Summary of the invention
In view of the above problems, the purpose of the present invention is to provide a kind of unmanned vehicles, even if in the field that people is difficult to enterInstitute also can precisely carry out x-ray fluorescence analysis.
The present invention provides a kind of unmanned vehicle, can move in the sky and carry out fluorescence X to defined measurement object and penetrateLine analysis, the unmanned vehicle are characterized in that including: aircraft body；Fluorescent x-ray analyzer, comprising: roentgenogramInjection device is connect with the aircraft body, Xiang Suoshu measurement object X-ray irradiation；And fluorescent X-ray detection device, inspectionSurvey the fluorescent X-ray generated by the irradiation of the X-ray from the measurement object；And range unit, measure the measurementThe distance between object and the fluorescent X-ray detection device.
According to this configuration, even if the ground surface on the mountain of such as height above sea level, also the unmanned vehicle can be made to approach and heldEasily carry out x-ray fluorescence analysis.Further, since the user of the unmanned vehicle itself does not need to approach investigation scene, soEven if, also can be by making that the nothing by exposing the health hazard risk generated is not present in the investigation of the high region of quantity of radiationPeople's aircraft is close, carries out the higher x-ray fluorescence analysis of precision, generated when user may be not present close to investigation scene whenBetween limit.
In addition, in x-ray fluorescence analysis, according to the measurement object and fluorescent X-ray detector for generating fluorescent X-ray itBetween distance change, the spectral intensity of the fluorescent X-ray of detection changes, but in the present invention, due to that ranging can be utilized to fillSet to obtain the distance between measurement object and fluorescent X-ray detection device, thus can based on the range information of acquirement, to byThe variation of the spectral intensity for the fluorescent X-ray that x-ray fluorescence analysis obtains is modified.Furthermore it is possible to the distance based on acquirementThe distance between fluorescent X-ray detection device and measurement object are kept constant by information.It is more accurately fixed thus, it is possible to carry outAmount analysis.
In addition, in the present specification, " the distance between measurement object and fluorescent X-ray detection device " refers to: in order to logicalCrossing operation, the fluorescent X-ray generated from measurement object is mobile in an atmosphere to be detected until by fluorescent X-ray detection device to calculateUntil during fluorescent X-ray intensity attenuation required for distance.Measurement object and fluorescent X-ray detection device itBetween distance can directly be measured by range unit, or can be by between measurement object and fluorescent X-ray detection deviceDistance other than distance converted measure indirectly.
It is contactless that mode as range unit can be laser range finder or ultrasonic range finder etc..Range unitIt can be contact.It can enumerate in this case, have the contact portion that can be contacted with measurement object, by making thisContact portion is contacted with measurement object, is measured to the distance between measurement object and fluorescent X-ray detection device.
Unmanned vehicle of the invention is preferably, by the light of the expression fluorescent X-ray of fluorescent x-ray analyzer measurementThe range data of the expression distance of measurement data and the range unit measurement of spectrum correspondingly stores.
According to this configuration, even if when multiple places carry out x-ray fluorescence analysis to obtain measurement data, due to storageThere is range data corresponding with the measurement data respectively, so also corresponding survey can be corrected based on the range data subsequentMeasure data.
Unmanned vehicle of the invention is preferably, and is corrected using the range data of range unit measurement and this is apart from numberAccording to the measurement data correspondingly stored.
It according to this configuration, can be using the range data obtained, in the atmosphere for considering the spectrum of the fluorescent X-ray of measurementAttenuation be modified, therefore be able to carry out the quantitative analysis of higher precision.
Unmanned vehicle of the invention is preferably, and also has GPS receiver device, fluorescent x-ray analyzer is measuredMeasurement data, range unit measurement expressions distance range data and by GPS receiver device acquirement position data phaseIt accordingly stores.
According to this configuration, it can make to have recorded and be obtained by the spectroscopic data that x-ray fluorescence analysis obtains with by GPS deviceThe mapping of the relationship of the measurement position arrived.
Unmanned vehicle of the invention is preferably, and also has distance adjusting system, and the distance adjusting system is based on surveyingDistance away from device measurement, the distance between fluorescent X-ray detection device and measurement object are adjusted in the range of regulation.ToolIt says to body preferably, the distance between fluorescent X-ray detection device and measurement object is adjusted to 1cm or more, 10cm or less.
According to this configuration, by the way that the distance between fluorescent X-ray detection device and measurement object are adjusted to definedIn range, it can reduce the detection leakage of the small fluorescent X-ray of energy, be able to carry out the qualitative analysis of higher precision.
