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CN114217340A - A radioactive source intelligent search and positioning system and its working method - Google Patents

A radioactive source intelligent search and positioning system and its working method Download PDF

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CN114217340A
CN114217340A CN202111372553.6A CN202111372553A CN114217340A CN 114217340 A CN114217340 A CN 114217340A CN 202111372553 A CN202111372553 A CN 202111372553A CN 114217340 A CN114217340 A CN 114217340A
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nuclear radiation
intelligent
source
positioning
searching
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CN114217340B (en
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程芳权
徐杨
郑向阳
殷敏
胡玉杰
王杰
艾烨
闫洋洋
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719th Research Institute of CSIC
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/02Dosimeters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16Measuring radiation intensity
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16Measuring radiation intensity
    • G01T1/18Measuring radiation intensity with counting-tube arrangements, e.g. with Geiger counters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16Measuring radiation intensity
    • G01T1/185Measuring radiation intensity with ionisation chamber arrangements
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16Measuring radiation intensity
    • G01T1/20Measuring radiation intensity with scintillation detectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T1/00Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
    • G01T1/16Measuring radiation intensity
    • G01T1/24Measuring radiation intensity with semiconductor detectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01TMEASUREMENT OF NUCLEAR OR X-RADIATION
    • G01T7/00Details of radiation-measuring instruments

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Abstract

本发明涉及核辐射探测与放射源搜寻技术领域,提供一种智能放射源搜寻定位系统及其工作方法。本发明系统包括核辐射监测系统、智能计算系统;所述核辐射监测系统执行核辐射实时监测,并和智能计算系统实时通信,核辐射监测系统包括核辐射探测模块和信号处理模块,所述智能计算系统接收定位系统和核辐射监测系统的数据,进行实时的放射源搜寻定位智能计算,可与外部系统进行通信,传输计算结果、位置数据、核辐射监测数据信息。本发明适用于搭载在有人机、无人机等飞行器上,对地面放射源进行高效搜寻和精准定位。

Figure 202111372553

The invention relates to the technical field of nuclear radiation detection and radioactive source searching, and provides an intelligent radioactive source searching and positioning system and a working method thereof. The system of the present invention includes a nuclear radiation monitoring system and an intelligent computing system; the nuclear radiation monitoring system performs real-time monitoring of nuclear radiation and communicates with the intelligent computing system in real time; the nuclear radiation monitoring system includes a nuclear radiation detection module and a signal processing module, and the intelligent The computing system receives the data of the positioning system and the nuclear radiation monitoring system, performs real-time radioactive source search and positioning intelligent calculation, can communicate with external systems, and transmits calculation results, location data, and nuclear radiation monitoring data information. The invention is suitable for being mounted on aircraft such as manned aircraft and unmanned aerial vehicles, and can efficiently search and precisely locate ground radiation sources.

