Automatic sample separation method and system for radioactive samples of nuclear power plant

Abstract

The invention relates to the technical field of computers, and discloses an automatic sample separation method and system for radioactive samples of a nuclear power plant. The method is applied to the sample separation system, the sample separation system comprises a sample transport vehicle, a sample separation table and a plurality of detection instruments, and the method comprises the following steps: in response to an obtained sample separation request, determining an original sample corresponding to the sample separation request; obtaining an original sample through the sample transport vehicle, and transporting the original sample to the sample separation table; the original sample is separated through the sample separation table to obtain a plurality of samples to be detected and separated, and the samples to be detected and separated are transported to corresponding detection instruments through the sample transport vehicle for sample detection. The system comprises a sample transport vehicle, a sample separation table, a plurality of detection instruments and a control module, the control module comprises a determination unit, a transportation unit and a sample separation unit. In the sampling, sample separation and detection process of samples, manual participation is not needed, manual action is replaced by the mechanical arm, and transportation action is replaced by the trolley, so that harm to workers caused by leakage of radioactive substances can be avoided, the working efficiency is improved, and the problem of misoperation caused by manual participation is prevented; and the detection accuracy is improved.

Description

Technical Field

[0001] The invention relates to the field of computer technology, and in particular to an automatic sampling method and system for radioactive samples in a nuclear power plant. Background Art

[0002] Nuclear liquid waste refers to wastewater containing radioactive substances, which mainly comes from nuclear power generation, nuclear fuel processing, nuclear research and other activities related to nuclear technology. These wastewaters may contain radioactive isotopes of different types and concentrations, and therefore pose a potential threat to the environment and human health. The detection of nuclear liquid waste is an important step in nuclear liquid waste management. The detection of nuclear liquid waste mainly includes the determination of its radioactive concentration and physical and chemical properties. Nuclear liquid waste detection is often carried out in the laboratory. Before the nuclear liquid waste is detected, it is necessary to collect the nuclear waste liquid and sample it to prepare for different detection instruments in the laboratory.

[0003] In the related technology, samples to be tested need to be manually sorted and transported. However, when nuclear laboratory staff sample and sort samples to be tested, there is a risk of nuclear radiation leakage. Manual participation in nuclear waste liquid testing cannot ensure the safety of laboratory staff, and is inefficient and prone to errors. Summary of the invention

[0004] The invention provides a method, system, electronic equipment and storage medium for automatic sorting of radioactive samples in a nuclear power plant, which are highly safe, efficient and error-prone.

[0005] The technical solution is as follows:

[0006] In a first aspect, the present invention provides a method for automatically sorting radioactive samples in a nuclear power plant, which is applied to a sorting system, wherein the sorting system includes a sample transport vehicle, a sorting platform, and a plurality of detection instruments, including:

[0007] In response to the acquired sample splitting request, determining the original sample corresponding to the sample splitting request;

[0008] Obtaining the original sample through the sample transport vehicle, and transporting the original sample to the sample separation station;

[0009] The original sample is sampled by the sample separation table to obtain a plurality of samples to be tested, and the sample transport vehicle is used to transport the samples to corresponding testing instruments for sample testing.

[0010] In a second aspect, the present invention provides an automatic sampling system for radioactive samples in a nuclear power plant, including a sample transport vehicle, a sampling platform, a plurality of detection instruments, and a control module, wherein the control module includes:

[0011] A determination unit, configured to determine, in response to the acquired sample splitting request, the original sample corresponding to the sample splitting request;

[0012] A transport unit, used for obtaining the original sample through the sample transport vehicle and transporting the original sample to the sample separation station;

[0013] The sample separation unit is used to separate the original sample through the sample separation table to obtain multiple samples to be tested, and to transport the samples to be tested to corresponding testing instruments through the sample transport vehicle for sample testing.

[0014] 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 method for automatic sorting of radioactive samples in nuclear power plants described in the first aspect of the above embodiment.

[0015] 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 method for automatic sorting of radioactive samples in a nuclear power plant as described in the first aspect of the above-mentioned embodiment.

