A radioactive source intelligent search and positioning system and its working method

Abstract

The present invention relates to the technical field of nuclear radiation detection and radioactive source search, and provides an intelligent radioactive source search and positioning system and a working method thereof. The system of the present invention comprises a nuclear radiation monitoring system and an intelligent computing system; the nuclear radiation monitoring system performs real-time nuclear radiation monitoring and communicates with the intelligent computing system in real time, the nuclear radiation monitoring system comprises a nuclear radiation detection module and a signal processing module, the intelligent computing system receives data from the positioning system and the nuclear radiation monitoring system, performs real-time radioactive source search and positioning intelligent computing, and can communicate with an external system to transmit calculation results, position data, and nuclear radiation monitoring data information. The present invention is suitable for being carried on aircraft such as manned aircraft and unmanned aircraft to efficiently search for and accurately locate ground radioactive sources.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear radiation detection and radioactive source search, and in particular to an intelligent radioactive source search and positioning system and a working method thereof. Background Art

[0002] With the development of nuclear and radiation technology, radioactive sources are increasingly used in various fields such as industry, agriculture, and scientific research, such as medical diagnosis, industrial flaw detection, container inspection, and food irradiation. While radioactive sources are used in large quantities in various industries, the number of uncontrolled radioactive sources is increasing, and radioactive sources are constantly lost. Once a radioactive source is out of control, it will pose a great threat and hazard to society and public safety. At the same time, in public places, major events, and important places, some terrorists may also illegally carry radioactive sources to endanger human life safety.

[0003] Searching and locating radioactive sources is often very difficult, especially in public places. Existing methods for searching for radioactive sources mainly fall into the following categories: one is to use people to carry portable detection instruments to conduct carpet searches, which is extremely inefficient; the other is to use robots to carry detection instruments to conduct inspections and searches on the ground, which is also inefficient due to the complex ground environment and human factors; a more efficient method is to search for radioactive sources based on unmanned aerial vehicles, but current technologies and products cannot efficiently and accurately search and locate radioactive sources in complex ground environments. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art and to provide a radioactive source intelligent search and positioning system and a working method thereof. The system can be carried on aircraft such as manned aircraft and unmanned aircraft, and by performing aerial flight monitoring, it can realize rapid search and precise positioning of radioactive sources in the ground environment.

[0005] The purpose of the present invention is achieved through the following technical measures.

[0006] A radioactive source intelligent search and positioning system comprises a power supply system, a positioning system, a nuclear radiation monitoring system, an intelligent computing system and a communication system.

[0007] The power supply system is used to power the positioning system, nuclear radiation monitoring system, intelligent computing system and communication system, and adopts direct current power supply. The power supply system can also be replaced by an external power supply, such as the power supply system of an aircraft.

[0008] The positioning system is used to perform real-time positioning and transmit the position information to the intelligent computing system in real time. The positioning system can also be replaced by an external positioning system, such as the positioning system of an aircraft.

[0009] The communication system is used for communication and transmission of positioning position data, nuclear radiation monitoring data, source location calculation results, etc. The communication system can also be replaced by an external communication system, such as the communication system of an aircraft.

[0010] The nuclear radiation monitoring system performs real-time nuclear radiation monitoring and communicates with the intelligent computing system in real time. On the one hand, it transmits the monitoring results to the intelligent computing system, and on the other hand, it receives the instruction information of the intelligent computing system. The nuclear radiation detection module is used to detect the gamma rays of the ground radiation source. The nuclear radiation monitoring system includes a nuclear radiation detection module and a signal processing module. The nuclear radiation detection module transmits the nuclear radiation detection signal to the signal processing module. The signal processing module collects, analyzes and processes the detection signal to obtain nuclear radiation monitoring data, that is, gamma dose rate data, and transmits the nuclear radiation monitoring data to the intelligent computing system. The intelligent computing system receives the data of the positioning system and the nuclear radiation monitoring system, performs real-time radiation source search and positioning intelligent calculation, and supports communication with external systems. The calculation results are transmitted to other monitoring systems of the ground station through the communication system in real time together with the position data and the nuclear radiation monitoring data, providing data support for the aircraft operator to control the flight of the aircraft.

