CN115562358B - Unmanned aerial vehicle radioactive plume tracking monitoring method and system - Google Patents
Unmanned aerial vehicle radioactive plume tracking monitoring method and system Download PDFInfo
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Abstract
The application provides a method and a system for tracking and monitoring radioactive plume of an unmanned aerial vehicle, which relate to the technical field of unmanned aerial vehicle detection, and the method comprises the following steps: acquiring a target unmanned aerial vehicle, wherein the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device; controlling a target unmanned aerial vehicle to fly in a target area, and determining a first target point of the target area, wherein the target area is an area suspected of containing radioactive plumes, and the first target point is a position where a radiation value is found in the target area for the first time; controlling the target unmanned aerial vehicle to continuously fly by taking the first target point as a starting point, and determining a second target point on the horizontal plane with the same height as the first target point; controlling the target unmanned aerial vehicle to continuously fly by taking the second target point as a starting point, and determining a third target point in the direction vertical to the second target point; transmitting the radiation value of the third target point to a ground workstation to generate a contour map of a target area; and generating the gamma irradiation dose rate of the central height point of the target area according to the contour map.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle detection, in particular to a method and a system for tracking and monitoring radioactive plume of an unmanned aerial vehicle.
Background
When a nuclear accident occurs, radioactive substances may leak from the accident site to the air, and form radioactive plumes under the action of a wind field, and the radioactive plumes diffuse and drift in the air. Therefore, the tracking and monitoring of the radioactive smoke plume has certain guiding significance for dividing and protecting the emergency planning area in the early stage of the nuclear accident.
According to the distribution characteristics of the gamma field formed by the radioactive smoke plume, an aviation radioactivity measurement technology is utilized, and an unmanned aerial vehicle is used for carrying a GM counter or spectrometers such as NaI, csI, laBr3 and CeBr3 for monitoring. As shown in fig. 1, a planar reciprocating profile measurement (also called "zigzag flight type airborne radioactive plume") is performed above the center (plume axis) of the plume along the direction perpendicular to the long axis of the plume, so as to obtain several abnormal curves, each abnormal curve can be calculated by a Z-gauge to obtain a width value, and the width value can be used to determine the approximate profile of the plume formed in the air.
However, the prior art can determine the boundary of the radioactive plume in the horizontal direction when a nuclear accident occurs, only a two-dimensional image of the radioactive plume can be formed, and the boundary of the radioactive plume in the vertical direction cannot be determined, so that the position of the central point of the radioactive plume, the contour map of the radioactive plume, and the gamma irradiation dose rate cannot be determined.
Disclosure of Invention
The embodiment of the invention aims to provide a tracking and monitoring method and a system for radioactive plume of an unmanned aerial vehicle. The specific technical scheme is as follows:
in a first aspect of embodiments of the present invention, there is provided a method for monitoring radioactive plume tracking of an unmanned aerial vehicle, where the method includes:
acquiring a target unmanned aerial vehicle, wherein the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device;
controlling the target unmanned aerial vehicle to fly in a target area, and determining a first target point of the target area, wherein the target area is an area suspected of having radioactive plume, and the first target point is a position where a radiation value is found in the target area for the first time;
controlling the target unmanned aerial vehicle to continuously fly by taking the first target point as a starting point, and determining a second target point on the same height level with the first target point, wherein the second target point is the position of the maximum radiation value in the height level where the first target point is located in the target area;
controlling the target unmanned aerial vehicle to continue flying by taking the second target point as a starting point, and determining a third target point in the direction vertical to the second target point, wherein the third target point is the position of the maximum radiation value in the target area in the direction vertical to the second target point;
sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area;
and generating the gamma irradiation dose rate of the central height point of the target area according to the contour map.
Optionally, the controlling the target drone to continue flying with the first target point as a starting point, and determining a second target point on a horizontal plane having the same height as the first target point includes:
acquiring the diffusion direction and the distribution direction of the radioactive smoke plume in the target region;
determining a flight track for controlling the unmanned aerial vehicle to fly according to the diffusion direction and the distribution direction;
and controlling the unmanned aerial vehicle to fly according to the flight trajectory, and determining the position of the maximum radiation value in the flight trajectory as the second target point.
