CN112896498B - Unmanned aerial vehicle gamma energy spectrum measurement system - Google Patents
Unmanned aerial vehicle gamma energy spectrum measurement system Download PDFInfo
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- CN112896498B CN112896498B CN202110268652.3A CN202110268652A CN112896498B CN 112896498 B CN112896498 B CN 112896498B CN 202110268652 A CN202110268652 A CN 202110268652A CN 112896498 B CN112896498 B CN 112896498B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/02—De-icing or preventing icing on exterior surfaces of aircraft by ducted hot gas or liquid
- B64D15/04—Hot gas application
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention provides an unmanned aerial vehicle gamma energy spectrum measuring system, which comprises an unmanned aerial vehicle, a nuclear radiation measuring system, a communication and positioning system and a ground control system, wherein the unmanned aerial vehicle, the nuclear radiation measuring system and the communication and positioning system are all connected with the ground control system; the nuclear radiation measurement system is used for aerial gamma energy spectrum measurement of radioactive mineral exploration, the communication and positioning system is used for positioning the unmanned aerial vehicle and communication between the unmanned aerial vehicle and the ground control system, and the ground control system is used for controlling the unmanned aerial vehicle to carry out flight exploration tasks; unmanned aerial vehicle includes fuselage, wing, screw and winter protection device. The invention solves the problem that a measurement scheme which has high working efficiency and relatively low cost and can ensure the safety of personnel is lacked at present.
Description
Technical Field
The invention relates to the technical field of gamma energy spectrum measurement and the technical field of unmanned aerial vehicles, in particular to a gamma energy spectrum measurement system of an unmanned aerial vehicle.
Background
In the uranium mine investigation in the western Sichuan area, if people are dispatched to carry portable equipment to carry out exploratory investigation in the traditional mode, the working efficiency is low, the human resource investment is large, and in addition, the weather conditions in the western Sichuan area are severe, and the normal working time is short; if the vehicle-mounted gamma energy spectrum measurement is adopted, the working efficiency is higher, but blind areas still exist in areas which cannot be reached by vehicles with complex terrain; if adopt someone helicopter or fixed wing aircraft to carry aviation gamma energy spectrometer to measure, the input cost is high, causes the casualties easily if the accident appears moreover. Therefore, there is a need to provide an unmanned gamma spectrometry system to overcome the above problems.
Disclosure of Invention
The invention provides an unmanned aerial vehicle gamma energy spectrum measuring system, which aims to solve the problem that a measuring scheme which is high in working efficiency, relatively low in cost and capable of guaranteeing personnel safety is lacked in uranium mine investigation in the western Sichuan region at present.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an unmanned aerial vehicle gamma energy spectrum measuring system comprises an unmanned aerial vehicle, a nuclear radiation measuring system, a communication and positioning system and a ground control system, wherein the unmanned aerial vehicle, the nuclear radiation measuring system and the communication and positioning system are all connected with the ground control system;
the nuclear radiation measurement system is used for radioactive mineral exploration aviation gamma energy spectrum measurement, the communication and positioning system is used for positioning the unmanned aerial vehicle and communicating the unmanned aerial vehicle with the ground control system, and the ground control system is used for controlling the unmanned aerial vehicle to carry out flight exploration tasks;
unmanned aerial vehicle includes the fuselage, the wing, screw and winter protection device, the fuselage is connected with the wing, the winter protection device is including the chamber that generates heat, the heat-transfer pipe, mouth template and shell, shell and the outside one end fixed connection of wing, the support is installed to the bottom in the shell, the mounting groove has been seted up on support upper portion, be provided with the motor in the mounting groove, the motor is connected with the screw through the pivot that runs through the shell, the chamber that generates heat sets up in the fuselage, support lower part and mouth template fixed connection just run through the mouth template, the pivot rotates with the mouth template to be connected and runs through the mouth template, be provided with the cavity in the mouth template, the support lower part is provided with first connecting chamber, the pivot is provided with the second and connects the chamber, the chamber and heat-transfer pipe intercommunication generate heat, the heat-transfer pipe is through first connecting chamber and cavity intercommunication, the winter protection chamber has been seted up to screw inside, the cavity is connected chamber and winter protection chamber intercommunication through the second.
