A radiation inspection method and system for field flaw detection operations based on drones

Abstract

The present application provides a method and system for radiation inspection of field flaw detection operations based on drones. The method provided by the present application includes: determining a first electronic fence based on accelerator parameters, taking the intersection of the boundary of the first electronic fence and the accelerator beam direction as the first starting point, and determining the first search direction of the drone based on the accelerator beam direction; the drone searches for the starting point of the control area boundary based on the first search direction; determining the detour direction based on the radiation distribution characteristics of the first electronic fence boundary; starting from the starting point of the control area boundary, flying around the accelerator according to the detour direction, and detecting the control area boundary; determining the supervision area boundary based on the control area boundary and the radiation dose equivalent rate obtained by the detection; determining the task type; the drone completes the inspection tasks within the control area and the supervision area according to the task type. The method and system for radiation inspection of field flaw detection operations based on drones provided by the present application are used to make a fine division of the actual area of the control area and the supervision area for radiation detection.

Description

Technical Field

[0001] The present application relates to the technical field of field radiographic flaw detection, and in particular to a radiation inspection method and system for field flaw detection operations based on drones. Background Art

[0002] NDT mainly uses X-rays to inspect objects. However, since X-rays have radiation, NDT is usually performed in closed spaces. For some larger objects (such as ships), NDT needs to be performed in large open areas (such as factories and shipyards).

[0003] When conducting NDT operations in large sites, fences need to be set up to isolate the work area. According to the current radiographic inspection regulations, the work area needs to be divided into a control area and a supervision area according to the radiation dose equivalent rate. Traditional area divisions are usually roughly divided into control areas and supervision areas based on experience, which cannot ensure that the workers' bodies are completely protected from the effects of radiation. Summary of the Invention

[0004] In view of this, the present application provides a radiation inspection method and system for field flaw detection operations based on drones, which is used to finely divide the actual areas of control areas and supervision areas for radiation detection.

[0005] Specifically, this application is implemented through the following technical solutions:

[0006] In a first aspect, the present application provides a radiation inspection method for field flaw detection operations based on a drone, the method comprising:

[0007] determining a first electronic fence according to accelerator parameters of the field flaw detection operation, wherein the radiation dose equivalent rate of the boundary of the first electronic fence is within a first safety threshold;

[0008] Taking the intersection of the boundary of the first electronic fence and the accelerator's beam output direction as a first starting point, determining a first search direction for the UAV based on the accelerator's beam output direction, where the first search direction is a direction closer to the accelerator and away from the first electronic fence;

[0009] The UAV searches for a starting point of a control zone boundary according to the first search direction, and the radiation dose equivalent rate at any point on the control zone boundary is equal to the first safety threshold;

[0010] Determining a detour direction based on the radiation distribution characteristics of the first electronic fence boundary;

[0011] The UAV starts from the starting point of the control area boundary and flies around the accelerator according to the circling direction to detect the control area boundary;

[0012] The UAV detects the radiation dose equivalent rate on the side of the control area boundary away from the accelerator, and determines the supervision area boundary according to the control area boundary and the detected radiation dose equivalent rate;

[0013] The mission type of the drone is determined, and the drone completes the inspection mission in the control area and the supervision area according to the mission type.

[0014] A second aspect of the present application provides a radiation inspection system for field flaw detection operations based on a drone, the system being implemented based on the method provided in the first aspect of the present application, the system comprising: a plurality of drones, an accelerator, and a ground control terminal;

[0015] The multiple drones are equipped with communication equipment and radiation monitoring equipment. The communication equipment is used to establish a communication connection and perform remote data transmission. The radiation monitoring equipment is used to detect the radiation dose equivalent rate.

[0016] The accelerator is used to generate X-rays for field flaw detection of objects;

[0017] The ground control terminal is used to receive information sent back by the UAV, issue instructions to the UAV, and cut off the power supply of the accelerator when an alarm is received.

[0018] The present application provides a method and system for radiation inspection for field flaw detection operations based on drones. This method addresses the problems of low accuracy and poor safety in manually determining the boundaries of control and supervision zones in the prior art. Specifically, before the drone takes flight, it determines a first safe electronic fence. On the basis of ensuring safety, it uses this fence as a reference and first searches for a starting point within the shortest straight-line distance in the direction of the radiation source. Then, based on the characteristics of the starting point and radiation distribution, it further flies within a small range to determine the boundary of the control zone. Finally, it searches for the boundary of the supervision zone in the direction away from the radiation source, depending on the shape of the control zone boundary. From the perspective of search direction, the method provided by the present invention first searches close to the radiation source in a safe position, and then searches away from the radiation source, thereby improving the accuracy of determining the boundaries between the control zone and the supervision zone. At the same time, the control zone boundary with an accurate threshold is determined in the first step, which simplifies the judgment of boundary determination and increases the speed of boundary determination. In addition, when determining the boundary, the method provided by the present invention determines the change of boundary shape based on the classification of radiation source propagation, thereby influencing the path and position of the next boundary search based on the shape of an already determined boundary, avoiding a large-scale boundary search, reducing the amount of detection required for boundary determination, and improving the efficiency of boundary determination. The method and device provided by the present invention reduce the risk of accidental radiation exposure. The drone can accurately search for the starting point of the control zone boundary in a predetermined direction and fly around the accelerator according to the detour direction to detect the control zone boundary, thereby improving the accuracy and efficiency of boundary determination. Compared with manual inspections, drones have higher maneuverability and coverage, can complete inspection tasks more quickly, and reduce operation time and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Flowchart of Example 1 of the radiation inspection for field flaw detection operations based on drones provided in this application;

[0020] Figure 2 A schematic diagram of a working area shown as an exemplary embodiment of the present application;

[0021] Figure 3 This is a flow chart of Example 2 of the radiation inspection method for field flaw detection operations based on drones provided in this application;

[0022] Figure 4 This is a flowchart of Example 3 of the radiation inspection method for field flaw detection operations based on drones provided in this application;

[0023] Figure 5 This is a flowchart of Example 4 of the radiation inspection method for field flaw detection operations based on drones provided in this application;

[0024] Figure 6This is a flowchart of Example 4 of the radiation inspection method for field flaw detection operations based on drones provided in this application. DETAILED DESCRIPTION

[0025] Exemplary embodiments are described in detail herein, with examples illustrated in the accompanying drawings. When the following description refers to the drawings, identical numerals in different drawings represent identical or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with this application.

