CN208621765U - Water body γ based on autonomous underwater vehicle radiates stereo monitoring system - Google Patents
Water body γ based on autonomous underwater vehicle radiates stereo monitoring system Download PDFInfo
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- CN208621765U CN208621765U CN201820824392.7U CN201820824392U CN208621765U CN 208621765 U CN208621765 U CN 208621765U CN 201820824392 U CN201820824392 U CN 201820824392U CN 208621765 U CN208621765 U CN 208621765U
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Abstract
The utility model discloses a kind of, and the water body γ based on autonomous underwater vehicle radiates stereo monitoring system, using modularized design, including γ radiation detection module, control module, energy module and power plant module；The γ radiation detection module carries out gamma-emitting implementation and extracts, and judges whether there is artificial radionuclide, and collect detection data；The control module controls autonomous underwater vehicle cruise according to γ radiation measurement；The utility model can be realized the efficient accurate measurement that γ in water body radiates the distribution of nucleic activity concentration 3 D stereo.
Description
Technical field
The utility model belongs to water body radioactivity monitoring field, specifically, being related to a kind of based on autonomous underwater vehicle
Water body γ radiate stereo monitoring system.
Background technique
With the iterative method of China's new energy strategy, nuclear energy strong, technical maturity as efficient, environmentally friendly, lasting energy supply
High advantage has gradually become the important component in China's energy resource structure, and Nuclear Safety becomes the focus of public attention.
Currently, the quantity of coastal nuclear power station is significantly increased, next two decades, Asia only three state, China, Japan and Korea S. coastal nuclear power station just will
Reach 300.If accident occurs for nuclear power station, it is possible to cause radioactive substance to Environment release, cause radioactive substance direct
Or indirectly approach enters ocean, causes to influence on a large scale on water body.Such as: Qie Erruo Baily nuclear power station explosion accident, in three
Island nuclear power station loss of-coolant accident (LOCA) and Fukushima nuclear power station hydrogen explosion accident.For polluting sea area artificial radioactivity in Nuclear Accident Emergency
The distributed in three dimensions measurement of nucleic activity concentration is to formulate the premise of emergency plan, but radionuclide contamination area is larger in water body
And having high uncertainty, sampling and measuring efficiency is very low on a large scale, is unable to satisfy the needs of nuclear emergency fast reaction.Therefore it opens
It sends out a set of and has independently the efficiently water body radioactivity monitoring system of Determination of Radionuclides ability, the water for Nuclear Accident Emergency
Body radioactivity monitoring system is for the formulation of accident emergency and accident Mitigation methods, the risk assessment of nuclear power station surrounding body environment
It is of great significance.
Utility model content
In view of the above-mentioned problems, the utility model provides a kind of three-dimensional prison of water body γ radiation based on autonomous underwater vehicle
Examining system can be realized the efficient accurate survey of radionuclide specific activity concentration 3 D stereo distribution in water body in the case of nuclear accident
It is fixed.
In order to achieve the above objectives, the technical solution of the utility model is achieved in that
A kind of water body γ radiation stereo monitoring system based on autonomous underwater vehicle, using modularized design, including γ
Radiation detection module, control module, energy module and power plant module；The γ radiation detection module carries out gamma-emitting implementation and mentions
It takes, judges whether there is artificial radionuclide, and collect detection data；The control module according to γ radiation measurement,
Control energy module and power plant module cruise.
Further, the control module is also connected with navigation module, and the navigation module carries out course line according to geography information
Planning, and the γ radiometric data that control module is sent is received, carry out path planning and feed back to control module to cruise.
Further, the control module is also connected with communication module, and the communication module is interactively communicated with ground system,
It receives coordinates of targets and is input to navigation module as geography information and carry out flight course planning；The communication module is also used to sampled point
The γ radiation activity concentration information of nucleic, depth and global positioning data backup storage.
Further, the navigation module includes DVL speed instrument, miniature depth gauge, Miniature water flow speedometer, electronics sieve
Disk, IMU system and global positioning system；The electronic compass, global positioning system and IMU system connect navigation and calculate CPU,
The independent navigation of aircraft is completed under the control that navigation calculates CPU；
The DVL speed instrument, miniature depth gauge, Miniature water flow speedometer link block unit computer, pass through DVL speed
Instrument, miniature depth gauge and Miniature water flow measurement of velocity measure route speed, depth, water velocity under different operational configurations, even
Pass through modular unit computer disposal together with rudder angle information and revolution speed of propeller, is transmitted by CAN bus and introduce navigation calculating
CPU, the navigation accuracy to calibration system.
Further, the γ radiation detection module includes sequentially connected high-performance gamma radiation detector, preposition amplification
Device, main amplifier, multichannel analyzer, data processing module, storage module, the gamma radiation detector, preamplifier, master are put
Gamma-rays photon is converted to multiple tracks deposition spectrum by big device, multichannel analyzer；Energy of the data processing module to multiple tracks deposition spectrum
Modal data is handled point by point, obtain sampled point γ radiation nucleic activity concentration information, depth and global positioning data, one
And it stores to storage module.
