Nuclear radiation detection method based on unmanned vehicle

Abstract

According to the nuclear radiation detection method based on the unmanned vehicle, remote control can be achieved for nuclear radiation detection, a target object is recognized through collected information, detection data are stored after the target object is recognized, and emergency detection work of nuclear radiation can be coped with. Meanwhile, information collection is carried out through the detection unit; 2, determining a detection target according to the collected information, and controlling the vehicle to approach the detection target; step 3, radioactive substance detection is carried out on the detection target, and detection data is stored; and 4, returning the unmanned vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear radiation detection, and particularly to a nuclear radiation detection method based on an unmanned vehicle. Background Art

[0002] The peaceful development and utilization of nuclear energy have made great contributions to the economic and social development of mankind. However, nuclear radiation also has its unfriendly side. Low-probability nuclear accidents and radiation accidents can produce radiation beyond the safe dose, which can pose threats and damage to the human body, and even directly cause casualties. Therefore, unmanned radiation detection equipment is an important means to replace manual nuclear radiation detection. Due to the particularity of nuclear accidents or radiation accidents, obstacles are often piled up on surrounding buildings and the ground after the accident, and the traveling environment is complex and changeable. High radiation doses can also affect long-distance information transmission and system control. Summary of the Invention

[0003] The purpose of the present invention is to solve the above problems and provide a nuclear radiation detection method based on an unmanned vehicle.

[0004] To achieve the above purpose, the technical solution of the present invention is: a nuclear radiation detection method based on an unmanned vehicle, including the following steps: Step 1: The vehicle travels while collecting information through a detection unit; Step 2: Determine the detection target according to the collected information and control the vehicle to approach the detection target; Step 3: Detect radioactive substances in the detection target and store the detection data; Step 4: The unmanned vehicle returns.

[0005] Further, the unmanned vehicle is controlled by a remote control terminal, and the remote control terminal is connected to the unmanned vehicle through wired and wireless communication.

[0006] Further, in Step 3, the detection data includes the types of radionuclides, the radiation dose rate, and the position information of the detection target.

[0007] Further, during the traveling of the unmanned vehicle, when the transmission cable is stuck, the winch winding the transmission cable is discarded.

[0008] Further, the wireless communication connection between the unmanned vehicle and the control terminal uses at least one of Wi-Fi, 4G, and 5G.

[0009] Further, the method for obtaining the types of radionuclides includes: Collect the rays emitted by radioactive substances detected by a nuclide detector, convert the rays and then perform data collection. The collected data includes intensity information and energy information. Classify and count the data to generate an energy spectrum, and obtain the types of nuclides according to the energy spectrum information.

[0010] Furthermore, the radiation dose rate acquisition method includes S31. Counting statistics: Obtain the count rate of the rays in each energy range, and by statistically analyzing the count rates in different energy ranges, obtain the radiation distribution of the radiation source in different energy segments; S32. Radiation source intensity evaluation: Evaluate the intensity of the radiation source by integrating the dose rate and count rate data in each energy range.

[0011] Furthermore, the return journey of the unmanned vehicle adopts automatic return journey planning, and the path planning method includes the following steps: S41. Obtain the current position; S42. Collect environmental data, where the environmental data includes terrain information, and obtain the position information of obstacles in the environmental data; S43. Obtain the position information of the highly radioactive contamination areas based on the nuclear radiation detection data; S44. Calculate the optimal path information using a path planning algorithm based on the obstacle information and the position information of the highly radioactive contamination areas.

[0012] Furthermore, the path planning method further includes: S45. Detect obstacle information and nuclear radiation information during the return journey. If new obstacle and / or new influence information of a new highly radioactive contamination area is detected, repeat steps S41 - S44 according to the position information and historical information of the new influence information to plan a new path.

[0013] Furthermore, the unmanned vehicle includes: a vehicle body, a traveling unit arranged on the vehicle body, a robotic arm arranged on the vehicle body, a nuclear radiation detector arranged at the end of the robotic arm, and the unmanned vehicle is connected to a remote control terminal.

[0014] A nuclear radiation detection method and its energy storage control system based on an unmanned vehicle disclosed by the present invention have the following beneficial effects compared with the prior art: It can achieve remote control for nuclear radiation detection, identify the target object through the collected information, store the detection data after identifying the target object, and can handle emergency detection operations for nuclear radiation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flowchart of a nuclear radiation detection method based on an unmanned vehicle of the present invention.

[0016] Figure 2 is an overall structural schematic diagram of a nuclear radiation detection unmanned vehicle of the present invention.

[0017] Figure 3 is a structural schematic diagram of the robotic arm in a nuclear radiation detection unmanned vehicle of the present invention.

[0018] Figure 4Schematic diagram of the connection structure between the detection unit and the robotic arm of a nuclear radiation detection unmanned vehicle according to the present invention.

[0019] Figure 5 Schematic diagram of the connection structure between the winch, release device and body sheet metal parts in a nuclear radiation detection unmanned vehicle according to the present invention Figure 1 。

[0020] Figure 6 Schematic diagram of the connection structure between the winch and the release device in a nuclear radiation detection unmanned vehicle according to the present invention Figure 2 。

[0021] Figure 7 Schematic diagram of the connection structure between the winch, release device and body sheet metal parts in a nuclear radiation detection unmanned vehicle according to the present invention Figure 3 。

[0022] Figure 8 Schematic diagram of the connection structure between the winch and the release device in a nuclear radiation detection unmanned vehicle according to the present invention.

[0023] Figure 9 For Figure 8 Schematic diagram of the exploded structure of a nuclear radiation detection unmanned vehicle according to the present invention shown in the figure.

[0024] Figure 10 Schematic diagram of the structure of the cable interface device in a nuclear radiation detection unmanned vehicle when it is in the closed state.

[0025] Figure 11 Schematic diagram of the structure of the cable interface device in a nuclear radiation detection unmanned vehicle when it is in the closed state and hides the cable connector.

[0026] Figure 12 Schematic diagram of the structure of the cable interface device in a nuclear radiation detection unmanned vehicle when it is in the loosened state.

[0027] Figure 13 Schematic diagram of the display interface of the operation terminal display screen of the traveling unit in a nuclear radiation detection unmanned vehicle according to the present invention.

[0028] Figure 14 Schematic diagram of the display interface of the operation terminal display screen of the detection unit in a nuclear radiation detection unmanned vehicle according to the present invention.

[0029] In the figure: 1. vehicle body; 1a. vehicle body sheet metal; 2. environmental observation camera; 3. robotic arm; 4. positioning wheel; 5. driving wheel; 6. wireless receiving antenna; 7. searchlight; 8. obstacle avoidance radar; 9. nuclide detector; 10. wired transmission device; 31. robotic arm shaft; 32. robotic arm base; 11. robotic arm operation camera; 12. robotic arm laser rangefinder; 13. nuclide detector probe; 100. cable interface device; 101. clamping plate; 102. insertion sleeve; 103. winch; 105. release base; 1051. strip-shaped through hole; 106. card slot; 108. support telescopic rod; 1081. power telescopic member; 1082. connecting plate; 1011. lever; 1012. movable hook; 1013. telescopic spring; 1014. notch connecting column; 10141. groove body; 10142. hanging interface; 10143. positioning column; 1015. four-lobe movable interface; 1016. cable connector; 10161. insertion socket; 41. first setting area; 42. first status bar; 43. video information on the left side of the vehicle body; 44. video information in front of the vehicle body; 45. video information behind the vehicle body; 46. video information on the right side of the vehicle body; 47. first map information; 48. speed and positioning information; 49. obstacle avoidance radar information; 51. second setting area; 52. second status bar; 53. detector video information; 54. second map information; 55. information such as nuclide, laser ranging, dose, robotic arm angle, etc. Detailed implementation mode

[0030] Now, the present invention will be further described in detail with reference to the accompanying drawings. The drawings are simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0031] The object of the present invention is to solve the above problems and provide a nuclear radiation detection method and its energy storage control system based on an unmanned vehicle.

[0032] Refer to Figure 1 , the technical solution of the present invention is: a nuclear radiation detection method based on an unmanned vehicle, including the following steps: Step 1: The vehicle travels, and at the same time, information is collected through the detection unit; Step 2: Determine the detection target according to the collected information, and control the vehicle to approach the detection target; Step 3: Detect radioactive substances in the detection target, and store the detection data; Step 4: The unmanned vehicle returns.