[0026] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "the," and "the" used in this application are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0028] Specific embodiments are given below to introduce the technical solutions of the present application in detail.

[0029] Figure 1 This is a flow chart of the first embodiment of the method for field inspection of radioactive materials based on drones provided in this application. Figure 1 The method provided in this embodiment may include:

[0030] S101. Determine a first electronic fence according to accelerator parameters of the field flaw detection operation, wherein the radiation dose equivalent rate of the boundary of the first electronic fence is within a first safety threshold.

[0031] Specifically, field flaw detection operations refer to the use of the characteristics of radiation to determine whether an object has defects and the location, size, and shape of the defects in a large, open place. The accelerator is used to generate radiation. As a radiation source, the parameters of the accelerator include the radiation energy of the radiation, the type of radiation (such as X-rays, gamma rays, electron beams, etc.), the output dose rate, and the working time. The first electronic fence refers to a virtual boundary area centered on the accelerator used in field flaw detection operations, based on parameters such as the accelerator's radiation range and safety distance. The purpose of setting up the first electronic fence is to ensure that during the flaw detection operation, personnel and equipment are outside the safe range to avoid being exposed to radiation hazards generated by the accelerator.

[0032] Furthermore, the radiation safety standards and specifications under the accelerator parameters are queried to determine the first electronic fence. The radiation dose equivalent rate at the boundary of the first electronic fence is within the first safety threshold. It can be understood that the first safety threshold is set according to the radiation safety standard. The radiation dose equivalent rate at each point on the boundary of the first electronic fence is less than the first safety threshold, and the first safety threshold is 15 μGy / h.

[0033] S102: Taking the intersection of the boundary of the first electronic fence and the accelerator beam output direction as a first starting point, determine a first search direction of the UAV according to the accelerator beam output direction, where the first search direction is a direction close to the accelerator and away from the first electronic fence.

[0034] Specifically, Figure 2 This is a schematic diagram of the working area shown in an exemplary embodiment of this application. Please refer to Figure 2 For the convenience of explanation, the accelerator position is recorded as point A and the first starting point is recorded as point B. Figure 2 In the example shown, the accelerator's beam direction is from right to left. The first search direction is parallel to and opposite to the accelerator's beam direction. The first search direction is a direction close to the accelerator and away from the first electronic fence, that is, from left to right.

[0035] Furthermore, the UAV starts from the first starting point (point B) and searches the control area and the supervision area from left to right.

[0036] Specifically, the radiation intensity of the accelerator is highest in the beam-out direction. In other directions, the radiation intensity gradually decreases as the angle with the beam-out direction increases. It can be understood that on the plane perpendicular to the beam-out direction, the radiation intensity of the accelerator usually shows a certain symmetrical trend of gradually decreasing.

[0037] Furthermore, the beam direction of the accelerator refers to the direction in which the high-energy particle beam or electromagnetic radiation beam generated by the accelerator is emitted. In field NDT operations, the beam direction of the accelerator is usually directed towards the target object to be inspected to ensure that the radiation can effectively penetrate the target and detect its internal structure.

[0038] S103: The UAV searches for a starting point of a control area boundary according to the first search direction, and the radiation dose equivalent rate of any point on the control area boundary is equal to a first safety threshold.

[0039] Optionally, in a possible implementation, the UAV is provided with a communication device and a radiation monitoring device; wherein the communication device is used to transmit monitoring data and instructions, and the radiation monitoring device is used to detect the radiation dose equivalent rate in real time.

[0040] Specifically, the drone can also be equipped with a high-definition camera, an infrared thermal imager, a satellite positioning device, etc. as needed, which are not limited in this embodiment. Among them, the high-definition camera is used for target identification and monitoring. It can clearly capture images of the field NDT operation site and monitor the NDT operation area in real time to observe whether any abnormalities occur. The infrared thermal imager is used to detect the temperature distribution of the accelerator during operation, and to search and locate people who may have strayed into dangerous areas by detecting the heat emitted by the human body at night or in low visibility conditions. When used in conjunction with the high-definition camera, the location of people can be determined more accurately. The satellite positioning device is used to determine the location coordinates of the drone to ensure the navigation accuracy of the drone during flight.

[0041] Specifically, the UAV starts to fly along the first search direction from the first starting point, and uses the radiation monitoring equipment to detect the radiation dose equivalent rate in the environment in real time during the flight. When the radiation dose equivalent rate of a certain point in the first search direction is detected to be equal to the first safety threshold, the point is determined as the starting point of the control area boundary.

[0042] Furthermore, a controlled area refers to a specific area designated to control radiation hazards. The radiation level in the controlled area is relatively high, and usually the radiation dose equivalent rate in the controlled area is greater than 15 μGy / h.

[0043] Furthermore, starting from the control zone boundary starting point, the control zone boundary is determined. It should be noted that the radiation dose equivalent rate of all points on the control zone boundary is equal to the first safety threshold. The implementation process of determining the control zone boundary starting point and the control zone boundary will be described in the following embodiments and will not be repeated here.

[0044] S104: Determine a detour direction based on the radiation distribution characteristics of the first electronic fence boundary.

