CN103823232A - Radiation detection aircraft - Google Patents
Radiation detection aircraft Download PDFInfo
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- CN103823232A CN103823232A CN201410098685.8A CN201410098685A CN103823232A CN 103823232 A CN103823232 A CN 103823232A CN 201410098685 A CN201410098685 A CN 201410098685A CN 103823232 A CN103823232 A CN 103823232A
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Abstract
The invention discloses a radiation detection aircraft, which belongs to the technical field of radiation detection, and aims at solving the problem that an existing robot for nuclear radiation detection is poor in capacity for emergency management. A camera is arranged on a flying front-end shell of a four-rotor aircraft carrier; a nuclear detector is mounted at the lower end of the shell of the four-rotor aircraft carrier; a global position system (GPS) locator is used for locating the flying position of the four-rotor aircraft carrier; a detected signal output end of the nuclear detector is connected with a detected signal input end of a signal conditioning circuit; an imaging signal output end of the camera is connected with an imaging signal input end of the signal conditioning circuit; a locating signal output end of the GPS locator is connected with a locating signal input end of the signal conditioning circuit; a conditioning signal output by the signal conditioning circuit is transmitted through a wireless general packet radio service (GPRS) data transmission unit. The radiation detection aircraft is applied to nuclear radiation detection.
Description
Technical field
The present invention relates to nuclear radiation detection aircraft, belong to nuclear radiation detection technical field.
Background technology
Two the depositing of application pros and cons of radioactive source, it can be mankind's service on the one hand, can cause again on the other hand ecological pollution and public's harm.In recent years, nuclear leakage event, radioactive sources lost and robbery accident happen occasionally, and the loss and the harm that how radioactive source accident are brought are reduced to minimum, are pendulum urgent problems in face of us.
At present, adopt the structural design of wheel type, crawler type or creeping-type for the robot of radioactive source emergency management, this robot build is huge more, dirigibility extreme difference, affected by accident site contour and ground obstacle larger, easily lived and cannot regain by inlay card; Because the ability to act of robot is limited, the nuclear leakage incident area of entered environment complexity, then carry out complicated work for the treatment of, there is the poor problem of Ability of emergency management.
Summary of the invention
To the present invention seeks in order solving existingly for the poor problem of the robot Ability of emergency management of nuclear radiation detection, a kind of nuclear radiation detection aircraft to be provided.
Nuclear radiation detection aircraft of the present invention, it comprises quadrotor carrier, it also comprises nuclear detector, camera, GPS steady arm, signal conditioning circuit and wireless GPRS data transmission unit,
Camera is arranged in the flight front end shell of quadrotor carrier, the housing lower end carry nuclear detector of quadrotor carrier, and GPS steady arm is used for realizing the location to quadrotor carrier flight position,
The detectable signal output terminal of nuclear detector connects the detectable signal input end of signal conditioning circuit, the image pickup signal output terminal of camera connects the image pickup signal input end of signal conditioning circuit, the positioning signal output terminal of GPS steady arm connects the positioning signal input end of signal conditioning circuit, and the conditioned signal of signal conditioning circuit output is transmitted through wireless GPRS data transmission unit.
The Geiger counter tube of nuclear detector adopts the power supply of high pressure module, described high pressure module outer cover light-weight metal net.
It also comprises supervisory system, and the wireless GPRS receiving element of supervisory system and wireless GPRS data transmission unit are by wireless way for transmitting signal.
It also comprises mechanical arm, on the housing of quadrotor carrier, carries mechanical arm by many connecting rods difference drives structure.
Advantage of the present invention: the present invention is that the emergency processing of radioactive sources safety accident designs, it is integrated in aircraft by nuclear detector, camera and wireless GPRS data transmission unit and carries on this, in the time having burst radioactive sources safety accident, can aircraft be sent into the scene of the accident by the mode of wireless remote control, nuclear detector can obtain the nuclear radiation distribution situation of region and detection data is returned to radioactive source emergency management center and carry out analyzing and processing; Camera can obtain the video situation of the scene of the accident, is convenient to find out the radioactive source of nuclear leakage point or loss, and the personnel that are trapped into radiation areas are searched, and provides powerful support for for the emergency processing of radioactive sources safety accident provides.The present invention has gathered mobility and radiation detection and the video recording function of aircraft, has greatly promoted radioactive source emergency management ability.