[0033] Specifically, refer to Figures 2 - 14, where the specific structure of the driverless vehicle in this application is as follows: The specific structure of a nuclear radiation detection driverless vehicle provided by this application includes a vehicle body 1. A traveling unit is arranged below the vehicle body 1. The traveling unit uses tracks, wheels, etc. to drive the vehicle body 1. In actual application, the traveling unit is controlled wirelessly or wiredly and is remotely controlled through an operation terminal. The above structure of the traveling unit can adopt existing technologies such as remote control vehicles and remote control aircraft in the current existing technologies, and the control methods thereof will not be elaborated here one by one. This application sets a robotic arm on the vehicle body, referring to Figure 3 , the robotic arm 3 includes a base connected to the vehicle body 1 and a robotic arm shaft connected to the base. The robotic arm shaft has at least three degrees of freedom. A nuclide detector is arranged at the end of the robotic arm 3. The robotic arm 3 also adopts wireless or wired remote control operation. By adjusting the degrees of freedom of the robotic arm 3, the orientation of the nuclide detector 9 at the end of the robotic arm 3 can be adjusted to facilitate nuclide detection of the environment. The wired transmission device 10 is plugged into a winch 103 arranged on the vehicle body. The cable is wound by the winch 103. The winch 103 is supported and limited by a support telescopic rod 108. One end of the cable wound on the winch 103 can be connected to a remote control terminal, and the other end is plugged into a cable connector on the vehicle body, so as to realize the connection between the vehicle body 1 and the remote control terminal; A control system, a communication transmission system, a positioning system, an environmental observation camera, an obstacle avoidance radar 8, a trailer hitch, a wired transmission device, a searchlight 7, and a traveling unit operation terminal are also integrated on the vehicle body; The robotic arm 3, a robotic arm operation camera 11, a robotic arm laser rangefinder 12, a nuclide detector, and a detection unit operation terminal. The traveling unit is a crawler-type traveling unit. Specifically, referring to Figure 2 , the crawler-type traveling mechanism is arranged on both sides of the vehicle body and includes tracks, positioning wheels, and driving wheels; The power source is a battery, which has an anti-spark function, and the cruising time is greater than 360 min; The maximum climbing angle of the driverless vehicle body 1 is 30 degrees, and the obstacle crossing height can reach 30 cm. The traveling unit includes two tracks arranged on both sides of the vehicle body. The track includes 6 pairs of positioning wheels and 1 pair of driving wheels; It is designed in two layers, with 3 on the upper layer and 4 on the lower layer. The 7 wheels jointly support the position of the track. Among them, 1 wheel on the upper layer at the tail is the driving wheel, and the driving wheel is driven by a motor to rotate to provide power for the movement of the driverless vehicle. The movement of the driverless vehicle is realized by the differential rotation of 2 pairs of driving wheels to change the moving direction and angle of the driverless vehicle body; The track used is an alloy rubber track, and the chassis and cavity are made of alloy material.

[0034] The communication transmission system is installed in the middle of the vehicle body cavity and is used for transmitting various information and data, including video signals, radiation dose rate data, radionuclide information, position coordinate information, ranging information, obstacle avoidance information, etc. The communication transmission system has two transmission methods, namely wireless transmission and wired transmission, supports wireless relay, supports 4G / 5G base station cloud control, and can perform precise autonomous navigation control based on the integrated positioning of BDS, GPS, SBAS, QZSS, etc. When the wireless transmission is blocked, the wired transmission is used as a supplementary alternative.

[0035] The positioning system is installed in the vehicle body and is used to determine the position information. The positioning function is based on two or more navigation systems such as Beidou / GPS; the environmental observation cameras are installed around the body of the unmanned vehicle and are used to observe the surrounding environment of the vehicle body; the obstacle avoidance radars are installed at the front and rear ends of the vehicle body, with a total of 4 obstacle avoidance radars designed at the front and rear, and an obstacle avoidance radar function switch is set on the operation terminal of the unmanned vehicle, and the function switch can be remotely controlled to be turned on or off, and the obstacle avoidance distance can be set independently. The obstacle avoidance radar is used to measure the distance from obstacles.

[0036] The trailer hitch is installed at both the front and rear ends of the unmanned vehicle body and is used to tow the unmanned vehicle to move by hanging a rope in special situations such as power failure of the unmanned vehicle; the searchlights are installed at both the front and rear ends of the unmanned vehicle body and are used for lighting operations in low-light scenarios.

[0037] Furthermore, during the movement of the unmanned vehicle, when the transmission cable is stuck, the winch that winds the transmission cable is discarded.

[0038] Specifically, the wired transmission device is installed at the rear end of the unmanned vehicle body and is integrally mounted on the unmanned vehicle through a cable reel. The cable reel has a motor that can rotate the wire reel to wind the cable, and is configured with a certain length (50-100 meters) of cable. The wireless transmission uses a wireless receiving antenna 6 for signal transmission and is used for wired transmission operations when the wireless transmission is blocked or for special needs. For example, when the unmanned vehicle enters complex environments such as the maze of the source storage room and underground pipelines, which may cause the wireless transmission to be blocked, the wired transmission operation is adopted. Refer to Figures 4 - 8 , the structure of the wired transmission device 10 is as follows: the wired transmission device 10 includes a release base 105 provided on the vehicle body 1 and two card slots 106 provided on opposite sides of the release base 105. Each card slot 106 is inserted and fitted with a card plate 101. The winch 103 is connected to the two card plates 101 and is disposed between the two card plates 101. A strip-shaped through hole 1051 is provided on the release base 105, and the release base 105 is fixed to the vehicle body 1 by passing a screw through the strip-shaped through hole 1051 and connecting it to the vehicle body sheet metal on the vehicle body 1.

[0039] Specifically, the tripping base 105 is a U-shaped plate structure. At both ends of the U-shaped plate body, clamping grooves 106 are integrally formed inward. Each clamping groove 106 is inserted and fitted with a clamping plate 101. The clamping plate 101 is specifically formed by bending a metal plate. The positions where the two ends of the plate body are bent are the clamping plates 101. The winch 103 is arranged between the two clamping plates 101. The winch 103 adopts the existing structure for cable storage in the prior art, and no specific limitation is made here as long as the use purpose can be achieved. Those skilled in the art should understand that the support telescopic rod 108 is arranged on the body 1 sheet metal. When in the support state, the support telescopic rod 108 is in the extended state. At this time, after the clamping plate 101 extends into the clamping groove 106, the support telescopic rod 108 below limits the metal plate. When it is necessary to separate the winch 103, by controlling the support telescopic rod 108 to contract, the clamping plate 101 and the winch 103 slide down under the action of gravity and are separated from the body 1.

[0040] Further, in the specific implementation manner of the seat, it further includes a connecting plate 1082 connecting the two clamping plates 101. A socket 102 adapted to the support telescopic rod 108 is arranged on the connecting plate 1082. The socket 102 is inserted and fitted with the support telescopic rod 108. Specifically, the socket 102 is arranged on the connecting plate 1082. When the support telescopic rod 108 supports the winch 103, the end of the support telescopic rod 108 extends into the socket 102, thereby supporting the clamping plate 101 and the winch 103. Through this setting method, the winch 103 can be better supported and positioned, avoiding the up-and-down movement of the clamping plate 101 in the clamping groove 106 during the running of the vehicle body 1, reducing the wear amount, and improving the service life.

[0041] Further, as a preferred implementation manner, refer to Figure 8 , along the interval direction of the two clamping grooves 106, there are two support telescopic rods 108 arranged at intervals, and the sockets 102 include two corresponding to the support telescopic rods 108 one by one. By arranging two support telescopic rods 108 and two support telescopic rods 108, a better support effect can be achieved and the support stability can be improved.

[0042] Further, as a specific implementation manner, refer to Figures 5 - 8 , a power telescopic rod is arranged on the vehicle body 1, and a rigid plate is arranged at the end of the power telescopic rod. The two support telescopic rods 108 are arranged at both ends of the rigid plate. Specifically, the power telescopic rod adopts an electric telescopic rod and is fixed on the body 1 sheet metal. A rigid rigid plate is threadedly connected to the end of the power telescopic rod. The two support telescopic rods 108 are fixedly arranged at both ends of the rigid plate. The telescopic movement of the support telescopic rod 108 is controlled by the telescopic movement of the power telescopic rod.

