CN-122017920-A - Method and system for rapidly monitoring radiation risk of unmanned aerial vehicle

CN122017920ACN 122017920 ACN122017920 ACN 122017920ACN-122017920-A

Abstract

The invention discloses a method and a system for rapidly monitoring radiation risk of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle radiation monitoring. The method is used for solving the problems of high altitude detection attenuation distortion, accurate positioning difficulty of an out-of-standard source and weak network data loss. The method comprises the steps of controlling an unmanned aerial vehicle to execute gridding high-altitude scan under a terrain following mode to ensure large-scale screening efficiency, then combining elevation fluctuation characteristics and distance attenuation rules to dynamically reconstruct surface equivalent source intensity data, comparing dynamic thresholds to accurately lock abnormal nodes, triggering the locked nodes to reduce height and retest, accurately anchoring a radiation extremum to a target abnormal pixel area through vision kernel characteristic association analysis to realize vision fixation of a physical pollution source, and finally adopting a self-adaptive cache and multi-terminal distribution mechanism based on network delay to ensure data transmission, constructing a linkage closed loop from air discovery to on-site modification, and providing reliable support for radiation safety monitoring of a complex environment.

Inventors

CHEN LIMING
HU LIN
ZHOU JINGCHENG
TANG ZHI
CAO ZHICHAO
ZHONG XIAOLONG
YAO DAJUN
XU XIAOQIANG
LONG YUN
WU LINGLING

Assignees

江西核工业建设有限公司
南华大学

Dates

Publication Date: 20260512
Application Date: 20260318

Claims (9)

1. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle is characterized by comprising the following steps of: S1, controlling an unmanned aerial vehicle entering a terrain following mode to execute gridding flight according to a first preset height, and acquiring three-dimensional position coordinates and first radiation dose rate data with a time stamp through a low-range channel of a dual-range GM detector; S2, extracting elevation features of three-dimensional position coordinates, calculating elevation fluctuation variation coefficients, dynamically updating space compensation weights in combination with a distance attenuation square inverse rule, and carrying out compensation mapping on first radiation dose rate data to reconstruct earth surface equivalent source intensity data; S3, responding to the retest instruction, controlling the unmanned aerial vehicle to hover until the unmanned aerial vehicle is at a second preset height and is higher than the abnormal node, and switching the detector to a high-range channel to acquire a second radiation dose rate data sequence; s4, acquiring network delay characteristic parameters, writing retest data packets into an onboard storage asynchronous buffer memory if the network delay characteristic parameters exceed a preset delay threshold, triggering uploading when the network delay characteristic parameters fall back into the preset delay threshold, synchronously distributing the network delay characteristic parameters to a ground control end and a field terminal if the network delay characteristic parameters meet the preset delay threshold, and controlling the unmanned aerial vehicle to return to an interruption position to resume grid flight in response to a correction confirmation signal of the field terminal.
2. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle entering the terrain following mode is controlled to execute gridding flight according to a first preset height, and the specific process of acquiring three-dimensional position coordinates and first radiation dose rate data with a timestamp through a low-range channel of the dual-range GM detector is as follows: acquiring three-dimensional terrain reference profile data of a target monitoring area, and generating a terrain following guide track by combining real-time centimeter-level positioning signals output by an airborne RTK; The onboard flight control unit is controlled to drive the unmanned aerial vehicle to follow the guiding track along the terrain and maintain a first preset height to execute gridding cruising; And configuring a dual-range GM detector to lock a low-range detection channel, initializing a fixed sampling period, extracting an absolute time stamp of an airborne time reference in each fixed sampling period, performing space-time binding on the absolute time stamp, the first radiation dose rate data synchronously output by the low-range detection channel and the three-dimensional position coordinates synchronously output by the airborne RTK, and packaging the three-dimensional position coordinates into a bottom layer original data packet.
3. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 2, wherein the specific process of extracting the elevation features of the three-dimensional position coordinates to calculate the elevation fluctuation variation coefficient, dynamically updating the space compensation weight by combining the inverse square rule of the distance attenuation, and compensating and mapping the first radiation dose rate data to reconstruct the earth surface equivalent source intensity data is as follows: Extracting elevation features of three-dimensional position coordinates in a plurality of continuous bottom layer original data packets in a preset time window, constructing an elevation dynamic floating sequence, extracting deviation amplitude of the elevation dynamic floating sequence relative to a first preset height, fusing preset flight attitude steady-state parameters of the unmanned aerial vehicle, and determining an elevation fluctuation variation coefficient; Mapping a preset distance attenuation square inverse proportion rule base based on the instantaneous ground clearance contained in the elevation dynamic floating sequence, extracting a corresponding reference attenuation factor, executing nonlinear characteristic correction on the reference attenuation factor by utilizing an elevation fluctuation variation coefficient, and outputting a space compensation weight; and performing feature fusion of the data layer by the space compensation weight and the first radiation dose rate data, and reversely deducting mapping to reconstruct the surface equivalent source intensity data.
4. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 3, wherein if the reconstructed surface equivalent source intensity data exceeds a dynamic early warning threshold constructed by fusion history background and preset standard deviation, the specific process of marking the corresponding coordinates as abnormal nodes and generating target area retest instructions is as follows: the method comprises the steps of calling historical radiation background baseline data of a target monitoring area in a normal environment, extracting dispersion characteristics of the historical radiation background baseline data to generate standard deviation base numbers, introducing preset multiple parameters to scale the standard deviation base numbers, performing fusion reconstruction on the scaled standard deviation base numbers and the historical radiation background baseline data, and outputting dynamic early warning threshold values; establishing a data comparison logic judgment device, inputting the surface equivalent source intensity data into the data comparison logic judgment device and performing overrun comparison detection with a dynamic early warning threshold value; When the data comparison logic determiner outputs an overrun determination signal, marking the three-dimensional position coordinate bound by the ground equivalent source intensity data as an abnormal node, writing the abnormal node coordinate into a preset flight control instruction message format, and generating a target zone retest instruction comprising a second preset height lowering instruction and a detector range switching trigger code.
5. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 1, wherein the specific process of responding to the retest instruction and controlling the unmanned aerial vehicle to drop to a second preset height to hover over the abnormal node and switching the detector to the high-range channel to acquire the second radiation dose rate data sequence is as follows: Analyzing target area retest instructions, extracting abnormal node coordinates and lowering trigger action codes, recording three-dimensional coordinate breakpoint characteristics of the current high-altitude gridding flight interruption position of the unmanned aerial vehicle, and synchronously activating an airborne multidirectional visual obstacle avoidance sensor array; Combining the abnormal node coordinates and the spatial obstacle distribution characteristics output by the airborne multidirectional visual obstacle avoidance sensor array to generate an obstacle avoidance vertical descending track, driving the unmanned aerial vehicle to descend to a second preset height along the obstacle avoidance vertical descending track, and locking a hovering gesture; And transmitting a hardware channel switching control signaling to the dual-range GM detector, cutting off the data flow of the low-range measurement channel, activating the high-range measurement channel, and initializing a high-frequency continuous sampling period to extract a second radiation dose rate data sequence.