[0011] In the above technical solution, the nuclear radiation detection module adopts ionization chamber detector, GM counter tube detector, scintillator detector, semiconductor detector, etc. The specific parameters such as the size of the detector are determined by the following factors: 1) the maximum flight altitude of the aircraft when searching for and locating the radioactive source, that is, the maximum search altitude; 2) the type of radioactive source to be searched and located, and the intensity of the radioactive source. The nuclear radiation detection module requires that at the maximum search altitude, the minimum intensity radioactive source to be searched can be effectively detected, that is, an effective detection signal can be output.

[0012] In the above technical solution, the intelligent computing system can be deployed on the aircraft side or on the ground station. When deployed on the aircraft side, the intelligent computing system communicates with the nuclear radiation monitoring system and the positioning system through CAN, serial port, etc., and transmits data to the ground station in real time through the communication system. When deployed on the ground station side, the intelligent computing system receives positioning data and nuclear radiation monitoring data through the communication system, and supports the transmission of calculation results to other systems of the ground station.

[0013] The present invention also provides a working method of the above-mentioned radiation source intelligent search and positioning system, comprising the following steps:

[0014] (1) Before starting the search for radioactive sources, a reference radiation field is calculated for each potential radioactive source item to be searched, thereby obtaining the reference radiation field of all potential radioactive source items; a reference radiation field is the horizontal radiation field of a radioactive source item on the ground at a certain source intensity, at a certain height above the ground, where the height is the flight altitude of the aircraft when searching for radioactive sources, and the source intensity is the maximum possible source intensity of the potential radioactive source to be searched;

[0015] (2) In the process of searching for radioactive sources, real-time flight monitoring data is obtained, including flight position data and nuclear radiation monitoring data at that position, to form a flight monitoring data point set;

[0016] (3) Using the flight monitoring data and the preset reference radiation field, intelligent calculation is performed to determine whether there is a radiation source on the ground and locate the position of the radiation source. The intelligent calculation is as follows: the flight monitoring data and each preset reference radiation field are used for calculation and analysis. If there is a subset in the reference radiation field, the following relationship is satisfied: A) There is a linear relationship between the flight monitoring data point set and the nuclear radiation monitoring data of the corresponding points in the subset in the reference radiation field; B) There is a linear translation relationship between the flight monitoring data point set and the position coordinates of the corresponding points in the subset in the reference radiation field; When both relationships are satisfied at the same time, the radiation source can be located.

[0017] The intelligent search and positioning system for radioactive sources of the present invention is suitable for being carried on aircraft such as manned aircraft and unmanned aircraft to efficiently search for and accurately position ground radioactive sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The schematic diagram of the composition of the intelligent search and positioning system for radioactive sources of the present invention is shown in FIG. Figure 1 .

[0019] Figure 2 The schematic diagram of the composition of the intelligent search and positioning system for radioactive sources of the present invention is shown in FIG. Figure 2 .

[0020] Figure 3 This is a schematic diagram of the intelligent calculation for searching and locating radioactive sources according to the present invention. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0022] like Figure 1As shown, an embodiment of the present invention provides an efficient and accurate intelligent radioactive source search and positioning system. The system can be carried on aircraft such as manned aircraft and unmanned aircraft, and can quickly search for and accurately locate radioactive sources in the ground environment by performing aerial flight monitoring. The system includes a power supply system, a positioning system, a nuclear radiation monitoring system, an intelligent computing system, and a communication system.

[0023] The power supply system is used to power the positioning system, nuclear radiation monitoring system, intelligent computing system and communication system, and adopts DC power supply. The power supply system can also be replaced by an external power supply, such as the power supply system of the aircraft.

[0024] The positioning system is used to perform real-time location positioning and transmit the location information to the intelligent computing system in real time. The positioning system can also be replaced by an external positioning system, such as the positioning system of an aircraft.

[0025] The communication system is used for the communication and transmission of positioning data, nuclear radiation monitoring data, source location calculation results, etc. The communication system can also be replaced by an external communication system, such as the communication system of the aircraft.