[0043] Further, as a specific implementation manner, the nuclide detector 9 includes a nuclide detector 9 probe, a manipulator 3 operation camera, and a manipulator 3 laser rangefinder. Specifically, referring to Figures 1 - 3 , the nuclide detector 9 is disposed at the top of the manipulator 3 and includes a nuclide detector probe 13. The radiation dose in the environment is detected by the nuclide detector probe 9, and the operation is assisted by the manipulator operation camera 11 and the manipulator laser rangefinder 12. The manipulator camera 11 can observe the image at the top of the manipulator 3. The manipulator laser rangefinder 12 has high-precision ranging and infrared night vision functions, and is used to measure the distance between the top of the manipulator 3 and the detected object to position the detected object.

[0044] Specifically, referring to Figure 13 , Figure 14 , Figure 13 is a schematic diagram of the interface of the remote operation terminal display screen for the walking unit of the unmanned vehicle, including a first setting area 41, a first status bar 42 for displaying the operating status, a vehicle body left video information area 43 for displaying the left side of the vehicle body, a vehicle body front video information area 44, a vehicle body right video information area 46, a first map information area 47, a speed and positioning information area 48, and an obstacle avoidance radar information area. Figure 14 is the display interface of the operation terminal display screen of the unmanned vehicle detection unit, including a second setting area 51, a second status bar 52, a detector video information display area 53, a second map information display area 54, and an information display area 55 such as nuclide, laser ranging, dose laser ranging, and manipulator angle. The working information can be displayed through the display screen.

[0045] Further, as a preferred implementation manner, referring to Figure 2 , along the traveling direction perpendicular to the vehicle body 1, environmental observation cameras 2 are disposed on both sides of the vehicle body 1. By setting the environmental observation cameras 2, visual acquisition of the surrounding environment can be performed and transmitted to the remote control terminal, which is convenient for controlling the vehicle according to the new image of the surrounding environment and effectively avoiding obstacles.

[0046] Further, as a specific implementation manner, referring to Figures 10 - 12 , it further includes a cable interface device 100. The cable interface device 100 includes a plugging cavity disposed on the vehicle body 1, a notch connection column 1014 that is guided and plugged into the plugging cavity, a four-lobe movable interface 1015 disposed at the end of the connection column, and a movable hook 1012 disposed on the side wall of the plugging cavity. The movable hook 1012 is in hanging engagement with the notch connection column 1014.

[0047] Further, as a specific implementation manner, a telescopic spring 1013 is further disposed between the end face of the notch connection column 1014 and the bottom of the plugging cavity.

[0048] Specifically, the insertion cavity is arranged on the vehicle body 1. An insertion socket 10161 for plugging and mating with the cable connector 1016 is arranged at the bottom of the insertion cavity. Specifically, the cable connector 1016 is a direct-insert type 4-pin female socket, and the insertion socket 10161 is a male plug. The notch connecting column 1014 is cylindrical. A strip-shaped groove body 10141 is arranged on one side, and a hanging interface 10142 is arranged on the other side. A positioning column 10143 extending into the strip-shaped groove is arranged on the side wall of the insertion cavity. An opening is arranged on the side wall of the insertion cavity, and a movable hook 1012 is rotatably arranged at the opening. The movable hook 1012 is rotatably connected to the opening through a pin shaft. A lever 1011 is arranged on the outer side wall of the insertion cavity. The lever 1011 is specifically an electric telescopic rod. Refer to Figure 10 , when the lever 1011 extends, it can push the end of the movable hook 1012 to deflect the other end towards the inside of the insertion cavity, so that the hook hooks the hanging interface 10142 of the notch connecting column 1014 to limit the hanging of the notch connecting column 1014; the end of the notch hanging column is connected with a four-petal movable interface 1015. Refer to Figure 11 , Figure 12 , the four-petal movable interface 1015 includes a four-petal structure. One end of the four-petal structure is connected to the notch connecting column 1014 and has elasticity. Under the action of its own elastic force, the end of the four-petal structure has a tendency to expand outwards. When the end of the notch hanging column is hooked with the movable hook 1012, the outer peripheral surface of the four-petal structure is limited and contracted by the inner peripheral surface of the insertion cavity, so that the outer peripheral surface of the cable connector 1016 is clamped by the inner peripheral surface of the four-petal structure, thereby clamping and limiting the cable connector 1016. The cable connector 1016 is connected to the transmission cable. When it is necessary to discard the winch 103, control the lever 1011 to retract. The elastic force of the telescopic spring 1013 acts to push the movable hook 1012 to swing, thereby pushing the notch connecting column 1014 to move to the Figure 11 shown state. At this time, the four-petal structure expands outwards, releases the cable connector 1016, and the cable connector 1016 is separated from the vehicle body 1.

[0049] Furthermore, as a preferred embodiment, a torsion spring (not shown in the figure) is arranged at the movable hook 1012 and the opening. Under the elastic force of the spring, the hanging end of the movable hook 1012 can be deflected in a direction away from the insertion cavity, so as to be more conducive to the separation of the movable hook 1012 from the notch connecting column 1014.

[0050] The operation terminal of the walking unit controls the actions of the traveling unit, and the operation terminal of the detection unit controls the actions of the detection unit. The sub-terminal controls the walking unit and the detection unit to prevent misoperations in the nuclear emergency state. The operation terminals of the walking unit and the detection unit are preferably tablet computers. The walking unit and the detection unit are separately controlled. The information of the walking unit is controlled by one operation terminal, including controlling the unmanned vehicle to perform automatic route planning and movement. The information of the detection unit is controlled by one operation terminal, and the task decomposition does not interfere with each other, which is beneficial to eliminating misoperations caused by human tension in the nuclear emergency state.

[0051] Further, referring to Figure 2 , the robotic arm is installed at the front of the vehicle body, with a multi-axis integrated design, connected to the nuclide detector, and can stretch, rotate and lift. Through the flexible rotation of the robotic arm, the nuclide detector can accurately control the detection height, angle and distance. The operation camera of the robotic arm is installed at the top of the robotic arm and is used to observe the image at the top of the robotic arm, with high-precision ranging and infrared night vision functions. The laser rangefinder of the robotic arm is installed at the top of the robotic arm and is used to measure the distance between the top of the robotic arm and the detected object. The nuclide detector is installed at the top of the robotic arm, including a detector, a signal amplifier and a data acquisition module, with nuclide identification mode, radiation dose rate mode, source search mode, expert mode and alarm function, and is used for nuclide type identification and radiation dose detection. The control and operation of the nuclide detector are mapped to the operation terminal of the detection unit through the communication transmission system, and the detection mode can be switched by the operation terminal of the detection unit.

[0052] Further, the wired transmission device is installed at the rear end of the unmanned vehicle and can carry a cable of 50-100 meters. The winch is driven by a motor, and the winch is controlled to wind and unwind the cable in a clockwise or counterclockwise rotation manner. The self-winding and unwinding device winds and unwinds the cable according to the forward state of the unmanned vehicle. When the unmanned vehicle goes straight, it winds and unwinds the cable at a constant speed. When the unmanned vehicle turns, due to the radius of the turn, it winds and unwinds the cable differentially to avoid the cable wound and unwound by the self-winding and unwinding device being too short or too long. Differential winding and unwinding means that during the turning process of the unmanned vehicle, the self-winding and unwinding device calculates the actual speed of the position where the self-winding and unwinding device is located according to the actual speed difference between the two tracks of the unmanned vehicle. For example, the speed of the inner track of the unmanned vehicle is V1, and the speed of the outer track is V2. The width of the unmanned vehicle is 0.8m, the self-winding and unwinding device is in the middle position of the unmanned vehicle, the turning radius of the outer track is r, the self-winding and unwinding speed is X, and the inner and outer tracks and the vehicle body have the same angular velocity W. Then the angular velocity W = V1 / r = V2 / (r - 0.8) = X / (r - 0.4).