Mode as distance adjusting system can have a coupling member, and the coupling member is by aircraft body and fluorescenceX-ray analysis equipment is linked in a manner of distance variable.
According to this configuration, by being adjusted with by flight instruments such as propellers with the good coupling member of responsivenessThe height of aircraft body so as to adjust fluorescent X-ray detection device compared with the distance between measurement object, can rapidly andAccurately adjust distance.Therefore, during the flight of unmanned vehicle side, Bian Jinhang x-ray fluorescence analysis, even if because of prominent wind etc.Influence and so that the height of unmanned vehicle (aircraft body) is generated small variation, also can by fluorescent X-ray detect fillIt sets the distance between measurement object and remains substantially fixed, thus allow for high-precision quantitative analysis.
Mode as distance adjusting system, which can be also equipped with, to land with foot, and described land is set to aircraft with footMain body, and the distance between aircraft body and measurement object can be adjusted.
According to this configuration, after aircraft body lands on the ground, by adjusting aircraft body and measurement objectDistance, it is substantially fixed that the distance between fluorescent X-ray detection device and measurement object can be made, therefore be able to carry out high-precisionQuantitative analysis.
According to the present invention constituted in the above described manner, being capable of providing one kind can be into even if the region that people is difficult to enterThe unmanned vehicle of row x-ray fluorescence analysis.
Specific embodiment
In the following, being illustrated referring to a kind of embodiment of the attached drawing to unmanned vehicle of the invention.
<structure of unmanned vehicle 100>
The unmanned vehicle 100 of present embodiment is for example preceding for being moved in the sky by remote operation or autonomous flightToward the scene to conduct a geological survey, x-ray fluorescence analysis is carried out close to the ground surface as respondent's (or measurement object).
As shown in Figure 1, unmanned vehicle 100 has: there is unmanned plane main body (aircraft body) 10 propeller 12 etc. to flyThe control device 14 of various control signals is set and sent to luggage；Fluorescent x-ray analyzer 20 is included in ground surface for carrying outIn element qualitative analysis and quantitative analysis；Coupling member 40, by unmanned plane main body 10 and fluorescent x-ray analyzer 20 withThe mode of distance variable links；And laser range finder (range unit) 30, measurement fluorescent x-ray analyzer 20 and measurement pairThe distance between as.
Hereinafter, being illustrated to each structure.
Unmanned plane main body 10 for moving and close to respondent, including propeller 12 and control device 14 in the sky.
The unmanned plane main body 10 of present embodiment includes teleoperation mode, and the controller in operator opponent is graspedMake, wirelessly sends control signal to unmanned plane main body 10, the movement of unmanned plane main body 10 is remotely operated to comeIt measures；And autonomous flight mode, it is measured based on the program autonomous flight being pre-installed in control device 14,The unmanned plane main body 10 can arbitrarily switch mode.
Propeller 12 provides propulsive force to unmanned vehicle 100.There are four spiral shells for the tool of unmanned plane main body 10 of present embodimentPaddle 12 is revolved, based on the control signal sent from control device 14, not shown motor adjusts the revolving speed of each propeller 12, byThis can make unmanned vehicle 100, and left and right is freely up and down moved forwards, backwards in the sky.
Control device 14 is arranged in unmanned plane main body 10, obtains range information from laser range finder 30, and to spiralThe transmissions such as paddle 12, fluorescent x-ray analyzer 20 and coupling member 40 control signal.Be physically include CPU, memory andThe computer of A/D converter etc. makes CPU and peripheral equipment cooperate according to the program for the predetermined region for being stored in the memory,Thus it is played as shown in Figure 2 as apart from acquisition unit 14a, distance controlling portion 14b, location information acquisition unit 14c and storage unit 14dFunction.
Pass through wired or wireless way from the acquirement of laser range finder 30 and fluorescent x-ray analyzer apart from acquisition unit 14aThe relevant range information in the distance between 20 and measurement object.
Distance controlling portion 14b receives range information from apart from acquisition unit 14a, and unmanned owner is determined based on the range informationThe target value of the distance between body 10 and fluorescent x-ray analyzer 20, and by the control signal comprising the target value to evenStructural member 40 is sent.
More specifically, distance controlling portion 14b is determined based on from the range information obtained apart from acquisition unit 14a in order to makeThe distance between fluorescent x-ray analyzer 20 and ground surface become the required unmanned plane main body 10 of 1cm or more, 10cm or lessThe target value of the distance between fluorescent x-ray analyzer 20.Also, by the control signal of the target value comprising the determination toCoupling member 40 as distance control device is sent, and the distance between fluorescent x-ray analyzer 20 and ground surface are controlledFor 1cm or more, 10cm or less.