The present invention due to adopt quadrotor as carrier, the emergency processings such as nuclear leakage detection and the radioactive source that can adapt to radioactive source scene of the accident ground environment complex region recovered, personnel's search and rescue.Its nuclear detector can detect x ray intensity x in air, and aspect control system, aircraft is supported remote control and dynamically switching from main control, enough guarantees that aircraft tackles disaster field environment complicated and changeable.
Accompanying drawing explanation
Fig. 1 is the theory diagram of nuclear radiation detection aircraft of the present invention;
Fig. 2 is the schematic diagram that arranges of quadrotor aluminum alloy framework;
Fig. 3 is quadrotor carrier ground framework schematic diagram.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1, nuclear radiation detection aircraft described in present embodiment, it comprises quadrotor carrier, and it also comprises nuclear detector 1, camera 2, GPS steady arm 3, signal conditioning circuit 4 and wireless GPRS data transmission unit 5
The detectable signal output terminal of nuclear detector 1 connects the detectable signal input end of signal conditioning circuit 4, the image pickup signal output terminal of camera 2 connects the image pickup signal input end of signal conditioning circuit 4, the positioning signal output terminal of GPS steady arm 3 connects the positioning signal input end of signal conditioning circuit 4, and the conditioned signal that signal conditioning circuit 4 is exported is transmitted through wireless GPRS data transmission unit 5.
Embodiment two: present embodiment is described further embodiment one, the Geiger counter tube of nuclear detector 1 adopts the power supply of high pressure module, described high pressure module outer cover light-weight metal net described in present embodiment.
Because high pressure module can form powerful electromagnetic field around it, this can affect radio signal, for solving the interference of high pressure module to radio signal, the electromagnetic field forming need to work to high pressure module time carries out shielding processing, prevent its interference to wireless control signal, affect the flight control of sniffer.Meanwhile, make high pressure module and communication module as far as possible away from.
Embodiment three: present embodiment is described below in conjunction with Fig. 1, present embodiment is described further embodiment one or two, present embodiment also comprises supervisory system 6, and the wireless GPRS receiving element of supervisory system 6 and wireless GPRS data transmission unit 5 are by wireless way for transmitting signal.
When adding after greater functionality module, can make the load of radiation detection aircraft increase, like this, to change larger power unit on the one hand, so that aircraft lifting force and load capacity to be provided; From the integrated angle of electronic devices and components, adopt the integrated circuit (IC) design of highly encapsulation to reduce the volume and weight of nuclear radiation detection instrument on the other hand, thereby reduce the load of aircraft.
Embodiment four: present embodiment is described below in conjunction with Fig. 2 and Fig. 3, present embodiment is described further embodiment one, two or three, present embodiment also comprises mechanical arm, on the housing of quadrotor carrier, carries mechanical arm by many connecting rods difference drives structure.
The radiomaterial that the mechanical arm of the lift-launch of aircraft can be picked up ground is as sampling sample and recover the radioactive source of losing.
The carrier that the present invention adopts can be the aircraft of many rotor combinations, and this aircraft can strengthen stability and the dirigibility in traveling process, to adapt to scene of the accident space environment complicated and changeable; Mechanical arm adopts many connecting rods drives structure respectively, makes it more flexible to the Grasping skill of object.
For the stability that ensures that nuclear radiation detection aircraft is worked awing, to consider on the one hand balance and the stability of aircraft traveling process after carry nuclear detection instrument, to guarantee that on the other hand nuclear detection instrument can still can normally work under state of flight, so will start with from the structural design of aircraft and the integration of nuclear detection instrument, guarantee that nuclear radiation detection device can adapt to the environment of flight.In order to realize integrally-built stability, the mechanical part of nuclear radiation detection aircraft and control, monitoring part are separated, establish one's own system.Can be contained in a light plastic box body controlling with monitoring segment set, circuit board and power supply are fixed in this plastic box body, for realizing the counterweight of box body, board design are become to three-back-shaped, in three-back-shaped internal orifice, be power supply, collar extension and region that internal orifice surrounds are circuit board.
Support function of the present invention is expanded, can other acquisition sensors of carry for concrete scene of the accident situation.The mechanical arm that aircraft carries can be by the ground object of operating personnel's Long-distance Control gripping, and dead weight can reach 0.6kg.