[0053] Furthermore, the robotic arm and the robotic arm laser rangefinder can be integrally linked. In a specific measurement mode, the robotic arm will automatically move the nuclide detector to a preset distance from the object to be measured. Preferred preset distances are: 50 cm, 40 cm, 30 cm, 10 cm, etc.; the nuclide detector is installed at the front end of the robotic arm. Due to the integral linkage of the robotic arm and the robotic arm laser rangefinder, an intelligent linkage between the dose data detected by the nuclide detector and the movement command of the robotic arm is achieved; for example, if it is preset that the nuclide detector installed at the top of the robotic arm is at a preset distance of 50 cm from the object to be measured and no radiation dose data or the radiation dose data is too small is detected, the robotic arm will intelligently reduce the detection distance. Under the linkage of the robotic arm laser rangefinder through the movement of the robotic arm, the distance between the detector and the object to be measured is reduced to 40 cm and measured again, and the intelligent linkage between the dose data and the movement command is carried out in turn.

[0054] Furthermore, the functional operation interface of the nuclide detector is directly mapped to the operation terminal of the detection unit through a communication protocol, enabling the operation terminal of the detection unit to control the nuclide detector in real time, solving the deficiency of the single-mode operation of only being able to control the vehicle movement or the device power on / off in remote control. The functions of the nuclide detector can be remotely switched, such as the nuclide identification mode, the radiation dose rate mode, the source search mode, the expert mode, and the alarm function, etc. When it is necessary to measure the radiation dose rate, switch to the radiation dose rate mode, and when it is necessary to detect contaminated nuclides, switch to the nuclide identification mode, etc., so as to detect information such as the radiation dose, nuclide type, and location of radioactive contamination at the nuclear emergency site in real time. Furthermore, the unmanned vehicle is controlled by a remote control terminal, and the remote control terminal is connected to the unmanned vehicle through wired and wireless communication. Specifically, through the two communication connection methods of wired and wireless, it can be selected according to the detection environment, or both communication methods can be used simultaneously to ensure the reliability of communication.

[0055] Embodiment 1 Specifically, in the single-object nuclide detection scenario, the present application provides a detection method for a nuclear radiation detection unmanned vehicle, including the following steps: Step 1. Startup preparation: Check the appearance of the unmanned vehicle body 1 and the surrounding environment to ensure that there are no obstacles around the unmanned vehicle, and all components of the vehicle body are firmly connected. The robotic arm 3 is in the initial retracted state without obvious damage or abnormality. Turn on the power switch of the unmanned vehicle control. At this time, the control power supply starts to supply power to each control module in the vehicle. Wait for about 20 seconds to allow the internal control system of the unmanned vehicle to complete the self-check program. The self-check program will check whether systems including but not limited to the control system, communication system, and power system are working properly. If a fault occurs during the self-check, the corresponding fault code will be displayed on the operation terminal of the walking unit. After the self-check is completed and there is no fault prompt, turn on the power system of the unmanned vehicle and turn on the switch of the radionuclide detector 9. The radionuclide detector 9 starts to activate the internal electronic circuit and detector, and initializes its internal sensors, signal processing units, etc. Wait for about 30 seconds for the self-check program of the radionuclide detector 9 to complete to ensure that its detector, signal amplifier, data acquisition module, etc. are working properly. Turn on the operation terminal of the walking unit for controlling the walking unit and the operation terminal of the detection unit for controlling the detection unit respectively to perform system loading, including starting the operating system, loading the operation interface, and related control software. Wait for the operation interface to be fully loaded, and the operation terminals of the walking unit and the detection unit enter the operable state.

[0056] Step 2: Open and connect to the unmanned vehicle control system. The operator uses the network connection function on the operation terminal of the walking unit to establish a stable communication link between the operation terminal of the walking unit and the unmanned vehicle control system. The operation terminal of the walking unit displays the vehicle positioning information, which can be obtained through the in-vehicle GPS or Beidou positioning system, with a display accuracy of up to 5 cm. The displayed content includes longitude, latitude, altitude, etc. At the same time, the vehicle attitude tilt angle is displayed, which is provided by the in-vehicle gyroscope and accelerometer. The operator can judge whether the unmanned vehicle is in a horizontal state based on this information to prevent risks such as rollover during subsequent travel. The video signal of the vehicle body environment observation starts to be displayed on the operation terminal of the walking unit. This video signal comes from the environment observation cameras 2 installed at different positions on the unmanned vehicle body. The viewing angles of the environment observation cameras 2 cover the front, back, left, and right of the unmanned vehicle, and the operator can directly see the environmental conditions around the unmanned vehicle. The operator operates and controls the forward movement or turning of the unmanned vehicle through the control interface of the operation terminal of the walking unit. The control method is through a joystick or virtual buttons. According to the operation input, the in-vehicle control system adjusts the steering angle of the wheels according to the instructions. The operator can also control the switch of the obstacle avoidance radar 8 through the operation terminal of the walking unit. When the obstacle avoidance radar 8 is turned on, it emits millimeter-wave signals to the surrounding area and detects the distance and relative position of surrounding obstacles based on the time difference of the reflected signals. The detection range can reach 0.5 m, and the detected data is real-time fed back to the operation terminal of the walking unit, and obstacles in different distance ranges are represented by different colors or icons on the display interface. When operating in an environment that requires light supplementation, the switch of the high-power searchlight 7 can be turned on. After the searchlight 7 is turned on, it provides high-intensity lighting, which can illuminate the area in front of or behind the unmanned vehicle, facilitating the operator to observe the environment and providing a good vision for subsequent operations, especially in a dimly lit environment.

[0057] Step 3: Start the robotic arm 3 and the radionuclide detector 9; turn on and connect the control system of the robotic arm 3. The operator operates the connection function on the operation terminal of the detection unit to establish a communication link with the control module of the robotic arm 3; the operation terminal of the detection unit displays the video signal of the robotic arm operation camera 11 and the mapping signal of the radionuclide detector 9. The robotic arm operation camera 11 is installed on the robotic arm 3 and can adjust its viewing angle as the robotic arm 3 moves. Its video signal helps the operator accurately observe the working environment of the robotic arm 3; the mapping signal of the radionuclide detector 9 includes real-time data such as status and measurement parameters, such as the current background count rate, radiation dose rate, etc.; the operator controls the extension and retraction of the robotic arm 3 through the operation terminal of the detection unit, and inputs the extension length or uses the slider on the operation terminal of the detection unit to adjust the extension amount, controlling the robotic arm 3 to extend or retract the corresponding length; the operator controls the rotation of the robotic arm 3 along the robotic arm axis 31 through the rotation control button on the operation terminal of the detection unit, sending the control instruction to the robotic arm axis 31 of the robotic arm 3. The robotic arm axis 31 is equipped with a rotation motor, and they will accurately control the rotation angle of the robotic arm 3 according to the instruction; the operator can set the required lifting height on the operation terminal of the detection unit to control the lifting of the robotic arm 3, realizing the lifting operation of the robotic arm; by operating the extension, rotation and lifting of the robotic arm 3, the movement and detection of the radionuclide detector 9 are further operated; the operator accurately adjusts the position of the robotic arm 3 according to the video and mapping signals displayed on the operation terminal of the detection unit, so that the radionuclide detector 9 is in a suitable position and posture, preparing for subsequent detection.

[0058] Step 4: Approach the object to be measured and conduct detection; control the unmanned vehicle to approach the object to be measured. The operator operates the unmanned vehicle to move forward according to the vehicle positioning information and the vehicle body observation video signal displayed on the operation terminal of the walking unit, in combination with the known position of the target object. During the movement, according to the information fed back by the obstacle avoidance radar 8, when an obstacle is detected ahead, the operator can manually operate the unmanned vehicle to bypass or adjust the travel route. The travel speed of the unmanned vehicle can be controlled through the speed adjustment function on the operation terminal of the walking unit, and the speed range is between 0 and 30 km / h. At the same time, control the robotic arm 3 to approach the object to be measured according to a preset program. The preset program will specify the action sequence and movement trajectory of the robotic arm 3, such as extending to a certain length first, then rotating a certain angle, and then descending to a certain height, etc. During the process of the robotic arm 3 approaching the object to be measured, its movement speed will be adjusted according to the distance to ensure safe and precise operation. The nuclide detector 9 transmits the detection video and data information in real time during the process of approaching the object to be measured. The detection video can display the appearance of the object to be measured and the surrounding environment. The data information includes the ranging information of the robotic arm laser rangefinder 12, the real-time count, dose rate, energy spectrum information, etc. of the nuclide detector 9. These information will be transmitted to the detection unit operation terminal through the data link and displayed in real time on the operation interface. Measure when the nuclide detector probe 13 of the nuclide detector 9 reaches the predetermined position. The predetermined position can be set according to the shape, size and measurement requirements of the object to be measured, such as 5 cm away from the surface of the object to be measured. When the nuclide detector 9 reaches the predetermined position, start detecting the radioactive substances of the object to be measured. Its detection principle is to detect the γ rays emitted by the radioactive substances, convert the rays into electrical signals, and then process them through the signal processing and amplification circuit. Repeat the above steps multiple times to conduct a patrol survey of the radioactive spill pollution area.

