detector (6) to the water body at a constant speed, the preset traction depth of the main control computer (2) is reached, the radiation detector (6) detects and sends a group of verification data to be compared with the local data detected before launching, and meanwhile, the depth information is fed back through the gyroscope;
step 5, starting a track detection task, and automatically planning a cruising boundary and a cruising path by adopting a cruising speed and a cruising reference route preset by the ground system and received by the main control computer (2);
step 6, in the cruising process, the main control computer (2) arranges the data on the unmanned boat (1) into return data, wherein the return data comprises time, coordinate information, nuclear radiation energy spectrum information, temperature, salinity, depth and cruising speed;
step 7, after the ground system receives the returned data, resolving the spectrum of the nuclear radiation energy spectrum information at the coordinate, and waiting for the next group of returned data if the artificial radionuclide is not identified; if the artificial radionuclide is identified, distinguishing the artificial radionuclide species, counting the counting rate and the dose rate, calculating the corresponding nuclide activity, calculating the water nuclide concentration, and weighting and calculating the radioactive dose;
step 8, the ground system draws a radioactive horizontal contour map in real time according to the processed data, predicts a navigation boundary according to the image refreshed in real time, and guides the unmanned ship (1) to finish boundary detection;
step 9, after the boundary detection of the unmanned ship (1) is completed, the traction transmission corrector (9) recovers the environment calibration sensor (8) and the radiation detector (6) to the ship belly, records a group of data after completion and transmits the data back to the ground system, and closes the environment calibration sensor (8) and the radiation detector (6) after transmission;
step 10, inputting the throwing coordinates into a positioning navigation module (4) by a carrier of the unmanned ship (1), planning a flight path by the positioning navigation module (4) according to geographic information, enabling a power system (7) and an obstacle avoidance module (5) to enter a working state after the flight path planning is finished, enabling the unmanned ship (1) to automatically return to the throwing coordinates by a main control computer (2) through the power system (7), the navigation module and the obstacle avoidance module (5), and finishing the task execution after personnel finish recycling the ship body and evaluating the regional radioactivity level.
10. The method for monitoring the surface radioactivity unmanned ship of claim 9, wherein the method comprises the following steps: the steps 2 to 8 all include a flight path planning, and the flight path planning includes a first step: carrying out coordinate dispersion; the second step is that: calculating the minimum step length of the unmanned ship (1); the third step: judging the maximum turning angle of the unmanned ship (1); the fourth step: judging the maximum sailing distance of the unmanned ship (1); the fifth step: determining the effective monitoring range of the radiation detector (6); and a sixth step: calculating a navigation objective function; if the radiation detection is abnormal, executing a first step; and if the radiation detection result is normal, executing the fourth step.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010491586.1A CN111638542B (en) | 2020-06-02 | 2020-06-02 | Water surface radioactive unmanned ship monitoring method |
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| CN202010491586.1A CN111638542B (en) | 2020-06-02 | 2020-06-02 | Water surface radioactive unmanned ship monitoring method |
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| CN111638542A true CN111638542A (en) | 2020-09-08 |
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