Optionally, the controlling the target drone to continue flying with the second target point as a starting point, and determining a third target point in a direction perpendicular to the second target point includes:
and controlling the unmanned aerial vehicle to fly upwards and downwards in the vertical direction of the second target point, and determining the position of the maximum radiation value in the vertical upwards and downwards flying trajectory as the third target point.
Optionally, the sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area includes:
the ground workstation receives the coordinate value and the radiation quantity of the third target point;
and the ground workstation generates the contour map by using a smoke plume tracking monitoring auxiliary tool and combining the coordinate value and the radiation quantity of the third target point.
Optionally, the generating, according to the contour map, a gamma irradiation dose rate of a center height point of a target area includes:
acquiring the height, the longitude angle and the latitude angle of the central height point, wherein the longitude angle value is an included angle value between a first connecting line and a Z axis in a space coordinate system, the latitude angle is an included angle value between a second connecting line and an X axis in the space coordinate system, the first connecting line is a connecting line between the second target point and the third target point, and the second connecting line is a connecting line between the projection point of the second target point on an XOY plane and the third target point;
calculating the value of the longitude angle, wherein the formula is theta = theta 1-theta 2, theta 1= arctan, cs phi/(H + n) }, and theta 2= arctan (Hcs phi/H), wherein H is the height of the central height point, and n is a preset parameter value;
calculating a first radius of radiation r1 and a second radius of radiation r2 from the values of the longitude angles, the formula being r1= H sec θ, r2= (H + n) sec θ;
and calculating the gamma irradiation rate of the central height point according to the first radiation radius, the second radiation radius, the longitude angle and the latitude angle.
Optionally, the calculating the gamma-radiation dose rate of the center altitude point according to the first radius, the second radius, the longitude angle and the latitude angle comprises:
calculating a gamma irradiation dose rate of the center height point according to a formula N (H, 2r1,2r 2) =4 pen N (r, Φ) + N (r 1, pi/2- Φ) };
and N is the coordinate of the central height point, and r is the measured radiation radius of the target unmanned aerial vehicle.
In another aspect of the embodiments of the present invention, there is provided a radioactive plume tracking monitoring system for an unmanned aerial vehicle, the system including:
the unmanned aerial vehicle acquisition module is used for acquiring a target unmanned aerial vehicle, and the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device;
the first control module is used for controlling the target unmanned aerial vehicle to fly in a target area and determining a first target point of the target area, wherein the target area is an area suspected of containing radioactive plumes, and the first target point is a position where a radiation value is found in the target area for the first time;
the second control module is used for controlling the target unmanned aerial vehicle to continuously fly by taking the first target point as a starting point, and determining a second target point on the same height level with the first target point, wherein the second target point is the position of the maximum radiation value in the height level where the first target point is located in the target area;
a third control module, configured to control the target drone to continue flying with the second target point as a starting point, and determine a third target point in a direction perpendicular to the second target point, where the third target point is a position of a maximum radiation value in the target area in the direction perpendicular to the second target point;
the contour map generation module is used for sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area;
and the gamma irradiation rate generating module is used for generating the gamma irradiation rate of the central height point of the target area according to the contour map.
In a further aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed, performs the steps of the method as described above.
In a further aspect of the embodiments of the present invention, there is provided a computer device comprising a processor, a memory and a computer program stored on the memory, the processor implementing the steps of the method as described above when executing the computer program.
According to the method, the radiation detection device and the GPS detection device are carried by the unmanned aerial vehicle, the first target point and the second target point are searched according to the specific flight track, the third target point of the radiation center of the radioactive smoke plume is finally determined through the second target point, and the contour map and the exposure dose rate of the radioactive smoke plume are determined according to the radiation value and the coordinate value of the third target point, so that the position of the central point of the radioactive smoke plume, the contour map and the gamma exposure dose rate of the radioactive smoke plume can be accurately determined.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of an unmanned aerial vehicle radioactive plume tracking monitoring system provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for monitoring radioactive plume tracking of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic view of an unmanned aerial vehicle flying according to a flight trajectory provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of determining a first target point and a second target point provided by an embodiment of the present application;
fig. 5 is a schematic diagram of determining a third target point provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of a contour map generation provided by an embodiment of the present application;
FIG. 7 is another schematic illustration of a contour map generated as provided by an embodiment of the present application;
fig. 8 is a schematic structural diagram of a radioactive plume tracking and monitoring system of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 9 is an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only examples or embodiments of the present description, and that for a person skilled in the art, without inventive effort, the present description can also be applied to other similar contexts on the basis of these drawings. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.