[0059] Step 5: Data recording, the return journey of the unmanned vehicle and subsequent processing; After the measurement, the unmanned vehicle system automatically records the storage location information, including the precise position coordinates (longitude, latitude, altitude) of the unmanned vehicle during measurement, which is provided by the vehicle-mounted positioning system; Record the distance information, that is, the actual distance between the nuclide detector 9 and the object to be measured, which can be comprehensively calculated by the robotic arm laser rangefinder 12 and the vehicle-mounted positioning system; Record the radiation dose rate information, the nuclide detector 9 will store the detected radiation dose rate data, and at the same time will subdivide and record the dose rate according to different energy ranges and counting rates to analyze the characteristics of the radiation source; Determination of the name of the contaminated radionuclide, the nuclide detector 9 will analyze the detected energy spectrum according to its energy spectrum analysis function, and determine the name of the contaminated radionuclide by comparing with the energy spectrum database of known nuclides; Record data such as channel address / count, energy, measurement time, etc. The channel address represents the channel position of different energy segments in the energy spectrum, the count represents the ray count on this channel, and the energy represents the energy value of the detected ray. These data can help analyze the intensity and energy distribution of the radiation source; The operation terminal of the walking unit controls the unmanned vehicle to perform automatic route planning and return journey. The automatically planned route will consider the current position, terrain information (such as the map information stored in the vehicle-mounted system) and obstacle information to plan an optimized return route, and the unmanned vehicle will automatically drive according to the planned route; During the driving process, the operator can observe the driving situation of the vehicle through the operation terminal of the walking unit and can perform manual intervention at any time if an abnormality occurs. After returning, the unmanned vehicle will restore the robotic arm 3 and the unmanned vehicle to their initial positions. The robotic arm 3 will first lift the nuclide detector 9 to a safe height, then retract to the initial length and rotate to the initial angle; The unmanned vehicle will park at the designated parking position, its power system will gradually reduce the vehicle speed to zero, and then turn off the power system; Turn off the power of the nuclide detector 9, the robotic arm 3, the power supply of the unmanned vehicle and the control power supply in sequence; When turning off the nuclide detector 9, it will first stop data acquisition and the operation of the nuclide detector probe 13, and then turn off the internal signal processing unit and power supply; When turning off the power of the robotic arm 3, the electric push rod, the rotary motor, etc. will stop working; When turning off the power supply of the unmanned vehicle, the motor will stop running; When turning off the control power supply, the computing system and each control module of the unmanned vehicle will stop working; Perform decontamination operations if necessary. If during the measurement process, the body 1 of the unmanned vehicle or the robotic arm 3 may be radioactively contaminated, the operator will use special decontamination equipment, such as a high-pressure cleaner and decontamination agent, to clean the surfaces of the body 1 of the unmanned vehicle and the robotic arm 3. During the decontamination process, ensure the safety protection of the operator to avoid radiation contamination; The operator will wear a radiation protection suit and wear protective equipment such as a dosimeter, and collect the decontamination wastewater into a special container for treatment according to the local radioactive waste treatment regulations.

[0060] Embodiment 2 For the scenarios of scattered contamination and source search detection in radioactive areas, the present invention provides a nuclear radiation detection method for a nuclear radiation detection unmanned vehicle, comprising the following steps: Step 1: Startup preparation of the unmanned vehicle system; First, check the appearance of the unmanned vehicle and the surrounding environment, paying special attention to potential hidden obstacles caused by scattered contaminants, such as contaminated debris accumulation, uneven ground, etc.; Ensure that all components of the unmanned vehicle body are firmly connected, the robotic arm 3 is in the initial retracted state, without obvious damage or abnormality; At the same time, check whether the radioactive protection measures of the unmanned vehicle are in place, such as whether the shielding material is intact and the sealing is effective; Turn on the control power switch of the unmanned vehicle, and at this time, the control power starts to supply power to each control module inside the vehicle; Wait for about 20 seconds to allow the internal control system of the unmanned vehicle to complete the self-check program. If a fault occurs during the self-check, the corresponding fault code will be displayed on the operation terminal of the walking unit; After the self-check is completed and there is no fault prompt, turn on the power system of the unmanned vehicle, including the motor, engine, power locking program, etc.; For the complex road conditions that may exist in radioactive areas, such as potholes and mud, ensure the stable performance of the power system, and then turn on the switch of the nuclide detector 9. The nuclide detector 9 starts to activate the internal electronic circuit and detector, initializes its internal sensors, signal processing unit, etc., and waits for about 30 seconds until the self-check program of the nuclide detector 9 is completed to ensure that its detector, signal amplifier, data acquisition module, etc. can work normally. At the same time, calibrate the nuclide detector 9 to adapt it to the background radiation level of the radioactive area; Turn on the operation terminal of the walking unit for controlling the walking unit and the operation terminal of the detection unit for controlling the detection unit respectively. The two operation terminals will perform system loading, including starting the operating system, loading the operation interface, and relevant control software. Wait until the operation interface is fully loaded, and the operation terminal enters the operable state.

[0061] Step 2: Open and connect the unmanned vehicle control system. The operator establishes a stable communication link between the operation terminal and the on-vehicle control system of the unmanned vehicle. Considering that the radioactive area may interfere with the signal, multiple communication methods are reserved. The communication link can be based on wireless communication (such as Wi-Fi, 4G / 5G, etc.) or wired communication. The operation terminal of the walking unit displays the vehicle positioning information through the on-vehicle GPS or Beidou positioning system, including longitude, latitude, altitude, etc., with a display accuracy of up to 5 cm. The operator judges whether the unmanned vehicle is in a safe driving state according to the vehicle attitude tilt angle to avoid rollover or getting stuck in the contaminated area due to uneven ground. The body observation video signal starts to be displayed on the operation terminal of the walking unit. This video signal comes from the environmental observation cameras 2 installed at different positions on the body of the unmanned vehicle. The viewing angles of the environmental observation cameras 2 cover the front, back, left, and right of the unmanned vehicle body 1. The operator can intuitively see the surrounding environment of the unmanned vehicle, especially pay attention to the distribution of scattered pollutants, and plan the driving route in advance. The operator operates and controls the forward and turning of the unmanned vehicle through the control interface of the walking unit operation terminal. The control method can be through a joystick or virtual buttons to adjust the steering angle of the positioning wheel 4. The operator controls the switch of the obstacle avoidance radar 8 through the walking unit operation terminal. After the obstacle avoidance radar 8 is turned on, it emits millimeter-wave signals to the surrounding area. According to the time difference of the reflected signals, it detects the distance and relative position of the surrounding obstacles. The detection range can reach 0.5 m, and the detected data is real-time fed back to the walking unit operation terminal, and obstacles in different distance ranges are represented by different colors or icons on the display interface. Special attention should be paid to distinguishing ordinary obstacles and contaminated objects. Turn on the switch of the high-power searchlight 7. After the searchlight 7 is turned on, it provides high-intensity lighting, which can illuminate the area in front of or around the unmanned vehicle, facilitating the operator to observe the environment and providing a good vision for subsequent operations, especially in the radioactive area with dim light or smoke.