[0026] The nuclear radiation monitoring system is used to monitor nuclear radiation in real time and communicate with the intelligent computing system in real time. On the one hand, it transmits the monitoring results to the intelligent computing system, and on the other hand, it receives the command information of the intelligent computing system. The nuclear radiation monitoring system includes a nuclear radiation detection module and a signal processing module. The nuclear radiation detection module is used to detect the gamma rays of ground radioactive sources. It can use ionization chamber detectors, GM counter tube detectors, scintillator detectors, or semiconductor detectors. The specific parameters such as the size of the detector depend on the following factors: 1) The maximum flight altitude of the aircraft when searching and locating the radioactive source, that is, the maximum search altitude; 2) The type of radioactive source to be searched and located, and the intensity of the radioactive source. The nuclear radiation detection module requires that at the maximum search altitude, the minimum intensity radioactive source required to be searched can be effectively detected, that is, an effective detection signal can be output. The nuclear radiation detection module transmits the nuclear radiation detection information to the signal processing module through an analog signal. The signal processing module collects, analyzes, and processes the detection signal to obtain nuclear radiation monitoring data, that is, gamma dose rate data. Finally, the signal processing module transmits the nuclear radiation monitoring data to the intelligent computing system.

[0027] The intelligent computing system is used to receive data from the positioning system and the nuclear radiation monitoring system, perform real-time intelligent calculations for radioactive source search and positioning, and transmit the calculation results together with the position data and nuclear radiation monitoring data to other monitoring systems of the ground station through the communication system in real time, providing data support for the aircraft operator to control the flight of the aircraft.

[0028] like Figure 3As shown, the embodiment of the present invention also provides a working method of the above-mentioned radiation source intelligent search and positioning system, comprising the following steps:

[0029] (1) Before starting the search for radioactive sources, the source term S = {S1, S2,…, S n}, in the intelligent computing system, for each radiation source item S i ∈S presets a reference radiation field C i , all reference radiation fields of the potential radiation source S are obtained as C={C1, C2,…, C n}. A reference radiation field C i , is for a radioactive source item S on the ground i , assuming that the source strength is Q i , its horizontal radiation field in the air at a certain height h above the ground. A reference radiation field C i It can be expressed as C i = {[L1, D1], [L2, D2], …, [L m , D m ]}, where L m Indicates the position coordinates, D m Indicates the nuclear radiation data (such as γ dose rate, etc.) at this location. i The center position coordinates are the radiation source S i The position coordinates are denoted as L ri In actual application, the height h is the flight altitude of the aircraft when searching for radioactive sources, and the source intensity Q i The maximum possible source strength of the potential radioactive source to be searched, the location coordinates of the radioactive source L ri The area to be searched for radioactive sources can be randomly selected.

[0030] (2) During the search for radioactive sources, the intelligent computing system receives real-time flight position data L i And the nuclear radiation monitoring data D at this location i After a period of flight monitoring, a series of positions and the nuclear radiation monitoring data at these positions are formed P = {[L1, D1], [L2, D2], …, [L x , D x ]}.

[0031] (3) Using the flight monitoring data P and the preset reference radiation field C to perform intelligent calculations, we can determine whether there is a radiation source on the ground and locate the location of the radiation source. The intelligent calculation is as follows: Using the flight monitoring data P and each preset reference radiation field C i Perform calculation analysis, if C i There are x points C in ii={[L j , D j ], [L k , D k ], …, [L y ,D y ]}∈C i = {[L1, D1], [L2, D2], …, [L m , D m ]}, so that C ii and P satisfy the following relationship: A) C ii It is linearly related to the nuclear radiation monitoring data of the corresponding point in P, that is, {D j , D k , …, D y} – f1* {D1, D2, …, D x} ≤ {δ 11 ,δ 12 , …, δ 1x}, where f1 is a linear function, {δ 11 , δ 12 , …, δ 1x} is a set of thresholds used to control C ii The error in the linear relationship with the nuclear radiation monitoring data in P. B) C ii The position coordinates in the middle and the position coordinates in P are linearly translated, that is, {L j , L k ,…, L y} – f2* {L1, L2, …, L x} ≤ {δ 21 , δ 22 , …, δ 2x}, where f2 is a linear function, {δ 21 , δ 22 ,…, δ 2x} is a set of thresholds used to control C ii The error in the linear relationship between the position coordinates in P. ii When P satisfies the above relations A) and B) at the same time, the radiation source can be located. The positioning method is as follows: The radiation source position coordinate Lr = f2* L ri .

