Automatic PH testing method and device for radioactive liquid sample of nuclear power plant

Abstract

The invention discloses an automatic PH testing method and device for a radioactive liquid sample of a nuclear power plant, and the method comprises the steps: controlling a mechanical arm to obtain a PH detection probe matched with a PH detection device in response to a PH testing request; determining a target position of a target container storage position where a sample to be detected is stored, and controlling the mechanical arm to put the PH detection probe into the sample to be detected at the target position; controlling the mechanical arm to move the PH detection probe to the PH detection device, and detecting the PH value of the to-be-detected sample through the PH detection device; and identifying a detection result image of the PH detection device acquired by the image acquisition device so as to determine the PH value of the to-be-detected sample. By setting an automatic PH test mode, the problems that the safety of laboratory workers cannot be ensured, the efficiency is relatively low and errors are easy to occur in an existing mode are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of radioactive liquid sample testing, and in particular to an automatic pH testing method and device for radioactive liquid samples in nuclear power plants. Background Art

[0002] pH testing is a method used to measure the acidity or alkalinity of a solution, and a pH meter is an instrument used to perform pH measurements.

[0003] In the related art, the sample to be tested must be manually placed in a pH meter for testing. However, in the nuclear power field, when testing the pH of radioactive liquid samples, there are risks of nuclear radiation and sample leakage when laboratory workers place the sample to be tested in the pH meter. This method cannot ensure the safety of laboratory workers, is inefficient, and is prone to errors. Summary of the Invention

[0004] The present invention provides an automatic pH test method and device for radioactive liquid samples in nuclear power plants. The technical solution is as follows:

[0005] In a first aspect, the present invention provides an automatic pH testing method for radioactive liquid samples in nuclear power plants, which is applied to an automatic pH measuring device for radioactive liquid samples in nuclear power plants. The automatic pH measuring device includes multiple container storage positions, a pH detection device, an image acquisition device, and a robotic arm. The automatic pH testing method includes:

[0006] In response to a pH test request, controlling the robotic arm to obtain a pH detection probe that matches the pH detection device;

[0007] Determining a target position of a target container where the sample to be tested is stored, and controlling the robotic arm to place the pH detection probe into the sample to be tested at the target position;

[0008] Controlling the robotic arm to move the pH detection probe to the pH detection device, and detecting the pH value of the sample to be tested by the pH detection device;

[0009] The detection result image of the pH detection device acquired by the image acquisition device is identified to determine the pH value of the sample to be tested.

[0010] In a second aspect, the present invention provides an automatic pH testing device for radioactive liquid samples in nuclear power plants, the automatic pH measuring device comprising a plurality of container storage positions, a pH detection device, an image acquisition device, and a robotic arm, including:

[0011] a control unit, configured to control the robotic arm to obtain a pH detection probe matching the pH detection device in response to a pH test request;

[0012] a determination unit, configured to determine a target position of a target container where the sample to be tested is stored, and control the robotic arm to place the pH detection probe into the sample to be tested at the target position;

[0013] a detection unit, configured to control the robotic arm to move the pH detection probe to the pH detection device, and detect the pH value of the sample to be tested through the pH detection device;

[0014] The recognition unit is used to recognize the detection result image of the pH detection device acquired by the image acquisition device to determine the pH value of the sample to be tested.

[0015] In a third aspect, the present invention provides an electronic device comprising a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the automatic pH testing method for radioactive liquid samples in nuclear power plants described in the first aspect of the above embodiment.

[0016] In a fourth aspect, the present invention provides a computer storage medium storing a plurality of instructions, wherein the instructions are suitable for being loaded by a processor and executing the steps of the automatic pH testing method for radioactive liquid samples in a nuclear power plant as described in the first aspect of the above embodiment.

[0017] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0018] During the testing process of the samples to be tested, there is no need for human participation. The robotic arm replaces the human role, and the camera collects the test result image and identifies the final test result. This not only avoids the harm caused by radioactive samples to the staff, but also improves work efficiency and prevents operational errors caused by human participation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1a This is a structural diagram of an automatic pH measurement device for radioactive liquid samples in a nuclear power plant provided in an embodiment of this specification.

[0021] Figure 1bThis is a structural diagram of another automatic pH measurement device for radioactive liquid samples in nuclear power plants provided in an embodiment of this specification.

[0022] Figure 2 This is a flow chart of an automatic pH test method for radioactive liquid samples in a nuclear power plant provided in an embodiment of this specification.

[0023] Figure 3 This is a schematic diagram of a drainage pipe provided in an embodiment of this specification.