[0062] Step 3: Start the operation and control of the robotic arm 3 and the radionuclide detector 9. Turn on and connect the robotic arm control system. The operator operates the connection function on the detection unit operation terminal to establish a communication link with the control module of the robotic arm 3. The detection unit operation terminal displays the video signal of the robotic arm operation camera 11 and the mapping signal of the radionuclide detector 9. The robotic arm operation camera 11 is installed on the robotic arm 3 and can adjust its viewing angle as the robotic arm 3 moves. Its video signal helps the operator accurately observe the working environment of the robotic arm 3, especially when approaching objects that may be contaminated; the mapping signal of the radionuclide detector 9 includes the status of the detector, real-time display of measurement parameters, etc., such as the current background count rate, radiation dose rate, etc.; the operator controls the extension and retraction of the robotic arm 3 through the detection unit operation terminal, enters the extension length on the detection unit operation terminal or uses a slider to adjust the extension amount, so that it extends or retracts the corresponding length, and the electric push rod will drive the motor according to the control signal to drive the telescopic movement of the push rod; the rotation of the robotic arm 3, the operator sends control instructions to the rotary joint of the robotic arm 3 through the rotation control button on the detection unit operation terminal. The rotary joint is equipped with a rotary motor, which accurately controls the rotation angle of the robotic arm according to the instructions; the lifting of the robotic arm 3, the operator can set the required lifting height on the detection unit operation terminal, and the control signal will control the lifting mechanism of the robotic arm 3. The lifting mechanism can be composed of an electric cylinder and perform corresponding actions according to the signal to achieve the lifting operation of the robotic arm 3; by operating the extension, rotation and lifting of the robotic arm 3, the movement and detection of the radionuclide detector 9 are further operated; the operator accurately adjusts the position of the robotic arm 3 according to the video and mapping signals displayed on the detection unit operation terminal, so that the radionuclide detector 9 is in a suitable position and posture to prepare for subsequent detection, and special attention should be paid to avoiding direct contact between the detection device and the highly contaminated area.

[0063] Step 4: Approach the object to be measured and conduct detection; control the unmanned vehicle body 1 to approach the object to be measured. The operator operates the unmanned vehicle to move forward according to the vehicle positioning information displayed on the operation terminal of the walking unit and the video signal of the environmental observation camera 2, in combination with the position of the object to be measured. During the movement, according to the information fed back by the obstacle avoidance radar, when an obstacle is detected ahead, the operator can manually operate the unmanned vehicle to detour or adjust the travel route, and at the same time avoid entering high-pollution areas; the travel speed of the unmanned vehicle can be controlled through the speed adjustment function on the operation terminal of the walking unit, and the speed range is between 0 and 30 km / h, and the speed is reasonably adjusted according to the actual road conditions and pollution distribution. At the same time, control the robotic arm 3 to approach the object to be measured according to the preset program. The preset program will specify the action sequence and movement trajectory of the robotic arm 3, such as extending to a certain length first, then rotating a certain angle, and then descending to a certain height, etc. During the approach of the robotic arm to the object to be measured, its movement speed will be adjusted according to the distance to ensure safe and precise operation; during the approach of the nuclide detector 9 to the object to be measured, the environmental observation camera 2 and the robotic arm operation camera 11 display the appearance of the measured object and the surrounding environment, and transmit the detection video and data information in real time. The data information includes the ranging information of the robotic arm laser rangefinder 12, the real-time count, dose rate, energy spectrum information, etc. of the nuclide detector probe 13, and is transmitted to the detection unit operation terminal through the data link and displayed in real time on the operation interface; when the nuclide detector probe 13 reaches the predetermined position, measurement is carried out. The predetermined position can be set according to the shape, size and measurement requirements of the measured object, such as 5 cm away from the surface of the measured object; when the nuclide detector probe 13 reaches the predetermined position, the nuclide detector will automatically start the measurement operation. The detector starts to detect the surrounding radioactive substances. Its detection principle is to detect the γ rays emitted by the radioactive substances, convert the rays into electrical signals, and then process them through the signal processing and amplification circuit.

[0064] Step 5: Data recording, return of the unmanned vehicle and subsequent processing. After the measurement is completed, the unmanned vehicle system automatically records the storage location information, including the precise position coordinates (longitude, latitude, altitude) of the unmanned vehicle during measurement, which is provided by the vehicle-mounted positioning system. Record the distance information, that is, the actual distance between the probe 13 of the nuclide detector and the object to be measured, which can be comprehensively calculated by the robotic arm laser rangefinder 12 and the vehicle-mounted positioning system; record the radiation dose rate information, and the nuclide detector 9 will store the detected radiation dose rate data, and will also subdivide and record the dose rate according to different energy ranges and counting rates to analyze the characteristics of the radiation source; determination of the name of the contaminated radionuclide, the nuclide detector 9 will analyze the detected energy spectrum according to its energy spectrum analysis function, and determine the name of the contaminated radionuclide by comparing it with the energy spectrum database of known nuclides; record data such as channel address / count, energy, measurement time, etc. The channel address represents the channel position of different energy segments in the energy spectrum, the count represents the ray count on this channel, and the energy represents the energy value of the detected ray. These data can help analyze the intensity and energy distribution of the radiation source; the operation terminal of the walking unit controls the unmanned vehicle to perform automatic route planning and return. The automatically planned route will consider the current position, terrain information (such as the map information stored in the vehicle-mounted system) and obstacle information, and plan an optimal return route while avoiding high-pollution areas; the unmanned vehicle will automatically drive according to the planned route. During the driving process, the operator can observe the driving situation of the vehicle through the operation terminal of the walking unit and can perform manual intervention at any time if an abnormality occurs; after returning, the unmanned vehicle will restore the robotic arm 3 and the unmanned vehicle to their initial positions. The robotic arm 3 will first lift the nuclide detector 9 to a safe height, then retract to its initial length, and rotate to its initial angle; the unmanned vehicle will park at the designated parking position, and its power system will gradually reduce the vehicle speed to zero, then turn off the power system, and turn off the power supply of the nuclide detector 9, the robotic arm 3, the power supply of the unmanned vehicle and the control power supply in sequence; when turning off the nuclide detector 9, it will first stop data acquisition and detector operation, and then turn off the internal signal processing unit and power supply; when turning off the power supply of the robotic arm 3, the electric push rod, rotary motor, etc. will stop working; when turning off the power supply of the unmanned vehicle, the motor will stop running; when turning off the control power supply, the computing system and each control module of the unmanned vehicle will stop working; perform decontamination operations if necessary. If the unmanned vehicle or the robotic arm 3 may be radioactively contaminated during the measurement, the operator will use special decontamination equipment, such as a high-pressure cleaner and decontamination agent, to clean the surfaces of the unmanned vehicle and the robotic arm 3. During the decontamination process, ensure the safety protection of the operator to avoid radiation contamination; the operator will wear a radiation protection suit and wear protective equipment such as a dosimeter, and collect the decontamination wastewater into a special container for treatment according to the local radioactive waste treatment regulations.

[0065] Specifically, the method for obtaining the types of radionuclides includes: The nuclide detector collects the rays emitted by radioactive substances, converts the rays and then conducts data acquisition. The acquired data includes intensity information and energy information. Classification and statistics are performed based on the data to generate an energy spectrum, and the nuclide type is obtained according to the energy spectrum information.

[0066] Specifically, nuclide identification: data acquisition, the nuclide detector probe 13 in the nuclide detector 9 is responsible for detecting the γ rays emitted by radioactive substances; during the detection process, the nuclide detector 9 converts the received rays into electrical signals, and after these electrical signals are amplified by the signal amplifier, they are collected by the data acquisition module. The acquired data contains the intensity information and energy information of the rays; energy spectrum generation, the data acquired by the data acquisition module will be transmitted to the signal processing unit; the signal processing unit analyzes and processes these data, classifies and statistics the rays with different energies according to their energy magnitudes, and then generates an energy spectrum; the energy spectrum is presented in the form of a graph, with the abscissa representing the energy of the rays and the ordinate representing the ray count corresponding to the energy; through the energy spectrum, we can visually observe the distribution of rays with different energies; database comparison, comparing the generated energy spectrum with the energy spectrum database of known nuclides; the energy spectrum database stores the standard energy spectrum information of different nuclides, and this information is obtained through precise measurement and research on various nuclides; different nuclides have unique energy spectrum characteristics, that is, the intensity distribution of the rays they emit in different energy ranges is specific; for example, if there is an obvious dose rate peak in a certain energy range, and the energy corresponding to this peak is consistent with the characteristic energy of a known nuclide, it can be speculated that this nuclide may exist. Nuclide determination, according to the comparison result, select the nuclide with the highest similarity as the identification result. When the similarity between the measured energy spectrum and the energy spectrum of a certain nuclide exceeds the preset threshold, it can be preliminarily determined that the detected radioactive nuclide is this nuclide; for example, the nuclide can be determined as Co-60 through the energy peaks 1173.2 keV and 1332.5 keV; if there are multiple nuclides whose energy spectra have relatively high similarities with the measured energy spectrum, further analysis of other characteristics, such as the ray intensity ratio in different energy intervals, the fine structure of the energy spectrum, etc., is required to comprehensively judge and determine the final nuclide type.