Shown in Fig. 2, quadrotor aluminum alloy framework is connected 4 motors, lithium battery power supply and Radiation monitoring unit, by 4 driven by motor screw propellers, controls the direct of travel of aircraft and rises and falls by controlling the rotating speed of motor.In figure, A is support, and B is flight-control computer, the rotor that C is aircraft.
Shown in Fig. 3, E is nuclear detector 1 and power supply thereof.
The present invention integrates Radiation monitoring, satnav, data communication and environment Visualization function.
Claims (4)
1. a nuclear radiation detection aircraft, it comprises quadrotor carrier, it is characterized in that, it also comprises nuclear detector (1), camera (2), GPS steady arm (3), signal conditioning circuit (4) and wireless GPRS data transmission unit (5),
Camera (2) is arranged in the flight front end shell of quadrotor carrier, the housing lower end carry nuclear detector (1) of quadrotor carrier, and GPS steady arm (3) is for realizing the location to quadrotor carrier flight position,
The detectable signal output terminal of nuclear detector (1) connects the detectable signal input end of signal conditioning circuit (4), the image pickup signal output terminal of camera (2) connects the image pickup signal input end of signal conditioning circuit (4), the positioning signal output terminal of GPS steady arm (3) connects the positioning signal input end of signal conditioning circuit (4), and the conditioned signal of signal conditioning circuit (4) output is transmitted through wireless GPRS data transmission unit (5).
2. nuclear radiation detection aircraft according to claim 1, is characterized in that, the Geiger counter tube of nuclear detector (1) adopts the power supply of high pressure module, described high pressure module outer cover light-weight metal net.
3. nuclear radiation detection aircraft according to claim 1 and 2, is characterized in that, it also comprises supervisory system (6), and the wireless GPRS receiving element of supervisory system (6) and wireless GPRS data transmission unit (5) are by wireless way for transmitting signal.
4. nuclear radiation detection aircraft according to claim 3, is characterized in that, it also comprises mechanical arm, on the housing of quadrotor carrier, carries mechanical arm by many connecting rods difference drives structure.
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| CN201410098685.8A CN103823232A (en) | 2014-03-18 | 2014-03-18 | Radiation detection aircraft |
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| CN201410098685.8A CN103823232A (en) | 2014-03-18 | 2014-03-18 | Radiation detection aircraft |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104133483A (en) * | 2014-07-08 | 2014-11-05 | 遵义师范学院 | Minisize quadrotor-aircraft control system based on integrated positioning communication module and control method thereof |
| CN104460671A (en) * | 2014-11-12 | 2015-03-25 | 西南科技大学 | Cross positioning method and system for radioactive source in three-dimensional space |
| CN104570036A (en) * | 2015-01-29 | 2015-04-29 | 合肥工业大学 | Gamma emitter position distinguishing system and method |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| WO2016019561A1 (en) * | 2014-08-08 | 2016-02-11 | 深圳市大疆创新科技有限公司 | Data processing device and aircraft |
| CN105510951A (en) * | 2015-11-24 | 2016-04-20 | 中国原子能科学研究院 | Radiation monitoring system |
| CN105738938A (en) * | 2016-04-22 | 2016-07-06 | 中国原子能科学研究院 | Radioassay system under extreme conditions |
| CN105911579A (en) * | 2016-04-19 | 2016-08-31 | 成都新核泰科科技有限公司 | Unmanned plane mounted nuclear radiation detection device |
| CN107521678A (en) * | 2017-08-14 | 2017-12-29 | 上海交通大学 | The UAS and its method for positioning and capturing for nuclear radiation radioactive source |
| CN107643537A (en) * | 2016-07-21 | 2018-01-30 | 环境保护部核与辐射安全中心 | Aerial radiation monitoring method |
| CN108226990A (en) * | 2016-12-12 | 2018-06-29 | 林桦 | A kind of radioactive detection methods based on multi-rotor aerocraft |
