Unmanned aerial vehicle emergency radiation detection and disposal system

Abstract

The invention provides an unmanned aerial vehicle emergency radiation detection and disposal system which comprises the following steps: controlling an unmanned aerial vehicle to arrive at a specified detection area for several times of information acquisition to obtain several kinds of field data of the specified detection area, screening a plurality of effective data frames from each field data and recombining the effective data frames, determining a plurality of pollutants in the specified detection area and pollution characteristics corresponding to each pollutant according to each recombination data, establishing a pollution distribution diagram of the specified detection area, and analyzing diffusion characteristics corresponding to each pollutant based on the field environment information of the specified detection area, the pollution hazard corresponding to each pollutant is searched for and combined with the corresponding diffusion characteristics to establish a danger signal corresponding to each detection area of the specified detection range, and a danger emergency scheme is established and displayed, so that the problems of low efficiency and poor safety of traditional manual detection can be effectively solved; and the radiation monitoring level and the emergency response capability of the medical environment are improved.

Description

Technical Field

[0001] The present invention relates to the field of safety emergency technology, and in particular to an unmanned aerial vehicle emergency radiation detection and disposal system. Background Art

[0002] With the widespread application of nuclear energy technology and radioactive materials in medicine, industry, energy and other fields, the demand for radiation environment monitoring continues to grow. The hazards of radioactive materials are mainly caused by ionizing radiation to damage human cells, DNA, etc., causing cancer, acute radiation sickness, genetic effects, etc. Different types of radiation have different effects on the human body, and factors such as exposure dose, time and frequency determine the extent of the damage. Therefore, taking effective protective measures to avoid unnecessary radiation exposure is the key to protecting health. In the daily diagnosis and treatment of nuclear medicine and unexpected emergency scenarios, the use of radioactive drugs and waste management may involve potential risks such as radiation leakage and loss of radioactive sources. These problems pose a threat to the safety of the medical environment and the health of staff, and more efficient and safer monitoring and emergency response methods are urgently needed.

[0003] Therefore, the present invention provides an unmanned aerial vehicle emergency radiation detection and disposal system. Summary of the invention

[0004] The present invention discloses an unmanned aerial vehicle emergency radiation detection and disposal system, which can effectively solve the problems of low efficiency and poor safety of traditional manual detection, and improve the radiation monitoring level and emergency response capability of the medical environment.

[0005] The present invention provides an unmanned aerial vehicle emergency radiation detection and disposal system, comprising:

[0006] The radiation detection module is used to control the UAV to reach the designated detection area to collect information several times and obtain several types of field data of the designated detection area;

[0007] A data reorganization module, used for selecting a plurality of valid data frames in each of the field data and reorganizing them, and determining a plurality of pollutants in the designated detection area and a pollution characteristic corresponding to each pollutant according to each reorganized data;

[0008] A pollution analysis module, used to establish a pollution distribution map of the designated detection area, and analyze the diffusion characteristics corresponding to each pollutant based on the on-site environmental information of the designated detection area;

[0009] The emergency assistance module is used to find the pollution hazard corresponding to each of the pollutants and establish the danger signal corresponding to each detection area of ​​the designated detection range in combination with the corresponding diffusion characteristics, establish the danger emergency plan and display it.

[0010] In one practicable manner,

[0011] Also includes:

[0012] An information display module, used to display the on-site data collected by the drone;

[0013] It is also used to display the pollution distribution map of the designated detection area and the diffusion characteristics corresponding to each pollutant;

[0014] It is also used to display emergency plans for the hazards.

[0015] In one practicable manner,

[0016] The radiation detection module comprises:

[0017] A detection preparation unit is used to obtain the area and area map of the designated detection area, configure a corresponding number of drones for the detection work according to the area, identify the radiation type corresponding to each detection position in the designated detection area in the area map, classify the detection positions with the same radiation type into the same detection class and mark them in the area map;

[0018] A route arrangement unit is used to set a positioning tag for a corresponding detection class according to the detection area, identify the radiation type corresponding to each detection area in the regional map, set a function tag for the corresponding detection class, match the existing function corresponding to each drone with the function tag, generate a preliminary route corresponding to each drone, screen the overlapping routes between different preliminary routes, and assign the overlapping positioning tags corresponding to the overlapping routes to the corresponding short preliminary routes based on the shortest route principle, so as to generate a working route corresponding to each drone;

[0019] The information collection unit is used to control each of the UAVs to arrive at the designated detection area according to the corresponding working flight to collect information, obtain the real-time detection information corresponding to each detection category, preliminarily screen the real-time detection information according to the current detection project corresponding to the UAV, obtain the data fragments related to the current detection project, and arrange the data fragments based on the detection time sequence to obtain several types of field data of the designated detection area.