[0067] Furthermore, the method for obtaining the radiation dose rate includes S31. Counting statistics, in each energy range, obtain the count rate of the rays. By statistically analyzing the count rates in different energy ranges, obtain the radiation distribution of the radiation source in different energy segments; specifically, in each energy range, count the number of rays recorded by the nuclide detector 9 per unit time, that is, the count rate; the count rate reflects the intensity of the radiation in this energy range and is one of the important parameters for analyzing the characteristics of the radiation source; by statistically analyzing the count rates in different energy ranges, the radiation distribution of the radiation source in different energy segments can be understood.

[0068] S 32. Radiation source intensity assessment: By integrating the dose rate and count rate data in each energy range, the intensity of the radiation source is evaluated. Specifically, by integrating the dose rate and count rate data in each energy range, the intensity of the radiation source can be evaluated. The intensity of the radiation source is positively correlated with the dose rate and count rate. The higher the dose rate and count rate, the greater the intensity of the radiation source usually indicates. By analyzing the data recorded at different time points, the change of the radiation source intensity over time can also be understood to determine whether the radiation source is stable.

[0069] Furthermore, the unmanned vehicle uses automatic return path planning when returning, and the path planning method includes the following steps: S41. Obtain the current position; S42. Collect environmental data, where the environmental data includes terrain information, and obtain the position information of obstacles in the environmental data; S43. Obtain the position information of the highly radioactive contaminated area according to the nuclear radiation detection data; S44. Calculate the optimal path information using a path planning algorithm based on the obstacle information and the position information of the highly contaminated area.

[0070] Furthermore, the path planning method also includes: S45. Detect obstacle information and nuclear radiation information during the return journey. If new obstacle and / or new influence information of a new highly contaminated area is detected, repeat steps S41 - S44 according to the position information and historical information of the new influence information to plan a new path.

[0071] Specifically, the method for the driverless vehicle to automatically plan the return route is as follows: (1) Obtain the current location information: The driverless vehicle relies on the on-vehicle positioning system to obtain accurate position coordinates, including longitude, latitude, and altitude, with a positioning accuracy of up to 5 cm. These real-time position data are the basis for planning the return route. The operation terminal of the walking unit receives and displays this information, providing the starting point data for route planning; (2) Collect environmental data: Terrain information, the on-vehicle system pre-stores local map information, including data such as terrain, slope, and gully distribution; Obstacle information, the obstacle avoidance radar continuously works to detect the distance and relative position of surrounding obstacles in real time, with a detection range of 0.5 m; The system integrates the obstacle information, differentiates between ordinary obstacles and contaminated objects, and marks the no-go areas to prevent the driverless vehicle from colliding with or entering the contaminated areas; (3) Contaminated area information: During the task execution, the radiation dose rate data obtained by the nuclide detector 9 will be used to mark the high-contamination areas; Areas with a radiation dose rate exceeding a certain threshold (such as 50 μSv / h, which can be adjusted according to the actual situation) are identified as high-contamination areas and need to be avoided during route planning; (3) Route calculation and optimization: Algorithm selection, the path planning algorithm is adopted. Taking the A algorithm as an example, the optimal path is found by calculating the sum of the actual cost (such as driving distance) from the starting point to each node and the estimated cost (such as straight-line distance) from the node to the end point; During the calculation process, the terrain, obstacles, and contaminated areas are regarded as high-cost areas to guide the algorithm to avoid these areas; Data processing, convert the data such as position, terrain, obstacles, and contaminated areas into a format recognizable by the algorithm, and construct a map grid model; Each grid corresponds to a certain geographical area and is assigned a corresponding cost. For example, the cost of a flat, obstacle-free, and pollution-free area is 1, the cost of a steep slope area is 5, and the cost of obstacles and high-contamination areas is set to a maximum value (such as 9999) to ensure that the algorithm will not select these areas; Path search, the algorithm takes the current location as the starting point and the specified parking location as the end point, and searches for the path with the minimum cost in the map grid model; During the search process, the cost and path of the nodes are continuously updated until the optimal path to the end point is found; (4) Output and execute the planned route: The operation terminal of the walking unit presents the planned route in a visual manner and simultaneously sends instructions to the power system of the driverless vehicle. The driverless vehicle automatically drives according to the planned route; During the driving process, the system monitors the vehicle position and environmental changes in real time; (5) Monitoring and adjustment: If the obstacle avoidance radar 8 detects newly emerged obstacles or the nuclide detector 9 discovers that the radiation dose rate change results in a new high-contamination area in front of the route, the system will re-plan the route; During re-planning, repeat the above data collection and route calculation steps to adjust the route to avoid dangerous areas and ensure the safe return of the driverless vehicle.

[0072] The specific adjustment steps of the robotic arm 3 are as follows: (1) Data acquisition; the robotic arm laser rangefinder 12 installed on the robotic arm 3 measures the distance between the robotic arm 3 and the object to be measured in real time, and transmits the ranging information to the operation terminal of the detection unit through the data link. The nuclide detector 9 transmits the real-time count, dose rate, energy spectrum information, etc. of the detector probe 13 in real time during the approaching process. These data are displayed on the operation terminal of the detection unit to provide a reference for speed adjustment.

[0073] (2) Speed adjustment; Long-distance adjustment (greater than 1m): When the distance measured by the laser rangefinder is greater than 1m, to improve work efficiency, the robotic arm 3 can move at a relatively fast speed within a safe range, such as setting the speed to 70%-80% of the maximum speed. At this speed, the robotic arm 3 can quickly approach the object to be measured while ensuring enough time to react in case of emergencies; Medium-distance adjustment (0.5m - 1m): When the distance shrinks to the range of 0.5m - 1m, to avoid operation errors caused by too high a speed, the speed of the robotic arm 3 needs to be appropriately reduced, and it can be adjusted to 40%-60% of the maximum speed. At this stage, the operator needs to pay closer attention to the movement state of the robotic arm 3 and the surrounding environment, and fine-tune the movement trajectory of the robotic arm according to the information fed back by the nuclide detector probe 13; Short-distance adjustment (less than 0.5m): When the distance is less than 0.5m, to achieve precise operation, ensure that the nuclide detector 9 accurately reaches the predetermined position and avoid colliding with the object to be measured, the speed of the robotic arm 3 should be further reduced and set to 10%-30% of the maximum speed. At this stage, every movement of the robotic arm 3 needs to be precisely controlled. The operator accurately adjusts the position and posture of the robotic arm 3 according to the video of the robotic arm operation camera 11 and the mapping signal displayed on the operation terminal of the detection unit. (3) Dynamic adjustment: During the movement of the robotic arm 3, the robotic arm laser rangefinder 12 monitors the distance information in real time. If during medium-distance movement, the detector probe 13 detects a sudden large change in the radiation dose rate, it may mean approaching a highly contaminated area or encountering special circumstances. At this time, the robotic arm 3 immediately reduces its speed, such as adjusting the speed to the short-distance movement speed range, and pauses the movement, waiting for the operator to confirm safety before continuing the operation; (3) Implementation of speed adjustment: The operator inputs the corresponding speed adjustment instructions on the operation terminal of the detection unit, and the control signal will be transmitted to the actuating components such as the electric push rod, rotary motor, and lifting mechanism of the robotic arm 3. These components adjust the rotational speed and torque of the motor according to the control signal, thereby realizing the adjustment of the movement speed of the robotic arm 3; For example, after receiving the instruction to reduce the speed, the electric push rod slows down the telescopic speed of the push rod by reducing the rotational speed of the motor, thereby reducing the overall movement speed of the robotic arm.