[0016] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0017] In the process of sampling, sorting and testing samples, there is no need for human participation. The robotic arm replaces the human role and the cart replaces the transportation role. This not only avoids the harm to the workers caused by the leakage of radioactive materials, but also improves work efficiency, prevents operational errors caused by human participation, and improves the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the drawings required for use in the embodiments will be briefly introduced below. 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 paying creative work.

[0019] Figure 1 It is an architecture diagram of a sample separation system provided by an embodiment of the present invention.

[0020] Figure 2 The present invention is a flowchart of a method for automatically sorting radioactive samples in a nuclear power plant provided by an embodiment of the present invention.

[0021] Figure 3It is a schematic diagram of the exterior of a sample separation platform provided in an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the interior of a sample separation platform provided in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of a sample temporary storage area and a sample separation operation table provided in an embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of a pH test area provided in an embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of a drainage pipeline of a cleaning device provided in an embodiment of the present invention.

[0026] Figure 8 It is a schematic diagram of a lead tank device provided in an embodiment of the present invention.

[0027] Fig. 9 It is a schematic diagram of a liquid scintillator device provided in an embodiment of the present invention.

[0028] Fig.10 It is a schematic diagram of a sample separation platform in a planar perspective provided by an embodiment of the present invention.

[0029] Fig.11 The invention is a block diagram of an automatic sampling system for radioactive samples in a nuclear power plant provided by an embodiment of the present invention.

[0030] Fig.12 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0031] In the figure, 11-sample transport vehicle; 12-sample separation platform; 13-first detection instrument; 14-second detection instrument;

[0032] 31-sampling door; 32-sample delivery door; 311-first support rail; 312-second support rail; 313-first stop door; 321-third support rail; 322-fourth support rail; 323-second stop door; 33-first mechanical arm; 34-cover opening device; 35-absorption device; 36-guide rail device;

[0033] 501-temporary sample storage area; 502-sample separation operation area; 503-temporary storage area for barrel covers; 504-sample separation operation table;

[0034] 60-PH test area; 601-604 different container storage positions; 605-PH detection device; 606-second mechanical arm; 608-cleaning device;

[0035] 701-cleaning table; 702-drainage pipe; 703-first valve; 704-second valve; 705-container access space; 706-water outlet screen door;

[0036] 81-lead can container; 82-support frame; 83-first rotating door; 84-second rotating door; 85-first retracting mechanism; 86-second retracting mechanism;

[0037] 91-base; 92-box body; 93-box cover; 94-external opening and closing hinge;

[0038] 1001- container storage device; 1002- mobile suction device; 1003- sample barrel recovery area;

[0039] 1102-determination unit; 1104-transportation unit; 1106-sample separation unit; 1108-first control unit; 1110-second control unit; 1112-movement unit; 1114-first identification unit; 1116-third control unit; 1118-first prediction unit; 1120-second identification unit; 1122-trigger unit; 1124-second prediction unit; 1126-cleaning unit; 1128-grabbing unit; 1130-opening unit; 1132-closing unit;

[0040] 1200 - electronic device; 1201 - processor; 1202 - communication bus; 1203 - user interface; 1204 - network interface; 1205 - memory. DETAILED DESCRIPTION

[0041] 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.

[0042] The terms "first", "second", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the term "comprising" and any variation thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0043] The following is a detailed description of the method for automatically sorting radioactive samples in a nuclear power plant in conjunction with one or more embodiments.

[0044] Nuclear liquid waste refers to wastewater containing radioactive substances, which mainly comes from nuclear power generation, nuclear fuel processing, nuclear research and other activities related to nuclear technology. These wastewaters may contain radioactive isotopes of different types and concentrations, and therefore pose a potential threat to the environment and human health. The detection of nuclear liquid waste is an important step in nuclear liquid waste management. The detection of nuclear liquid waste mainly includes the determination of its radioactive concentration and physical and chemical properties. Nuclear liquid waste detection is often carried out in the laboratory. Before the nuclear liquid waste is detected, it is necessary to collect the nuclear waste liquid and sample it to prepare for different detection instruments in the laboratory.

[0045] In the related technology, samples to be tested need to be manually sorted and transported. However, when nuclear laboratory staff sample and sort samples to be tested, there is a risk of nuclear radiation leakage. Manual participation in nuclear waste liquid testing cannot ensure the safety of laboratory staff, and is inefficient and prone to errors.