[0045] Specifically, the radiation dose equivalent rate at each position on the boundary of the first electronic fence is obtained, and the radiation distribution characteristics on the boundary of the first electronic fence are analyzed according to the radiation dose equivalent rate at each position, such as the high and low distribution of the radiation dose equivalent rate, the radiation attenuation direction, etc., to avoid high radiation areas.

[0046] In a specific implementation, radiation diffuses outward in a fan-shaped pattern from the accelerator. Analysis of the radiation distribution characteristics at the first electronic fence boundary reveals that the radiation intensity gradually decreases from the accelerator's beam output direction. Therefore, the detour direction is determined to be clockwise along the first electronic fence boundary. It should be noted that the detour direction can be either clockwise or counterclockwise, and this is not limited in this embodiment.

[0047] S105 : The UAV departs from the starting point of the control area boundary, flies around the accelerator according to the circling direction, and detects the control area boundary.

[0048] Specifically, in combination with the above description, the starting point of the control zone boundary is the intersection of the accelerator beam direction and the control zone boundary. The drone departs from the control zone boundary starting point, uses the shape of the first electronic fence as the drone's flight path, and flies around the accelerator clockwise or counterclockwise according to the determined detour direction, detecting the control zone boundary during flight.

[0049] S106. The drone detects the radiation dose equivalent rate on the side of the control area boundary away from the accelerator, and determines the supervision area boundary according to the control area boundary and the detected radiation dose equivalent rate.

[0050] Specifically, it refers to an area outside the controlled area established to further limit radiation exposure. Radiation levels within the monitored area are generally lower than those in the controlled area, with the dose equivalent rate typically ranging from 2.5μGy / h to 15μGy / h. Furthermore, compared to the controlled area, access to the monitored area is more relaxed. While some supervision and management of personnel activities are still required, entry is not as strictly restricted as in the controlled area.

[0051] It is understood that the radiation dose equivalent rate at the supervisory zone boundary is lower than that at the control zone boundary, and the supervisory zone boundary is located on the side of the control zone boundary away from the accelerator. Therefore, when determining the supervisory zone boundary, the drone is controlled to start from the control zone boundary and measure the radiation dose equivalent rate on the side away from the accelerator. The radiation dose equivalent rate at the supervisory zone boundary is equal to the second safety threshold, which is 2.5 μGy / h.

[0052] Furthermore, the implementation process of determining the supervision zone boundary will be shown in the following embodiments and will not be described in detail here.

[0053] S107: Determine the mission type of the drone, and the drone completes the inspection mission in the control area and the supervision area according to the mission type.

[0054] Specifically, the UAV's tasks can be classified according to the operational requirements to obtain the UAV's task type. Inspection tasks include: radiation monitoring, safety hazard investigation, and equipment status inspection, etc. Communication tasks include: data transmission, receiving and sending instructions, etc.

[0055] Furthermore, different mission types may require different expertise and detection methods. After classification, specialized operators or specific detection algorithms can be assigned to specific tasks, improving detection accuracy and reliability. When multiple drones are simultaneously performing inspections, task classification can clarify the specific tasks of each drone, avoiding overlapping or omissions and facilitating task allocation and coordination.

[0056] The specific implementation steps include:

[0057] (1) The UAV performing the communication task hovers at a specified height and transmits monitoring data and instructions in real time, and the instructions are sent by the ground station to the UAV performing the inspection task;

[0058] (2) The UAV performing the inspection task inspects the control area and the supervision area according to the inspection route, and transmits inspection-related data back to the ground station;

[0059] (3) When an abnormality occurs in the flight of the UAV, abnormal information is sent to the ground station.

[0060] It should be noted that the inspection route is pre-set. For example, in one possible implementation, the inspection route is a flying inspection along the area between the boundary of the supervision area and the boundary of the first electronic fence.

[0061] The drone-based radiation inspection method for field NDT operations provided in this embodiment, firstly, determines the first electronic fence through accelerator parameters, accurately determining the boundaries between the control zone and the supervision zone, reducing the risk of accidental radiation exposure. The drone can accurately search for the starting point of the control zone boundary in a predetermined direction and fly around the accelerator to detect the control zone boundary according to a detour direction, improving the accuracy and efficiency of boundary determination. Secondly, the drone's first search direction is clearly defined as a direction close to the accelerator and away from the first electronic fence, and the detour direction is determined based on the radiation distribution characteristics of the electronic fence boundary, allowing the drone to search and inspect along the most reasonable path. Compared with manual inspections, drones have greater maneuverability and coverage, can complete inspection tasks more quickly, and reduce operation time and costs.

[0062] Optionally, in a possible implementation, the drone that performs the inspection mission is used to perform inspections according to the inspection mission after the field flaw detection operation begins, and to drive away personnel when it is found that the distance between the personnel and the first electronic fence is less than a first threshold; and to generate an alarm message and send it to the ground station when it is found that the distance between the personnel and the supervision area is less than a second threshold.

[0063] Specifically, the drone performing the inspection task monitors the intrusion of personnel in real time in the air. If a person is found approaching the first electronic fence, the inspection drone will quickly fly over and issue a voice warning and alarm to drive the person away; if a person is found approaching the boundary of the supervision area, an alarm message will be immediately generated and the person will be driven away. The alarm message will be sent to the ground station through the drone performing the communication task. After receiving the alarm message, the ground station will cut off the power supply of the accelerator and stop the field flaw detection operation. After the inspection drone has driven away, it will send a continue operation message to the ground station, and the ground station will turn on the power supply of the accelerator and continue working. It should be noted that the first threshold and the second threshold are set according to actual needs and are not limited in this embodiment. For example, in one embodiment, the first threshold is 15 meters and the second threshold is 10 meters.