6. The method for rapidly monitoring radiation risk of unmanned aerial vehicle according to claim 5, wherein the specific processes of extracting the time stamp representing the radiation extremum in the sequence and intercepting the associated image frame, performing the correlation analysis of the visual nuclear characteristics, spatially anchoring the radiation extremum to the target abnormal pixel area in the associated image frame, and packaging the anchoring result, the associated image frame and the current three-dimensional position coordinates into a retest data packet are as follows: Analyzing the second radiation dose rate data sequence, extracting a radiation extremum with a local maximum characteristic, calling an absolute timestamp bound with the radiation extremum in a hardware clock register, inputting the absolute timestamp as a retrieval key value into a video stream cache queue of an airborne camera assembly, extracting a video frame with a time consistency characteristic, and constructing an associated image frame; performing landform abnormal visual recognition analysis on the associated image frames, outputting a target abnormal pixel region, performing vision kernel feature association analysis, performing two-dimensional space mapping superposition on the radiation extremum and the target abnormal pixel region, and generating a space anchoring result; and performing multi-source data fusion packaging on the space anchoring result, the associated image frame, the radiation extremum and the current three-dimensional position coordinate output by the airborne RTK under the second preset height to generate a retest data packet.
7. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 1, wherein the method is characterized in that network delay characteristic parameters are obtained, retested data packets are written into an onboard storage asynchronous cache if a preset delay threshold is exceeded, and the specific process of triggering uploading when the network delay characteristic parameters fall back into the preset delay threshold is as follows: Continuously sending a heartbeat detection message to a ground control end through an airborne communication unit, extracting the round trip response time of the heartbeat detection message, reconstructing the round trip response time into a network delay characteristic parameter, introducing a state machine logic judgment rule, and inputting the network delay characteristic parameter into the state machine logic judgment rule to execute interval comparison; When the state machine logic judging rule outputs a broken network state signal exceeding a preset delay threshold, activating a local file system writing authority of an onboard storage unit, and adding the retest data packet to the tail of a preset asynchronous cache queue; and a background continuous monitoring mechanism for maintaining the network delay characteristic parameters, wherein when the network delay characteristic parameters are monitored to be within a preset delay threshold range in a continuous preset time window, historical retest data packets are sequentially extracted from the head of the asynchronous cache queue to trigger uploading.
8. The method for rapidly monitoring the radiation risk of the unmanned aerial vehicle according to claim 7, wherein if a preset delay threshold is met, the method is synchronously distributed to a ground control terminal and a field terminal, and the specific process of controlling the unmanned aerial vehicle to return to an interruption position to resume the gridded flight by responding to a rectification confirmation signal of the field terminal is as follows: when the state machine logic judging rule outputs a normal state signal meeting a preset delay threshold, a double-link communication channel is established, and the retest data packet is synchronously pushed to a ground control end database and a construction site terminal interaction interface through the double-link communication channel; maintaining the unmanned aerial vehicle in a hovering monitoring state under a second preset height until the airborne communication unit analyzes a rectification confirmation signal triggered and reported by the construction site terminal based on physical and manual interaction operation; And extracting the three-dimensional coordinate characteristics of the stored grid flight interruption position to generate a return flight restoration track, driving the unmanned aerial vehicle to climb to the space position of the interruption position along the return flight restoration track, and controlling the unmanned aerial vehicle to return to the interruption position to restore grid flight.
9. A system for rapid monitoring of radiation risk of an unmanned aerial vehicle, for performing a method for rapid monitoring of radiation risk of an unmanned aerial vehicle according to any of claims 1 to 8, comprising: The high-altitude preliminary screening scanning module is used for controlling the unmanned aerial vehicle entering the terrain following mode to execute gridding flight according to a first preset height, and collecting three-dimensional position coordinates and first radiation dose rate data with a time stamp through a low-range channel of the dual-range GM detector; The dynamic compensation early warning module is used for extracting elevation characteristics of three-dimensional position coordinates, calculating elevation fluctuation variation coefficients, dynamically updating space compensation weights in combination with a distance attenuation square inverse rule, and carrying out compensation mapping on first radiation dose rate data to reconstruct earth surface equivalent source intensity data; The vision core fusion retest module is used for responding to retest instructions, controlling the unmanned aerial vehicle to drop to a second preset height to hover over the abnormal node, switching the detector to a high-range channel to obtain a second radiation dose rate data sequence, extracting a time stamp representing a radiation extremum in the sequence, intercepting an associated image frame, executing vision core feature association analysis, anchoring the radiation extremum space in a target abnormal pixel area in the associated image frame, and packaging an anchoring result, the associated image frame and current three-dimensional position coordinates into a retest data packet; The task linkage closed loop module is used for acquiring network delay characteristic parameters, writing retest data packets into an onboard storage asynchronous buffer memory if the network delay characteristic parameters exceed a preset delay threshold, triggering uploading when the network delay characteristic parameters fall back into the preset delay threshold, synchronously distributing the network delay characteristic parameters to a ground control end and a field terminal if the network delay characteristic parameters meet the preset delay threshold, and controlling the unmanned aerial vehicle to return to an interruption position to resume grid flight in response to a correction confirmation signal of the field terminal.