[0046] In order to solve the problems existing in the related art, this specification proposes a method, device, electronic equipment and storage medium for automatic sorting of radioactive samples in a nuclear power plant.

[0047] Combine the following Figure 1 The architecture involved in the automatic sampling method of radioactive samples in nuclear power plants is introduced in detail. Figure 1 , Figure 1 FIG. 4 shows an architecture diagram of a sample separation system provided in an embodiment of the present specification, such as Figure 1 As shown, the system may include: a sample transport vehicle 11 , a sample separation platform 12 , a first detection instrument 13 , and a second detection instrument 14 .

[0048] The sample transport vehicle 11 is an intelligent electronic vehicle for sample transportation and sample placement. The vehicle is equipped with a communication device for receiving instructions sent by the sample separation system and for feeding back the results of the instruction execution to the sample separation system. The sample transport vehicle 11 also includes a sample storage space for placing samples and a mechanical arm for grabbing samples for placement. The mechanical arm of the sample transport vehicle will be described in detail later and will not be described here.

[0049] The sample separation table 12 is an operating table for sample separation. Sample separation refers to dividing a sample into multiple samples for detection by different detection instruments. The sample separation table 12 is wrapped by an outer shell, and the outer shell includes multiple openable baffles. When the baffles are closed, the sample separation table 12 is in a closed state to avoid the risk of radioactive leakage. The baffles on the outer shell can also be triggered to open due to the sample transportation task of the sample transport vehicle 11. A robotic arm is also installed on the sample separation table 12, which is used to grab the samples placed on the sample transport vehicle and put them on the sample separation table 12 for sample separation.

[0050] The detection instrument is an electronic analysis instrument for detecting samples, and may include, for example: a first detection instrument 13 - a lead can container, and a second detection instrument 14 - a nuclide measuring device. Of course, the detection instrument is not limited thereto, and may also include a pH detection device, etc., which is not limited in this specification.

[0051] This sampling system does not require human intervention during the sampling, sampling and testing processes. A robotic arm replaces human intervention and a trolley replaces the transportation function. This not only avoids the harm to workers caused by the leakage of radioactive materials, but also improves work efficiency, prevents operational errors caused by human intervention, and improves the accuracy of testing.

[0052] See also Figure 2 , Figure 2 FIG. 1 shows a flow chart of a method for automatically sorting radioactive samples in a nuclear power plant provided in an embodiment of the present specification, such as Figure 2 As shown, the automatic sampling method for radioactive samples in a nuclear power plant is applied to a sampling system, which includes a sample transport vehicle, a sampling platform, and multiple detection instruments, including:

[0053] Step 202: In response to the acquired sample splitting request, determine the original sample corresponding to the sample splitting request;

[0054] Step 204: obtaining the original sample through the sample transport vehicle, and transporting the original sample to the sample separation station;

[0055] Step 206: The original sample is divided into multiple divided samples by the sample dividing station, and the divided samples are transported to corresponding testing instruments by the sample transport vehicle for sample testing.

[0056] In this embodiment, during the sampling, sorting and testing of samples, no human intervention is required. The robotic arm replaces the human action, and the trolley replaces the transportation action. This not only avoids the harm to the workers caused by the leakage of radioactive materials, but also improves work efficiency, prevents operational errors caused by human participation, and improves the accuracy of detection.

[0057] In one embodiment, the sample separation table includes a robotic arm, a sampling door and a sample delivery door; transporting the original sample to the sample separation table includes: when it is detected that the sample transport vehicle transports the original sample to a first preset area near the sampling door, the robotic arm of the sample separation table grabs the original sample to the sample separation table; transporting the samples to be tested to corresponding testing instruments for sample testing by the sample transport vehicle includes: when it is detected that the sample transport vehicle is located in a second preset area near the sample delivery door, the robotic arm of the sample separation table grabs the samples to be tested to the sample transport vehicle.

[0058] like Figure 3 As shown, the sample separation station includes a sampling door 31 and a sample delivery door 32. Figure 4 As shown, the sample separation station also includes a first mechanical arm 33. The sampling door 31 is used to open the sample separation station when the sample transport vehicle transports the sample to be tested to the sample separation station, the sample delivery door 32 is used to open the sample separation station after the sample separation is completed, and the first mechanical arm 33 is used to operate during the sample separation process of the sample separation station.

