Radiation searching system and method based on heterogeneous robot

Abstract

The invention discloses a radiation searching system and method based on a heterogeneous robot. A multi-rotor aircraft acquires ray data and image information. A regression analysis and data fusion method is used to generate an accurate multi-dimensional scene map of a radiation ray source in real time. Through regression analysis of the radiation ray data of a land robot and assistance of radiation searching of the multi-rotor aircraft, high-precision direction identification and spatial identification are realized, and radiation information acquisition and accurate positioning are realized.Image information provided by the multi-rotor aircraft is used to carry out path planning to complete radiation searching. Finally, the radiation source image information provided by the multi-rotor aircraft and tactile information acquired by the land robot are fused to realize force feedback. A robot arm carried by the land robot is controlled to capture a radiation source autonomously. According to the invention, a known radiation source can be supervised and disposed; an unknown radiation source can be accurately searched and disposed; and aerosols in the air are detected.

Description

technical field [0001] The invention belongs to the technical field of radioactive substance detection and search, and in particular relates to the design of a radioactive substance search system and method based on a heterogeneous robot. Background technique [0002] For more than half a century, my country's nuclear energy and nuclear technology utilization has developed steadily. At present, my country has formed a relatively complete nuclear industry system. Nuclear energy has played an important role in optimizing energy structure, ensuring energy security, promoting pollution reduction, and responding to climate change. It has been widely used in various fields and has effectively promoted economic and social development. With the increasing proliferation of military nuclear weapons, nuclear materials and nuclear technology, as well as the unique suddenness of nuclear radiation accidents and radiation terrorism, they pose a great threat to social security and national ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that a single robot has limitations in information acquisition, processing and control capabilities in the existing radiation search technology, and proposes a radiation search system and method based on heterogeneous robots. Heterogeneous multi-robot collaboration, multi-sensor fusion radiation information acquisition, multi-dimensional space scene reconstruction and multi-level spatial three-dimensional search methods can not only monitor and dispose of known radioactive sources, but also accurately search and dispose of unknown radioactive sources. and detection of airborne aerosols

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