It should be understood that "system," "unit," and/or "module" as used herein is a method for distinguishing different components, elements, components, parts, or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the terms "a," "an," "the," and/or "the" are not to be taken in a singular sense, but rather are to be construed to include a plural sense unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
Flow charts are used in this description to illustrate operations performed by a system according to embodiments of the present description. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Fig. 1 is a schematic view of an application scenario of a radioactive plume tracking monitoring system for a drone according to some embodiments of the present description. In some embodiments, the drone radioactive plume tracking monitoring scenario 100 may include a drone 110, a processing device 120, a terminal 130, a network 140.
The drone 110 is an unmanned aerial vehicle that may be operated using radio remote control devices and/or self-contained program control devices. The drone 110 may include an unmanned fixed wing aircraft, an unmanned vertical takeoff and landing aircraft, an unmanned airship, an unmanned helicopter, an unmanned multi-rotor aircraft, an unmanned parasol, and the like. In some embodiments, the drone 110 may include one or more drones. In some embodiments, a lighting device (not shown) may be disposed on the drone 110. In some embodiments, the light emitting devices may include various illuminable devices such as LED lights, lasers, fluorescent lights, and the like. In some embodiments, the light emitting device may be controlled by a control signal (e.g., a circuit signal, a wireless signal, etc.) of the processing apparatus to control a light emitting switch, a light emitting time, a light emitting intensity, an illumination direction, a light emitting manner, etc. thereof. In some embodiments, the drone 110 may fly according to control instructions of the processing device.
The processing device 120 may be a system having computing and processing capabilities. The processing device 120 may include various computers, such as a server, a personal computer, or may be a computing platform consisting of multiple computers connected in various configurations. In some embodiments, the processing device 120 may be implemented on a cloud platform. For example, the cloud platform may include one or a combination of private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, cross-cloud, multi-cloud, and the like. The processing device 120 may include one or more sub-processing devices (e.g., single-core processing devices or multi-core processing devices). By way of example only, processing device 120 may include various common general purpose Central Processing Units (CPUs), graphics Processing Units (GPUs), microprocessors, application-specific integrated circuits (ASICs), or other types of integrated circuits.
The terminal 130 may include a mobile device 130-1, a tablet 130-2, a laptop 130-3, a camera (not shown), the like, or any combination thereof. In some embodiments, terminal 130 may include a processing device. In some embodiments, the processing device 120 may be integrated on the terminal 130. In some embodiments, the terminal 130 may be used by one or more users, by a user who directly controls the flight of the drone, or by other related users.
In some embodiments, the processing device 120 may receive the pattern determined via the terminal 130, parameters of the terminal 130 (e.g., a location of the terminal, an image plane location of the terminal, a first parameter, a second parameter, etc.) via the network 140. In some embodiments, processing device 120 may receive information regarding the color, touch pressure, line type (e.g., line thickness), etc. of the dots in the pattern of terminal 130 over network 140. In some embodiments, the processing device 120 may obtain data and/or information directly from the drone 110 and/or the terminal 130.
In some embodiments, the user may send and/or receive information related to flight control of the drone to the processing device 120 via the user interface of the terminal 130. In some embodiments, the user interface may be in the form of an application for implementing drawings on the terminal 130 for patterns in the screen. The user interface may be configured to facilitate communication between the terminal 130 and a user associated with the terminal 130. In some embodiments, the user interface may receive input from a user through, for example, a user interface screen, requesting to perform flight control of the drone. The user may send a request to the processing device 120 via the user interface of the terminal 130 to perform flight control of the drone in order to control the flight of the drone.