[0024] Figure 4 This is a block diagram of an automatic pH testing device for radioactive liquid samples in a nuclear power plant provided in an embodiment of this specification.

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of this specification will be described clearly and completely below in conjunction with the drawings in the embodiments of this specification.

[0027] The terms "first," "second," and so on, used in the specification and claims of the present invention and in the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the term "comprises" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0028] To address the problems in the related art, embodiments of the present invention provide a method and apparatus for automatically testing the pH of radioactive liquid samples in nuclear power plants. The following describes the method and apparatus in detail with reference to one or more embodiments.

[0029] The following combination Figure 1a and Figure 1b This paper introduces the structure of the automatic pH test method for radioactive liquid samples in nuclear power plants in detail. Figure 1a , Figure 1a The structure diagram of a PH test bench provided in the embodiment of this specification is shown as follows: Figure 1a As shown, the automatic pH measuring device 10 for radioactive liquid samples in a nuclear power plant may include: multiple container storage positions (such as container storage position 101, container storage position 102, container storage position 103 and container storage position 104), a pH detection device 105 and a robotic arm 106.

[0030] The container holding the sample can be Figure 1a The glass shown, or other laboratory container. The container storage location can be a fixed location for storing sample containers, and this location can have a groove that matches the bottom of the sample container for tilting the sample container. The automatic pH measurement device for radioactive liquid samples in nuclear power plants can also be called a pH measurement station.

[0031] The pH detection device 105 may be a device for detecting the pH value of a sample (ie, the acidity or alkalinity of the sample), and the pH detection device 105 may include the aforementioned pH detector.

[0032] In order to show the robot arm of PH test bench more clearly, Figure 1b Make an introduction, Figure 1b FIG. 4 shows an architecture diagram of another PH test bench provided in an embodiment of this specification, such as Figure 1b As shown, the robotic arm 106 is an electronic arm controlled by the pH test station and used to grasp various devices or containers on the pH test station. Specifically, the robotic arm 106 can be equipped with a communication device for receiving instructions sent by the pH test station and feeding back the results of the instruction execution to the automatic pH measurement device.

[0033] like Figure 1b As shown, image acquisition device 106 can be a camera mounted above automatic pH measuring device 10. This camera can capture and recognize images within the range of automatic pH measuring device 10 to determine the pH value of the sample to be measured. Monitoring camera 107 is used for real-time monitoring of the device and troubleshooting of malfunctions.

[0034] This automatic pH measuring device does not require human intervention during the testing of samples. A robotic arm replaces human interaction, and a camera captures the test result image and identifies the final test result. This not only avoids the harm caused by nuclear leakage to workers, but also improves work efficiency and prevents operational errors caused by human participation.

[0035] See also Figure 2 , Figure 2 FIG. 1 shows a flow chart of an automatic pH test method for radioactive liquid samples in a nuclear power plant provided by an embodiment of the present specification, as shown in FIG. Figure 2 As shown, the automatic pH test method for liquid samples is applied to an automatic pH measurement device for radioactive liquid samples in nuclear power plants. The pH measurement platform includes multiple container storage positions, a pH detection device, an image acquisition device, and a robotic arm, and may include at least the following steps:

[0036] Step 202: In response to a pH test request, control the robotic arm to obtain a pH detection probe that matches the pH detection device.

[0037] The condition for triggering the pH test request may be that the automatic pH measuring device receives a request sent by the user; or, when the container carrying the sample to be tested is placed in the container storage position, the pH test request is automatically triggered. This specification does not limit this.

[0038] The pH detection probe can be a probe device that is compatible with the pH detection device. During the pH detection process, the probe needs to be placed in the sample to be tested, and the liquid attached to the probe surface is brought back to the pH detector for testing. The pH detection probe can be stored in a specific device. When the robot arm receives the command to obtain the probe, the specific device automatically opens to allow the robot arm to obtain the probe.

[0039] Step 204 : Determine the target position of the target container where the sample to be tested is stored, and control the robotic arm to place the pH detection probe into the sample to be tested at the target position.

[0040] Different container storage locations may hold different sample containers. The container storage location corresponding to the pH test request may be a target container storage location. Each container storage location may have corresponding identification information. The automatic pH measurement device may store a correspondence between the identification information and the position information of the container storage location, and determine a target position of the target container storage location based on this correspondence.

[0041] Step 206: Control the robotic arm to move the pH detection probe to the pH detection device, and detect the pH value of the sample to be tested by the pH detection device.