[0032] In this embodiment, the intelligent computing system can be deployed on the aircraft side, such as Figure 1 As shown, it can also be deployed at a ground station, such as Figure 2As shown. When deployed on the aircraft side, the intelligent computing system communicates with the nuclear radiation monitoring system and the positioning system through CAN, serial port, etc., and transmits data to the ground station in real time through the communication system. When deployed on the ground station side, the intelligent computing system receives positioning data and nuclear radiation monitoring data through the communication system, and transmits the calculation results to other systems of the ground station.

[0033] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0034] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A working method of a radioactive source intelligent search and positioning system, characterized in that The method comprises the following steps: (1) Before starting the search for radioactive sources, a reference radiation field is calculated for each potential radioactive source item to be searched, thereby obtaining the reference radiation field of all potential radioactive source items; a reference radiation field is the horizontal radiation field of a radioactive source item on the ground at a certain source intensity, at a certain height above the ground, where the height is the flight altitude of the aircraft when searching for radioactive sources, and the source intensity is the maximum possible source intensity of the potential radioactive source to be searched; (2) In the process of searching for radioactive sources, real-time flight monitoring data is obtained, including flight position data and nuclear radiation monitoring data at that position, to form a flight monitoring data point set; (3) Using the flight monitoring data and the preset reference radiation field, intelligent calculation is performed to determine whether there is a radiation source on the ground and locate the position of the radiation source. The intelligent calculation is as follows: the flight monitoring data and each preset reference radiation field are used for calculation and analysis. If there is a subset in the reference radiation field, the following relationship is satisfied: A) There is a linear relationship between the flight monitoring data point set and the nuclear radiation monitoring data of the corresponding points in the subset in the reference radiation field; B) There is a linear translation relationship between the flight monitoring data point set and the position coordinates of the corresponding points in the subset in the reference radiation field; When both relationships are satisfied at the same time, the radiation source can be located.

2. A radioactive source intelligent search and positioning system for implementing the method as claimed in claim 1, characterized in that: It includes a nuclear radiation monitoring system and an intelligent computing system; the nuclear radiation monitoring system performs real-time nuclear radiation monitoring and communicates with the intelligent computing system in real time; the nuclear radiation monitoring system includes a nuclear radiation detection module and a signal processing module; the nuclear radiation detection module transmits the nuclear radiation detection signal to the signal processing module; the signal processing module collects, analyzes and processes the detection signal to obtain nuclear radiation monitoring data, and transmits the nuclear radiation monitoring data to the intelligent computing system; the intelligent computing system receives data from the positioning system and the nuclear radiation monitoring system, performs real-time radioactive source search and positioning intelligent computing, can communicate with external systems, and transmit calculation results, position data, and nuclear radiation monitoring data information.

3. The radiation source intelligent search and positioning system according to claim 2, characterized in that: The nuclear radiation detection module adopts an ionization chamber detector, a GM counter tube detector, a scintillator detector, or a semiconductor detector. The nuclear radiation detection module is required to be able to effectively detect the minimum intensity radiation source to be searched at the maximum search height.

4. The radiation source intelligent search and positioning system according to claim 2, characterized in that: The intelligent computing system is deployed on the aircraft side or on the ground station. When deployed on the aircraft side, the intelligent computing system communicates with the nuclear radiation monitoring system and the positioning system through CAN or serial port on the one hand, and transmits data to the ground station in real time through the communication system on the other hand. When deployed on the ground station side, the intelligent computing system receives positioning data and nuclear radiation monitoring data through the communication system, and can transmit the calculation results to other systems of the ground station at the same time.

5. The radiation source intelligent search and positioning system according to claim 2, characterized in that: It comprises a power supply system, which is used to supply power to a positioning system, a nuclear radiation monitoring system, an intelligent computing system and a communication system, and adopts direct current power supply.

6. The radiation source intelligent search and positioning system according to claim 2, characterized in that: It includes a positioning system, which is used to perform real-time position positioning and transmit the position information to the intelligent computing system in real time.

7. The radiation source intelligent search and positioning system according to claim 2, characterized in that: It includes a communication system, which is used for communication transmission of positioning position data, nuclear radiation monitoring data, and source locating calculation result data.

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