[0020] In one practicable manner,

[0021] The data reorganization module comprises:

[0022] A data classification unit, used to respectively extract a plurality of detection data values ​​of each of the field data, cluster the detection data values ​​according to the detection dimensions corresponding to each of the detection data values ​​to obtain a plurality of cluster data sets, and analyze the data discrete features of each of the cluster data sets to establish a scatter plot of the corresponding cluster data set;

[0023] A discrete analysis unit, used to locate corresponding discrete points in each of the field data, divide each of the field data into a plurality of data frames according to the location results, identify the coordinate value corresponding to each of the discrete points in the scatter plot, deduce the discreteness between different discrete points in the same scatter plot, sort the corresponding data frames in descending order based on the discreteness, and obtain a corresponding data frame queue;

[0024] a screening execution unit, configured to iteratively remove the tail data frames of the data frame queue, generate an updated data frame queue after each removal, identify the data validity ratio corresponding to each updated data frame queue, screen the target updated data frame queue with the highest data validity ratio, reorganize the valid data frames in the target updated data frame queue according to the order of the data frames in the corresponding field data, and generate reorganized data;

[0025] The pollution analysis unit is used to respectively identify the pollution dimensions corresponding to each of the reorganized data, determine a number of pollution indicators corresponding to the pollution dimensions, distribute the reorganized data in the corresponding pollution indicators to obtain a number of pollution information, identify the corresponding pollutants according to the pollution information, respectively search for the object attributes corresponding to each of the pollutants, and determine the pollution characteristics corresponding to the pollutants in combination with the corresponding pollution information.

[0026] In one practicable manner,

[0027] The pollution analysis unit comprises:

[0028] A dimension matching subunit is used to obtain a plurality of data attributes corresponding to the reorganized data, respectively search for the pollution dimension corresponding to each of the reorganized data according to the attribute presentation information corresponding to each preset pollution dimension, and perform format matching with the reorganized data according to the data format corresponding to the pollution dimension, and determine the pollution dimension corresponding to the reorganized data when the matching result is established;

[0029] A pollution analysis subunit, used to establish a data partitioning rule according to a plurality of pollution indicators corresponding to each of the pollution dimensions, divide the corresponding reorganized data into a plurality of indicator sub-data using the data partitioning rule, and map the indicator sub-data to the corresponding pollution indicators to generate corresponding pollution information;

[0030] A source locating subunit is used to respectively search for a plurality of pollution sources corresponding to each of the pollution information and an object identification feature corresponding to each of the pollution sources, identify each of the object identification features in the field data, determine the pollutant corresponding to each of the pollution dimensions according to the identification result, and search for the object attribute of the pollutant in the designated detection area;

[0031] The feature generation subunit is used to analyze the distribution of objects of each of the pollutants in the designated detection area, and determine the pollution feature corresponding to each of the pollutants in the designated detection area in combination with the pollution information.

[0032] In one practicable manner,

[0033] The pollution analysis module comprises:

[0034] A chart drawing unit, used to draw a regional appearance map of the designated detection area according to the field data, determine the basic diffusion characteristics of the pollutants according to the pollution characteristics corresponding to each of the pollutants, and mark the basic diffusion characteristics in the regional appearance map to obtain a pollution distribution map of the designated detection area;

[0035] A diffusion analysis unit is used to establish a field environment model of the designated detection area according to the field data, run the regional environment model to determine a number of environmental factors of the designated detection area, input each of the basic diffusion characteristics into the field environment model for simulation, obtain the diffusion effect of different environmental factors on each of the basic diffusion characteristics, and mark them in the pollution distribution map to establish a dynamic distribution map;

[0036] A field analysis unit is used to repeatedly iterate the training of the dynamic distribution map to obtain a plurality of simulated field diffusion information of each pollutant in the designated detection area, and input each simulated field diffusion information into the field environment model for rationality analysis to obtain the diffusion rationality corresponding to each simulated field diffusion information;

[0037] The feature determination unit is used to screen a number of effective simulated on-site diffusion information with diffusion rationality higher than the standard rationality, and determine the diffusion characteristics of the corresponding pollutants in the specified detection area according to the reasonable analysis results corresponding to each of the effective simulated on-site diffusion information.

[0038] In one practicable manner,

[0039] The emergency assistance module comprises:

[0040] A hazard identification unit, used to respectively find the pollution hazards corresponding to each of the pollutants at different pollution levels, and analyze the pollution hazards corresponding to different detection areas in the designated detection area according to the diffusion characteristics;

[0041] A danger warning unit, used to determine the danger level corresponding to each of the detection areas according to the pollution hazard, and to retrieve the corresponding danger signal and transmit it to the reminder terminal of the corresponding detection area for reminder;

[0042] The danger response unit is used to find the risk avoidance plan corresponding to each pollution hazard, adjust the corresponding risk avoidance plan in combination with the distribution of facilities in the corresponding detection area, generate the danger emergency plan corresponding to each detection area and display it.