[0042] Step 208: Identify the detection result image of the pH detection device captured by the image acquisition device to determine the pH value of the sample to be tested.

[0043] In this embodiment, during the testing of the sample to be tested, no human participation is required, and the robotic arm replaces the human role, and the camera collects the test result image and identifies the final test result. This not only avoids the harm caused by nuclear leakage to the staff, but also improves work efficiency and prevents operational errors caused by human participation.

[0044] In one embodiment, the multiple container storage positions include a target container storage position for storing the sample to be tested and other container storage positions for storing predicted samples, and the automatic pH measuring device stores the actual pH value of the predicted sample; before performing a pH test on the sample to be tested, the automatic pH testing method further includes: determining the position of the other container storage position, and controlling the robotic arm to place the pH detection probe into the predicted sample on the other container storage position; controlling the robotic arm to move the pH detection probe to the pH detection device, and detecting the pH value of the predicted sample through the pH detection device; identifying the predicted result image of the pH detection device captured by the image acquisition device to determine the pH value of the predicted sample; and triggering the pH test request when the determined pH value of the predicted sample matches the actual pH value stored in the automatic pH measuring device.

[0045] Before testing the sample to be tested, the pH value of the predicted sample with known pH value can be tested to determine the accuracy of the pH detection device. There are many types of predicted samples, such as Figure 1a As shown, container storage position 101 can be used to store the sample to be tested, and container storage positions 102-104 can be used to store three different predicted samples. Before testing the pH value of the sample to be tested, the pH values ​​of the three predicted samples are tested separately. If the test results match the previously known results, it indicates that the accuracy of the pH detection device meets expectations and can be used to test the sample to be tested. If the test results do not match the previously known results, it indicates that the accuracy of the pH detection device does not meet expectations and cannot be used to test the sample to be tested immediately.

[0046] Of course, after each predicted sample is tested, the probe needs to be cleaned, which will be explained in detail later and will not be repeated here.

[0047] In this embodiment, before testing the sample to be tested, the quality of the pH detection device and the pH detection probe is first checked by using a prediction sample, thereby ensuring the accuracy of the detection.

[0048] Furthermore, the automatic pH testing method also includes: when the determined pH value of the predicted sample does not match the actual pH value stored in the automatic pH measuring device, controlling the robotic arm to obtain a new pH detection probe, and detecting the pH value of the predicted sample through the new pH detection probe.

[0049] The reason for the predicted sample's unqualified test result could be due to the pH test device or the pH test probe. Therefore, a second prediction using a new pH test probe can clarify the cause of the anomaly. This helps locate the fault. On the other hand, if the predicted result using the new pH test probe is qualified, the sample can be tested again, improving detection efficiency.

[0050] In one embodiment, the automatic pH measuring device further includes a cleaning device; the automatic pH testing method further includes: controlling the robotic arm to place the pH detection probe into the cleaning device, and cleaning the pH detection probe with the cleaning device.

[0051] like Figure 1a As shown, the automatic pH measuring device 10 further includes a cleaning device 108, which is used to clean the pH detection probe.

[0052] In addition to cleaning the probe after testing the sample to be tested, the probe also needs to be cleaned after each test of the predicted sample to ensure that the previous test will not affect the next one, thereby ensuring the accuracy of the pH test.

[0053] Furthermore, the cleaning device includes a cleaning table and a drainage pipe, the drainage pipe is installed under the cleaning table, a first valve is provided between the drainage pipe and the cleaning table, and a water injection port is provided at the edge of the cleaning table and a plurality of cleaning nozzles are installed at intervals; the cleaning of the pH detection probe by the cleaning device includes: opening the first valve and controlling the water discharge from the cleaning nozzle to perform external cleaning of the pH detection probe; closing the first valve and injecting water into the cleaning table through the water injection port to perform internal cleaning of the pH detection probe; and opening the first valve a second time to empty the liquid in the cleaning table.

[0054] like Figure 1b As shown, the cleaning device 108 may include a cleaning station 301 and a drainage pipe 302. The drainage pipe 302 is installed below the cleaning station 301.

[0055] Specifically, such as Figure 3 As shown, a first valve 303 is provided between the drainage pipe 302 and the washing station 301. The first valve 303 is used to isolate the drainage pipe 302 from the washing station 301. When the first valve 303 is opened, the liquid in the washing station 301 can be discharged from the drainage pipe 302. When the first valve 303 is closed, the washing station 301 can store water.