Compared with prior art, the utility model have it is following the utility model has the advantages that
The utility model discloses a kind of water body γ radiation stereo monitoring system based on autonomous underwater vehicle platform, described
Water body γ radiation stereo monitoring system can autonomous navigation to accident sea area and based on intelligence control system independently complete accident sea
The γ in domain radiates stereoscopic monitoring, has evaded monitoring personnel in the risk of activie contamination pool exposure.Water body γ radiation is three-dimensional
The energy module and power for the intelligent path planning system control autonomous underwater vehicle that monitoring system is returned based on Gaussian process
Module carries out intelligent cruise, and the implementation for cooperating γ radiation detection module to carry out sampled point gamma spectrum is extracted, and deep learning is passed through
Network system quickly judges whether there is artificial radionuclide, and collects detection receipt.Based on these existing monitoring system institutes
The function not having, the utility model can be realized in the case of nuclear accident that γ radiates three-dimensional nucleic activity concentration solid point in water body
The Fast And Accurate Determination of cloth, to meet the needs of nuclear emergency fast reaction.
Detailed description of the invention
Fig. 1 is Tthe utility model system schematic diagram；
Fig. 2 is that the utility model navigation module constitutes schematic diagram；
Fig. 3 is that the utility model detecting module constitutes schematic diagram.
Specific embodiment
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.
The technical solution of the utility model is described in further detail with reference to the accompanying drawing: in order to realize nuclear accident feelings
The efficient accurate measurement that gamma-emitting radionuclide activity concentration solid is distributed in water body under condition, embodiment provide one kind and are based on
The water body γ of autonomous underwater vehicle radiates stereo monitoring system.
As shown in Figure 1, the water body radioactivity monitoring system based on autonomous underwater vehicle uses modularized design, base
Plinth module includes: navigation/control/communication module, energy module and power plant module, and tail portion propulsion die uses the magnetic with pod
The navigation control mechanism of rudder after coupling propeller and paddle.Energy module uses lithium ion secondary battery, optional according to task situation
Select the multiple energy modules of installation.Autonomous Underwater Vehicle power plant module is based on screw propeller, hydraulic propeller or bionical pushes away
Into device.Using screw propeller, have the advantages that it is theoretical it is mature, that propulsive efficiency is high, structure is simple etc. is several, be particularly suitable for small
Type submarine navigation device uses.
As shown in Fig. 2, the navigation module includes DVL speed instrument, miniature depth gauge, Miniature water flow speedometer, electronics sieve
Disk, IMU system and global positioning system；The electronic compass, global positioning system and IMU system connect navigation and calculate CPU,
The independent navigation of aircraft is completed under the control that navigation calculates CPU；The DVL speed instrument, miniature depth gauge, Miniature water flow velocity
Degree meter link block unit computer, measures different boats by DVL speed instrument, miniature depth gauge and Miniature water flow measurement of velocity
Route speed, depth, water velocity under row state pass through modular unit computer together with rudder angle information and revolution speed of propeller
Processing is transmitted by CAN bus and introduces navigation calculating CPU, the navigation accuracy to calibration system.
The water body radioactivity monitoring system based on autonomous underwater vehicle and detecting function by being mounted in head
γ radiation detection module is realized, as shown in figure 3, the module is by being based on bromination cerium (CeBr3) scintillator probe, MPPC silicon photoelectricity times
Increase device, preamplifier, main amplifier, multichannel analyzer, data processing module composition.Bromination cerium (the CeBr3) scintillator
Probe, suitable for fast time, the nuclear radiation detection field of Low background, has combined time response performance and energy response
Energy.The MPPC silicon photoelectric multiplier is made of multiple work in the avalanche photodide pixel of Geiger mode, is had excellent
Elegant photon counting ability, the scene suitable for the measurement of pole dim light.MPPC can work at low voltage, its main feature is that high increase
Beneficial, high photon detection efficiency, high reaction speed, outstanding temporal resolution and wider spectral response range.In addition,
MPPC is insensitive to magnetic field, and anti-metal is impacted.MPPC silicon photoelectric multiplier is by bromination cerium (CeBr3) light that generates in scintillator
Signal is converted into electric signal by photoelectric conversion and electron multiplication.
Enter by preamplifier and main amplifier treated signal have full spectrum spectral measurement ability number it is more
Road pulse-height analyzer.Since the amplitude and energy of γ ray E of pulse signal are proportional, in the multichannel pulse scope
In analyzer, pulse amplitude is converted into multiple tracks deposition spectrum, road location is proportional to voltage, so multiple tracks deposition spectrum can be extrapolated
Road location and the ENERGY E lost in detector of ray it is proportional.
When carrying out the monitoring of water body artificial radionuclide, before being worked, by the water body based on autonomous underwater vehicle
Radioactivity monitoring system is laid into the navigation channel being connected to waters to be measured, while debugging each module of monitoring device to readiness.