Figure 202111372553

Description

Intelligent searching and positioning system for radioactive source and working method thereof
Technical Field
The invention relates to the technical field of nuclear radiation detection and radioactive source searching, in particular to an intelligent radioactive source searching and positioning system and a working method thereof.
Background
With the development of nuclear and radiation technologies, radioactive sources are applied more and more widely in various aspects such as medical diagnosis, industrial flaw detection, container detection, food irradiation and the like in the industry, agriculture, scientific research and the like. When a large number of radioactive sources are used in various industries, the number of uncontrolled radioactive sources is increased, and the radioactive sources are lost. Once the radioactive source is out of control, the radioactive source can cause great threat and harm to the social and public safety. Meanwhile, in public places, important activities and important places, some terrorists may illegally carry radioactive sources to endanger the life safety of people.
The search and positioning of radioactive sources is often very difficult, especially in public situations. The existing radioactive source searching methods mainly include the following types: one is to carry out carpet type search by a portable detection instrument carried by a person, and the method has extremely low efficiency; the other is to carry out inspection and search on the ground through a robot-carried detection instrument, and the efficiency is low due to the limitation of the complex environment and personnel factors on the ground; the relatively efficient mode is based on the radioactive source search of the unmanned aerial vehicle, however, the current technology and products cannot efficiently and accurately search and position the radioactive source in the ground complex environment.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an intelligent searching and positioning system for a radioactive source and a working method thereof.
The object of the invention is achieved by the following technical measures.
An intelligent searching and positioning system for a radioactive source comprises a power supply system, a positioning system, a nuclear radiation monitoring system, an intelligent computing system and a communication system.
The power supply system is used for supplying power to the positioning system, the nuclear radiation monitoring system, the intelligent computing system and the communication system and adopts direct current power supply. The power system may also be replaced by an external power source, such as the aircraft's power system.
The positioning system is used for positioning the position in real time and transmitting the position information to the intelligent computing system in real time. The positioning system may also be replaced by an external positioning system, such as the positioning system of the aircraft, etc.
The communication system is used for communication transmission of positioning position data, nuclear radiation monitoring data, source searching positioning calculation results and other data. The communication system may also be replaced by an external communication system, such as the communication system of the aircraft, etc.
The nuclear radiation monitoring system executes nuclear radiation real-time monitoring and communicates with the intelligent computing system in real time, on one hand, monitoring results are transmitted to the intelligent computing system, and on the other hand, instruction information of the intelligent computing system is received. The nuclear radiation detection module is used for detecting gamma rays of a ground radioactive source, the nuclear radiation monitoring system comprises a nuclear radiation detection module and a signal processing module, the nuclear radiation detection module transmits nuclear radiation detection signals to the signal processing module, the signal processing module collects, analyzes and processes the detection signals to obtain nuclear radiation monitoring data, namely gamma dose rate data, the nuclear radiation monitoring data are transmitted to the intelligent computing system, the intelligent computing system receives data of the positioning system and the nuclear radiation monitoring system, carries out real-time radioactive source searching and positioning intelligent calculation and supports communication with an external system, and the calculation results, the position data and the nuclear radiation monitoring data are transmitted to other monitoring systems of a ground station through the communication system in real time, so that data support is provided for an aircraft operator to control the flight of the aircraft.
In the above technical solution, the nuclear radiation detection module employs an ionization chamber detector, a GM counting tube detector, a scintillator detector, a semiconductor detector, and the like, and the specific parameters such as the size of the detector are determined by the following factors: 1) searching the maximum flight height of the aircraft when the radioactive source is positioned, namely the maximum searching height; 2) the type of the source item of the radioactive source to be searched and the intensity of the radioactive source. The nuclear radiation detection module requires that the minimum intensity radioactive source to be searched can be effectively detected at the maximum searching height, namely, an effective detection signal is output.
In the above technical solution, the intelligent computing system may be deployed at an aircraft end, or may be deployed at a ground station. When the intelligent computing system is deployed at an aircraft end, the intelligent computing system is communicated with the nuclear radiation monitoring system and the positioning system in the modes of CAN, serial ports and the like on one hand, and transmits data to the ground station in real time through the communication system on the other hand. When the system is deployed to a ground station end, the intelligent computing system receives positioning data and nuclear radiation monitoring data through the communication system, and meanwhile, the computing result is transmitted to other systems of the ground station.
The invention also provides a working method of the intelligent searching and positioning system for the radioactive source, which comprises the following steps:
(1) before searching a radioactive source, presetting and calculating a reference radiation field for each radioactive source item aiming at potential radioactive source items to be searched, thereby obtaining the reference radiation fields of all potential radioactive source items; a reference radiation field is an aerial horizontal radiation field at a certain height from the ground when a certain radiation source item on the ground is at a certain source intensity, wherein the height is the flight height of an aircraft when a radiation source is searched, and the source intensity is the maximum possible source intensity of the searched potential radiation source;
(2) in the process of searching the radioactive source, acquiring flight monitoring data in real time, wherein the flight monitoring data comprises flight position data and nuclear radiation monitoring data on the position, and forming a flight monitoring data point set;
(3) carrying out intelligent calculation by using flight monitoring data and a preset reference radiation field so as to judge whether a radioactive source exists on the ground and position the radioactive source; the intelligent calculation is as follows: and performing calculation analysis by using the flight monitoring data and each preset reference radiation field, wherein if a subset exists in the reference radiation field, the following relation is satisfied: A) the flight monitoring data point set and the nuclear radiation monitoring data of the corresponding point of the neutron set in the reference radiation field are in a linear relation; B) the position coordinates of the corresponding points of the flight monitoring data point set and the neutron set in the reference radiation field are in a linear translation relation; when the two relations are satisfied simultaneously, the radioactive source can be positioned.
The intelligent searching and positioning system for the radioactive source is suitable for being carried on aircrafts such as a man-machine, an unmanned aerial vehicle and the like, and can be used for efficiently searching and accurately positioning the ground radioactive source.