In some embodiments, the processing device 120 may be configured to obtain information about other components (e.g., the drone 110, the terminal 130) in the scene 100 and perform analytical processing on the collected information to perform one or more of the functions described herein. For example, the processing device 120 may obtain information about the terminal 130 such as a pattern (e.g., a pattern determined via the terminal 130), parameters of the terminal 130 (e.g., a position of the terminal, an image plane position of the terminal, a first parameter, a second parameter, etc.). As another example, the processing device 120 may obtain a target location of a drone (e.g., the drone 110) in three-dimensional space. As another example, the processing device 120 may determine a target distance. As another example, the processing device 120 can obtain one or more pixel locations of the pattern corresponding to an image plane of the terminal 130. For another example, the processing device 120 may determine the mapping path of the pattern corresponding to the target plane based on the one or more pixel positions corresponding to the pattern, the target distance, and the preset mapping relationship. As another example, the processing device 120 may determine a flight trajectory of the drone based on the mapped path. For another example, the processing device 120 may control the drone 110 to fly in accordance with the determined flight trajectory.
In some embodiments, the drone may fly according to control instructions of the processing device 120. In some embodiments, the drone 110 may fly in accordance with a flight trajectory determined by the processing device 120 based on the pattern in the screen of the terminal.
In some embodiments, a camera terminal (not shown) may also be included in the scene 100. In some embodiments, the capture terminal may capture a flight trajectory video of the drone 110. In some embodiments, terminal 130 may simultaneously act as a camera terminal.
Fig. 2 shows a schematic flow diagram of a method and a system for monitoring radioactive plume tracking of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 2, the method for monitoring radioactive plume tracking of an unmanned aerial vehicle includes the following steps:
step 201, a target unmanned aerial vehicle is obtained, and the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device.
Wherein, radiation monitoring devices and GPS detection device all carry out the network connection with ground workstation to can send the radiation value and the coordinate that detect radioactive plume for ground workstation in real time with unmanned aerial vehicle.
Step 202, controlling the target unmanned aerial vehicle to fly in a target area, and determining a first target point of the target area, wherein the target area is an area suspected of having radioactive plume, and the first target point is a position where a radiation value is found in the target area for the first time.
It is understood that the drone may fly to the target area, detect the radiation value of the plume in the first target area, and determine the location as point a when the radiation value is first found in the target area.
Step 203, controlling the target unmanned aerial vehicle to continue flying by taking the first target point as a starting point, and determining a second target point on a horizontal plane with the same height as the first target point, wherein the second target point is the position of the maximum radiation value in the target area in the horizontal plane with the first target point.
Optionally, step 203 may further include:
acquiring the diffusion direction and the distribution direction of the radioactive smoke plume in the target region;
determining a flight track for controlling the unmanned aerial vehicle to fly according to the diffusion direction and the distribution direction;
and controlling the unmanned aerial vehicle to fly according to the flight trajectory, and determining the position of the maximum radiation value in the flight trajectory as the second target point.
As shown in fig. 3 and 4, the point a is a first target point, and the unmanned aerial vehicle may determine a maximum point location of a radiation dose on a horizontal plane in a zigzag flight manner with the point a as a starting point, and the point location is denoted as a point P, where the point P is a second target point.
And 204, controlling the target unmanned aerial vehicle to continuously fly by taking the second target point as a starting point, and determining a third target point in the direction perpendicular to the second target point, wherein the third target point is the position of the maximum radiation value in the target area in the direction perpendicular to the second target point.
Optionally, step 204 may further include:
and controlling the unmanned aerial vehicle to fly upwards and downwards in the vertical direction of the second target point, and determining the position of the maximum radiation value in the vertical upwards and downwards flying trajectory as the third target point.
As shown in fig. 5, the third target point O can be accurately determined through the above steps.
And step 205, sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area.
Optionally, step 205 may further include:
the ground workstation receives the coordinate value and the radiation quantity of the third target point;
and the ground workstation generates the contour map by using a smoke plume tracking monitoring auxiliary tool and combining the coordinate value and the radiation quantity of the third target point.
Wherein the contour map can be presented in two forms, fig. 6 and fig. 7.
And step 206, generating the gamma irradiation dose rate of the central height point of the target area according to the contour map.