[0064] The method provided in this embodiment drives away individuals when a drone detects them approaching the first electronic fence during an inspection. This effectively prevents individuals from accidentally entering areas with potentially high radiation risks, reducing the likelihood of radiation harm. For individuals approaching the monitored area, an alert is generated and sent to the ground station, prompting personnel to take timely action and further enhancing personnel safety. This achieves efficient early warning and real-time monitoring, improving safety management and reducing the burden on personnel.

[0065] Figure 3 This is a flow chart of the second embodiment of the field inspection method for UAV-based flaw detection provided by this application. Figure 3 Based on the above embodiment, the UAV searches for the starting point of the control area boundary according to the first search direction, and the radiation dose equivalent rate at any point on the control area boundary is equal to the first safety threshold, including:

[0066] S301 : Starting from the first starting point, control the UAV to fly along a first line between the first starting point and the accelerator in the first search direction.

[0067] For details, please refer to Figure 2 , Figure 2 In the example shown, point A is the accelerator, point B is the first starting point, line segment AB is the first connecting line, and the first search direction is from B to A.

[0068] In specific implementation, the drone takes point B as the starting point. The radiation dose equivalent rate of the first starting point is less than 2.5μGy / h, and flies along the line segment AB to point A. This allows the drone to fly along a clear route, saving time.

[0069] S302: The UAV detects the radiation dose equivalent rate at the flight position in real time.

[0070] Specifically, during the flight, the drone uses radiation monitoring equipment to detect the radiation dose equivalent rate at the flight position in real time.

[0071] S303. Adjust the flight speed of the UAV according to the radiation dose equivalent rate detected in real time, wherein the flight speed is inversely proportional to the difference between the radiation dose equivalent rate detected in real time and a first safety threshold.

[0072] Specifically, to accurately determine the starting point of the control zone boundary, the drone's flight speed needs to be adjusted during flight. This can be adjusted based on the real-time detected radiation dose equivalent rate. The flight speed is proportional to the difference between the real-time detected radiation dose equivalent rate and the first safety threshold. It is understood that the closer the drone is to the starting point of the control zone boundary, the greater the radiation dose equivalent rate, the smaller the difference between the radiation dose equivalent rate and the first safety threshold, and the slower the drone's flight speed.

[0073] Furthermore, as the drone approaches the control zone boundary, the radiation dose equivalent rate gradually increases, and the drone slows down accordingly. This gradual approach allows the drone to more precisely perceive changes in radiation dose, thereby more accurately determining the location of the control zone boundary. The slower flight speed allows the drone more time to perform radiation detection and data collection, reducing detection errors that may be caused by rapid flight. It also allows for better response to potential emergencies, such as fluctuations in radiation dose.

[0074] S304. Determine a point on the first line that meets a preset condition as the starting point of the control area boundary; wherein the preset condition is that the radiation dose equivalent rate of the point is equal to a first safety threshold.

[0075] The method provided in this embodiment takes the first starting point as the starting point, controls the drone to fly along the first line between the first starting point and the accelerator in the first search direction, searches for the starting point of the control zone boundary, and uses the point on the first line where the difference between the radiation dose equivalent rate and the first safety threshold is 0 as the starting point of the control zone boundary. In this way, the search is performed by flying from the first starting point along the first search direction, providing a clear direction and path for the search process, avoiding the time waste and inefficiency caused by disordered search, and improving the efficiency of the search. In addition, during the flight, the flight speed of the drone is adaptively adjusted according to the radiation dose equivalent rate detected in real time. When the drone approaches the starting point of the control zone boundary, the flight speed of the drone can be reduced to ensure that the drone can fly more cautiously, have more time to perform accurate radiation detection, and reduce the risk of inaccurate detection or missing key data due to rapid flight.

[0076] Figure 4 This is a flowchart of the third embodiment of the method for field inspection of radioactive materials based on drones provided in this application. Figure 4 The UAV starts from the starting point of the control area boundary, flies around the accelerator according to the circling direction, and detects the control area boundary, including:

[0077] S401: Obtain the radiation dose equivalent rate of each point on the first electronic fence.

[0078] In a specific implementation, the drone is controlled to fly from a first starting point along the boundary of a first electronic fence. During the flight, the radiation dose equivalent rate of each point on the first electronic fence is detected in real time by a radiation monitoring device.

[0079] S402: Determine the propagation characteristics of the radiation source in the accelerator according to the radiation dose equivalent rate of each point.

[0080] Specifically, the distance between each point and the accelerator is calculated, and the distance between each point and the accelerator and the radiation dose equivalent rate corresponding to the point are used as a set of data. By analyzing multiple sets of data, it is found that the propagation characteristics of the radiation source in the accelerator are that the radiation dose equivalent rate is inversely proportional to the square of the distance, that is, the farther away from the radiation source in the accelerator, the smaller the radiation dose equivalent rate.

[0081] Furthermore, when obstructions are present in the field NDT scenario, the propagation characteristics of the radiation source in the accelerator change significantly. This cannot be simply determined based on the inverse squared relationship between the radiation dose equivalent rate and the distance. Instead, the actual radiation dose equivalent rate at each point must be measured to obtain more comprehensive information about the radiation distribution. These measurement points should include locations at varying distances, angles, and obstructions. The measured data in the presence of obstructions should be compared with theoretical values in the absence of obstructions to analyze the impact of obstructions on radiation propagation. This comparison can determine the degree of radiation attenuation caused by obstructions and the changes in propagation characteristics. Furthermore, a radiation propagation model for the presence of obstructions can be developed based on the actual radiation dose equivalent rate. This model can account for factors such as the characteristics of the obstruction, distance, and angle, more accurately describing the propagation of radiation in obstructed scenarios.

[0082] S403: Determine a boundary of the control area to be confirmed according to the propagation characteristics and the shape characteristics of the first electronic fence.