[0056] The edge of the cleaning table 301 is provided with a water injection port and a plurality of cleaning nozzles are installed at intervals. The cleaning nozzles are used to clean the outside of the pH detection probe. Water is injected into the cleaning table 301 through the water injection port to clean the inside of the pH detection probe.

[0057] In this embodiment, on the one hand, two cleaning methods are used to clean the pH detection probe, so that both the inside and the outside of the probe are cleaned, thereby ensuring the cleanliness of the probe after cleaning, and then ensuring the accuracy of the next detection; on the other hand, the liquid in the washing table is discharged through the drainage pipe to prevent the washing table from overflowing.

[0058] Furthermore, a container access space is provided inside the drainage pipe, a second valve is provided at the upper part of the container access space, and a water outlet screen door is provided at the lower part; the automatic pH testing method also includes: when the pH value test of the sample to be tested is completed, controlling the robotic arm to grab the container on the target container storage position, and moving the container to the cleaning station to clean the container; opening the first valve and the second valve; in response to the container entering the container access space, closing the second valve; wherein, the water outlet screen door is used to separate the liquid in the container and the drainage pipe.

[0059] like Figure 3 As shown, the upper part of the container access space 305 is a second valve 304, and the lower part is a water outlet screen door 306. The second valve 304 can be used to isolate the container access space 305 from the liquid above, and the water outlet screen door 306 can pass liquid but not solid, thereby isolating the container.

[0060] The specific container cleaning process can be as follows: the robotic arm grabs the sample container and brings it to the cleaning station. After cleaning the exterior and interior of the container, the first valve 303 and the second valve 304 are opened, allowing the container to follow the water flow and sink into the container access space 305. The second valve 304 is then closed. After the liquid in the container access space 305 is drained through the water outlet screen door 306, the user can open the water outlet screen door 306 to remove the container.

[0061] In this embodiment, by disposing a plurality of valves and sieve doors in the drainage pipe, the cleaned container can be separated from the liquid for the user to take, thereby achieving the cleaning and taking of the sample container.

[0062] In one embodiment, the pH detection device includes a pH detector and a detector operating arm, the pH detector is used to detect the pH value of a sample placed in the pH detection device, and the detector operating arm is used to click an operation button on the pH detector.

[0063] See also Figure 4 , Figure 4 This is a block diagram of an automatic pH test device for radioactive liquid samples in nuclear power plants provided in an embodiment of this specification. The pH measurement device includes multiple container storage positions, a pH detection device, an image acquisition device, and a robotic arm, including:

[0064] a control unit 402 for controlling the robotic arm to obtain a pH detection probe matching the pH detection device in response to a pH test request;

[0065] The first determining unit 404 is configured to determine a target location of a target container where the sample to be tested is stored, and control the robotic arm to place the pH detection probe into the sample to be tested at the target location;

[0066] The detection unit 406 is used to control the robot arm to move the pH detection probe to the pH detection device, and detect the pH value of the sample to be tested through the pH detection device;

[0067] The first recognition unit 408 is configured to recognize the detection result image of the pH detection device acquired by the image acquisition device to determine the pH value of the sample to be tested.

[0068] Optionally, the multiple container storage locations include a target container storage location for storing the sample to be tested and other container storage locations for storing predicted samples, and the automatic pH measuring device stores the actual pH value of the predicted sample; before performing a pH test on the sample to be tested, the automatic pH testing device further includes:

[0069] A second determining unit 410 is configured to determine the position of the other container storage location and control the robotic arm to place the pH detection probe into the predicted sample on the other container storage location;

[0070] a first pre-detection unit 412, configured to control the robotic arm to move the pH detection probe to the pH detection device, and detect the pH value of the predicted sample through the pH detection device;

[0071] A second recognition unit 414 is configured to recognize the prediction result image of the pH detection device acquired by the image acquisition device to determine the predicted pH value of the sample;

[0072] The triggering unit 416 is configured to trigger the pH test request when the determined predicted pH value of the sample matches the actual pH value stored in the automatic pH measuring device.

[0073] Optionally, the automatic pH testing device further includes:

[0074] The second pre-detection unit 418 is configured to control the robotic arm to obtain a new pH detection probe and detect the pH value of the predicted sample using the new pH detection probe when the determined pH value of the predicted sample does not match the actual pH value stored in the automatic pH measuring device.

[0075] Optionally, the automatic pH measuring device further includes a cleaning device; the automatic pH testing device further includes:

[0076] The cleaning unit 420 is used to control the robotic arm to place the pH detection probe into the cleaning device, and clean the pH detection probe through the cleaning device.