[0043] In one practicable manner,

[0044] Also includes:

[0045] A synchronous transmission module, used to establish a live image of the designated detection area according to the live data, and transmit the live image to a ground control center for display;

[0046] It is also used to transmit the on-site data to the ground control center for display.

[0047] In one practicable manner,

[0048] Also includes:

[0049] A continuous optimization module, used for obtaining mission data of the drone and restoring the working process of the drone according to the mission data;

[0050] Identify task defects included in the work process and analyze the causes of the task defects;

[0051] The defective parts corresponding to the drone are optimized according to the generation reasons.

[0052] In one practicable manner,

[0053] Also includes:

[0054] The drone includes one or more collection devices;

[0055] The collection device includes: a gamma spectrometer, a radiation dose rate sensor, and a smoke plume detection sensor.

[0056] The achievable beneficial effects of the above technical solution are as follows: in order to build a more efficient and safer radiation monitoring and emergency disposal means, the use of unmanned aerial vehicles combined with high-sensitivity nuclear radiation detection equipment and intelligent data processing systems can quickly monitor the radiation environment, identify pollution sources, assess hazards and perform corresponding disposal. First, the unmanned aerial vehicle is controlled to arrive at the detection area for information collection, and several types of field data of the designated detection area are obtained. Then, the valid data frames in the field data are screened and reorganized. Under the guidance of the reorganized data, the pollutants existing in the designated detection area and the pollution characteristics corresponding to each pollutant are determined. The pollution distribution map of the designated detection area is further analyzed to determine the diffusion characteristics of different pollutants in the designated detection area. Then, the pollution hazards of each pollutant are found, so as to use the corresponding danger signals for reminders, and at the same time, a danger emergency plan is established to guide the surrounding personnel to protect themselves and avoid being injured. In this way, the field data can be processed in real time and a danger emergency plan can be formulated, especially in complex environments such as nuclear medicine departments, which can effectively reduce the harm of radiation to the surrounding personnel, avoid direct exposure of staff to high radiation environments, and effectively ensure the safety of medical staff and emergency personnel.

[0057] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0058] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0060] Figure 1 This is a schematic diagram of the composition of an emergency radiation detection and disposal system for unmanned aerial vehicles in an embodiment of the present invention;

[0061] Figure 2 The present invention is a schematic diagram of the data reorganization module of an emergency radiation detection and disposal system for unmanned aerial vehicles in an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0063] Example 1

[0064] This embodiment provides a UAV emergency radiation detection and disposal system, such as Figure 1 As shown, including:

[0065] The radiation detection module is used to control the UAV to reach the designated detection area to collect information several times and obtain several types of field data of the designated detection area;

[0066] A data reorganization module, used for selecting a plurality of valid data frames in each of the field data and reorganizing them, and determining a plurality of pollutants in the designated detection area and a pollution characteristic corresponding to each pollutant according to each reorganized data;

[0067] A pollution analysis module, used to establish a pollution distribution map of the designated detection area, and analyze the diffusion characteristics corresponding to each pollutant based on the on-site environmental information of the designated detection area;

[0068] The emergency assistance module is used to find the pollution hazard corresponding to each of the pollutants and establish the danger signal corresponding to each detection area of ​​the designated detection range in combination with the corresponding diffusion characteristics, establish the danger emergency plan and display it.

[0069] In this example, the designated detection area indicates the area where radiation detection is required, such as: leakage of radioactive sources in nuclear medicine departments, and waste monitoring;

[0070] In this example, the field data refers to the data collected by the drone when performing field detection of the designated detection area;

[0071] In this example, pollutants refer to substances that cause radiation contamination in the designated detection area;

[0072] In this example, the valid data frame represents a data frame related to radiation contamination in the field data;

[0073] In this example, the pollution feature represents the impact of the pollutant on the specified detection area;

[0074] In this example, the diffusion signature represents the signature produced when the radiation caused by the contaminants diffuses in the specified detection area;

[0075] In this example, the danger signal refers to a signal used to warn of danger;

[0076] In this example, the hazard emergency plan refers to a plan for guiding personnel in a designated detection area to leave the area and protect themselves.

[0077] The working principle and beneficial effects of the above technical solution: In order to build a more efficient and safer radiation monitoring and emergency disposal means, the use of drones combined with high-sensitivity nuclear radiation detection equipment and intelligent data processing systems can quickly monitor the radiation environment, identify pollution sources, evaluate hazards and perform corresponding disposal. First, the drone is controlled to reach the detection area for information collection, and several types of field data of the designated detection area are obtained. Then, the valid data frames in the field data are screened and reorganized. Under the guidance of the reorganized data, the pollutants existing in the designated detection area and the pollution characteristics corresponding to each pollutant are determined. The pollution distribution map of the designated detection area is further analyzed to determine the diffusion characteristics of different pollutants in the designated detection area. Then, the pollution hazards of each pollutant are found, so as to use the corresponding danger signals for reminders, and at the same time, a danger emergency plan is established to guide the surrounding personnel to protect themselves and avoid being injured. In this way, the field data can be processed in real time and a danger emergency plan can be formulated, especially in complex environments such as nuclear medicine departments, which can effectively reduce the harm of radiation to the surrounding personnel, avoid direct exposure of staff to high radiation environments, and effectively ensure the safety of medical staff and emergency personnel.