Ground system sends a command to the coordinates of targets that communication module sets waters to be measured, and autonomous navigation device communication module is by coordinates of targets
It is input to navigation module, navigation module carries out flight course planning, power plant module and avoidance after the completion of flight course planning according to geography information
Module enters working condition, and control module control power plant module, navigation module, obstacle avoidance module make autonomous navigation device that target be gone to sit
Mark.
After reaching navigation coordinate point nearby, control module controls dynamical system and sits to autonomous navigation device deceleration confirmation target point
Mark, and predetermined depth in water body, control at this time environmental sensor (including the marine environment such as temperature, salinity, depth sensor) with
Gamma radiation detector detects and sends one group of background data, prepares to start water body γ radiation three-dimensional probe task.
The booting of γ radiation detection module, the implementation for carrying out gamma spectrum extract, extract interval time 1~2 second, judge whether to deposit
In artificial radionuclide, judging result if it exists quickly make by artificial radionuclide, then autonomous navigation device control module execution
It moves until stopping, the power spectrum of extraction 1~2 minute obtains the activity concentration information of sampled point specific species, and complete with sampled point
Ball location data is stored together to the storage module of detection system, and is backed up in communication module, and enough detection numbers are being obtained
According to rear, autonomous navigation device floating, the data back ground monitoring station that will be stored in communication module by satellite communication system, ground
System draws three-dimensional radioactive level contour map according to the data that processing obtains.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (5)
1. a kind of water body γ based on autonomous underwater vehicle radiates stereo monitoring system, which is characterized in that set using modularization
Meter, including γ radiation detection module, control module, energy module and power plant module；The γ radiation detection module carries out γ spoke
The implementation penetrated is extracted, and judges whether there is artificial radionuclide, and collect detection data；The control module is radiated according to γ
Measurement result, controls energy module and power plant module cruises.
2. the water body γ according to claim 1 based on autonomous underwater vehicle radiates stereo monitoring system, feature exists
In the control module is also connected with navigation module, and the navigation module carries out flight course planning according to geography information, and receives control
The γ radiometric data that module is sent carries out path planning and feeds back to control module to cruise.
3. the water body γ according to claim 2 based on autonomous underwater vehicle radiates stereo monitoring system, feature exists
In the control module is also connected with communication module, and the communication module is interactively communicated with ground system, receives coordinates of targets and makees
Navigation module, which is input to, for geography information carries out flight course planning；The communication module is also used to the work of the γ radiation nucleic of sampled point
Spend the backup storage of concentration information, depth and global positioning data.
4. the water body γ according to claim 2 based on autonomous underwater vehicle radiates stereo monitoring system, feature exists
In, the navigation module include DVL speed instrument, miniature depth gauge, Miniature water flow speedometer, electronic compass, IMU system and complete
Ball positioning system；The electronic compass, global positioning system and IMU system connect navigation and calculate CPU, calculate CPU's in navigation
The lower independent navigation for completing aircraft of control；
The DVL speed instrument, miniature depth gauge, Miniature water flow speedometer link block unit computer, by DVL speed instrument,
Miniature depth gauge and Miniature water flow measurement of velocity measure route speed, depth, water velocity under different operational configurations, together with rudder
Angle information and revolution speed of propeller pass through modular unit computer disposal together, transmit by CAN bus and introduce navigation calculating CPU,
Navigation accuracy to calibration system.
5. the water body γ according to claim 1 based on autonomous underwater vehicle radiates stereo monitoring system, feature exists
In, the γ radiation detection module include sequentially connected high-performance gamma radiation detector, it is preamplifier, main amplifier, more
Channel analyzer, data processing module, storage module, the gamma radiation detector, preamplifier, main amplifier, multi-channel analysis
Gamma-rays photon is converted to multiple tracks deposition spectrum by device；The data processing module carries out the gamma-spectrometric data of multiple tracks deposition spectrum point by point
Processing obtains activity concentration information, depth and the global positioning data of the γ radiation nucleic of sampled point, is stored together to storage mould
Block.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508473A (en) * | 2018-05-30 | 2018-09-07 | 国家海洋技术中心 | Water body γ radiation stereo monitoring systems based on autonomous underwater vehicle and method |
| CN111638542A (en) * | 2020-06-02 | 2020-09-08 | 国家海洋技术中心 | Water surface radioactive unmanned ship monitoring device and monitoring method |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
-
2018
- 2018-05-30 CN CN201820824392.7U patent/CN208621765U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508473A (en) * | 2018-05-30 | 2018-09-07 | 国家海洋技术中心 | Water body γ radiation stereo monitoring systems based on autonomous underwater vehicle and method |
| CN111638542A (en) * | 2020-06-02 | 2020-09-08 | 国家海洋技术中心 | Water surface radioactive unmanned ship monitoring device and monitoring method |
| CN113602459A (en) * | 2021-08-17 | 2021-11-05 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
| CN113602459B (en) * | 2021-08-17 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Miniature autonomous underwater robot |
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