[0077] Optionally, the cleaning device includes a cleaning table and a drainage pipe, the drainage pipe is installed below the cleaning table, a first valve is provided between the drainage pipe and the cleaning table, a water inlet is provided at the edge of the cleaning table, and a plurality of cleaning nozzles are installed at intervals; the cleaning unit 420 is specifically used for:

[0078] Opening the first valve and controlling the water discharge from the cleaning nozzle to perform external cleaning on the pH detection probe;

[0079] Closing the first valve and injecting water into the cleaning station through the water inlet to clean the interior of the pH detection probe;

[0080] The first valve is opened a second time to drain the liquid in the washing station.

[0081] Optionally, a container access space is provided inside the drainage pipe, a second valve is provided at the upper portion of the container access space, and a water outlet screen door is provided at the lower portion of the container access space; and further comprising:

[0082] The moving unit 422 is used to control the robotic arm to grab the container on the target container storage position and move the container to the cleaning station to clean the container when the pH value test of the sample to be tested is completed;

[0083] an opening unit 424, configured to open the first valve and the second valve;

[0084] The closing unit 426 is used to close the second valve in response to the container entering the container access space; wherein the water outlet screen door is used to separate the liquid in the container and the liquid in the drainage pipe.

[0085] Optionally, the pH detection device includes a pH detector and a detector operating arm, the pH detector is used to detect the pH value of a sample placed in the pH detection device, and the detector operating arm is used to click an operation button on the pH detector.

[0086] In this embodiment, during the testing of the sample to be tested, no human participation is required, and the robotic arm replaces the human role, and the camera collects the test result image and identifies the final test result. This not only avoids the harm caused by nuclear leakage to the staff, but also improves work efficiency and prevents operational errors caused by human participation.

[0087] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from the other embodiments. In particular, the embodiment of the automatic pH testing device for radioactive liquid samples in nuclear power plants is generally similar to the embodiment of the automatic pH testing method for radioactive liquid samples in nuclear power plants, so the description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0088] See also Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of this specification is shown.

[0089] like Figure 5 As shown, the electronic device 500 may include: at least one processor 501 , at least one network interface 504 , a user interface 503 , a memory 505 and at least one communication bus 502 .

[0090] The communication bus 502 may be used to implement connection and communication among the above components.

[0091] The user interface 503 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0092] The network interface 504 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0093] Among them, the processor 501 may include one or more processing cores. The processor 501 uses various interfaces and lines to connect the various parts of the entire electronic device 500, and executes various functions of the electronic device 500 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 505, and calling data stored in the memory 505. Optionally, the processor 501 can be implemented in at least one hardware form of DSP, FPGA, PLA. The processor 501 can integrate one or a combination of CPU, GPU and modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 501, but may be implemented separately through a chip.

[0094] Memory 505 may include either RAM or ROM. Optionally, memory 505 may include non-transitory computer-readable media. Memory 505 may be used to store instructions, programs, codes, code sets, or instruction sets. Memory 505 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, sound playback function, image playback function, etc.), instructions for implementing each of the aforementioned method embodiments, and the data storage area may store data related to each of the aforementioned method embodiments. Memory 505 may also optionally be at least one storage device located remotely from the processor 501. Memory 505, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for automatically testing the pH of radioactive liquid samples in nuclear power plants. Processor 501 may be configured to invoke the application program for the method for automatically testing the pH of radioactive liquid samples in nuclear power plants stored in memory 505 and execute the steps of the method for automatically testing the pH of radioactive liquid samples in nuclear power plants described in the aforementioned embodiments.

[0095] The embodiment of this specification also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a computer or a processor, the computer or processor executes the above-mentioned Figure 2 If the components of the electronic device are implemented in the form of software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0096] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of this specification is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0097] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. The technical features of this embodiment and the implementation scheme can be combined in any manner unless they conflict.

[0098] The embodiments described above are merely preferred embodiments of this specification and are not intended to limit the scope of this specification. Without departing from the design spirit of this specification, various modifications and improvements made to the technical solutions of this specification by ordinary technicians in this field should fall within the scope of protection determined by the claims of this specification.