[0078] Example 2

[0079] Based on Example 1, the UAV emergency radiation detection and disposal system further includes:

[0080] An information display module, used to display the on-site data collected by the drone;

[0081] It is also used to display the pollution distribution map of the designated detection area and the diffusion characteristics corresponding to each pollutant;

[0082] It is also used to display emergency plans for the hazards.

[0083] The working principle and beneficial effects of the above technical solution: emergency personnel can obtain on-site data and various on-site information at any time through the information display module, which is convenient for emergency personnel to make effective decisions.

[0084] Example 3

[0085] On the basis of Example 1, the UAV emergency radiation detection and disposal system, the radiation detection module, includes:

[0086] A detection preparation unit is used to obtain the area and area map of the designated detection area, configure a corresponding number of drones for the detection work according to the area, identify the radiation type corresponding to each detection position in the designated detection area in the area map, classify the detection positions with the same radiation type into the same detection class and mark them in the area map;

[0087] A route arrangement unit is used to set a positioning tag for a corresponding detection class according to the detection area, identify the radiation type corresponding to each detection area in the regional map, set a function tag for the corresponding detection class, match the existing function corresponding to each drone with the function tag, generate a preliminary route corresponding to each drone, screen the overlapping routes between different preliminary routes, and assign the overlapping positioning tags corresponding to the overlapping routes to the corresponding short preliminary routes based on the shortest route principle, so as to generate a working route corresponding to each drone;

[0088] The information collection unit is used to control each of the UAVs to arrive at the designated detection area according to the corresponding working flight to collect information, obtain the real-time detection information corresponding to each detection category, preliminarily screen the real-time detection information according to the current detection project corresponding to the UAV, obtain the data fragments related to the current detection project, and arrange the data fragments based on the detection time sequence to obtain several types of field data of the designated detection area.

[0089] In this example, the area map represents a map of the designated detection area before an accident occurs;

[0090] In this example, the relationship between the area and the number of drones is: the detection area of ​​a drone is in the range of [0, 1500] square meters. The corresponding number of drones is matched according to the size of the area. The minimum number of drones is: area / 1500, and rounded up.

[0091] In this example, the radiation type indicates the type of radiation emitted by a detection location;

[0092] In this example, the detection class represents the result of aggregating all detection positions with the same radiation type;

[0093] In this example, the location label refers to a label used to distinguish the location and area occupied by different detection classes in the area map;

[0094] In this example, the functional label identifier is used to distinguish the labels of radiation types corresponding to different detection classes;

[0095] In this example, the short preliminary route identifies a preliminary route with the shortest route among two or more preliminary routes corresponding to the overlapping routes;

[0096] In this example, the current detection item identifies the type of radiation the drone is currently detecting;

[0097] In this example, the drone can operate in extreme temperatures (-40℃ to +50℃) and complex airflows. During its patrol, the drone collects atmospheric and ground radiation data and monitors the types of nuclides and radiation data in real time.

[0098] The working principle and beneficial effects of the above technical solution: In order to better carry out data collection and detection, the corresponding number of drones are first called up according to the area and area map of the designated detection area. Due to the complex on-site environment of the detection area, in order to improve the collection speed of the drone and ensure the comprehensiveness of data collection, before the formal collection, a corresponding working route is formulated for each drone according to the radiation conditions of each detection position in the designated detection area and the distribution area types of different radiations. The drone can perform data collection according to the formulated working route. At the same time, the information collected by the drone is preliminarily screened and the screened data fragments are reorganized in chronological order to obtain several types of on-site data of the designated detection area. This system utilizes the characteristics of rapid deployment and flexible flight of drones, and can cover a large range of monitoring areas in a short time, greatly reducing the time cost of manual inspections. Compared with traditional manual monitoring or ground robot solutions, the automated operation of drones significantly reduces manpower investment, and at the same time, the equipment cost and maintenance cost are low, and it is more economical.

