阅读说明：本技术 基于多旋翼无人机飞行式核素识别仪的全人工智能化系统 (full artificial intelligence system based on many rotor unmanned aerial vehicle flight type nuclide identification appearance ) 是由 刘强 林振华 姚坤良 王津晗 伦亚楠 高建政 庞新新 于 2019-09-29 设计创作，主要内容包括：本发明公开了基于多旋翼无人机飞行式核素识别仪的全人工智能化系统,具体涉及核工业领域,包括核素识别仪、多旋翼无人机飞行系统和指挥控制系统,所述核素识别仪和多旋翼无人机飞行系统均通过无线通信模块与指挥控制系统连接,所述核素识别仪输入端设有超声波传感器和激光传感器以及输出端设有报警器,所述核素识别仪连接端连接有摄像头、GPS卫星定位系统、计量分布图绘制模块和人工智能分析模块。本发明提供了一种真正意义上无人操作全人工智能安全化多旋翼无人放射性测绘与核素识别方案,大大降低了人工成本与人工操作失误的风险,方便简洁且高效,可在第一时间出放射性测绘结果与核素识别结果。(The invention discloses a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying type nuclide identification instrument, and particularly relates to the field of nuclear industry. The invention provides a scheme for unmanned full-artificial intelligent safety multi-rotor unmanned radioactive mapping and nuclide identification in a real sense, greatly reduces labor cost and risks of manual operation errors, is convenient, simple and efficient, and can obtain radioactive mapping results and nuclide identification results at the first time.)

1. the full artificial intelligence system based on the multi-rotor unmanned aerial vehicle flying type nuclide identification instrument is characterized by comprising a nuclide identification instrument (1), a multi-rotor unmanned aerial vehicle flying system (2) and a command control system (3), wherein the nuclide identification instrument (1) and the multi-rotor unmanned aerial vehicle flying system (2) are connected with the command control system (3) through wireless communication modules, an ultrasonic sensor (4) and a laser sensor (5) are arranged at the input end of the nuclide identification instrument (1), an alarm (6) is arranged at the output end of the nuclide identification instrument (1), a camera (14), a GPS satellite positioning system (7), a metering distribution diagram drawing module (8) and an artificial intelligence analysis module (9) are connected to the connecting end of the nuclide identification instrument (1), and a multi-rotor unmanned aerial vehicle flying system (2) is provided with a multi-rotor;

The multi-rotor unmanned aerial vehicle flight system (2) is used for controlling the multi-rotor unmanned aerial vehicle (10) to fly according to a control instruction issued by the command control system (3);

the nuclide identifier (1) is used for receiving barrier distance information, GPS map information, high-definition images and flight height information sent by the command control system (3), mapping the flying area, acquiring original mapping data, performing data fusion by combining a dose distribution diagram, and providing the most intuitive whole-area scanning map for the command control system (3);

the metering distribution map drawing module (8) adopts a geometric space interpolation method to fill the whole map of the mapping map, and provides the most intuitive dosage distribution map;

the artificial intelligence analysis module (9) is used for searching a hot spot area through artificial intelligence analysis and performing an automatic source searching function after confirming the hot spot area.

2. The full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 1, characterized in that: ultrasonic sensor (4) and laser sensor (5) set up to all be provided with one on a plurality of and many rotor unmanned aerial vehicle (10) every rotor.

3. The full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 2, characterized in that: the nuclide identification instrument (1) performs bidirectional signal transmission with the command control system (3) through the wireless communication module, and the command control system (3) transmits flight control signals with the multi-rotor unmanned aerial vehicle flight system (2) in a unidirectional mode through the wireless communication module.

4. the full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 3, characterized in that: and the command control system (3) is connected with the display (11) and is used for selecting a surveying and mapping flight area and a flight track at the operation interface by the command center, surveying and mapping the flying area, realizing the acquisition of original surveying and mapping data and displaying a whole-area scanning map for the command center.

5. the full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 4, characterized in that: the nuclide identification instrument (1) comprises a data recording end (12) and a data processing module (13), wherein the output end of the data recording end (12) is connected with the input end of the data processing module (13);

the data recording end (12) is used for recording the distance between the ultrasonic sensor (4) and the laser sensor (5) and the obstacle and the multi-rotor unmanned aerial vehicle (10), the flight height data sent by the multi-rotor unmanned aerial vehicle flight system (2), the GPS map information sent by the GPS satellite positioning system (7) and a high-definition image shot by the camera;

The data processing module (13) is used for mapping the flying area according to the acquired data and fusing data by combining the dose distribution map, the flying height information, the GPS map information, the landform and the high-definition image.