Further, the heat transfer pipe extends from the fuselage along the interior of the wing to penetrate through the outer shell to be communicated with the first connecting cavity.
Further, the propeller is disposed upward to provide upward lift.
Further, there are four wings, i.e. four propellers.
Further, four wings are distributed at four corners of the fuselage.
Furthermore, the bottom surface of the wing is provided with support feet downwards.
Further, nuclear radiation measurement system includes nuclear signal acquisition unit and high-speed digital energy spectrometer, and nuclear signal acquisition unit carries on unmanned aerial vehicle, and high-speed digital energy spectrometer installs at ground control system.
Further, the nuclear signal acquisition unit is a sodium iodide detector or a cerium bromide detector.
Further, unmanned aerial vehicle's front is provided with the camera.
Further, an LED searchlight is installed on the outer side of the camera.
Compared with the prior art, the invention has the following beneficial effects: the unmanned aerial vehicle carries the nuclear radiation measurement system to carry out the airborne gamma energy spectrum measurement of radioactive mineral exploration, so that the cost of using the unmanned aerial vehicle is relatively low, the personnel safety can be effectively guaranteed, and the working efficiency is relatively high; let the screw can continue normal work under the chilly environment in high altitude through the winter protection device, let unmanned aerial vehicle whole keep at the uniform temperature to a certain extent, can not receive the influence of cold environment, normal execution flight investigation task.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle of the present invention.
Fig. 2 is a schematic structural diagram of a front side of an unmanned aerial vehicle of the gamma energy spectrum measurement system for an unmanned aerial vehicle according to the present invention.
Fig. 3 is a schematic structural diagram of a cold-proof device of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle.
Fig. 4 is a schematic diagram of a cold-proof cavity of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle.
Fig. 5 is a schematic structural diagram of a mouth plate of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle.
Fig. 6 is a schematic diagram of a hot air cycle of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle of the invention.
Fig. 7 is a schematic diagram of a cold-proof air inlet cavity and a cold-proof air return cavity of the unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle.
Fig. 8 is an enlarged schematic view of a propeller and an opening of an unmanned aerial vehicle of the gamma energy spectrum measurement system of the unmanned aerial vehicle.
Reference numerals are as follows: the camera comprises a body 1, a wing 2, a propeller 3, a heat transfer pipe 4, a mouth-shaped plate 5, a shell 6, a support 7, a motor 8, a rotating shaft 9, a cavity 10, a first connecting cavity 11, a second connecting cavity 12, a cold-proof cavity 13, a supporting leg 14, a nuclear signal acquisition unit 15, a camera 16, an LED searchlight 17, an air inlet pipe 18, an air return pipe 19, a first air inlet cavity 20, a first air return cavity 21, a first left half cavity 22, a right half cavity 23, a second air inlet cavity 24, a second air return cavity 25, a cold-proof air inlet cavity 26, a cold-proof air return cavity 27, a through hole 28, a circular ring 29, a supporting arm 30, an opening 31 and a heating wire 32.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following descriptions.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
The present invention will be further described with reference to the following examples, which are intended to illustrate only some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, other embodiments used by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Referring to fig. 1 to 8, an embodiment of the present invention is shown for illustration purposes, and is not limited to the structure.