[0099] Example 4

[0100] On the basis of Example 1, the UAV emergency radiation detection and disposal system, the data reorganization module, such as Figure 2 As shown, including:

[0101] A data classification unit, used to respectively extract a plurality of detection data values ​​of each of the field data, cluster the detection data values ​​according to the detection dimensions corresponding to each of the detection data values ​​to obtain a plurality of cluster data sets, and analyze the data discrete features of each of the cluster data sets to establish a scatter plot of the corresponding cluster data set;

[0102] A discrete analysis unit, used to locate corresponding discrete points in each of the field data, divide each of the field data into a plurality of data frames according to the location results, identify the coordinate value corresponding to each of the discrete points in the scatter plot, deduce the discreteness between different discrete points in the same scatter plot, sort the corresponding data frames in descending order based on the discreteness, and obtain a corresponding data frame queue;

[0103] a screening execution unit, configured to iteratively remove the tail data frames of the data frame queue, generate an updated data frame queue after each removal, identify the data validity ratio corresponding to each updated data frame queue, screen the target updated data frame queue with the highest data validity ratio, reorganize the valid data frames in the target updated data frame queue according to the order of the data frames in the corresponding field data, and generate reorganized data;

[0104] The pollution analysis unit is used to respectively identify the pollution dimensions corresponding to each of the reorganized data, determine a number of pollution indicators corresponding to the pollution dimensions, distribute the reorganized data in the corresponding pollution indicators to obtain a number of pollution information, identify the corresponding pollutants according to the pollution information, respectively search for the object attributes corresponding to each of the pollutants, and determine the pollution characteristics corresponding to the pollutants in combination with the corresponding pollution information.

[0105] In this example, the detected data value identifies the numerical value present in the field data;

[0106] In this example, the detection dimensions include: gamma rays, radiation dose, and plume conditions;

[0107] In this example, the scatter plot represents a discrete situation diagram between the detected data values ​​contained in a cluster data class;

[0108] In this example, the dispersion degree indicates the degree of dispersion between a discrete point and the remaining discrete points in the scatter plot;

[0109] In this example, iterative elimination refers to a process of iteratively eliminating the tail data of the data frame queue and replacing the original data frame queue with the obtained updated data frame queue;

[0110] In this example, the data validity ratio indicates the ratio of the data non-discreteness presented in the update data frame queue. The higher the data validity ratio is, the more valid the data is.

[0111] In this example, the pollution index represents the pollution phenomenon corresponding to a pollution dimension, and a pollution dimension can correspond to one or more pollution indicators;

[0112] In this example, the item attribute represents an attribute used to distinguish different contaminants.

[0113] The working principle and beneficial effects of the above technical solution are as follows: in the process of data collection by the drone, the detection data values ​​in the field data are synchronously extracted, and then the detection data values ​​under different detection dimensions are clustered to generate a cluster data set, and a scatter plot is constructed. Each discrete point is further located in the field data to divide the field data into several data frames, and the discreteness between different discrete points is determined by analyzing the scatter plot. A data frame queue is established by sorting, and then the tail data in the data frame queue is repeatedly eliminated by iterative elimination training. The effective data frame of the field data is determined by analyzing the effective ratio of the data after each elimination, and then it is reorganized to form recombined data. The pollution dimension and pollution index in the recombined data are matched to determine the pollution information corresponding to each pollution index, identify the corresponding pollutants, and determine the pollution characteristics of the pollutants in combination with the item attributes of the pollutants. In this way, the location of the pollutants can be effectively locked, and the pollution risk of different pollutants to the designated detection area can be determined, which can meet the daily monitoring needs of nuclear medicine, and can also be applied to sudden emergency scenarios such as radioactive source leakage and out-of-control radioactive waste, so as to achieve seamless connection between daily monitoring and emergency disposal.

[0114] Example 5

[0115] On the basis of Example 4, the UAV emergency radiation detection and disposal system, the contamination analysis unit, comprises:

[0116] A dimension matching subunit is used to obtain a plurality of data attributes corresponding to the reorganized data, respectively search for the pollution dimension corresponding to each of the reorganized data according to the attribute presentation information corresponding to each preset pollution dimension, and perform format matching with the reorganized data according to the data format corresponding to the pollution dimension, and determine the pollution dimension corresponding to the reorganized data when the matching result is established;

[0117] A pollution analysis subunit, used to establish a data partitioning rule according to a plurality of pollution indicators corresponding to each of the pollution dimensions, divide the corresponding reorganized data into a plurality of indicator sub-data using the data partitioning rule, and map the indicator sub-data to the corresponding pollution indicators to generate corresponding pollution information;

[0118] A source locating subunit is used to respectively search for a plurality of pollution sources corresponding to each of the pollution information and an object identification feature corresponding to each of the pollution sources, identify each of the object identification features in the field data, determine the pollutant corresponding to each of the pollution dimensions according to the identification result, and search for the object attribute of the pollutant in the designated detection area;

[0119] The feature generation subunit is used to analyze the distribution of objects of each of the pollutants in the designated detection area, and determine the pollution feature corresponding to each of the pollutants in the designated detection area in combination with the pollution information.

[0120] In this example, data attributes represent attributes presented by various valid data frames contained in the reorganized data, including: numerical type, category type, Boolean type, time type, one-dimensional data, two-dimensional data, tree data, and graph structure data;

[0121] In this example, the data format indicates the format of the data presented by a polluted dimension. When the data format matches the data attribute successfully, it indicates that the corresponding reorganized information belongs to the polluted dimension.