Claims

1. An automatic pH test method for radioactive liquid samples in nuclear power plants, characterized in that: An automatic pH measuring device for radioactive liquid samples in a nuclear power plant, the automatic pH measuring device comprising a plurality of container storage positions, a pH detection device, an image acquisition device and a mechanical arm, and the automatic pH testing method comprising: In response to a PH test request, controlling the mechanical arm to obtain a PH detection probe matching the PH detection device; Determine the target position of the target container where the sample to be tested is stored, and control the robot arm to place the pH detection probe into the sample to be tested at the target position; Controlling the mechanical arm to move the pH detection probe to the pH detection device, and detecting the pH value of the sample to be tested through the pH detection device; The detection result image of the pH detection device acquired by the image acquisition device is identified to determine the pH value of the sample to be tested.

2. The automatic pH test method for radioactive liquid samples in a nuclear power plant according to claim 1, characterized in that: The plurality of container storage positions include a target container storage position for storing the sample to be tested and other container storage positions for storing the predicted sample, and the automatic pH measuring device stores the actual pH value of the predicted sample; before performing a pH test on the sample to be tested, the automatic pH testing method further includes: Determine the position of the other container storage position, and control the robotic arm to place the pH detection probe into the predicted sample on the other container storage position; Controlling the mechanical arm to move the pH detection probe to the pH detection device, and detecting the pH value of the predicted sample through the pH detection device; Identifying the prediction result image of the pH detection device acquired by the image acquisition device to determine the pH value of the predicted sample; In case the determined predicted pH value of the sample matches the actual pH value stored by the automatic pH measuring device, the pH test request is triggered.

3. The automatic pH test method for radioactive liquid samples in a nuclear power plant according to claim 2, characterized in that: Also includes: When the determined pH value of the predicted sample does not match the actual pH value stored in the automatic pH measuring device, the robotic arm is controlled to obtain a new pH detection probe, and the pH value of the predicted sample is detected by the new pH detection probe.

4. The automatic pH test method for radioactive liquid samples in a nuclear power plant according to claim 1, characterized in that: The automatic pH measuring device also includes a cleaning device; the automatic pH testing method also includes: The robot arm is controlled to place the pH detection probe into the cleaning device, and the pH detection probe is cleaned by the cleaning device.

5. The automatic pH test method for radioactive liquid samples in nuclear power plants according to claim 4, characterized in that: The cleaning device comprises a cleaning table and a drainage pipe, wherein the drainage pipe is installed below the cleaning table, a first valve is arranged between the drainage pipe and the cleaning table, a water injection port is arranged at the edge of the cleaning table and a plurality of cleaning nozzles are arranged at intervals; the cleaning of the pH detection probe by the cleaning device comprises: Opening the first valve and controlling the water discharge from the cleaning nozzle to perform external cleaning on the pH detection probe; Closing the first valve, and injecting water into the cleaning station through the water injection port to clean the interior of the pH detection probe; The first valve is opened a second time to drain the liquid in the cleaning station.

6. The automatic pH test method for radioactive liquid samples in a nuclear power plant according to claim 5, characterized in that: The drainage pipe is provided with a container access space inside, the upper part of the container access space is provided with a second valve, and the lower part is provided with a water outlet screen door; the automatic PH testing method also includes: When the pH value test of the sample to be tested is completed, the robot arm is controlled to grab the container on the target container storage position, and move the container to the cleaning station to clean the container; opening the first valve and the second valve; In response to the container entering the container access space, the second valve is closed; wherein the water outlet screen door is used to separate the liquid in the container and the liquid in the drainage pipe.

7. An automatic pH test method for radioactive liquid samples in a nuclear power plant according to any one of claims 1 to 6, characterized in that: The pH detection device includes a pH detector and a detector operating arm. The pH detector is used to detect the pH value of a sample placed in the pH detection device, and the detector operating arm is used to click an operation button on the pH detector.

8. An automatic pH test device for radioactive liquid samples in a nuclear power plant, characterized in that: The pH measuring device comprises a plurality of container storage positions, a pH detection device, an image acquisition device and a mechanical arm, and the pH measuring device further comprises: a control unit, configured to control the mechanical arm to obtain a PH detection probe matching the PH detection device in response to a PH test request; a determination unit, used to determine a target position of a target container where the sample to be tested is stored, and control the mechanical arm to place the pH detection probe into the sample to be tested at the target position; A detection unit, used for controlling the mechanical arm to move the pH detection probe to the pH detection device, and detecting the pH value of the sample to be tested through the pH detection device; The recognition unit is used to recognize the detection result image of the pH detection device collected by the image acquisition device to determine the pH value of the sample to be tested.

9. An electronic device, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the automatic pH test method for radioactive liquid samples in a nuclear power plant as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the automatic pH testing method for radioactive liquid samples in a nuclear power plant as described in any one of claims 1 to 7 is implemented.

Images