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FIG. 1 is a schematic diagram of an intelligent searching and positioning system for a radiation source according to the present invention.
FIG. 2 is a schematic diagram of the intelligent searching and positioning system for a radiation source according to the present invention.
FIG. 3 is a schematic diagram of intelligent calculation for searching and positioning of the radioactive source according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an efficient and accurate searching and positioning system for a smart radiation source. The system can be carried on aircrafts such as a man-machine and an unmanned aerial vehicle, and can realize quick search and accurate positioning of radioactive sources in the ground environment by executing aerial flight monitoring. The system comprises a power supply system, a positioning system, a nuclear radiation monitoring system, an intelligent computing system and a communication system.
The power supply system is used for supplying power to the positioning system, the nuclear radiation monitoring system, the intelligent computing system and the communication system and adopts direct current power supply. The power system may also be replaced by an external power source, such as the aircraft's power system.
The positioning system is used for positioning the position in real time and transmitting the position information to the intelligent computing system in real time. The positioning system may also be replaced by an external positioning system, such as the positioning system of the aircraft, etc.
The communication system is used for communication transmission of positioning position data, nuclear radiation monitoring data, source searching positioning calculation results and other data. The communication system may also be replaced by an external communication system, such as the communication system of the aircraft, etc.
The nuclear radiation monitoring system is used for performing nuclear radiation real-time monitoring and performing real-time communication with the intelligent computing system, on one hand, the monitoring result is transmitted to the intelligent computing system, and on the other hand, the instruction information of the intelligent computing system is received. The nuclear radiation monitoring system comprises a nuclear radiation detection module and a signal processing module. The nuclear radiation detection module is used for detecting gamma rays of a ground radioactive source, and can adopt an ionization chamber detector, a GM counting tube detector, a scintillator detector, a semiconductor detector and the like, and the specific parameters of the detector, such as the size and the like, are determined according to the following factors: 1) searching the maximum flight height of the aircraft when the radioactive source is positioned, namely the maximum searching height; 2) the type of the source item of the radioactive source to be searched and the intensity of the radioactive source. The nuclear radiation detection module is required to be capable of effectively detecting the minimum-intensity radioactive source required to be searched at the maximum searching height, namely outputting an effective detection signal. The nuclear radiation detection module transmits nuclear radiation detection information to the signal processing module through an analog signal, and the signal processing module acquires, analyzes and processes the detection signal to obtain nuclear radiation monitoring data, namely gamma dose rate data. And finally, the signal processing module transmits the nuclear radiation monitoring data to the intelligent computing system.
The intelligent computing system is used for receiving data of the positioning system and the nuclear radiation monitoring system, performing real-time intelligent computation of searching and positioning of the radioactive source, transmitting a computation result, the position data and the nuclear radiation monitoring data to other monitoring systems of the ground station in real time through the communication system, and providing data support for an aircraft operator to control the flight of the aircraft.
As shown in fig. 3, an embodiment of the present invention further provides a working method of the above-mentioned intelligent searching and positioning system for a radiation source, which includes the following steps:
(1) before starting to search the radioactive source, the source item S ═ S for the potential radioactive source to be searched1,S2,…,SnS, source item S of each radioactive source in intelligent computing systemiPresetting a reference radiation field C for E SiAll reference radiation fields that result in the source item S of the potential radiation source are C ═ C1,C2,…,Cn}. A reference radiation field CiIs directed to a certain radiation source item S on the groundiAssuming its source strength is QiWhich radiates the field horizontally in the air at a certain height h from the ground. A reference radiation field CiCan be represented as Ci={[L1,D1],[L2,D2],…,[Lm,Dm]In which L ismRepresenting position coordinates, DmRepresenting nuclear radiation data (e.g., gamma dose rate, etc.) at the location. In a reference radiation field CiThe coordinates of the center position are the radioactive source SiPosition coordinates of (2), noted as Lri. In the practical application process, the height h is the flight height of the aircraft when the radioactive source is searched, and the source intensity QiPosition coordinates L of the source for the maximum possible source intensity of the potential radioactive source to be searchedriThe area to be searched for the radiation source can be selected at will.
(2) In the process of searching the radioactive source, the intelligent computing system receives flight position data L in real timeiAnd nuclear radiation monitoring data D at the positioni. After a period of flight monitoring, a series of positions are formed and located at these positionsNuclear radiation monitoring data P { [ L ]1,D1],[L2,D2],…,[Lx,Dx]}。
(3) And intelligently calculating by using the flight monitoring data P and a preset reference radiation field C, thereby judging whether a radioactive source exists on the ground or not and positioning the position of the radioactive source. The intelligent calculation is as follows: using flight monitoring data P and each preset reference radiation field CiPerforming a calculation analysis if CiIn the presence of x points Cii={[Lj,Dj],[Lk,Dk],…,[Ly,Dy]}∈Ci={[L1,D1],[L2,D2],…,[Lm,Dm]Are such that C isiiSatisfies the following relationship with P: A) ciiIs in linear relation with nuclear radiation monitoring data of corresponding points in P, namely { Dj,Dk,…,Dy}–f1*{D1,D2,…,Dx}≤{δ1112,…,δ1xIn which f1Being a linear function, { δ1112,…,δ1xIs a set of thresholds for controlling CiiAnd (3) error linearly related to the nuclear radiation monitoring data in P. B) CiiThe middle position coordinate and the P middle position coordinate are in linear translation relation, namely { Lj,Lk,…,Ly}–f2*{L1,L2,…,Lx}≤{δ2122,…,δ2xIn which f2Being a linear function, { δ2122,…,δ2xIs a set of thresholds for controlling CiiError in linear relation to the position coordinates in P. When C is presentiiAnd when the relation A) and the relation B) are simultaneously satisfied with the P, the radioactive source can be positioned, and the positioning method comprises the following steps: radiation source position coordinate Lr ═ f2*Lri
In this embodiment, the intelligent computing system may be deployed on the aircraft side, as shown in FIG. 1, or on the ground station, as shown in FIG. 2. When the intelligent computing system is deployed at an aircraft end, the intelligent computing system is communicated with the nuclear radiation monitoring system and the positioning system in the modes of CAN, serial ports and the like on one hand, and transmits data to the ground station in real time through the communication system on the other hand. When the system is deployed to a ground station end, the intelligent computing system receives positioning data and nuclear radiation monitoring data through the communication system, and transmits a computing result to other systems of the ground station.
Details not described in the present specification belong to the prior art known to those skilled in the art.
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention, such that any modification, equivalent replacement or improvement made within the spirit and principle of the present invention shall be included within the scope of the present invention.