[0059] Furthermore, the sample separation table includes a sample temporary storage area and a sample separation operation area. The sample temporary storage area and the first preset area are close to the sampling door, and the sample separation operation area and the second preset area are close to the sample delivery door.

[0060] like Figure 5 As shown, the sample splitting table may include a sample temporary storage area 501 and a sample splitting operation area 502. The sample temporary storage area 501 and the first preset area are close to the sampling door, and the sample splitting operation area 502 and the second preset area are close to the sample delivery door.

[0061] In this embodiment, by setting the sample temporary storage area 501 and the first preset area close to the sampling door 31, and setting the sample separation operation area 502 and the second preset area close to the sample delivery door 32, it helps the sample separation platform to grab the sample to be tested from the sample transport vehicle 11, and also helps the sub-samples to be tested after separation to be placed on the sample transport vehicle 11, thereby improving the efficiency of sample transportation.

[0062] In one embodiment, the sample separation table is surrounded by a shell, and the shell includes the sampling door 31 and the sample delivery door 32. The sampling door 31 and / or the sample delivery door 32 include two supporting rails and a baffle door, and the baffle door is slidably connected to the supporting rails.

[0063] like Figure 3 As shown, the housing includes a sampling door 31 and a sample delivery door 32, wherein the sampling door 31 includes a first support rail 311, a second support rail 312 and a first stopper 313, and the sample delivery door 32 includes a third support rail 321, a fourth support rail 322 and a second stopper 323. The first support rail 311 and the second support rail 312 can be arranged vertically so that the first stopper 313 can slide along the rails in the vertical direction; the third support rail 321 and the fourth support rail 322 can be arranged horizontally so that the second stopper 323 can slide along the rails in the horizontal direction. Of course, the installation positions and sliding directions of the sampling door and the sample delivery door can also be interchanged, and this specification does not limit this.

[0064] In one embodiment, the original sample is sampled by the sample separation station to obtain multiple samples to be tested, including: in response to a received sample separation request, determining a target detection instrument and a capacity to be tested corresponding to the sample separation request; determining a target container corresponding to the target detection instrument, and controlling the sample separation station to add the original sample of the capacity to be tested into the target container to obtain the samples to be tested.

[0065] The condition for triggering the sample splitting request may be that the control module receives a request sent by the user; or, when the container carrying the sample to be tested is placed on the sample transport vehicle, the sample splitting request is automatically triggered, and this specification does not limit this.

[0066] There are many testing instruments, such as pH testers, 3180 equipment for nuclide measurement, lead can equipment, etc. Different testing instruments may be adapted to different containers. Similarly, different testing instruments require different sample capacities.

[0067] Furthermore, the sample separation platform also includes a cover opening device 34 and a suction device 35, and the original sample is contained in a sample delivery barrel; controlling the sample separation platform to add the original sample of the to-be-tested volume to the target container includes: controlling the cover opening device 34 to open the barrel cover of the sample delivery barrel, and controlling the suction device 35 to suck the original sample corresponding to the to-be-tested volume from the sample delivery barrel; controlling the first robotic arm 33 to obtain the target container, and controlling the suction device 35 to release the sucked original sample into the target container.

[0068] As shown in Figure 4, the sample separation station also includes a cover opening device 34 and a suction device 35. The cover opening device 34 is used to open the lid of the sample delivery barrel. The suction device 35 includes a peristaltic pump and a suction head. The peristaltic pump provides power for the suction head to suck the sample to be tested from the sample delivery barrel and release the sample to be tested into the target container.

[0069] Specifically, the first mechanical arm 33, the cover opening device 34 and the suction device 35 are all installed on the guide rail device 36 on the top of the sample separation table. The guide rail device 36 includes guide rails that are slidably connected to the first mechanical arm 33, the cover opening device 34 and the suction device 35, and a motor. The control module of the sample separation system can control the motor to drive the first mechanical arm 33, the cover opening device 34 and the suction device 35 to slide along the guide rail. Similarly, the cover opening device 34 and the suction device 35 are also provided with a chain or a guide rail mechanism, so that the cover opening device 34 and the suction device 35 can extend downward to the vicinity of the sample delivery barrel or the target container.