Distance controlling portion 14b will control signal and send to coupling member 40, and control signal is sent to propeller 12,Can the height of unmanned vehicle 100 be kept constant or is finely adjusted.Thereby, it is possible to make propeller 12 and coupling member 40Cooperation, the distance between fluorescent x-ray analyzer 10 and ground surface are controlled as 1cm or more, 10cm or less.
Location information acquisition unit 14c obtains the positional number for indicating the position of unmanned vehicle 100 in-flight from GPS satellite SAccording to.Position data is made of longitude data, dimension data and elevation data.Unmanned vehicle 100 can be based on the position of acquirementData and autonomous flight are to the place measured.
Storage unit 14d is formed in the defined region of memory, is stored with signal procedure, carries out autonomous flight and surveyedThe autonomous flight program of amount and the remote operation program etc. flown and measured for passing through remote operation.In addition,The measurement data that the spectrum of the expression fluorescent X-ray obtained by analysis portion 28 can be received, the table measured by laser range finder 30The position data showing the range data of distance and being obtained by location information acquisition unit 14c, and they are corresponded to and is stored.
Fluorescent x-ray analyzer 20 irradiates primary X-ray to the ground surface as measurement object, carries out being included in earth's surfaceThe qualitative analysis and quantitative analysis of element in face.As shown in figure 3, fluorescent x-ray analyzer 20 has in the inside of cabinet 22Standby X-ray tube (X-ray irradiator) 24, X-ray detector (fluorescent X-ray detection device) 26 and analysis portion 28, and alsoHas laser range finder 30.
X-ray tube 24 is to the ground surface X-ray irradiation as measurement object.Thereby, it is possible to generate fluorescence X from ground surface to penetrateLine.As shown in figure 3, X-ray tube 24 is configured to the lower surface (face with opening) when cabinet 22 and the ground as measurement objectWhen the general parallel orientation of face, make from X-ray tube 24 with the general center axis of the X-ray (shown in arrow) of radial irradiation relative to groundNormal with defined angle tilt.It is sent in addition, X-ray tube 24 can be received from the control device 14 of unmanned plane main body 10Control signal, at a prescribed interval with the time to ground surface X-ray irradiation.It is not limited especially as used x-ray sourceIt is fixed, reflective and transmission-type X-ray source or radiation source can be used.In addition, irradiated from the X-ray tube 24 of present embodimentThe energy of X-ray is less than 10keV.
X-ray detector 26 detects the fluorescent X-ray generated from ground surface.Thereby, it is possible to detect by X-ray tube 24 toThe X-ray that ground surface X-ray irradiation generates.Specifically, using the semiconductors detecting element such as Si element, energy as detecting elementThe enough output electric current proportional to the energy of the fluorescent X-ray detected.As shown in figure 3, X-ray detector 26 is configured to by arrowThe central axis of detection range shown in head forms about 90 ° of angle relative to the central axis for the X-ray irradiated from X-ray tube 24Degree.
Analysis portion 28 receives the electric current that X-ray detector 26 exports, and counts to the electric current of each current value, and obtainThe energy for the fluorescent X-ray that X-ray detector 26 detects and the spectrum of the relationship of count value, i.e. fluorescent X-ray.Also, it is based onThe spectrum of the fluorescent X-ray of acquirement carries out the qualitative analysis and quantitative analysis that produce the element of fluorescent X-ray.
Laser range finder 30 obtains the range information for indicating the distance between X-ray detector 26 and ground.Laser rangingInstrument 30 is configured to send the range information to the control device 14 of unmanned plane main body 10 by wired or wireless way.
As shown in figure 3, in the present embodiment, the cabinet of fluorescent x-ray analyzer 20 is arranged in laser range finder 3022 inside.And it is configured to, when the lower surface in cabinet 22 is with ground general parallel orientation as measurement object, from laser rangingThe normal general parallel orientation of laser and ground that instrument 30 emits, can measure by the range of X-ray tube 24 to the ground X-ray irradiationSpecified position X-ray detector 26 and the distance between ground.
The quantity of laser range finder 30 possessed by the unmanned vehicle 100 of present embodiment can be one, Huo ZheyeIt can be multiple.In the case where being configured with multiple laser range finder 30, X-ray detector 26 and ground can be more accurately measuredThe distance between face.