Claims (7)

1. The utility model provides a positioning system is searched to radiation source intelligence which characterized in that: the system comprises a nuclear radiation monitoring system and an intelligent computing system; the nuclear radiation monitoring system executes nuclear radiation real-time monitoring and communicates with the intelligent computing system in real time, the nuclear radiation monitoring system comprises a nuclear radiation detection module and a signal processing module, the nuclear radiation detection module transmits nuclear radiation detection signals to the signal processing module, the signal processing module collects, analyzes and processes the detection signals to obtain nuclear radiation monitoring data and transmits the nuclear radiation monitoring data to the intelligent computing system, the intelligent computing system receives data of the positioning system and the nuclear radiation monitoring system, carries out real-time radioactive source searching and positioning intelligent computing, can communicate with an external system, and transmits computing results, position data and nuclear radiation monitoring data information.
2. The intelligent searching and positioning system for radioactive sources of claim 1, wherein: the nuclear radiation detection module adopts an ionization chamber detector, a GM counting tube detector, a scintillator detector, a semiconductor detector or the like, and the nuclear radiation detection module is required to be capable of effectively detecting the minimum-intensity radioactive source to be searched at the maximum searching height.
3. The intelligent searching and positioning system for radioactive sources of claim 1, wherein: the intelligent computing system is deployed at an aircraft end or a ground station, when the intelligent computing system is deployed at the aircraft end, the intelligent computing system is communicated with the nuclear radiation monitoring system and the positioning system in the modes of CAN, serial ports and the like on one hand, and on the other hand, data are transmitted to the ground station in real time through the communication system on the other hand.
4. The intelligent searching and positioning system for radioactive sources of claim 1, wherein: the system comprises a power supply system, wherein the power supply system is used for supplying power to a positioning system, a nuclear radiation monitoring system, an intelligent computing system and a communication system and adopts direct current power supply.
5. The intelligent searching and positioning system for radioactive sources of claim 1, wherein: the system comprises a positioning system, wherein the positioning system is used for positioning the position in real time and transmitting the position information to an intelligent computing system in real time.
6. The intelligent searching and positioning system for radioactive sources of claim 1, wherein: the system comprises a communication system, wherein the communication system is used for communication transmission of positioning position data, nuclear radiation monitoring data and source searching positioning calculation result data.
7. A method for operating the intelligent searching and positioning system of radiation source as claimed in claim 1, wherein the method comprises the following steps:
(1) before searching a radioactive source, presetting and calculating a reference radiation field for each radioactive source item aiming at potential radioactive source items to be searched, thereby obtaining the reference radiation fields of all potential radioactive source items; a reference radiation field is an aerial horizontal radiation field at a certain height from the ground when a certain radiation source item on the ground is at a certain source intensity, wherein the height is the flight height of an aircraft when a radiation source is searched, and the source intensity is the maximum possible source intensity of the searched potential radiation source;
(2) in the process of searching the radioactive source, acquiring flight monitoring data in real time, wherein the flight monitoring data comprises flight position data and nuclear radiation monitoring data on the position, and forming a flight monitoring data point set;
(3) carrying out intelligent calculation by using flight monitoring data and a preset reference radiation field so as to judge whether a radioactive source exists on the ground and position the radioactive source; the intelligent calculation is as follows: and performing calculation analysis by using the flight monitoring data and each preset reference radiation field, wherein if a subset exists in the reference radiation field, the following relation is satisfied: A) the flight monitoring data point set and the nuclear radiation monitoring data of the corresponding point of the neutron set in the reference radiation field are in a linear relation; B) the position coordinates of the corresponding points of the flight monitoring data point set and the neutron set in the reference radiation field are in a linear translation relation; when the two relations are satisfied simultaneously, the radioactive source can be positioned.
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