[0070] Of course, the lid opening device 34 can also be a lid opening mechanical claw installed on the first mechanical arm 33. In this case, the specific lid opening process can be: the first mechanical arm 33 moves to the top of the sample delivery barrel, and the lid opening mechanical claw contacts the barrel lid of the sample delivery barrel and rotates it to open.

[0071] In one embodiment, the sample separation table 12 includes a pH measurement area, which includes a plurality of container storage positions, a pH detection device, an image acquisition device and a robotic arm; and further includes: in response to an acquired pH test request, placing the sample to be tested on a target container storage position, and controlling the robotic arm to obtain a pH detection probe matching the pH detection device; determining a target position of the target container storage position 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; 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; identifying 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.

[0072] The pH test area 60 may include: a plurality of container storage positions (container storage positions 601-604), a pH detection device 605, and a second robotic arm 606. The container carrying the sample may be Figure 6 The glass cup shown, or other laboratory container. The container storage position can be a position for fixing the sample container, and there can be a groove matching the bottom of the sample container at this position for placing the sample container to be poured. The pH detection device 605 can be a device for detecting the pH value of the sample (i.e., the acidity and alkalinity of the sample), and the pH detection device 605 can include the aforementioned pH detector.

[0073] The mechanical arm of the pH test area can be the mechanical arm on the aforementioned sample separation table, or can be another mechanical arm, and this specification does not limit this. The image acquisition device can be a camera installed above the pH test area 60, and the camera can capture and identify the image within the pH test area 60 to determine the pH value of the sample to be tested.

[0074] The condition for triggering the PH test request may be that the PH test area 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, and this specification does not limit this.

[0075] The pH detection probe can be a probe device that is matched 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 detection. The pH detection probe can be stored in a specific device. When the robot arm receives an instruction to obtain the probe, the specific device automatically opens for the robot arm to obtain the probe.

[0076] Different container storage positions may be used to store different sample containers, and the container storage position corresponding to the pH test request may be a target container storage position. Each container storage position may have corresponding identification information, and the sample separation system may store the corresponding relationship between the identification information and the position information of the container storage position, and the target position of the target container storage position may be determined based on the corresponding relationship.

[0077] In this embodiment, during the PH test of the sample to be tested, no human intervention is required, and the robotic arm replaces the human action, and the camera collects the test result image and identifies the final test result. This not only avoids the harm caused by the sample to the staff, but also improves work efficiency and prevents operational errors caused by human participation.

[0078] Furthermore, the multiple container storage positions include a target container storage position for storing the samples to be tested and other container storage positions for storing predicted samples, and the sample separation system stores the actual pH value of the predicted sample; before performing a pH test on the samples to be tested, the method also includes: determining the position of the other container storage positions, 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 acquired 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 sample separation system.

[0079] Before testing the sample to be tested, the pH value of the predicted sample with a known pH value can be tested to determine the accuracy of the pH detection device. The predicted sample can be of many types, such as Figure 6As shown, container storage position 601 can be used to store the sample to be tested, and container storage positions 602-604 can be used to store three different predicted samples. Before detecting the pH value of the sample to be tested, the pH values ​​of the three predicted samples are tested respectively. If the test result matches the previously known result, it indicates that the accuracy of the pH detection device meets expectations and can be used to detect the sample to be tested; if the test result does not match the previously known result, it indicates that the accuracy of the pH detection device does not meet expectations and cannot be used to detect the sample to be tested immediately.

[0080] Of course, after each predicted sample is tested, the probe needs to be cleaned, which will be described in detail later and will not be repeated here.

[0081] 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 predicting the sample, thereby ensuring the accuracy of the detection.

[0082] Furthermore, the method also includes: when the determined pH value of the predicted sample does not match the actual pH value stored in the sampling system, 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.

[0083] The reason why the test result of the predicted sample is unqualified may be due to the PH test device or the PH test probe, so a new PH test probe is used for a second prediction to clarify the cause of the abnormality. On the one hand, it helps to locate the fault; on the other hand, if the prediction result using the new PH test probe is qualified, the sample to be tested can continue to be tested, improving the detection efficiency.

