Radioactive source searching and positioning method based on unmanned aerial vehicle

Abstract

The invention provides a radioactive source searching and positioning method based on an unmanned aerial vehicle, and the method comprises the following steps: S1, enabling the unmanned aerial vehicle to fly in a nuclear radiation field, monitoring the radiation dose of a current position through a radiation detector, and positioning the current position in real time through a positioning system; s2, controlling the unmanned aerial vehicle to collect radiation intensity of the radioactive source at a plurality of different spatial positions near the radioactive source, and recording coordinate information of collection points; s3, the background monitoring center collects a radioactive source radiation signal intensity value transmitted by the unmanned aerial vehicle, and converts the collected radioactive source radiation intensity into the distance from the unmanned aerial vehicle to the radioactive source; and S4, calculating the relative position of the unknown signal source by adopting a triangulation positioning method, and realizing the positioning of the radioactive source. The unmanned aerial vehicle is used for triangulation positioning method three-dimensional measurement, data measurement and transmission are faster and more efficient, positioning of the radioactive source is more accurate, the positioning efficiency is high, the investment of manpower and material resources is small, and the radioactive source can be quickly and accurately positioned.

Description

Technical Field

[0001] The present invention relates to the field of radioactive source search and positioning methods, and in particular to a radioactive source search and positioning method based on an unmanned aerial vehicle (UAV). Background Art

[0002] Radioactive sources are widely used in various sectors of the national economy, including industry, agriculture, and medicine, bringing significant benefits to humanity. However, radioactive sources can also release high-energy rays or particles, such as gamma rays and neutrons. These ionizing radiations can damage cell tissue and thus harm the human body.

[0003] The use of radioactive sources is potentially dangerous if they are leaked, lost, or stolen. Therefore, in addition to monitoring radioactive sources, they must also be quickly located and located to mitigate the potential harm.

[0004] Currently, the most commonly used instruments for monitoring radioactive sources are dosimeters and spectrometers. However, these devices typically lack localization capabilities, requiring a blanket search or the fusion of information from multiple detectors. This search process requires significant manpower, material resources, and computing resources, and positioning accuracy is difficult to guarantee, resulting in a lengthy and time-consuming process.

[0005] However, with the continuous development of drone technology, drones are now often used in radioactive source search missions. However, after arriving near a radioactive source, drones still need to fly back and forth to find the location of maximum radiation intensity and thus determine the specific location of the radiation source. This positioning method places certain requirements on the drone's functional design and battery life.

[0006] In view of this, the inventors of the present application have designed a radioactive source search and positioning method based on drones in order to overcome the above technical problems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the defects of the prior art that the instruments used for radioactive source detection do not have a positioning function, require a large amount of manpower, material resources and computing resources, and are difficult to ensure positioning accuracy, and require high requirements, and provide a radioactive source search and positioning method based on drones.

[0008] The present invention solves the above technical problems through the following technical solutions:

[0009] A radioactive source search and positioning method based on an unmanned aerial vehicle (UAV) is characterized in that the radioactive source search and positioning method comprises the following steps:

[0010] S1. Use drones to fly over the nuclear radiation site, with radiation detectors monitoring the radiation dose at the current location and using a positioning system to locate the current location in real time;

[0011] S2. Controlling the drone to collect radiation intensity of the radiation source at multiple different spatial locations near the radiation source, and recording coordinate information of the collection points;

[0012] S3. The backend monitoring center collects the radiation signal intensity value of the radioactive source transmitted by the drone, and converts the collected radiation intensity value of the radioactive source into the distance between the drone and the radioactive source;

[0013] S4. Use triangulation to calculate the relative position of the unknown signal source and locate the radiation source.

[0014] According to one embodiment of the present invention, step S1 includes:

[0015] S 11 , controlling the drone to fly over the nuclear radiation site through a background monitoring control center or controller, and using the radiation detector to monitor the radiation dose at the current location in real time during the flight;

[0016] S 12 , use the GPS positioning system to locate the current position in real time, and the controller transmits the radiation dose and the information corresponding to the current position to the background monitoring platform through the wireless communication module in real time.

[0017] According to an embodiment of the present invention, step S2 further includes: during the drone search process, when an abnormal increase in the radiation intensity of the radiation source is monitored, it is determined that the drone has flown near the radiation source.