6. The full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 5, characterized in that: the filling method of the metering distribution diagram drawing module (8) is a geometric space interpolation method, and specifically comprises the following steps: estimating the value of the grid point by using the relation that the distance exponent powers of the known adjacent values are in inverse proportion to the inverse power, wherein the contribution of the points which are closest to the non-sampling point is the largest, and the contribution is in inverse proportion to the distance, as shown in the following formula:

Wherein, Si is the position of the measured point of the ith (i ═ 1, …, n) sample; s is the position of the estimated point; z (si) is the i (i ═ 1, …, n) th sample actual measurement; z (S) is an estimated value.

7. The full artificial intelligence system based on many rotor unmanned aerial vehicle flight nuclide identification appearance of claim 6, characterized in that: the method for automatically searching the source by the artificial intelligence analysis module (9) specifically comprises the following two methods:

The method comprises the following steps: confirming a hot spot area, wherein in the surveying and mapping area, optionally selecting two points as circle centers, performing 8 times of point collection around the radius of the circle centers, and finding the highest and lowest values of 8 sampling points to form a corresponding connecting line; the intersection point of the two connecting lines is a suspicious hotspot region, namely a radioactive contamination source, at the moment, an instruction is sent to a multi-rotor unmanned aerial vehicle flight system (2) through a command control system (3), the multi-rotor unmanned aerial vehicle (10) is commanded to fly to the region, and after hovering, photographing is carried out to obtain evidence and nuclide analysis is carried out;

The second method comprises the following steps: searching a source in a hot spot area, sampling 8 points, comparing the points with a central point, selecting the direction with the largest difference value, forming a direction gradient which is the target direction, flying along the target direction, and confirming that the numerical value is reduced every time of sampling; if not, taking a picture for evidence taking and nuclide identification to determine whether a radioactive contamination source is lost; if the point is not used as the central point for sampling 8 points, the operation is repeated until a radioactive pollution source is found, and finally the multi-rotor unmanned aerial vehicle (10) is controlled to fly to the area, and photographing and evidence obtaining are carried out after hovering, and nuclide analysis is carried out.

Technical Field

The invention relates to the technical field of nuclear industry, in particular to a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying type nuclide identification instrument.

background

Currently, with the vigorous development of nuclear technology application industries such as nuclear power, nuclear medicine and the like in nuclear civil and military applications, people are facilitated, and meanwhile, the effective monitoring on the environmental radioactivity level is indispensable. The fast moving nuclear radiation measurement technology can be divided into fixed wing type (helicopter) radiation measurement, ground vehicle-mounted energy spectrum measurement, unmanned aerial vehicle radiation measurement and multi-rotor unmanned aerial vehicle radiation measurement from the difference of radiation measurement carriers.

Many rotor unmanned aerial vehicle radiometric measurement has small in size, and the quality is light, detects in a flexible way, can satisfy and realize the measurement of full coverage formula, conveniently carries advantages such as transportation and is favoured.

However, the multi-rotor unmanned nuclide identification instrument still has the defects of complex operation, such as need of hand operation, aerial photography of an unmanned aerial vehicle, no direction rule and repeatability mapping and the like, and is difficult to actually meet the requirements of high efficiency, safety, quick response and the like.

Disclosure of Invention

Therefore, the embodiment of the invention provides a full-artificial intelligent system based on a multi-rotor unmanned aerial vehicle flying nuclide identifier, which can complete full-image dose mapping and automatic source searching by combining an artificial intelligent method without using the operation of a flying hand to implement an automatic flying function, realize full-automatic, fast, safe and accurate measurement effect, greatly reduce the cost of manual labor, realize artificial intelligence in all aspects, be convenient, simple and efficient, regularly perform law enforcement after a detection scheme is formulated, also eliminate the occurrence of artificial operation errors such as corresponding flying accidents, realize unmanned aerial vehicles and unmanned scenes, increase the artificial intelligence function on the basis of the multi-rotor unmanned aerial vehicle flying nuclide identifier, realize real fast response, and solve the problems that the prior art is difficult to actually meet high efficiency due to complicated operation such as the need of flying hand operation, unmanned aerial vehicle aerial photography, no direction rule and repeatability for mapping and the like, safety, quick sound and the like.