Coupling member 40 links unmanned plane main body 10 and fluorescent x-ray analyzer 20 in a manner of distance variable.EvenStructural member 40 is the stretching structure constituted as follows: having the driving mechanisms such as motor (not shown), receives and fill from controlThe control signal for setting 14 transmissions, by driving the motor etc. to stretch, so as to adjust fluorescent x-ray analyzer 20 and nothingThe distance between man-machine main body 10.
<effect of present embodiment>
According to the unmanned vehicle 100 of the present embodiment constituted in the above described manner, can move freely in the skyUnmanned plane on fluorescent x-ray analyzer is installed, therefore such as even ground surface on the mountain of height above sea level can also make the nothingPeople's aircraft is close, is easy to carry out x-ray fluorescence analysis.Further, since the user of the unmanned vehicle itself does not need to connectNearly investigation scene, so even if in the investigation of the high region of quantity of radiation can also make that the health generated by exposure is not presentThe unmanned vehicle for endangering risk is close, thus carries out the x-ray fluorescence analysis of higher precision, and user may be not present close to tuneThe time restriction generated when looking into scene.
In addition, in x-ray fluorescence analysis, according to the measurement object and fluorescent X-ray detection device for generating fluorescent X-rayThe distance between variation, the spectral intensity of the fluorescent X-ray of detection changes, but in the present invention, using range unit comeThe distance between measurement object and fluorescent X-ray detection device are obtained, so can be based on the information of the distance of acquirement, to by glimmeringThe intensity variation of the spectrum for the fluorescent X-ray that light X-ray analysis obtains is modified, so as to obtain more accurate fluorescence XThe spectrum of ray.Furthermore it is possible to the range information based on acquirement, by between fluorescent X-ray detection device and measurement object away fromFrom being kept constant.Thus, it is possible to carry out accurate quantitative analysis.
<other embodiments>
In addition, the present invention is not limited to above embodiment.
Such as in said embodiment, unmanned plane main body 10 and fluorescence X is adjusted by making coupling member 40 stretch to penetrateThus the distance between line analysis device 20 adjusts fluorescent x-ray analyzer 20 at a distance from ground, but is not limited toThis.In other embodiments, as shown in figure 4, being provided with that tool is articulate to be bent and stretched in the bottom surface of unmanned plane main body 10It lands with foot 50, so that this is landed to be bent and stretched with foot 50 and is adjusted nothing by receiving the control signal from distance controlling portion 14bMan-machine main body 10 is at a distance from ground, it is possible thereby to adjust the fluorescence X for being fixed on unmanned plane main body 10 by coupling member 40The distance between ray analysis device 20 and ground.
In this embodiment, unmanned vehicle 100 is when carrying out x-ray fluorescence analysis, once it lands in as surveyThe ground for measuring object, hereafter makes to land and be bent and stretched with foot 50, and the distance between fluorescent x-ray analyzer 20 and ground are adjustedIn the range of regulation.Further, it is possible to not influenced in the measurements by prominent wind etc., by fluorescent x-ray analyzer 20 and groundThe distance between be kept constant, therefore be able to carry out the qualitative and quantitative analysis of higher precision.
In the above-described embodiment, laser range finder 30 is located at the inside of the cabinet 22 of fluorescent x-ray analyzer 20, ifIt is set to adjacent with X-ray tube 24 and X-ray detector 26, but is not limited to aforesaid way.
For example, laser range finder 30 may be mounted in unmanned plane main body 10, by obtaining laser range finder 30 and earth's surfaceThe distance between face is simultaneously converted, and can measure the distance between fluorescent x-ray analyzer 20 and ground surface indirectly.AndMake coupling member 40 flexible based on the range information measured indirectly, it will be between fluorescent x-ray analyzer 20 and ground surfaceDistance is adjusted in the range of regulation.
In addition, above embodiment is measured between fluorescent x-ray analyzer 20 and measurement object by laser range finderDistance, but in other embodiments, the distance can be measured by ultrasonic range finder.Especially on the surface of measurement objectFluctuating it is big in the case where it is preferable to use ultrasonic range finders.