[0018] According to one embodiment of the present invention, the distance from the drone to the radiation source is calculated using the following formula:

[0019] Among them, I represents the radiation intensity, P represents the power of the radiation source, and R represents the distance between the drone and the radiation source.

[0020] According to one embodiment of the present invention, the drone carries a gamma radiation measurement module.

[0021] According to an embodiment of the present invention, the number of the spatial positions in step S2 is greater than or equal to 3.

[0022] According to one embodiment of the present invention, step S4 includes:

[0023] S 41The drone collects radiation intensity values ​​of the monitored radioactive sources at at least three different spatial locations, and transmits the received radiation signal intensity values ​​to a background monitoring center for unified processing;

[0024] S 42 The background monitoring center uses the collected radiation intensity values ​​of the radioactive source and the data collection location of the drone to perform calculations and analysis to determine the location of the radiation signal source of the radioactive source, which is the location of the radioactive source.

[0025] According to one embodiment of the present invention, the x, y, z values ​​of the coordinates (x, y, z) of the location of the radiation source are:

[0026]

[0027] The positive progress effect of the present invention is:

[0028] The present invention is based on a radioactive source search and positioning method using an unmanned aerial vehicle (UAV). By using the UAV to perform triangulation and stereoscopic measurement, data measurement and transmission are faster and more efficient, the positioning of the radioactive source is more accurate, the positioning efficiency is high, the investment in manpower and material resources is small, and the radioactive source can be quickly and accurately located.

[0029] The radioactive source search and positioning method based on drones can be applied to any drone with positioning and radioactive source monitoring functions, greatly reducing the difficulty of developing radioactive source search drones and the source search costs of the user units. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which like reference numerals represent like features throughout, wherein:

[0031] Figure 1 This is a positioning principle diagram of the radioactive source search and positioning method based on drones of the present invention.

[0032] Figure 2 This is a schematic diagram of the positioning points for collecting radiation intensity of a UAV relative to a radiation source in the UAV-based radiation source search and positioning method of the present invention. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to represent the same or similar parts.

[0035] Furthermore, although the terms used in the present invention are selected from well-known and commonly used terms, some terms mentioned in the present specification may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description herein.

[0036] Furthermore, it is required that the present invention be understood not only by the actual terms used but also by the meanings connoted by each term.

[0037] Figure 1 This is a positioning principle diagram of the radioactive source search and positioning method based on drones of the present invention. Figure 2 This is a schematic diagram of the positioning points for collecting radiation intensity of a UAV relative to a radiation source in the UAV-based radiation source search and positioning method of the present invention.

[0038] like Figure 1 and Figure 2 As shown, the present invention discloses a method for searching and locating radioactive sources based on a drone, which includes the following steps:

[0039] Step S1: A drone is used to fly over the nuclear radiation site, a radiation detector monitors the radiation dose at the current location, and a positioning system is used to locate the current location in real time.

[0040] Preferably, the step S1 includes:

[0041] Step S 11 , the UAV is controlled to fly at the nuclear radiation site through a background monitoring control center or controller, and during the flight, the radiation detector is used to monitor the radiation dose at the current location in real time.

[0042] Here, the background monitoring control center can receive the coordinate position of the collection point and the radiation source intensity collected at the coordinate position.

[0043] Step S 12 , use the GPS positioning system to locate the current position in real time, and the controller transmits the radiation dose and the information corresponding to the current position to the background monitoring platform through the wireless communication module in real time.

[0044] Step S2: Control the drone to collect radiation intensity data from multiple spatial locations near the radiation source and record the coordinates of the collection points. The number of spatial locations is preferably three or more, i.e., three or more collection points. This is because only when there is a unique intersection of at least three spheres can the location of the radiation source be determined.

[0045] The drone preferably carries a gamma radiation measurement module. After the radioactive source search drone detects the radiation signal from a radioactive source using the gamma radiation measurement module, it records its current location and radiation intensity, then flies to two other nearby locations and simultaneously collects the radiation intensity values ​​of the radioactive source monitored at those locations.

[0046] The background monitoring control center or controller controls the drone to fly at the nuclear radiation site. During the flight, the radiation detector monitors the radiation dose at the current location in real time. At the same time, the GPS positioning system locates the current location in real time. The controller transmits the radiation dose and the corresponding current location information to the background monitoring platform through the wireless communication module in real time.