[0122] In this example, the object identification feature refers to a feature used to identify the source of contamination;

[0123] In this example, the data partitioning rule represents a rule for partitioning and aggregating the data attributes corresponding to the reorganized data based on the data attributes corresponding to each pollution indicator as a partitioning standard.

[0124] The working principle and beneficial effects of the above technical solution: In order to further clarify the pollutant situation in the specified detection area, the data attributes of the reorganized data and the data format of the pollution dimension are matched to determine the pollution dimension corresponding to each reorganized data, and then the reorganized data is divided into a number of indicator sub-data for the pollution index corresponding to a pollution dimension, so as to determine the pollution information corresponding to each pollution index, and the distribution of pollutants in the specified detection area is determined by identifying the pollution source of each pollution information and the item attributes of the pollutant, thereby determining the pollution characteristics of each pollutant. In this way, multiple pollutants can be analyzed at the same time, which improves the efficiency of synchronous analysis and provides a reliable basis for scientific decision-making.

[0125] Example 6

[0126] Based on Example 1, the UAV emergency radiation detection and disposal system, the pollution analysis module, includes:

[0127] A chart drawing unit, used to draw a regional appearance map of the designated detection area according to the field data, determine the basic diffusion characteristics of the pollutants according to the pollution characteristics corresponding to each of the pollutants, and mark the basic diffusion characteristics in the regional appearance map to obtain a pollution distribution map of the designated detection area;

[0128] A diffusion analysis unit is used to establish a field environment model of the designated detection area according to the field data, run the regional environment model to determine a number of environmental factors of the designated detection area, input each of the basic diffusion characteristics into the field environment model for simulation, obtain the diffusion effect of different environmental factors on each of the basic diffusion characteristics, and mark them in the pollution distribution map to establish a dynamic distribution map;

[0129] A field analysis unit is used to repeatedly iterate the training of the dynamic distribution map to obtain a plurality of simulated field diffusion information of each pollutant in the designated detection area, and input each simulated field diffusion information into the field environment model for rationality analysis to obtain the diffusion rationality corresponding to each simulated field diffusion information;

[0130] The feature determination unit is used to screen a number of effective simulated on-site diffusion information with diffusion rationality higher than the standard rationality, and determine the diffusion characteristics of the corresponding pollutants in the specified detection area according to the reasonable analysis results corresponding to each of the effective simulated on-site diffusion information.

[0131] In this example, the region appearance map represents the appearance image of the specified detection region;

[0132] In this example, the basic diffusion characteristics represent the characteristics of pollutants when they diffuse naturally without external influences;

[0133] In this example, the scene environment model represents a model of the environment of the designated detection area presented in the virtual space;

[0134] In this example, the environmental factors represent the values ​​presented by the external environment of the designated detection area, including: temperature, humidity, wind speed and wind direction, etc.;

[0135] In this example, repeated iterative training means a process of running the dynamic distribution graph repeatedly for multiple times;

[0136] In this example, rationality analysis means the process of analyzing the contradiction between the simulated field diffusion information and environmental factors in the field environment model;

[0137] In this example, the standard reasonableness is 75%.

[0138] The working principle and beneficial effects of the above technical solution are as follows: by analyzing the diffusion characteristics of pollutants in the designated detection area, a basis for the next step of hazard analysis can be provided. First, the regional appearance map and the on-site environmental model of the designated detection area are established based on the on-site data. Then, a pollution distribution map is constructed based on the basic diffusion characteristics of each pollutant. The on-site environmental model is used to analyze the impact of different environmental factors on the diffusion of pollutants to generate a dynamic distribution map. The dynamic distribution map is trained and the training results are input into the on-site environmental model for rationality analysis to determine the diffusion characteristics of each pollutant in the designated detection area. In this way, pollution assessment can be carried out in real time to determine the on-site situation of the designated detection area, so as to facilitate the generation of accurate emergency disposal recommendations.

[0139] Example 7

[0140] On the basis of Example 1, the emergency radiation detection and disposal system for unmanned aerial vehicles, the emergency auxiliary module, comprises:

[0141] A hazard identification unit, used to respectively find the pollution hazards corresponding to each of the pollutants at different pollution levels, and analyze the pollution hazards corresponding to different detection areas in the designated detection area according to the diffusion characteristics;

[0142] A danger warning unit, used to determine the danger level corresponding to each of the detection areas according to the pollution hazard, and to retrieve the corresponding danger signal and transmit it to the reminder terminal of the corresponding detection area for reminder;

[0143] The danger response unit is used to find the risk avoidance plan corresponding to each pollution hazard, adjust the corresponding risk avoidance plan in combination with the distribution of facilities in the corresponding detection area, generate the danger emergency plan corresponding to each detection area and display it.