| CN108267772A (en) * | 2016-12-30 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108267771A (en) * | 2016-12-30 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108267769A (en) * | 2017-01-03 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108279432A (en) * | 2017-01-05 | 2018-07-13 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108279697A (en) * | 2017-01-05 | 2018-07-13 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108363091A (en) * | 2018-01-16 | 2018-08-03 | 北京科技大学 | 4 π panorama radioactive source positioning systems and method |
| CN108572397A (en) * | 2018-03-27 | 2018-09-25 | 西南科技大学 | A kind of radiation hunting system and method based on heterogeneous robot |
| CN109490942A (en) * | 2018-12-03 | 2019-03-19 | 天津华放科技有限责任公司 | One kind being based on multi-rotor unmanned aerial vehicle flight formula nuclide identification survey meter |
| CN110220853A (en) * | 2019-04-29 | 2019-09-10 | 西安科技大学 | Laser spectrum telemetering early warning UAV system and localization method for pipe gallery |
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| CN104133483A (en) * | 2014-07-08 | 2014-11-05 | 遵义师范学院 | Minisize quadrotor-aircraft control system based on integrated positioning communication module and control method thereof |
| WO2016019561A1 (en) * | 2014-08-08 | 2016-02-11 | 深圳市大疆创新科技有限公司 | Data processing device and aircraft |
| US10108188B2 (en) | 2014-08-08 | 2018-10-23 | SZ DJI Technology Co., Ltd. | Data processing device and aerial vehicle |
| CN105518639A (en) * | 2014-08-08 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Data processing device and aircraft |
| CN104460671B (en) * | 2014-11-12 | 2017-01-18 | 西南科技大学 | Cross positioning method and system for radioactive source in three-dimensional space |
| CN104460671A (en) * | 2014-11-12 | 2015-03-25 | 西南科技大学 | Cross positioning method and system for radioactive source in three-dimensional space |
| CN104570036A (en) * | 2015-01-29 | 2015-04-29 | 合肥工业大学 | Gamma emitter position distinguishing system and method |
| CN105137469A (en) * | 2015-06-03 | 2015-12-09 | 南京航空航天大学 | Radioactive detection system and radioactive detection method |
| CN105510951A (en) * | 2015-11-24 | 2016-04-20 | 中国原子能科学研究院 | Radiation monitoring system |
| CN105911579A (en) * | 2016-04-19 | 2016-08-31 | 成都新核泰科科技有限公司 | Unmanned plane mounted nuclear radiation detection device |
| CN105738938A (en) * | 2016-04-22 | 2016-07-06 | 中国原子能科学研究院 | Radioassay system under extreme conditions |
| CN105738938B (en) * | 2016-04-22 | 2019-03-12 | 中国原子能科学研究院 | Radioactivity detection system under a kind of extreme condition |
| CN107643537A (en) * | 2016-07-21 | 2018-01-30 | 环境保护部核与辐射安全中心 | Aerial radiation monitoring method |
| CN108226990A (en) * | 2016-12-12 | 2018-06-29 | 林桦 | A kind of radioactive detection methods based on multi-rotor aerocraft |
| CN108267771A (en) * | 2016-12-30 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108267772A (en) * | 2016-12-30 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108267769A (en) * | 2017-01-03 | 2018-07-10 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108279432A (en) * | 2017-01-05 | 2018-07-13 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN108279697A (en) * | 2017-01-05 | 2018-07-13 | 日之阳（北京）仪器制造有限公司 | A kind of radiological measuring system based on multi-rotor aerocraft |
| CN107521678A (en) * | 2017-08-14 | 2017-12-29 | 上海交通大学 | The UAS and its method for positioning and capturing for nuclear radiation radioactive source |
| CN108363091A (en) * | 2018-01-16 | 2018-08-03 | 北京科技大学 | 4 π panorama radioactive source positioning systems and method |
| CN108572397A (en) * | 2018-03-27 | 2018-09-25 | 西南科技大学 | A kind of radiation hunting system and method based on heterogeneous robot |
| CN109490942A (en) * | 2018-12-03 | 2019-03-19 | 天津华放科技有限责任公司 | One kind being based on multi-rotor unmanned aerial vehicle flight formula nuclide identification survey meter |
| CN110220853A (en) * | 2019-04-29 | 2019-09-10 | 西安科技大学 | Laser spectrum telemetering early warning UAV system and localization method for pipe gallery |
| CN110220853B (en) * | 2019-04-29 | 2022-04-12 | 西安科技大学 | Laser spectrum telemetering and early warning unmanned aerial vehicle system for comprehensive pipe gallery and positioning method |
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Application publication date: 20140528 |