[0047] Preferably, step S2 further includes: during the search process of the UAV (such as a radiation source search UAV), when an abnormal increase in the radiation intensity of the radiation source is detected, it can be determined that the UAV has flown near the radiation source.

[0048] Step S3: The background monitoring center collects the radiation signal intensity value of the radioactive source transmitted by the drone, and converts the collected radiation intensity of the radioactive source into the distance from the drone to the radioactive source.

[0049] Step S4: Use triangulation to calculate the relative position of the unknown signal source to locate the radiation source.

[0050] The background monitoring center uses the collected radiation intensity values ​​of the radioactive source and the data collection location of the drone to perform calculations and analysis to determine the location of the radiation signal source of the radioactive source, that is, the location of the radioactive source.

[0051] The radioactive source search drone is controlled to collect radiation intensity data at three different locations near the source, recording the coordinates of the collection points. The intensity of the radiation signal from the monitored source is collected and transmitted along with the spatial location to the backend monitoring center for centralized processing.

[0052] Usually, a single radiation source is generally small in size, and the radiation impact on the surrounding environment can often be regarded as point source radiation. The radiation impact can be approximated as spherical wave propagation. The radiation distance refers to the distance at which the radiation source has a radiation impact on the surrounding environment.

[0053] The background monitoring center collects the radiation signal intensity value of the radioactive source transmitted by the radioactive source search drone, and uses the "Bessel-Universal Formula" of the radiation intensity within a specific distance to

[0054] Since the distance between the drone and the radiation source is different at different locations, the intensity of the radiation signal received from the radiation source is also different. According to the formula "Bessel-Universal Formula" for calculating the radiation intensity within a specific distance, the collected radiation intensity of the radiation source is converted into the distance from the drone to the radiation source, that is: I = P / 4πR 2 .

[0055] Therefore, the distance from the drone to the radiation source is preferably calculated using the following formula:

[0056]

[0057] Where I represents the radiation intensity, P represents the power of the radiation source, and R represents the distance between the drone and the radiation source. The unit of radiation intensity I is watts per square meter (w / m 2 ).

[0058] Here, the radiation intensity I is inversely proportional to the collection distance. The collected radiation intensity is converted to the distance from the collection point to the radiation source. A sphere is drawn with this distance as the radius. The intersection of the three spheres represents the control position of the radiation source. The power P of the radiation source is known and is a fixed value, acquired during operation with the radiation source.

[0059] Preferably, the step S4 includes:

[0060] Step S 41 The drone collects radiation intensity values ​​of the monitored radioactive sources at at least three different spatial locations, and transmits the received radiation signal intensity values ​​to a background monitoring center for unified processing;

[0061] Step S 42 The background monitoring center uses the collected radiation intensity values ​​of the radioactive source and the data collection location of the drone to perform calculations and analysis to determine the location of the radiation signal source of the radioactive source, which is the location of the radioactive source.

[0062] The triangulation positioning method is used to calculate the relative position of the unknown signal source and locate the radiation source.

[0063] Combine Figure 1 and Figure 2 , assuming that the coordinates of the three spatial points A, B, and C where the radiation source search drone collects radiation intensity are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), respectively. The collected radiation source irradiation intensities are I A , I B , I C , then the distance between the UAV and the radiation source at the collection points A, B, and C is R A 、R B 、R C:

[0064]

[0065]

[0066]

[0067] Assuming the coordinates of the radiation source are (x, y, z), then

[0068] (x1-x) 2 +(y1-y) 2 +(z1-z) 2 =R A 2

[0069] (x2-x) 2 +(y2-y) 2 +(z2-z) 2 =R B 2

[0070] (x3-x) 2 +(y3-y) 2 +(z3-z) 2 =R C 2

[0071] By using the above formula, the x, y, z values ​​of the coordinates (x, y, z) of the location of the radiation source can be obtained as follows:

[0072]

[0073] Of course, the above embodiment is only one form of the present invention and does not limit the number, location, or calculation method of the drone's collection points in actual implementation. In addition, the three-point collection by the drone mentioned in the application document can also be replaced by three drones collecting data simultaneously.