In the above-described embodiment, it using noncontacting proximity sensors such as laser range finder or ultrasonic range finders, measures glimmeringThe distance between light x-ray analysis equipment 20 and ground surface, but it's not limited to that.For example, unmanned vehicle 100 includes adjustingThe contact portion of the whole predetermined length extended in downward direction from the bottom surface of unmanned plane main body 10, by making the contact portion and ground surfaceContact, can measure the distance between fluorescent x-ray analyzer 20 and measurement object indirectly.In the case where this mode,It preferably constitutes as follows: logical when touch sensor, contact portion and earth's surface face contact is arranged in the top of contact portionWirelessly or non-wirelessly mode is crossed thus to drive the flight instruments such as propeller from the sensor to the transmission signal of control device 14, make nothingPeople's aircraft 100 is relative to ground surface with fixed altitude.By being kept in contact the top in portion and the shape of earth's surface face contactState simultaneously moves in the horizontal direction, and unmanned vehicle 100 can be flown in a manner of the height being always kept in a fixed state relative to ground,Therefore the distance between fluorescent x-ray analyzer 20 and measurement object can be made fixed always.Therefore, even if measurement object isOn a wide range of widened ground, quantitative analysis also can be simply and rapidly carried out with high precision.
In the above-described embodiment, coupling member 40 is flexible, but it's not limited to that.As shown in figure 5, other realitiesThe coupling member 40 for applying mode can be made of multiple components, and have multi-joint.In this manner it is achieved that for example by making to connectStructural member 40 is horizontally elongated, can be easy to carry out x-ray fluorescence analysis the wall surface to precipitous steep cliff.AndAnd by by the wall surface of wall between fluorescent x-ray analyzer 20 at a distance from be kept constant in the state of, make nobody flyRow device 100 vertically rises or falls, and can easily and rapidly carry out the qualitative analysis in vertical direction with high precisionAnd quantitative analysis.
In the above-described embodiment, the shape of the cabinet 22 of fluorescent x-ray analyzer 20 is substantially rectangular shape, butIt is that it's not limited to that.As shown in fig. 6, in other embodiments, the shape of cabinet 22 can be the thin shape in top.IfThe shape of cabinet 22 is this shape, even if then also fluorescence X can be made to penetrate in the case where the fluctuating on the surface of measurement object is bigThe top of line analysis device 20 closer surface, it will not be made to leak even for the small fluorescent X-ray of energy and canIt is detected, qualitative analysis can be carried out with higher precision.
In the above-described embodiment, X-ray tube 24 is configured to make the central axis of the X-ray of radiation relative to measurement objectNormal to a surface tilts predetermined angular, but is not limited to this mode.In other embodiments, as shown in fig. 7, X is penetratedSpool 24 is configured to keep the central axis of the X-ray of radial irradiation vertical with the surface of measurement object.In this fashion, X is penetratedThe tubular shape of the central axis for being preferably shaped to surround the X-ray radiated from X-ray tube 24 of thread detector 26.If X-rayPipe 24 and X-ray detector 26 are this modes, then detection solid angle can be made to become larger, can be improved the detection intensity of X-ray,Thus allow for the quantitative analysis of higher precision.
In the above-described embodiment, the electric current that analysis portion 28 is exported based on X-ray detector 26, without amendment to glimmeringThe spectrum of light X-ray is calculated, but it's not limited to that.It can constitute as follows in other embodiments: baseIn the range information that laser range finder 30 obtains, the intensity of the fluorescent X-ray generated from ground is calculated until by X-ray detectorThe attenuation to decay until 26 detections, and consider that the attenuation is modified come the spectrum of the fluorescent X-ray to detection.Pass throughThis amendment is carried out, the quantitative analysis of higher precision is able to carry out.In addition, though actually in detector side and X-ray sideAbsorption in the optical path of two sides by atmosphere is influenced, but the calculating of the following presentation only decaying of the optical path of detector side is repairedJust.
Specifically, can be declined according to Lambert-Beer (Lambert-Beer) law by formula below (1) to calculateIt is reduced and is modified.
I=I0exp(-μair,E×ρair×x)/exp(-μair,E×ρair×x0) (1)
(wherein, I0: the spectral intensity on the surface of measurement object, I: the spectral intensity of observation, μair,E: ENERGY E is relative to XThe mass-absorption coefficient of the air of ray, ρair: the density of air, x: the path length of air, x0: common path length)
In addition, in the case where being reduced in view of solid angle because of distance, such as can use formula below (2) to calculateAttenuation is simultaneously modified.
I=I0exp(-μair,E×ρair×x)/exp(-μair,E×ρair×x0)×(x02/x2) (2)
In addition, can be carried out without departing from the spirit and scope of the present invention the present invention is not limited to the embodimentVarious modifications.
Industrial applicibility
According to the present invention, it is capable of providing a kind of even if fluorescence X can be accurately proceed the place that people is difficult to enterThe unmanned vehicle of ray analysis.