Example one
As shown in fig. 1, 2, 3 and 4, an unmanned aerial vehicle gamma energy spectrum measurement system comprises an unmanned aerial vehicle, a nuclear radiation measurement system, a communication and positioning system and a ground control system, wherein the unmanned aerial vehicle, the nuclear radiation measurement system and the communication and positioning system are all connected with the ground control system, and the unmanned aerial vehicle is provided with the nuclear radiation measurement system and the communication and positioning system, namely the unmanned aerial vehicle and the nuclear radiation measurement system communicate with the ground control system through the communication and positioning system;
the nuclear radiation measurement system is used for radioactive mineral exploration aviation gamma energy spectrum measurement, the communication and positioning system is used for positioning the unmanned aerial vehicle and communicating the unmanned aerial vehicle with the ground control system, and the ground control system is used for controlling the unmanned aerial vehicle to carry out flight exploration tasks;
unmanned aerial vehicle includes fuselage 1, wing 2, screw 3 and winter protection device, fuselage 1 is connected with wing 2, the winter protection device is including generating heat the chamber, the heat-transfer pipe 4, mouth plate 5 and shell 6, shell 6 and the outside one end fixed connection of wing 2, support 7 is installed to the bottom in the shell 6, the mounting groove has been seted up on support 7 upper portion, be provided with motor 8 in the mounting groove, motor 8 is connected with screw 3 through the pivot 9 that runs through shell 6, the chamber that generates heat sets up in fuselage 1, support 7 lower part and mouth plate 5 fixed connection and run through mouth plate 5, pivot 9 rotates with mouth plate 5 to be connected and run through mouth plate 5, be provided with cavity 10 in the mouth plate 5, support 7 lower part is provided with first connection chamber 11, pivot 9 is provided with the second and connects chamber 12, the chamber that generates heat communicates with heat-transfer pipe 4, heat-transfer pipe 4 communicates with cavity 10 through first connection chamber 11, winter protection chamber 13 has been seted up to 3 inside, cavity 10 communicates with winter protection chamber 13 through second connection chamber 12 and winter protection chamber 13.
The heat transfer pipe 4 extends from the fuselage 1 along the inside of the wing 2 to penetrate the outer shell 6 to communicate with the first connection chamber 11.
The propeller 3 is disposed upward to provide upward lift. Four wings 2, i.e. four propellers 3. Four wings 2 are distributed at the four corners of the fuselage 1. The underside of the wing 2 is provided with support feet 14.
The nuclear radiation measurement system comprises a nuclear signal acquisition unit 15 and a high-speed digital energy spectrometer, wherein the nuclear signal acquisition unit 15 is carried on the unmanned aerial vehicle, and the high-speed digital energy spectrometer is installed on a ground control system.
The nuclear signal acquisition unit 15 is a sodium iodide detector or a cerium bromide detector.
The front of the drone is provided with a camera 16. An LED searchlight 17 is mounted on the outer side of the camera 16.
Example two
The second embodiment is a further optimization of the first embodiment.
As shown in fig. 6 and 7, the heat transfer pipe 4 includes an air inlet pipe 18 and an air return pipe 19, the first connection cavity 11 includes a first air inlet cavity 20 and a first air return cavity 21, the cavity 10 includes a left half cavity 22 and a right half cavity 23, the second connection cavity 12 includes a second air inlet cavity 24 and a second air return cavity 25, the cold-proof cavity 13 includes a cold-proof air inlet cavity 26 and a cold-proof air return cavity 27, and an air outlet of the heat-generating cavity, the air inlet pipe 18, the first air inlet cavity 20, the right half cavity 23, the second air inlet cavity 24 and the cold-proof air inlet cavity 26 are sequentially communicated, i.e., a hot air delivery passage is formed; the air return port of the heating cavity, the air return pipe 19, the first air return cavity 21, the left half cavity 22, the second air return cavity 25 and the cold-proof air return cavity 27 are sequentially communicated, so that a hot air return channel is formed; the cold-proof air inlet cavity 26 is communicated with the cold-proof air return cavity 27, namely, hot air circulation is formed.
Wherein, the heating cavity is provided with a heating wire 32 inside, hot air is generated by the heating wire 32, and the basic principle is similar to that of a blowing tube for blowing hot air. The propeller 3 is a two-blade or three-blade propeller 3.
As shown in fig. 5, the upper and lower portions of the mouth plate 5 are provided with through holes 28. The rotating shaft 9 and the lower part of the support 7 penetrate through the upper part and the lower part of the mouth-shaped plate 5 through the through hole 28 respectively, and a sealing gasket is arranged at the penetrating part.
EXAMPLE III
The third embodiment is further optimization of the second embodiment.
As shown in fig. 1, a ring 29 is disposed outside the propeller 3, the ring 29 surrounds the propeller 3, i.e. the propeller 3 is located inside the ring 29, three support arms 30 are disposed on the outer surface of the housing 6, the three support arms 30 are uniformly distributed on the outer surface of the housing 6, one end of each support arm 30 is fixedly connected to the housing 6, the other end of each support arm 30 is fixedly connected to the bottom side of the ring 29, and the three support arms 30 are uniformly distributed on the bottom side of the ring 29, i.e. the included angle between adjacent support arms 30 is 120 degrees.