[0144] The working principle and beneficial effects of the above technical solution are as follows: the pollution hazards of different detection areas are determined according to the pollution hazards of pollutants at different pollution levels, and the corresponding danger signals are further obtained for reminders. At the same time, the risk avoidance plan is adjusted according to the on-site environmental data, and a dangerous emergency plan for the detection area is generated. This can significantly shorten the emergency response time, reduce the impact of accidents, and reduce the potential hazards of radiation accidents to the environment and the public through scientific radiation monitoring and pollution control, which helps to maintain social trust in nuclear medicine and related fields.

[0145] Example 8

[0146] Based on Example 1, the UAV emergency radiation detection and disposal system further includes:

[0147] A synchronous transmission module, used to establish a live image of the designated detection area according to the live data, and transmit the live image to a ground control center for display;

[0148] It is also used to transmit the on-site data to the ground control center for display.

[0149] The working principle and beneficial effects of the above technical solution: The real-time transmission of on-site data and on-site images to the ground control center can provide emergency personnel with emergency decision-making directions. Compared with traditional manual monitoring or ground robot solutions, the automated operation of drones significantly reduces manpower input. At the same time, the equipment cost and maintenance cost are lower, and it is more economical.

[0150] Example 9

[0151] Based on Example 1, the UAV emergency radiation detection and disposal system further includes:

[0152] A continuous optimization module, used for obtaining mission data of the drone and restoring the working process of the drone according to the mission data;

[0153] Identify task defects included in the work process and analyze the causes of the task defects;

[0154] The defective parts corresponding to the drone are optimized according to the generation reasons.

[0155] In this example, mission data refers to data generated by the drone when performing a mission;

[0156] In this example, mission defects refer to defects that occur when the drone performs a mission.

[0157] The working principle and beneficial effects of the above technical solution are as follows: After the drone completes its mission, it is optimized after returning to the ground to improve the effectiveness of the next mission.

[0158] Example 10

[0159] Based on Example 1, the UAV emergency radiation detection and disposal system further includes:

[0160] The drone includes one or more collection devices;

[0161] The collection device includes: a gamma spectrometer, a radiation dose rate sensor, and a smoke plume detection sensor.

[0162] The working principle and beneficial effects of the above technical solution: The onboard gamma spectrometer and other advanced equipment can identify commonly used radioactive isotopes in nuclear medicine (such as Tc-99m, I-131, etc.), and analyze their characteristics and dose levels, providing a reliable basis for scientific decision-making.

[0163] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An unmanned aerial vehicle emergency radiation detection and disposal system, characterized in that: include: The radiation detection module is used to control the UAV to reach the designated detection area to collect information several times and obtain several types of field data of the designated detection area; A data reorganization module, used for selecting a plurality of valid data frames in each of the field data and reorganizing them, and determining a plurality of pollutants in the designated detection area and a pollution characteristic corresponding to each pollutant according to each reorganized data; A pollution analysis module, used to establish a pollution distribution map of the designated detection area, and analyze the diffusion characteristics corresponding to each pollutant based on the on-site environmental information of the designated detection area; The emergency assistance module is used to find the pollution hazard corresponding to each of the pollutants and establish the danger signal corresponding to each detection area of ​​the designated detection range in combination with the corresponding diffusion characteristics, establish the danger emergency plan and display it.

2. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: Also includes: An information display module, used to display the on-site data collected by the drone; It is also used to display the pollution distribution map of the designated detection area and the diffusion characteristics corresponding to each pollutant; It is also used to display emergency plans for the hazards.

3. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: The radiation detection module comprises: A detection preparation unit is used to obtain the area and area map of the designated detection area, configure a corresponding number of drones for the detection work according to the area, identify the radiation type corresponding to each detection position in the designated detection area in the area map, classify the detection positions with the same radiation type into the same detection class and mark them in the area map; A route arrangement unit is used to set a positioning tag for a corresponding detection class according to the detection area, identify the radiation type corresponding to each detection area in the regional map, set a function tag for the corresponding detection class, match the existing function corresponding to each drone with the function tag, generate a preliminary route corresponding to each drone, screen the overlapping routes between different preliminary routes, and assign the overlapping positioning tags corresponding to the overlapping routes to the corresponding short preliminary routes based on the shortest route principle, so as to generate a working route corresponding to each drone; The information collection unit is used to control each of the UAVs to arrive at the designated detection area according to the corresponding working flight to collect information, obtain the real-time detection information corresponding to each detection category, preliminarily screen the real-time detection information according to the current detection project corresponding to the UAV, obtain the data fragments related to the current detection project, and arrange the data fragments based on the detection time sequence to obtain several types of field data of the designated detection area.

4. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: The data reorganization module comprises: A data classification unit, used to respectively extract a plurality of detection data values ​​of each of the field data, cluster the detection data values ​​according to the detection dimensions corresponding to each of the detection data values ​​to obtain a plurality of cluster data sets, and analyze the data discrete features of each of the cluster data sets to establish a scatter plot of the corresponding cluster data set; A discrete analysis unit, used to locate corresponding discrete points in each of the field data, divide each of the field data into a plurality of data frames according to the location results, identify the coordinate value corresponding to each of the discrete points in the scatter plot, deduce the discreteness between different discrete points in the same scatter plot, sort the corresponding data frames in descending order based on the discreteness, and obtain a corresponding data frame queue; a screening execution unit, configured to iteratively remove the tail data frames of the data frame queue, generate an updated data frame queue after each removal, identify the data validity ratio corresponding to each updated data frame queue, screen the target updated data frame queue with the highest data validity ratio, reorganize the valid data frames in the target updated data frame queue according to the order of the data frames in the corresponding field data, and generate reorganized data; The pollution analysis unit is used to respectively identify the pollution dimensions corresponding to each of the reorganized data, determine a number of pollution indicators corresponding to the pollution dimensions, distribute the reorganized data in the corresponding pollution indicators to obtain a number of pollution information, identify the corresponding pollutants according to the pollution information, respectively search for the object attributes corresponding to each of the pollutants, and determine the pollution characteristics corresponding to the pollutants in combination with the corresponding pollution information.

5. The UAV emergency radiation detection and disposal system according to claim 4, characterized in that: The pollution analysis unit comprises: A dimension matching subunit is used to obtain a plurality of data attributes corresponding to the reorganized data, respectively search for the pollution dimension corresponding to each of the reorganized data according to the attribute presentation information corresponding to each preset pollution dimension, and perform format matching with the reorganized data according to the data format corresponding to the pollution dimension, and determine the pollution dimension corresponding to the reorganized data when the matching result is established; A pollution analysis subunit, used to establish a data partitioning rule according to a plurality of pollution indicators corresponding to each of the pollution dimensions, divide the corresponding reorganized data into a plurality of indicator sub-data using the data partitioning rule, and map the indicator sub-data to the corresponding pollution indicators to generate corresponding pollution information; A source locating subunit is used to respectively search for a plurality of pollution sources corresponding to each of the pollution information and an object identification feature corresponding to each of the pollution sources, identify each of the object identification features in the field data, determine the pollutant corresponding to each of the pollution dimensions according to the identification result, and search for the object attribute of the pollutant in the designated detection area; The feature generation subunit is used to analyze the distribution of objects of each of the pollutants in the designated detection area, and determine the pollution feature corresponding to each of the pollutants in the designated detection area in combination with the pollution information.

6. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: The pollution analysis module comprises: A chart drawing unit, used to draw a regional appearance map of the designated detection area according to the field data, determine the basic diffusion characteristics of the pollutants according to the pollution characteristics corresponding to each of the pollutants, and mark the basic diffusion characteristics in the regional appearance map to obtain a pollution distribution map of the designated detection area; A diffusion analysis unit is used to establish a field environment model of the designated detection area according to the field data, run the regional environment model to determine a number of environmental factors of the designated detection area, input each of the basic diffusion characteristics into the field environment model for simulation, obtain the diffusion effect of different environmental factors on each of the basic diffusion characteristics, and mark them in the pollution distribution map to establish a dynamic distribution map; A field analysis unit is used to repeatedly iterate the training of the dynamic distribution map to obtain a plurality of simulated field diffusion information of each pollutant in the designated detection area, and input each simulated field diffusion information into the field environment model for rationality analysis to obtain the diffusion rationality corresponding to each simulated field diffusion information; The feature determination unit is used to screen a number of effective simulated on-site diffusion information with diffusion rationality higher than the standard rationality, and determine the diffusion characteristics of the corresponding pollutants in the specified detection area according to the reasonable analysis results corresponding to each of the effective simulated on-site diffusion information.

7. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: The emergency assistance module comprises: A hazard identification unit, used to respectively find the pollution hazards corresponding to each of the pollutants at different pollution levels, and analyze the pollution hazards corresponding to different detection areas in the designated detection area according to the diffusion characteristics; A danger warning unit, used to determine the danger level corresponding to each of the detection areas according to the pollution hazard, and to retrieve the corresponding danger signal and transmit it to the reminder terminal of the corresponding detection area for reminder; The danger response unit is used to find the risk avoidance plan corresponding to each pollution hazard, adjust the corresponding risk avoidance plan in combination with the distribution of facilities in the corresponding detection area, generate the danger emergency plan corresponding to each detection area and display it.

8. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: Also includes: A synchronous transmission module, used to establish a live image of the designated detection area according to the live data, and transmit the live image to a ground control center for display; It is also used to transmit the on-site data to the ground control center for display.

9. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: Also includes: A continuous optimization module, used for obtaining mission data of the drone and restoring the working process of the drone according to the mission data; Identify task defects included in the work process and analyze the causes of the task defects; The defective parts corresponding to the drone are optimized according to the generation reasons.

10. The UAV emergency radiation detection and disposal system according to claim 1, characterized in that: Also includes: The drone includes one or more collection devices; The collection device includes: a gamma spectrometer, a radiation dose rate sensor, and a smoke plume detection sensor.

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