Description

Method and system for rapidly monitoring radiation risk of unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicle radiation monitoring, in particular to a method and a system for rapidly monitoring the radiation risk of an unmanned aerial vehicle. Background With the deep development of nuclear energy development and related mining and metallurgy industries, environmental radiation monitoring of an operation area becomes a core link for guaranteeing professional health and environmental safety. The traditional ground manual inspection method has the limitations of high exposure risk, being limited by complex terrains and the like. In recent years, the integration of a radiation detection module into a multi-rotor unmanned aerial vehicle platform for large-scale rapid screening has become an important trend in industry development. The unmanned aerial vehicle has excellent high maneuverability, can replace the manual work to go deep into dangerous area and carry out the cruising measurement of meshing, greatly promoted the operating efficiency and the coverage breadth of radiation environment monitoring. However, existing unmanned aerial vehicle radiation monitoring methods have obvious inherent drawbacks in actual complex scenarios. Firstly, because rays can be naturally attenuated along with the distance in the air, when the existing method is used for executing high-altitude flight, radiation signals received by a detector are severely attenuated and distorted, the ground surface source is not truly reflected, and if the flight height is reduced, strong airflow generated by a rotor wing of an unmanned aerial vehicle can not only cause serious dust interference monitoring, but also cause collision crash risk in a region with severe topography fluctuation. Secondly, when the existing monitoring system captures the radiation standard exceeding signal, only abstract data points can be recorded, and invisible radiation peaks are difficult to visually bind with pollution source entities in actual landforms, so that subsequent correction and positioning are difficult. Finally, the communication link is easily blocked by the terrain and interrupted in a remote complex monitoring scene, the alarm data is easily lost in the weak network environment in the conventional method, the early warning information can only be transmitted back to the main control end in one way, the on-site operation personnel cannot be linked at the first time, and the serious rupture of the early warning discovery and on-site danger elimination service flow is caused. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a method and a system for rapidly monitoring the radiation risk of an unmanned aerial vehicle, which solve the problems of the background art. The method comprises the following steps of S1, controlling an unmanned aerial vehicle entering a terrain following mode to execute meshed flight according to a first preset height, collecting three-dimensional position coordinates and first radiation dose rate data with time stamps through a low-range channel of a dual-range GM detector, S2, extracting elevation characteristics of the three-dimensional position coordinates to calculate an elevation fluctuation variation coefficient, dynamically updating space compensation weight according to a distance attenuation inverse proportion rule, carrying out compensation mapping on the first radiation dose rate data to reconstruct surface equivalent source strong data, marking the corresponding coordinates as abnormal nodes and generating target area retesting instructions if the reconstructed surface equivalent source strong data exceeds a dynamic early warning threshold constructed by fusion historical background and preset standard deviation, S3, responding to the retesting instructions, controlling the unmanned aerial vehicle to hover at the abnormal nodes, switching the detector to the high-range channel to obtain a second radiation dose rate data sequence, extracting time stamps of the radiation extreme values and associated image frames in the sequence, executing visual nuclear characteristic association, carrying out analysis on the visual nuclear characteristic, and triggering a delay of the corresponding to the target position frames in the field equivalent space coordinate frames when the reconstructed surface equivalent source strong data exceeds a dynamic early warning threshold constructed by fusion historical background and preset standard deviation, and triggering a delay of the target area retesting instruction when the target area, S3, responding to the retesting instructions, and storing the test information in a delay area, and the delay of the current network delay area when the error is triggered by the error map frame delay control terminal, and the delay of the current delay of the target position data is set to be delayed by