[0083] Specifically, when there are no obstructions in a field flaw detection operation environment, the distance between the control area boundary and the accelerator is obtained based on the propagation characteristics of the radiation source in the accelerator and the first safety threshold.

[0084] Furthermore, the shape characteristics of the control area are determined according to the shape characteristics of the first electronic fence, and the boundary of the control area to be confirmed is obtained by combining the distance between the boundary of the control area and the accelerator and the shape characteristics of the control area.

[0085] Furthermore, when there are obstructions in a field NDT operation environment, the propagation characteristics include propagation characteristics in a radial direction centered on the accelerator and propagation characteristics on a circular boundary centered on the accelerator. The attenuation of the radiation is determined based on the propagation characteristics in the radial direction, thereby determining the position of the boundary of the control area to be confirmed in the radial direction. The degree of influence of the radiation obstruction within the circular area on the propagation of the radiation is determined based on the propagation characteristics on the circular boundary. A shape adjustment position is determined based on the intersection of a line connecting the radiation obstruction and the accelerator with the boundary of the first electronic fence. At the boundary to be confirmed corresponding to the shape adjustment position, the shape of the boundary to be confirmed is adjusted according to the degree of influence.

[0086] By analyzing the propagation characteristics along the radius, we can more accurately understand how radiation attenuates with increasing distance from the accelerator. Furthermore, we can precisely calculate the degree of radiation attenuation for different operational scenarios and accelerator parameters, improving the scientific and accurate determination of the control zone boundary. Furthermore, by analyzing the propagation characteristics along the circumferential boundary, we can determine the extent to which radiation shielding objects within the circular area affect radiation propagation. By assessing this impact, we can better plan operational areas, avoid unnecessary operations in areas with poor radiation shielding, and reduce the risk of radiation exposure to personnel.

[0087] S404: Determine a detour direction according to a change trend of the radiation dose equivalent rate of the first electronic fence, where the detour direction is a change direction of the radiation dose equivalent rate from high to low.

[0088] S405 , detecting the radiation dose equivalent rate in real time at the boundary of the control area to be confirmed according to the detour direction, and detecting the boundary of the control area.

[0089] The specific implementation steps include:

[0090] (1) During flight, the UAV obtains an image between the first electronic fence and the boundary of the control area to be confirmed, and identifies radiation propagation obstacles.

[0091] Specifically, the drone uses high-definition cameras, infrared thermal imagers, satellite positioning devices and other equipment to obtain images between the first electronic fence and the boundary of the control area to be confirmed, and uses image recognition technology to identify radiation propagation obstacles in the area between the first electronic fence and the boundary of the control area to be confirmed, such as identifying buildings, trees, terrain undulations, etc. in the area.

[0092] Furthermore, methods such as feature extraction and pattern recognition can be used to identify objects with specific shapes, colors or texture features to determine whether they are obstacles to radiation propagation.

[0093] (2) Determine the radiation impact amount based on the area of the radiation propagation obstacle.

[0094] Specifically, the pixel area of the radiation propagation obstacle in the image can be calculated using image processing algorithms, deep learning algorithms, etc. (not limited in this embodiment), and the actual physical area can be converted based on the ratio of the pixel area of the radiation propagation obstacle in the image.

[0095] Furthermore, by establishing an empirical model or theoretical formula, the relationship between the area of the radiation propagation obstacle and the radiation impact is calculated. For the process of calculating the radiation impact, please refer to the description in the relevant technology and will not be repeated here.

[0096] (3) Adjusting the flight path based on the radiation impact.

[0097] Specifically, after determining the radiation impact, the flight path is adjusted based on the radiation impact of the radiation propagation obstacle. If the radiation impact of a particular radiation propagation obstacle is large, it indicates that the obstacle has a significant impact on radiation propagation, and the drone needs to adjust its flight path to more accurately measure the radiation dose distribution. For example, in one embodiment, the drone can fly around the radiation propagation obstacle to select a more appropriate angle and distance for radiation detection. In another embodiment, more intensive radiation dose equivalent rate detection can be performed near the radiation propagation obstacle to obtain more detailed radiation distribution information.

[0098] Further, in combination with the above description, when the drone detects the boundary of the control area based on the radiation dose equivalent rate, if the point on the boundary of the control area to be confirmed is a point that meets the preset conditions, the point is confirmed as a point on the boundary of the control area; if the point on the boundary of the control area to be confirmed is a point that does not meet the preset conditions, the second search direction of the drone is determined according to the difference between the radiation dose equivalent rate of the point and the first safety threshold. When the difference between the radiation dose equivalent rate of the point and the first safety threshold is greater than 0, the second search direction of the drone is determined to be the side of the boundary of the control area to be confirmed along the first electronic fence; when the difference between the radiation dose equivalent rate of the point and the first safety threshold is less than 0, the second search direction of the drone is determined to be the side of the boundary of the control area to be confirmed along the accelerator; by continuously adjusting the search direction of the drone, all points whose difference between the radiation dose equivalent rate and the first safety threshold is equal to 0 are eventually determined as points on the boundary of the control area, thereby determining the boundary of the control area.