[0074] According to the above description, the present invention is based on the radioactive source search and positioning method of the drone, which performs stereo positioning of the radioactive source. The data measurement and transmission are faster and more efficient, the positioning of the radioactive source is more accurate, the positioning efficiency is high, the investment of manpower and material resources is small, and the radioactive source can be quickly and accurately positioned.

[0075] The radioactive source search and positioning method based on the drone performs triangulation positioning stereo measurement through the drone, and data measurement and transmission are faster and more efficient, the positioning of the radioactive source is more accurate, the positioning efficiency is high, the investment of manpower and material resources is small, and the radioactive source can be quickly and accurately positioned.

[0076] The radioactive source search and positioning method can be applied to any UAV with positioning and radioactive source monitoring functions, greatly reducing the research and development difficulty of radioactive source search UAVs and the source search cost of the user unit.

[0077] The radioactive source search and positioning method is highly efficient, simple to use, and easy to operate. It can reduce the functional requirements of source-seeking drone manufacturers and accelerate the promotion of the use of drones in source-seeking missions. At the same time, it shortens the exposure time of radioactive sources in unknown locations, thereby reducing the risk of harm to humans and animals.

[0078] For those skilled in the art, the above invention disclosure is intended only as an example and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and amendments to this application. Such modifications, improvements, and amendments are suggested in this application and remain within the spirit and scope of the exemplary embodiments of this application.

[0079] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0080] Similarly, it should be noted that in order to simplify the description of the present disclosure and thus facilitate understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present disclosure may sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of the present disclosure requires more features than those mentioned in the claims.

[0081] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. A radioactive source search and positioning method based on drones, characterized in that: The radioactive source search and positioning method comprises the following steps: S1. Use drones to fly over the nuclear radiation site, with radiation detectors monitoring the radiation dose at the current location and using a positioning system to locate the current location in real time; S2. Controlling the drone to collect radiation intensity of the radiation source at multiple different spatial locations near the radiation source, and recording coordinate information of the collection points; S3. The backend monitoring center collects the radiation signal intensity value of the radioactive source transmitted by the drone, and converts the collected radiation intensity value of the radioactive source into the distance between the drone and the radioactive source; S4. Use triangulation to calculate the relative position of the unknown signal source and locate the radiation source.

2. The method for searching and locating radioactive sources based on an unmanned aerial vehicle according to claim 1, wherein: The step S1 includes: S 11 , controlling the drone to fly over the nuclear radiation site through a background monitoring control center or controller, and using the radiation detector to monitor the radiation dose at the current location in real time during the flight; S 12 , use the GPS positioning system to locate the current position in real time, and the controller transmits the radiation dose and the information corresponding to the current position to the background monitoring platform through the wireless communication module in real time.

3. The method for searching and locating radioactive sources based on an unmanned aerial vehicle according to claim 1, wherein: The step S2 further includes: during the drone search process, when an abnormal increase in the radiation intensity of the radiation source is detected, determining that the drone has flown near the radiation source.

4. The method for searching and locating radioactive sources based on an unmanned aerial vehicle according to claim 1, wherein: The distance between the UAV and the radiation source is calculated using the following formula: Where I represents the radiation intensity, P represents the power of the radiation source, and R represents the distance between the drone and the radiation source.

5. The radioactive source search and positioning method based on an unmanned aerial vehicle according to claim 1, wherein: The UAV carries a gamma radiation measurement module.

6. The method for searching and locating radioactive sources based on an unmanned aerial vehicle according to claim 1, wherein: The number of the spatial positions in step S2 is greater than or equal to 3.

7. The radioactive source search and positioning method based on an unmanned aerial vehicle according to claim 6, characterized in that: The step S4 includes: S 41 The drone collects radiation intensity values ​​of the monitored radioactive sources at at least three different spatial locations, and transmits the received radiation signal intensity values ​​to a background monitoring center for unified processing; S 42 The background monitoring center uses the collected radiation intensity values ​​of the radioactive source and the data collection location of the drone to perform calculations and analysis to determine the location of the radiation signal source of the radioactive source, which is the location of the radioactive source.

8. The method for searching and locating radioactive sources based on an unmanned aerial vehicle according to claim 7, wherein: The x, y, z values ​​of the coordinates (x, y, z) of the location of the radiation source are:

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