Optionally, step 206 may further include:
acquiring the height, the longitude angle and the latitude angle of the central height point, wherein the longitude angle value is an included angle value of a first connecting line and a Z axis in a space coordinate system, the latitude angle is an included angle value of a second connecting line and an X axis in the space coordinate system, the first connecting line is a connecting line of the second target point and the third target point, and the second connecting line is a connecting line of a projection point of the second target point on an XOY plane and the third target point;
calculating the value of the longitude angle, wherein the formula is theta = theta 1-theta 2, theta 1= arctan, cs phi/(H + n) }, and theta 2= arctan (Hcs phi/H), wherein H is the height of the central height point, and n is a preset parameter value;
calculating a first radius of radiation r1 and a second radius of radiation r2 from the values of the longitude angles, the formula being r1= H sec θ, r2= (H + n) sec θ;
and calculating the gamma irradiation rate of the central height point according to the first radiation radius, the second radiation radius, the longitude angle and the latitude angle.
Optionally, calculating a gamma exposure rate for the center height point comprises:
calculating a gamma irradiation fluence rate at the center height point according to the formula N (H, 2r1, 2r2) =4 said N (r, Φ) + N (r 1, pi/2- Φ) };
and N is the coordinate of the central height point, and r is the measured radiation radius of the target unmanned aerial vehicle.
According to the method, the radiation detection device and the GPS detection device are carried by the unmanned aerial vehicle, the first target point and the second target point are searched according to the specific flight track, the third target point of the radiation center of the radioactive smoke plume is finally determined through the second target point, and the contour map and the exposure dose rate of the radioactive smoke plume are determined according to the radiation value and the coordinate value of the third target point, so that the position of the central point of the radioactive smoke plume, the contour map and the gamma exposure dose rate of the radioactive smoke plume can be accurately determined. The method and the device can accurately determine the position of the center point of the radioactive smoke plume and generate the radiation contour map of the radioactive smoke plume. The radioactive plume tracking and monitoring of the unmanned aerial vehicle are achieved, accurate data are provided for the diffusion of the radioactive plume, auxiliary data are provided for evacuation of personnel after a nuclear accident occurs, and harm of radioactive substances to the personnel is greatly reduced.
In order to implement the above method type embodiment, an embodiment of the present application further provides an unmanned aerial vehicle radioactive plume tracking and monitoring system, and fig. 8 shows a schematic structural diagram of the unmanned aerial vehicle radioactive plume tracking and monitoring system provided by the embodiment of the present application, where the system includes:
a first control module 301, configured to control the target drone to fly in a target area, and determine a first target point of the target area, where the target area is an area suspected of having a radioactive plume, and the first target point is a location where a radiation value is first found in the target area;
a second control module 302, configured to control the target drone to continue flying with the first target point as a starting point, and determine a second target point on a horizontal plane having the same height as the first target point, where the second target point is a position in the target area where the maximum radiation value is located in the horizontal plane where the first target point is located;
the third control module 303 is configured to control the target drone to continue flying with the second target point as a starting point, and determine a third target point in a direction perpendicular to the second target point, where the third target point is a position of a maximum radiation value in the target area in the direction perpendicular to the second target point;
the contour map generation module 304 is configured to send the radiation value of the third target point to a ground workstation, and generate a contour map of the target area;
and a gamma irradiation rate generating module 305, configured to generate a gamma irradiation rate at the central height point of the target area according to the contour map.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the modules/units/sub-units/components in the above-described system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
According to the method, the radiation detection device and the GPS detection device are carried by the unmanned aerial vehicle, the first target point and the second target point are searched according to the specific flight track, the third target point of the radiation center of the radioactive smoke plume is finally determined through the second target point, and the contour map and the exposure dose rate of the radioactive smoke plume are determined according to the radiation value and the coordinate value of the third target point, so that the position of the central point of the radioactive smoke plume, the contour map and the gamma exposure dose rate of the radioactive smoke plume can be accurately determined.
In some embodiments, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 9. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing relevant data of the image acquisition device. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to realize the method and the system for tracking and monitoring the radioactive plume of the unmanned aerial vehicle.