[0099] The method provided in this embodiment determines the propagation characteristics of the radiation source in the accelerator based on the radiation dose equivalent rate at each point on a first electronic fence. The boundary of the control zone to be confirmed is then determined based on the propagation characteristics and the shape features of the first electronic fence. A detour direction is determined based on the changing trend of the radiation dose equivalent rate of the first electronic fence, where the detour direction is the direction of change from high to low. The radiation dose equivalent rate is then measured in real time along the boundary of the control zone to be confirmed, thereby detecting the boundary of the control zone. Firstly, by obtaining the radiation dose equivalent rate at each point on the first electronic fence, a comprehensive understanding of the radiation distribution within a specific area is achieved. This facilitates accurate quantification of radiation levels. Secondly, determining the detour direction based on the changing trend of the radiation dose equivalent rate of the first electronic fence, i.e., the direction of change from high to low, provides clear directional guidance for subsequent boundary detection. This facilitates more efficient detection during the control zone boundary determination process, reducing unnecessary waste of time and resources. Thirdly, by measuring the radiation dose equivalent rate in real time along the boundary of the control zone to be confirmed, based on the detour direction, radiation changes in the boundary area can be monitored in a timely manner. Once an abnormal increase or decrease in radiation levels is detected, appropriate measures can be taken quickly to adjust and respond, ensuring the effectiveness and reliability of the control zone boundaries.

[0100] Figure 5 This is a flowchart of the fourth embodiment of the field inspection method for UAV-based flaw detection provided by this application. Figure 5 The UAV detects the radiation dose equivalent rate on the side of the control area boundary away from the accelerator, and determines the supervision area boundary according to the control area boundary and the detected radiation dose equivalent rate, including:

[0101] S501: Obtain the radiation dose equivalent rate of each point on the first electronic fence.

[0102] S502: Determine the propagation characteristics of the radiation source in the accelerator according to the radiation dose equivalent rate of each point.

[0103] Specifically, the specific implementation principles and implementation processes of steps S501 to S502 can be found in the description of related technologies and will not be repeated here.

[0104] S503: Determine a boundary of a supervised area to be confirmed according to the propagation characteristics and the shape characteristics of the first electronic fence.

[0105] Specifically, according to the propagation characteristics of the radiation source in the accelerator and in combination with the second safety threshold, the distance between the boundary of the supervision area and the accelerator is obtained.

[0106] Furthermore, the shape characteristics of the supervision area are determined according to the shape characteristics of the first electronic fence, and the boundary of the supervision area to be confirmed is obtained by combining the distance between the boundary of the supervision area and the accelerator and the shape characteristics of the supervision area.

[0107] S504: Determine a detour direction according to a change trend of the radiation dose equivalent rate of the first electronic fence, where the detour direction is a change direction of the radiation dose equivalent rate from high to low.

[0108] Specifically, the detour direction is determined in real time based on the changing trend of the radiation dose equivalent rate of the first electronic fence, which can quickly respond to local radiation changes. In addition, based on the circular boundary, the lines connecting multiple detour directions are roughly spiral-shaped and gradually approach the area with lower radiation dose. Since the detour direction is always the direction of change from high to low radiation dose equivalent rate, the drone will continuously adjust its direction during flight and move along a path with a decreasing radiation gradient. This spiral connection ensures that the drone can minimize radiation exposure while detecting the boundary of the control area.

[0109] S505 : Detecting the radiation dose equivalent rate in real time at the boundary of the surveillance area to be confirmed according to the detour direction, and detecting the boundary of the surveillance area.

[0110] The specific implementation steps include:

[0111] (1) During flight, the UAV obtains an image between the first electronic fence and the boundary of the surveillance area to be confirmed, and identifies radiation propagation obstacles.

[0112] Specifically, during flight, the drone uses its onboard high-definition camera to continuously capture the area between the first geo-fence and the boundary of the surveillance zone to be confirmed. The camera's parameters should be adjusted based on the actual environment and mission requirements to ensure clear and accurate images.

[0113] Furthermore, image recognition technology can be used to analyze the captured images and identify obstacles that may affect radiation propagation. Image recognition algorithms, such as convolutional neural networks (CNNs), can also be used to train the algorithm on a large number of labeled obstacle images to accurately identify different types of obstacles.

[0114] (2) Determine the radiation impact amount based on the area of the radiation propagation obstacle.

[0115] Specifically, by establishing a radiation propagation model, the impact of each obstacle on radiation propagation can be calculated based on the identified obstacle area and the established relationship between the obstacle area and the radiation impact. For the case of multiple obstacles, the impact of each obstacle can be superimposed to obtain the total radiation impact.

[0116] (3) Adjusting the flight path based on the radiation impact.

[0117] Specifically, the original flight path is adjusted based on the calculated radiation impact. If the radiation impact in a certain area is high, it indicates that obstacles in that area are significantly blocking radiation propagation. The drone can then avoid this area and choose a path with less radiation impact. This flight path adjustment can be achieved using path planning algorithms such as the A* algorithm and the Dijkstra algorithm. These algorithms can calculate the optimal flight path based on factors such as the radiation impact, the drone's location, and the target point.

[0118] Furthermore, when adjusting the flight route, factors such as the drone's flight safety, mission completion time, and energy consumption also need to be considered to ensure that the adjusted flight route is feasible.

[0119] Further, in combination with the above description, when the drone detects the boundary of the supervision area based on the radiation dose equivalent rate, if the point on the boundary of the supervision area to be confirmed is a point that meets the preset conditions, the point is confirmed as a point on the boundary of the supervision area; if the point on the boundary of the supervision area to be confirmed is a point that does not meet the preset conditions, the third search direction of the drone is determined according to the difference between the radiation dose equivalent rate of the point and the second safety threshold. When the radiation dose equivalent rate of the point is equal to the second safety threshold, the third search direction of the drone is determined as the side of the boundary of the supervision area to be confirmed along the first electronic fence; when the radiation dose equivalent rate of the point is equal to the second safety threshold, the third search direction of the drone is determined as the side of the boundary of the supervision area to be confirmed along the accelerator; by continuously adjusting the search direction of the drone, all points where the difference between the radiation dose equivalent rate and the second safety threshold is equal to 0 are eventually determined as points on the boundary of the supervision area, thereby determining the boundary of the supervision area.