As shown in fig. 8, opening 31 has been seted up to ring 29 inside wall, opening 31 distributes along ring 29 is inboard, opening 31 is the annular promptly, the one end that motor 8 was kept away from to screw 3 stretches into opening 31, ring 29 is inside to be provided with heater 32, heater 32 distributes along ring 29, both sides all are provided with heater 32 about opening 31, heater 32 is located the top and the below of the part that screw 3 stretched into opening 31 promptly, screw 3 adopts the manufacturing of the metal material of heat conduction to form, like metals such as iron, ferroalloy, steel.
Example four
The fourth embodiment is further optimized by the third embodiment.
The nuclear radiation measurement system also comprises a gamma spectrum measurement and analysis software system installed on the ground control system.
The technical parameters of the gamma spectrum measurement and analysis software system are as follows:
spectrum bleaching: not more than +/-1 channel/8 hours @1024 channels, and automatically selecting a characteristic peak stable spectrum by the system;
energy calibration: natural U, th and K nuclides are multi-peak automatically calibrated (without radioactive sources), and nuclide characteristic peaks such as 137Cs, 60Co and the like can be added;
region of interest (ROI): radionuclide species can be set, and the number of ROIs can be added;
the nuclides such as 214Bi, 208T l, 40K, 137Cs, 60Co and the like can be identified;
the function of converting and calculating the energy spectrum curve to the dose can be realized;
the device can realize the functions of dose mapping and nuclide mapping and has the function of data playback;
the automatic measurement and manual measurement modes are provided, and the switching can be realized.
The technical parameters of the nuclear signal acquisition unit 15 are as follows:
a probe: sodium iodide (NaI) crystals or cerium bromide (CeBr 3) crystals;
detector system energy resolution (@ 662keV full energy peak): FWHM is less than or equal to 7.5%;
gamma ray energy range: 30 keV-3.0 MeV;
energy compensated GM tube, dose rate range: 10 nSv/h-0.1 Sv/h.
The technical parameters of the high-speed digital spectrometer are as follows:
energy spectrum measurement: 1024/2048 channels, can be switched over freely;
the energy spectrum detector is provided with an independent main track for measurement;
the device is provided with a fast-slow bi-pass trapezoidal former, and the fast channel forming time is as follows: not higher than 120ns, slow channel shaping time: 0.75us to 18us,0.75us can be adjusted in a stepping way, and 24 types are obtained;
analog bandwidth is greater than 50MHz, hardware gain adjustment range: 1-16, and adjusting the resolution to 14bit; software gain adjustment range: 1 to 65535;
the digital rise time discrimination function is provided, and the software can be enabled or disabled;
the original pulse signal, the trapezoidal forming signal and the spectral line data can be output, and the video image and the spectral line data can be automatically stored;
support data communication interfaces such as: USB2.0, UART, RS485, RS232 and CAN2.0B are easy to perform data bidirectional interaction with a ground data center;
measuring time: 1-65535 seconds, which can be set arbitrarily;
nonlinearity: the integral nonlinearity is less than or equal to 0.01 percent, and the differential nonlinearity is less than or equal to 0.2 percent.
The communication and positioning system can adopt GPS positioning or Beidou positioning and can adopt wireless communication.
The using process is as follows:
the ground control system is used for controlling the unmanned aerial vehicle to fly, and when flying, the nuclear signal acquisition unit 15 is used for surveying; observing the nearby environment through the camera 16 and the LED searchlight 17; hot air is introduced into the propeller 3 through the cold-proof device, so that the propeller 3 is not influenced by cold environment, the propeller 3 is further prevented from being cold-proof by the heating wire 32 in the circular ring 29, and the condition that the propeller 3 cannot normally work due to frost condensation is effectively prevented; and analyzing and processing the signals acquired by the nuclear signal acquisition unit 15 through a high-speed digital spectrometer and a gamma energy spectrum measurement and analysis software system.
The above-described embodiments are intended to illustrate the present invention, not to limit the present invention, and therefore, the scope of the present invention should not be limited by the accompanying drawings.