In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:

According to the first aspect of the embodiment of the invention, the full artificial intelligence system based on the multi-rotor unmanned aerial vehicle flying type nuclide identification instrument comprises the nuclide identification instrument, a multi-rotor unmanned aerial vehicle flying system and a command control system, wherein the nuclide identification instrument and the multi-rotor unmanned aerial vehicle flying system are both connected with the command control system through a wireless communication module, an ultrasonic sensor and a laser sensor are arranged at the input end of the nuclide identification instrument, an alarm is arranged at the output end of the nuclide identification instrument, the connecting end of the nuclide identification instrument is connected with a camera, a GPS satellite positioning system, a metering distribution diagram drawing module and an artificial intelligence analysis module, and the multi-rotor unmanned aerial vehicle flying system output;

The multi-rotor unmanned aerial vehicle flight system is used for controlling the multi-rotor unmanned aerial vehicle to fly according to a control command issued by the command control system;

The nuclide identification instrument is used for receiving barrier distance information, GPS map information, high-definition images and flight height information sent by the command control system, mapping the flying area, acquiring original mapping data, performing data fusion by combining a dose distribution diagram, and providing the most intuitive whole-area scanning map for the command control system;

The metering distribution map drawing module adopts a geometric space interpolation method to fill a mapping map in a full map manner, so as to provide the most intuitive dosage distribution map;

The artificial intelligence analysis module is used for searching for a hot spot area through artificial intelligence analysis and performing an automatic source searching function after confirming the hot spot area.

Further, ultrasonic sensor and laser sensor set up to all be provided with one on a plurality of and many rotor unmanned aerial vehicle's every rotor.

Furthermore, the nuclide identification instrument performs bidirectional signal transmission with a command control system through a wireless communication module, and the command control system performs unidirectional transmission of flight control signals with a multi-rotor unmanned aerial vehicle flight system through the wireless communication module.

Furthermore, the command control system is connected with the display and used for the command center to select a surveying and mapping flight area and a flight track on the operation interface, survey and map the flying area, acquire original surveying and mapping data and display a whole area scanning map for the command center.

Furthermore, the nuclide identification instrument comprises a data recording end and a data processing module, wherein the output end of the data recording end is connected with the input end of the data processing module;

the data recording end is used for recording the distance between obstacles detected by the ultrasonic sensor and the laser sensor and the multi-rotor unmanned aerial vehicle, flight height data sent by a flight system of the multi-rotor unmanned aerial vehicle, GPS map information sent by a GPS satellite positioning system and a high-definition image shot by the camera;

The data processing module is used for surveying and mapping the flying area according to the collected data, and performing data fusion by combining the dose distribution map, the flight height information, the GPS map information, the landform and the high-definition image.

Further, the filling method of the metering distribution map drawing module is a geometric space interpolation method, and specifically includes: estimating the value of the grid point by using the relation that the distance exponent power of the known adjacent value is in inverse proportion to the inverse power, wherein the contribution of the points which are closest to the unsampled point is the largest, and the contribution is in inverse proportion to the distance, as shown in the following formula:

wherein, Si is the position of the measured point of the ith (i ═ 1, …, n) sample; s is the position of the estimated point; z (si) is the i (i ═ 1, …, n) th sample actual measurement; z (S) is an estimated value.

further, the method for automatically searching the source by the artificial intelligence analysis module specifically includes the following two methods:

the method comprises the following steps: confirming a hot spot area, wherein in the surveying and mapping area, optionally selecting two points as circle centers, performing 8 times of point collection around the radius of the circle centers, and finding the highest and lowest values of 8 sampling points to form a corresponding connecting line; the intersection point of the two connecting lines is a suspicious hotspot region, namely a radioactive contamination source, at the moment, an instruction is sent to a multi-rotor unmanned aerial vehicle flight system through a command control system to command the multi-rotor unmanned aerial vehicle to fly to the region, and the multi-rotor unmanned aerial vehicle shoots and obtains evidence and carries out nuclide analysis after hovering;

The second method comprises the following steps: searching a source in a hot spot area, sampling 8 points, comparing the points with a central point, selecting the direction with the largest difference value, forming a direction gradient which is the target direction, flying along the target direction, and confirming that the numerical value is reduced every time of sampling; if not, taking a picture for evidence taking and nuclide identification to determine whether a radioactive contamination source is lost; if the point is not used as a central point for sampling 8 points, the operation is repeated until a radioactive pollution source is found, and finally the multi-rotor unmanned aerial vehicle is controlled to fly to the area, and photographing is carried out after hovering for evidence obtaining and nuclide analysis is carried out.