[0120] The method provided in this embodiment determines the propagation characteristics of the radiation source in the accelerator by measuring the radiation dose equivalent rate at each point on the first electronic fence. The boundary of the surveillance zone to be confirmed is then determined based on the propagation characteristics and the shape characteristics of the first electronic fence. A detour direction is determined based on the changing trend of the radiation dose equivalent rate of the first electronic fence, where the detour direction is the direction of change from high to low. The radiation dose equivalent rate is then measured in real time at the boundary of the surveillance zone to be confirmed according to the detour direction to detect the surveillance zone boundary. This method improves the accuracy of determining the surveillance zone boundary and improves the efficiency of detecting the surveillance zone boundary by performing radiation detection based on the detour direction, reducing unnecessary waste of time and resources.

[0121] Figure 6 This is a flowchart of the fourth embodiment of the field inspection method for UAV-based flaw detection provided by this application. Figure 6, determine the mission type of the drone, including:

[0122] S601: Acquire ground images of the control area and the supervision area to determine the area of the inspection region.

[0123] Specifically, the drone is controlled to fly in the control area and the supervision area, and the ground images of the control area and the supervision area are recorded. The area of the inspection area is determined based on the ground images. It can be understood that the area of the inspection area is the sum of the areas of the control area and the supervision area.

[0124] S602: Determine the required number of communication drones based on the area of the inspection area.

[0125] Specifically, determine the coverage range of the drone's communication equipment, calculate the ratio of the inspection area to the coverage range of the drone's communication equipment, and obtain the required number of communication drones.

[0126] In addition, the fixed communication area of the communication drone can be pre-set, and the ratio of the inspection area to the fixed communication area is determined as the required number of communication drones. For example, in one embodiment, the inspection area is 100m 2 , the fixed communication area is 20m2, and the required number of communication drones is 5.

[0127] S603: Divide the inspection area according to the propagation characteristics of the radiation source in the accelerator.

[0128] In a specific implementation, the vertical direction of the accelerator can be used as a dividing line to divide the inspection area into a first area and a second area; wherein the first area is the area on the beam output direction side of the accelerator, and the second area is the area on the opposite side of the beam output direction of the accelerator.

[0129] S604: Determine the optimal communication position for each divided sub-inspection area, and determine the tasks of the required number of drones as communication tasks based on the distance between the current position of the drone and the optimal communication position.

[0130] Specifically, the drone was flown within each sub-inspection area, recording signal strength at various locations. This data was analyzed to identify locations with relatively strong signals. These locations were then subjected to actual communication tests. These locations were ranked from highest to lowest communication signal strength, and the location with the highest communication signal strength in the ranking was designated as the optimal communication location for each sub-inspection area.

[0131] Furthermore, the distance between the current position of the drone and the optimal communication position is calculated, and tasks for a required number of drones whose distance between the current position and the optimal communication position is less than or equal to a preset distance are determined as communication tasks. It should be noted that the preset distance is set based on actual needs and is not limited in this embodiment.

[0132] Furthermore, if the number of drones whose distance between the current position and the optimal communication position is less than or equal to the preset distance is greater than the required number, the required number of drones are randomly selected from these drones to perform the communication task; if the number of drones whose distance between the current position and the optimal communication position is less than or equal to the preset distance is less than the required number, the other drones are sorted according to the distance between the current position and the optimal communication position, and the drones that rank higher in the distance sorting result by the difference between the required number and the number of drones are determined as the drones to perform the communication task.

[0133] For example, in one possible implementation, the required number is 5, and the number of drones whose distance between the current position and the optimal communication position is less than or equal to the preset distance is 2, then the top three drones in the distance sorting result are determined as the drones performing the communication task.

[0134] Specifically, by reusing drones to perform different tasks, there's no need to equip each specific task with dedicated equipment, reducing equipment procurement and maintenance costs. Furthermore, during field NDT operations, circumstances can change at any time, such as adjustments to the inspection area or increased communication needs. Reusing drones can quickly switch between mission types based on actual needs, flexibly responding to these changing circumstances. Furthermore, different tasks may be interrelated and synergistic. Reusing drones can switch and coordinate between different tasks, better navigating complex field NDT scenarios.

[0135] The method provided in this embodiment determines the area of the inspection area by acquiring ground images, and then determines the required number of communication drones based on the area of the inspection area; then, based on the propagation characteristics of the radiation source in the accelerator, the inspection area is divided, the optimal communication position of each sub-inspection area is determined, and the task is determined to be a communication task based on the distance between the current position of the drone and the optimal communication position. Reasonable determination of the required number of communication drones based on the area of the inspection area can avoid waste or shortage of resources. By acquiring ground images, determining the number of communication requirements, dividing the inspection area, and determining the optimal communication position, it is possible to achieve optimal resource allocation, improve task efficiency, ensure communication stability, and clarify task division, providing strong support for the effective application of drones in inspection tasks.

[0136] The present application also provides a radiation inspection system for field flaw detection operations based on drones. The system is implemented based on the method provided in the first aspect of the present application, and includes: multiple drones, an accelerator, and a ground control terminal;

[0137] The plurality of drones are equipped with communication equipment and radiation monitoring equipment, and the communication equipment is used to establish a communication connection and perform remote data transmission;

[0138] The accelerator is used to generate X-rays for field flaw detection of objects;

[0139] The ground control terminal is used to receive information sent back by the UAV, issue instructions to the UAV, and cut off the power supply of the accelerator when an alarm is received.