From the foregoing detailed description, it will be apparent to those skilled in the art that the foregoing objects and advantages of the invention have been achieved in accordance with the provisions of the patent statutes.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, it should be noted that any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle gamma energy spectrum measuring system is characterized by comprising an unmanned aerial vehicle, a nuclear radiation measuring system, a communication and positioning system and a ground control system, wherein the unmanned aerial vehicle, the nuclear radiation measuring system and the communication and positioning system are all connected with the ground control system;
the nuclear radiation measurement system is used for radioactive mineral exploration aviation gamma energy spectrum measurement, the communication and positioning system is used for positioning the unmanned aerial vehicle and communicating the unmanned aerial vehicle with the ground control system, and the ground control system is used for controlling the unmanned aerial vehicle to carry out flight exploration tasks;
the unmanned aerial vehicle comprises a vehicle body, a wing, a propeller and a cold-proof device, the vehicle body is connected with the wing, the cold-proof device comprises a heating cavity, a heat transfer pipe, a mouth-shaped plate and a shell, the shell is fixedly connected with one end, which is outward of the wing, of the shell, a support is installed at the bottom in the shell, a mounting groove is formed in the upper portion of the support, a motor is arranged in the mounting groove and connected with the propeller through a rotating shaft penetrating through the shell, the heating cavity is arranged in the vehicle body, the lower portion of the support is fixedly connected with the mouth-shaped plate and penetrates through the mouth-shaped plate, the rotating shaft is rotatably connected with the mouth-shaped plate and penetrates through the mouth-shaped plate, a cavity is formed in the mouth-shaped plate, a first connecting cavity is formed in the lower portion of the support, a second connecting cavity is formed in the rotating shaft, the heating cavity is communicated with the heat transfer pipe, the heat transfer pipe is communicated with the cavity through the first connecting cavity, the cold-proof cavity is formed in the propeller, and is communicated with the cold-proof cavity through the second connecting cavity;
the heat transfer pipe comprises an air inlet pipe and an air return pipe, the first connecting cavity comprises a first air inlet cavity and a first air return cavity, the cavity comprises a left half cavity and a right half cavity, the second connecting cavity comprises a second air inlet cavity and a second air return cavity, the cold-proof cavity comprises a cold-proof air inlet cavity and a cold-proof air return cavity, and an air outlet, an air inlet pipe, the first air inlet cavity, the right half cavity, the second air inlet cavity and the cold-proof air inlet cavity of the heating cavity are sequentially communicated, so that a hot air conveying channel is formed; the air return port, the air return pipe, the first air return cavity, the left half cavity, the second air return cavity and the cold-proof air return cavity of the heating cavity are communicated in sequence.
2. The unmanned aerial vehicle gamma energy spectrum measurement system of claim 1, wherein the heat transfer tube extends from the fuselage along the interior of the wing to extend through the outer shell to communicate with the first connection cavity.
3. The unmanned aerial vehicle gamma spectroscopy system of claim 1 wherein the propeller is upwardly disposed to provide upward lift.
4. The unmanned aerial vehicle gamma energy spectrum measurement system of claim 1, wherein there are four wings, i.e. four propellers.
5. The unmanned aerial vehicle gamma energy spectrum measurement system of claim 4, wherein four wings are distributed at four corners of the fuselage.
6. The gamma-ray spectroscopy measurement system of the unmanned aerial vehicle as claimed in claim 1, wherein the bottom surface of the wing is provided with support feet downwards.
7. The unmanned aerial vehicle gamma energy spectrum measurement system of claim 1, wherein the nuclear radiation measurement system comprises a nuclear signal acquisition unit and a high-speed digital energy spectrometer, the nuclear signal acquisition unit is carried on the unmanned aerial vehicle, and the high-speed digital energy spectrometer is installed on a ground control system.
8. The gamma spectrometry system of claim 7, wherein the nuclear signal acquisition unit is a sodium iodide detector or a cerium bromide detector.
9. The gamma energy spectrum measuring system of unmanned aerial vehicle as claimed in claim 1, wherein the front of unmanned aerial vehicle is provided with a camera.
10. The gamma energy spectrum measuring system of the unmanned aerial vehicle as claimed in claim 9, wherein an LED searchlight is installed outside the camera.
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