In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input system connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to realize the method and the system for tracking and monitoring the radioactive plume of the unmanned aerial vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input system of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In some embodiments, there is further provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above method embodiments when executing the computer program.
In some embodiments, a computer-readable storage medium is provided, in which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not to be understood as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
In summary, the present application provides a method for tracking and monitoring radioactive plume of an unmanned aerial vehicle, the method includes:
acquiring a target unmanned aerial vehicle, wherein the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device;
controlling the target unmanned aerial vehicle to fly in a target area, and determining a first target point of the target area, wherein the target area is an area suspected of having radioactive plume, and the first target point is a position where a radiation value is found in the target area for the first time;
controlling the target unmanned aerial vehicle to continue flying by taking the first target point as a starting point, and determining a second target point on the horizontal plane with the same height as the first target point, wherein the second target point is the position of the maximum radiation value in the horizontal plane with the first target point in the target area;
controlling the target unmanned aerial vehicle to continue flying by taking the second target point as a starting point, and determining a third target point in the direction vertical to the second target point, wherein the third target point is the position of the maximum radiation value in the target area in the direction vertical to the second target point;
sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area;
and generating the gamma irradiation dose rate of the central height point of the target area according to the contour map.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection of systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the technical solutions, and the scope of the present application is not limited to the above-mentioned embodiments, although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. An unmanned aerial vehicle radioactive plume tracking monitoring method is characterized by comprising the following steps:
acquiring a target unmanned aerial vehicle, wherein the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device;
controlling the target unmanned aerial vehicle to fly in a target area, and determining a first target point of the target area, wherein the target area is an area suspected of having radioactive plume, and the first target point is a position where a radiation value is found in the target area for the first time;
controlling the target unmanned aerial vehicle to continuously fly by taking the first target point as a starting point, and determining a second target point on the same height level with the first target point, wherein the second target point is the position of the maximum radiation value in the height level where the first target point is located in the target area;
controlling the target unmanned aerial vehicle to continue flying by taking the second target point as a starting point, and determining a third target point in the direction vertical to the second target point, wherein the third target point is the position of the maximum radiation value in the target area in the direction vertical to the second target point;
sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area;
generating the gamma irradiation dose rate of the central height point of the target area according to the contour map;
wherein the generating of the gamma irradiation dose rate of the central height point of the target area according to the contour map comprises:
acquiring the height, the longitude angle and the latitude angle of the central height point, wherein the longitude angle value is an included angle value of a first connecting line and a Z axis in a space coordinate system, the latitude angle is an included angle value of a second connecting line and an X axis in the space coordinate system, the first connecting line is a connecting line of the second target point and the third target point, and the second connecting line is a connecting line of a projection point of the second target point on an XOY plane and the third target point;
calculating the value of the longitude angle, wherein the formula is theta = theta 1-theta 2, theta 1= arctan, cs phi/(H + n) }, and theta 2= arctan (Hcs phi/H), wherein H is the height of the central height point, and n is a preset parameter value;
calculating a first radius of radiation r1 and a second radius of radiation r2 from the values of the longitude angles, the formula being r1= H sec θ, r2= (H + n) sec θ;
calculating the gamma irradiation rate of the central height point according to the first radiation radius, the second radiation radius, the longitude angle and the latitude angle;
wherein said calculating a gamma-radiation fraction of said central elevation point based on said first radius of radiation, said second radius of radiation, said longitude angle, and said latitude angle comprises:
calculating a gamma irradiation dose rate of the center height point according to a formula N (H, 2r1,2r 2) =4 pen N (r, Φ) + N (r 1, pi/2- Φ) };
and N is the coordinate of the central height point, and r is the measured radiation radius of the target unmanned aerial vehicle.
2. The method for monitoring radioactive plume of a drone of claim 1, wherein said controlling the target drone to continue flying starting from the first target point, determining a second target point at a level at the same height as the first target point, comprises:
acquiring the diffusion direction and the distribution direction of the radioactive smoke plume in the target region;
determining a flight track for controlling the unmanned aerial vehicle to fly according to the diffusion direction and the distribution direction;
and controlling the unmanned aerial vehicle to fly according to the flight trajectory, and determining the position of the maximum radiation value in the flight trajectory as the second target point.