[0140] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for radiation inspection of field flaw detection operations based on drones, characterized in that: The method comprises: determining a first electronic fence according to accelerator parameters of the field flaw detection operation, wherein the radiation dose equivalent rate of the boundary of the first electronic fence is within a first safety threshold; Taking the intersection of the boundary of the first electronic fence and the accelerator's beam output direction as a first starting point, determining a first search direction for the UAV based on the accelerator's beam output direction, where the first search direction is a direction closer to the accelerator and away from the first electronic fence; The UAV searches for a starting point of a control zone boundary according to the first search direction, and the radiation dose equivalent rate at any point on the control zone boundary is equal to the first safety threshold; Determining a detour direction based on the radiation distribution characteristics of the first electronic fence boundary; The UAV starts from the starting point of the control area boundary and flies around the accelerator according to the circling direction to detect the control area boundary; The UAV detects the radiation dose equivalent rate on the side of the control area boundary away from the accelerator, and determines the supervision area boundary according to the control area boundary and the detected radiation dose equivalent rate; The mission type of the drone is determined, and the drone completes the inspection mission in the control area and the supervision area according to the mission type.

2. The method according to claim 1, characterized in that The UAV is provided with communication equipment and radiation monitoring equipment; the mission types include at least inspection missions and communication missions; wherein the communication equipment is used to transmit monitoring data and instructions in the communication mission, and the radiation monitoring equipment is used to detect the radiation dose equivalent rate in real time in the inspection mission.

3. The method according to claim 1, characterized in that The UAV searches for a starting point of a control zone boundary according to the first search direction, wherein the radiation dose equivalent rate at any point on the control zone boundary is equal to a first safety threshold, including: Taking the first starting point as a starting point, controlling the drone to fly along a first line connecting the first starting point and the accelerator in the first search direction; The UAV detects the radiation dose equivalent rate at the flight position in real time; adjusting a flight speed of the UAV according to the radiation dose equivalent rate detected in real time, wherein the flight speed is proportional to a difference between the radiation dose equivalent rate detected in real time and a first safety threshold; A point on the first line that meets a preset condition is determined as the starting point of the control area boundary; wherein the preset condition is that the radiation dose equivalent rate of the point is equal to the first safety threshold.

4. The method according to claim 1, wherein The UAV starts from the starting point of the control area boundary, flies around the accelerator according to the circling direction, and detects the control area boundary, including: Obtaining a radiation dose equivalent rate at each point on the first electronic fence; determining propagation characteristics of the radiation source in the accelerator based on the radiation dose equivalent rate at each point; Determining a boundary of the control area to be confirmed based on the propagation characteristics and the shape characteristics of the first electronic fence; Determining a detour direction according to a change trend of the radiation dose equivalent rate of the first electronic fence, wherein the detour direction is a change direction of the radiation dose equivalent rate from high to low; The radiation dose equivalent rate is detected in real time on the boundary of the control area to be confirmed according to the detour direction to detect the boundary of the control area.

5. The method according to claim 4, characterized in that The step of detecting the radiation dose equivalent rate in real time on the boundary of the control area to be confirmed according to the detour direction to detect the boundary of the control area includes: The UAV acquires images between the first electronic fence and the boundary of the control area to be confirmed during flight, and identifies radiation propagation obstacles; determining a radiation impact amount based on the area of the radiation propagation obstacle; The flight path is adjusted based on the radiation impact amount.

6. The method according to claim 1, characterized in that The UAV detects the radiation dose equivalent rate on the side of the control area boundary away from the accelerator, and determines the supervision area boundary according to the control area boundary and the detected radiation dose equivalent rate, including: Obtaining a radiation dose equivalent rate at each point on the first electronic fence; determining propagation characteristics of the radiation source in the accelerator based on the radiation dose equivalent rate at each point; Determining a boundary of a supervised area to be confirmed based on the propagation characteristics and the shape characteristics of the first electronic fence; Determining a detour direction according to a change trend of the radiation dose equivalent rate of the first electronic fence, wherein the detour direction is a change direction of the radiation dose equivalent rate from high to low; The radiation dose equivalent rate is detected in real time on the boundary of the supervision area to be confirmed according to the detour direction to detect the boundary of the supervision area.

7. The method according to claim 1, characterized in that The mission type includes at least an inspection mission and a communication mission; determining the mission type of the UAV includes: Acquire ground images of the control area and the supervision area to determine the area of the inspection area; Determine the required number of communication drones based on the area of the inspection area; Dividing inspection areas according to propagation characteristics of the radiation source in the accelerator; The optimal communication position of each divided sub-inspection area is determined, and the tasks of the required number of drones are determined as communication tasks based on the distance between the current position of the drone and the optimal communication position.

8. The method according to claim 1, characterized in that The task types include at least inspection tasks and communication tasks; The drone completes inspection tasks within the control area and the supervision area according to the mission type, including: The UAV performing the communication task hovers at a specified height and transmits monitoring data and instructions in real time. The instructions are sent by the ground station to the UAV performing the inspection task. The UAV performing the inspection task inspects the control area and the supervision area according to the inspection route, and transmits inspection-related data back to the ground station; When an abnormality occurs in the flight of the UAV, abnormal information is sent to the ground station.

9. The method according to claim 1, characterized in that The method also includes: the drone that performs the inspection task is used to perform inspections according to the inspection task after the field flaw detection operation begins, and when it is found that the distance between the personnel and the first electronic fence is less than a first threshold, the personnel are driven away; after it is found that the distance between the personnel and the supervision area is less than a second threshold, an alarm message is generated and sent to the ground station.

10. A radiation inspection system for field flaw detection based on drones, characterized in that: The system is implemented based on the method of any one of claims 1 to 9, and comprises: a plurality of drones, an accelerator, and a ground control terminal; The multiple drones are equipped with communication equipment and radiation monitoring equipment. The communication equipment is used to establish a communication connection and perform remote data transmission. The radiation monitoring equipment is used to detect the radiation dose equivalent rate. The accelerator is used to generate X-rays for field flaw detection of objects; The ground control terminal is used to receive information sent back by the UAV, issue instructions to the UAV, and cut off the power supply of the accelerator when an alarm is received.

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