[0074] Embodiment 3 For the radioactive detection scenario in a special environment, the nuclear radiation detection method of the present invention for a nuclear radiation detection unmanned vehicle includes the following steps: Step 1: Startup preparation of the driverless vehicle system; comprehensively check the appearance of the driverless vehicle and the surrounding environment. For indoor environments, pay attention to obstacles such as narrow passages and fixed facilities. In gully environments, focus on checking terrain undulations, soil softness, etc.; ensure that all components of the driverless vehicle body 1 are firmly connected, the robotic arm 3 is initially retracted and there are no damages or abnormalities; turn on the control power switch of the driverless vehicle and supply power for about 20 seconds to complete the self-check of the internal control system, covering the computing system, communication module, sensor module, power module, etc. The fault code is displayed in real time on the operation terminal of the walking unit; after the self-check is fault-free, start the power system of the driverless vehicle, including the motor, engine, power locking program, etc.; for complex gully environments, the torque output and crawler grip of the power system can be checked in advance; turn on the switch of the nuclide detector 9 and wait for about 30 seconds to complete the self-check to ensure the normal operation of the nuclide detector probe 13, signal amplifier, data acquisition module, etc. Turn on the operation terminal of the walking unit that controls the walking unit and the operation terminal of the detection unit that controls the detection unit respectively. The two operation terminals will perform system loading, including starting the operating system, loading the operation interface and relevant control software. Wait for the operation interface to be fully loaded, and the operation terminal enters the operable state.

[0075] Step 2: Turn on and connect to the driverless vehicle control system, and establish a stable communication link with the vehicle-mounted control system through the operation terminal of the walking unit based on wireless (Wi-Fi, 4G / 5G, etc.) or wired communication; the operation terminal of the walking unit displays the vehicle positioning information (accuracy 5 cm, including longitude, latitude, altitude), provided by the GPS or Beidou positioning system; at the same time, it displays the vehicle attitude tilt angle, provided by the gyroscope and accelerometer, so as to judge whether the vehicle is driving safely in gully environments and whether there are risks of abnormal bumps and collisions indoors; the video signal of the environmental observation camera 2 is displayed on the operation terminal of the walking unit, and the operator operates the driverless vehicle to move forward and turn accordingly, and controls the steering mechanism to adjust the wheel angle through the joystick or virtual buttons; the operator can control the switch of the obstacle avoidance radar. After it is turned on, it emits millimeter wave signals to detect the distance and relative position of obstacles (detection range 0.5 m), and the data is fed back to the operation terminal of the walking unit in real time; in indoor environments, it can effectively avoid obstacles such as desks, chairs, and walls; in gully environments, it can identify gully edges, boulders, etc.; provide lighting in areas with insufficient indoor light or at night in gully environments, and turn on the high-power searchlight for easy environmental observation.

[0076] Step 3: Start the operation control of the robotic arm 3 and the nuclide detector 9; Turn on and connect the control system of the robotic arm 3, and establish a communication link between the operation terminal of the detection unit and the control module of the robotic arm 3; The operation terminal of the detection unit displays the video signal of the robotic arm operation camera 11 and the mapping signal of the nuclide detector 9, including detector status, measurement parameters, etc.; The operator controls the telescoping, rotation, and lifting of the robotic arm 3 through the operation terminal of the detection unit, and the electric push rod, rotation motor, and lifting mechanism act according to the control signal; In the indoor environment, pay attention to the extension space of the robotic arm 3 to avoid colliding with indoor facilities; In the gully environment, adjust the position of the robotic arm 3 according to the terrain to ensure stable detection; According to the video and mapping signals displayed on the operation terminal of the detection unit, precisely adjust the position of the robotic arm 3 so that the nuclide detector 9 is in a suitable posture for detection preparation.

[0077] Step 4: Approach the object to be detected and conduct detection; The operator controls the unmanned vehicle to approach the object to be detected based on the vehicle positioning and the observation video signal of the environmental observation camera 2 displayed on the operation terminal of the walking unit; Operate in combination with the room layout and the target position in the indoor environment; In the gully environment, refer to the terrain data and obstacle avoidance information to adjust the travel route and control the travel speed; Control the robotic arm 3 to approach the object to be detected according to the preset program, and the movement speed is adjusted according to the distance; In the indoor environment, the preset program should consider the space limitation; In the gully environment, adjust the action of the robotic arm 3 according to the depth, slope, etc. of the gully; During the approach of the nuclide detector 9, the detection video and data information are transmitted in real time, including the ranging information of the robotic arm laser rangefinder 12, the real-time count, dose rate, energy spectrum information, etc. of the nuclide detector probe 13, and are displayed on the operation terminal of the detection unit. When the nuclide detector probe 13 reaches the predetermined position (such as 5 cm away from the surface of the object to be measured), the measurement automatically starts, and the detector detects the γ rays emitted by the radioactive substance and converts them into electrical signals for processing.

[0078] Step 5: Data recording, return of the unmanned vehicle and subsequent processing; After the measurement is completed, the unmanned vehicle system automatically records and stores data such as position information (longitude, latitude, altitude), distance information, radiation dose rate information, names of radioactive nuclides causing pollution, channel address / count, energy, measurement time, etc.; The operation terminal of the walking unit controls the automatic route planning and return of the unmanned vehicle, and plans the route according to the map and obstacle information in the indoor environment; In the gully environment, considering factors such as terrain, slope, and obstacles, plan the optimal return route, and the unmanned vehicle automatically travels according to the planned route, and the operator can intervene at any time; After returning, restore the robotic arm 3 and the unmanned vehicle to their initial positions, and turn off the power of the nuclide detector 9, the robotic arm 3 power supply, the unmanned vehicle power supply, and the control power supply in sequence; If the unmanned vehicle body 1 or the robotic arm 3 may be radioactively contaminated, use special decontamination equipment for decontamination operations to ensure the safety protection of the operator, and handle the decontamination wastewater according to regulations.

[0079] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A nuclear radiation detection method based on an unmanned vehicle, characterized in that: The following steps are involved: Step 1: The vehicle moves while collecting information through the detection unit; Step 2: Determine the detection target based on the collected information, and control the vehicle to approach the detection target; Step 3: Conduct radioactive material detection on the detection target and store the detection data; Step 4: The unmanned vehicle returns.

2. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle is controlled by a remote control terminal, which is connected to the unmanned vehicle via wired and wireless communications.

3. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 2, characterized in that: In step three, the detection data includes the type of radionuclide, radiation dose rate, and detection target location information.

4. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 1, characterized in that: When the transmission cable is stuck during the travel of the unmanned vehicle, the winch around which the transmission cable is wound is discarded.

5. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 2, characterized in that: The wireless communication connection between the unmanned vehicle and the control terminal adopts at least one of Wi-Fi, 4G, and 5G.

6. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 3, characterized in that: Methods for obtaining radionuclide types include: The nuclide detector detects the rays emitted by radioactive materials, converts the rays into data and then collects the data. The collected data includes intensity information and energy information. The data is classified and counted to generate an energy spectrum, and the type of nuclide is obtained based on the energy spectrum information.

7. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 3, characterized in that: Radiation dose rate acquisition methods include S31, counting statistics, obtaining the counting rate of the rays in each energy range, and obtaining the radiation distribution of the radiation source in different energy segments by counting the counting rates in different energy ranges; S32. Radiation source intensity assessment: Comprehensive dose rate and count rate data in each energy range to assess the intensity of the radiation source.

8. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 1, characterized in that: The unmanned vehicle returns by automatically planning the return trip, and the path planning method includes the following steps: S41, obtaining the current location; S42, collecting environmental data, the environmental data including terrain information, and obtaining obstacle location information in the environmental data; S43, obtaining location information of the nuclear radiation high pollution area according to the nuclear radiation detection data; S44. Calculate the optimal path information using a path planning algorithm based on the obstacle information and the location information of the high-pollution area.

9. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 8, characterized in that: The path planning method also includes: S45. On the return journey, obstacle information and nuclear radiation information are detected simultaneously. If new obstacles and / or new impact information of new highly contaminated areas are detected, steps S41-S44 are repeated according to the location information and historical information of the new impact information to plan a new route.

10. The method for detecting nuclear radiation based on an unmanned vehicle according to claim 2, characterized in that: The unmanned vehicle includes: a vehicle body, a walking unit arranged on the vehicle body, a mechanical arm arranged on the vehicle body, a nuclear radiation detector arranged at the end of the mechanical arm, and the unmanned vehicle is connected to a remote control terminal.

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