the embodiment of the invention has the following advantages:

1. The invention combines an artificial intelligence method to implement an automatic flight function without the operation of a flight hand, can complete full-image dose mapping and automatic source searching, and realizes full-automatic, quick, safe and accurate measurement effect; compared with the traditional nuclide identification instrument of the multi-rotor unmanned aerial vehicle, the nuclide identification instrument can greatly reduce the cost of labor force, realizes artificial intelligence in all aspects, is convenient, simple and efficient, can regularly enforce law after a detection scheme is formulated, can also eliminate human misoperation such as the occurrence of corresponding flight accidents, and realizes the scenes of the unmanned aerial vehicle and unmanned aerial vehicle;

2. The artificial intelligence function of the multi-rotor unmanned aerial vehicle flying nuclide identifier is added on the basis of the multi-rotor unmanned aerial vehicle flying nuclide identifier, so that the real quick response is realized, namely, the discovery capability of daily monitoring is quickly improved by means of unmanned intervention, the accumulation and diffusion conditions of environmental radioactive emission levels and radioactive substances can be quickly mastered, the safety of front-line workers can be effectively protected, no personnel intervention is needed, and problems can be discovered and solved at the first time;

3. the invention provides a scheme for unmanned full-artificial intelligent safety multi-rotor unmanned radioactive mapping and nuclide identification in a true sense, greatly reduces labor cost and risks of manual operation errors, is convenient, simple and efficient, and can obtain radioactive mapping results and nuclide identification results at the first time

drawings

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

the structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

fig. 1 is an overall system topology diagram of a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument provided by an embodiment of the invention;

Fig. 2 is a nuclide identification instrument system topology diagram of a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument provided by an embodiment of the present invention.

Fig. 3 is a schematic structural view of a multi-rotor unmanned aerial vehicle of a full artificial intelligence system based on a flying nuclide identifier of the multi-rotor unmanned aerial vehicle according to an embodiment of the present invention.

Fig. 4 is a block diagram of an overall system structure of a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument according to an embodiment of the present invention.

Fig. 5 is a structural block diagram of a nuclide identification instrument of a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument according to an embodiment of the present invention.

Fig. 6 is a schematic view of a filling method of a metering profile drawing module based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument according to an embodiment of the present invention.

fig. 7 is a schematic view of an automatic source finding method of a full artificial intelligence system based on a multi-rotor unmanned aerial vehicle flying nuclide identification instrument according to an embodiment of the present invention.

fig. 8 is a schematic diagram of a second automatic source finding method of the full artificial intelligence system based on the multi-rotor unmanned aerial vehicle flying nuclide identifier according to the embodiment of the present invention.

in the figure: 1 nuclide identification instrument, 2 many rotor unmanned aerial vehicle flight systems, 3 command control system, 4 ultrasonic sensor, 5 laser sensor, 6 alarms, 7GPS satellite positioning system, 8 measurement distribution diagram drawing module, 9 artificial intelligence analysis module, 10 many rotor unmanned aerial vehicle, 11 displays, 12 data record end, 13 data processing module, 14 cameras.

Detailed Description

the present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, 2, 4 and 5, the full artificial intelligence system based on the multi-rotor unmanned aerial vehicle flying nuclide identifier comprises a nuclide identifier 1, a multi-rotor unmanned aerial vehicle flying system 2 and a command control system 3, wherein both the nuclide identifier 1 and the multi-rotor unmanned aerial vehicle flying system 2 are connected with the command control system 3 through a wireless communication module, an ultrasonic sensor 4 and a laser sensor 5 are arranged at the input end of the nuclide identifier 1, an alarm 6 is arranged at the output end of the nuclide identifier 1, a camera 14, a GPS satellite positioning system 7, a metering distribution diagram drawing module 8 and an artificial intelligence analysis module 9 are connected to the connecting end of the nuclide identifier 1, and a multi-rotor unmanned aerial vehicle 10 is arranged at the output end of the multi-rotor unmanned aerial vehicle;

The multi-rotor unmanned aerial vehicle flight system 2 is used for controlling the multi-rotor unmanned aerial vehicle 10 to fly according to a control command issued by the command control system 3;

as shown in fig. 3, the ultrasonic sensor 4 and the laser sensor 5 are provided in plurality and one is provided on each rotor of the multi-rotor drone 10;