3. The method for monitoring radioactive plume of a drone of claim 2, wherein said controlling the target drone to continue flying starting from the second target point, determining a third target point perpendicular to the second target point, comprises:
and controlling the unmanned aerial vehicle to fly upwards and downwards in the vertical direction of the second target point, and determining the position of the maximum radiation value in the vertical upwards and downwards flying trajectory as the third target point.
4. The unmanned aerial vehicle radioactive plume tracking monitoring method of claim 3, wherein the transmitting the radiation value of the third target point to a ground workstation, generating a contour map of the target area, comprises:
the ground workstation receives the coordinate value and the radiation quantity of the third target point;
and the ground workstation generates the contour map by using a smoke plume tracking monitoring auxiliary tool and combining the coordinate value and the radiation quantity of the third target point.
5. An unmanned aerial vehicle radioactive plume tracking monitoring system, the system comprising:
the unmanned aerial vehicle acquisition module is used for acquiring a target unmanned aerial vehicle, and the target unmanned aerial vehicle carries a radiation detection device and a GPS detection device;
the first control module is used for controlling the target unmanned aerial vehicle to fly in a target area and determining a first target point of the target area, wherein the target area is an area suspected of containing radioactive plumes, and the first target point is a position where a radiation value is found in the target area for the first time;
the second control module is used for controlling the target unmanned aerial vehicle to continuously fly by taking the first target point as a starting point, and determining a second target point on the same height level with the first target point, wherein the second target point is the position of the maximum radiation value in the height level where the first target point is located in the target area;
a third control module, configured to control the target drone to continue flying with the second target point as a starting point, and determine a third target point in a direction perpendicular to the second target point, where the third target point is a position of a maximum radiation value in the target area in the direction perpendicular to the second target point;
the contour map generation module is used for sending the radiation value of the third target point to a ground workstation to generate a contour map of the target area;
the gamma irradiation rate generating module is used for generating the gamma irradiation rate of the central height point of the target area according to the contour map;
wherein the generating of the gamma irradiation dose rate of the central height point of the target area according to the contour map comprises:
acquiring the height, the longitude angle and the latitude angle of the central height point, wherein the longitude angle value is an included angle value of a first connecting line and a Z axis in a space coordinate system, the latitude angle is an included angle value of a second connecting line and an X axis in the space coordinate system, the first connecting line is a connecting line of the second target point and the third target point, and the second connecting line is a connecting line of a projection point of the second target point on an XOY plane and the third target point;
calculating the value of the longitude angle, wherein the formula is θ = θ 1- θ 2, θ 1= arctan, said csc Φ/(H + n) }, θ 2= arctan (Hcsc Φ/H), where H is the height of the center height point, and n is a preset parameter value;
calculating a first radius of radiation r1 and a second radius of radiation r2 from the values of the longitude angles, wherein r1= H sec θ, r2= (H + n) sec θ;
calculating the gamma irradiation dose rate of the central height point according to the first radiation radius, the second radiation radius, the longitude angle and the latitude angle;
wherein said calculating a gamma fluence rate for the center altitude point as a function of the first radius of radiation, the second radius of radiation, the longitude angle, and the latitude angle comprises:
calculating a gamma irradiation dose rate of the center height point according to a formula N (H, 2r1,2r 2) =4 pen N (r, Φ) + N (r 1, pi/2- Φ) };
and N is the coordinate of the central height point, and r is the measured radiation radius of the target unmanned aerial vehicle.
6. The system of claim 5, wherein the second control module is further configured to:
acquiring the diffusion direction and the distribution direction of the radioactive smoke plume in the target region;
determining a flight track for controlling the target unmanned aerial vehicle to fly according to the diffusion direction and the distribution direction;
and controlling the unmanned aerial vehicle to fly according to the flight trajectory, and determining the position of the maximum radiation value in the flight trajectory as the second target point.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed, implements the steps of the method according to any one of claims 1 to 4.
8. A computer device comprising a processor, a memory and a computer program stored on the memory, characterized in that the steps of the method according to any of claims 1-4 are implemented when the computer program is executed by the processor.
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