[0084] In one embodiment, the PH test area further includes a cleaning device; the method further includes: controlling the robotic arm to place the PH detection probe into the cleaning device, and cleaning the PH detection probe by the cleaning device.

[0085] like Figure 6 As shown, the pH test area 60 also includes a cleaning device 608, which is used to clean the pH detection probe. In addition to cleaning the probe after the sample to be tested, the probe also needs to be cleaned after each detection of the predicted sample to ensure that the previous detection will not affect the next detection, thereby ensuring the accuracy of the pH detection.

[0086] 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 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 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 drain the liquid in the cleaning table.

[0087] The cleaning device may include a cleaning table 701 and a drainage pipe 702. The drainage pipe 702 is installed below the cleaning table 701.

[0088] Specifically, Figure 7 As shown, a first valve 703 is provided between the drainage pipe 702 and the washing table 701, and the first valve 703 is used to isolate the drainage pipe 702 and the washing table 701. When the first valve 703 is opened, the liquid in the washing table 701 can be discharged from the drainage pipe 702, and when the first valve 703 is closed, the washing table 701 can store water.

[0089] The edge of the cleaning table 701 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. By injecting water into the cleaning table 701 through the water injection port, the inside of the PH detection probe can be cleaned.

[0090] 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 further 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.

[0091] 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 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.

[0092] like Figure 7As shown, the upper part of the container access space 705 is a second valve 704, and the lower part is a water outlet screen door 706. The second valve 704 can be used to isolate the container access space 705 and the liquid in the upper part, and the water outlet screen door 706 can pass liquid but not solid, thereby isolating the container.

[0093] The specific container cleaning process can be as follows: the robot arm grabs the sample container to the cleaning table, cleans the outside and inside of the container respectively, and then opens the first valve 703 and the second valve 704, so that the container can follow the water flow and sink to the container access space 705. Then, the second valve 704 is closed, and after the liquid in the container access space 705 is discharged from the water outlet screen door 706, the user can open the water outlet screen door 706 to take away the container.

[0094] In this embodiment, by providing a plurality of valves and a water outlet screen door in the drainage pipe, the cleaned container can be separated from the liquid for the user to use, thereby achieving the cleaning and use of the sample container.

[0095] In one embodiment, each detection instrument includes a switching device, which is used to close the corresponding detection instrument; the transporting of the samples to be tested to the corresponding detection instrument by the sample transport vehicle for sample testing includes: determining the target detection instrument corresponding to the sample separation request from the multiple detection instruments, and determining the target position of the target detection instrument; when it is detected that the sample transport vehicle moves to the target position, sending an opening instruction to the target detection instrument to turn on the switching device of the target detection instrument; determining the grabbing position of the samples to be tested, and sending a grabbing instruction to the sample transport vehicle so that the sample transport vehicle grabs the samples to be tested into the target detection instrument; when it is detected that the samples to be tested are placed in the target detection instrument, sending a closing instruction to the target instrument to close the switching device of the target instrument.

[0096] The target position may be a position near the target instrument suitable for sample placement, which may be specifically set in advance by the system developer, for example, setting the target position twenty centimeters in front of the target instrument.

[0097] Each detection instrument may be equipped with a camera, which can be used to determine whether the sample transport vehicle has reached the target position. Alternatively, the sample transport vehicle may be equipped with a camera, which can confirm whether the sample transport vehicle has reached the target position based on the relative position relationship between the target instrument and itself.

[0098] The grabbing position may be the position where the sample to be placed is placed on the sample transport vehicle. In actual situations, the sample transport vehicle may be loaded with multiple samples, and different samples may have different grabbing positions. The sample transport vehicle may place the samples at different grabbing positions into the corresponding detection instrument.

[0099] Similar to the sample transport vehicle, the detection instrument may be equipped with a camera, which can be used to identify whether the sample to be placed is placed in the detection instrument, or other devices for identifying the sample to be placed may be installed, such as an infrared laser device, and this specification does not limit this.

[0100] In this embodiment, in the process of transporting the samples to be placed and placing them into the detection instrument, no human intervention is required, and the transportation and placement actions are completed by the transport vehicle, which 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.

[0101] In one embodiment, the detection instrument is a lead can device, which includes a lead can container, a support frame installed on the outside of the lead can container, and the switch device. The switch device includes two rotating gates installed at the opening structure of the lead can container, and the two rotating gates are used to open and close the opening structure of the lead can container.

[0102] like Figure 8 As shown, the nuclide measuring device includes a lead can container 81, a support frame 82, a first rotating baffle 83, and a second rotating baffle 84. The two rotating baffles can be semicircular closed components, one side of which is rotatably connected to the opening structure of the lead can container, and the two rotating baffles are used to open and close the opening structure of the lead can container 81.

[0103] In this embodiment, the lead tank container is automatically opened and closed by a switch device, thereby eliminating the risk of nuclear leakage.

[0104] Furthermore, the switch device also includes two retracting mechanisms, both ends of which are rotatably connected to the support frame and the rotating baffle respectively, and the end of the rotating baffle farther from the connection with the retracting mechanism is rotatably connected to the opening structure of the lead can container.

[0105] like Figure 8 As shown, the two ends of the first contraction mechanism 85 are rotatably connected to the support frame 82 and the first rotating gate 83 respectively, and the end of the first rotating gate 83 that is farther from the connection with the contraction mechanism 85 is rotatably connected to the opening structure of the lead can container 81. The two ends of the second contraction mechanism 86 are rotatably connected to the support frame 82 and the second rotating gate 84 respectively, and the end of the second rotating gate 84 that is farther from the connection with the second contraction mechanism 86 is rotatably connected to the opening structure of the lead can container 81.

[0106] When the nuclide measuring device receives an opening command, the first retracting mechanism 85 and the second retracting mechanism 86 can rotate in the direction away from the lead can container 81, and the two retracting mechanisms can be shortened so that the first rotating gate 83 and the second rotating gate 84 are pulled open, thereby allowing the sample transport vehicle to place the sample to be placed into the lead can container 81; when the nuclide measuring device receives a closing command, the first retracting mechanism 85 and the second retracting mechanism 86 can rotate in the direction close to the lead can container 81, and the two retracting mechanisms can be extended so that the first rotating gate 83 and the second rotating gate 84 are merged, thereby closing the lead can container 81.

[0107] In this embodiment, the switch device is controlled by a contraction mechanism to eliminate the risk of nuclear leakage.

[0108] In one embodiment, the detection instrument is a liquid scintillator device, which includes a base, a box body, a box cover and the switch device, and the switch device is an external opening and closing hinge. The base is located at the bottom of the liquid scintillator instrument, the box body is fixedly installed on the base, one side of the box cover is connected to the box body, and the two ends of the external opening and closing hinge are rotatably connected to the base and the box cover respectively.

[0109] like Fig. 9 As shown, the liquid scintillation instrument includes a base 91, a box body 92, a box cover 93 and a switch device, and the switch device is an external opening and closing hinge 94. The base 91 is located at the bottom of the liquid scintillation instrument, the box body 92 is fixedly installed on the base 91, one side of the box cover 93 is connected to the box body 92, and the two ends of the external opening and closing hinge 94 are rotatably connected to the base 91 and the box cover 93 respectively.

[0110] When the liquid scintillator is closed, the external opening and closing hinge 94 is Fig. 9 When the liquid scintillator receives an opening command, the external opening and closing hinge 94 will rotate clockwise, thereby driving the box cover to open. When the liquid scintillator receives a closing command, the external opening and closing hinge 94 will rotate counterclockwise, thereby driving the box cover to close. In this embodiment, the control of the switch device is achieved through the external opening and closing hinge, eliminating the risk of nuclear leakage.

[0111] In one embodiment, the sample separation request includes a correspondence between each sample to be tested and a corresponding detection instrument, and each sample to be tested corresponds to a sample number; it also includes: identifying the sample number placed inside the target detection instrument, and determining whether the identified sample number matches the target detection instrument based on the correspondence; if the identified sample number does not match the target detection instrument, the sample placed inside the target detection instrument is taken out and a warning is given to the user.

[0112] Combine the following Fig.10 The process of sample sorting on the sample sorting table is described in detail: the control module controls the second robot arm 606 to move to the sample temporary storage area 501, grab the sample barrel and send it to the sample sorting operation table 504. Adjust the cover opening mechanical claw on the second robot arm 606, align the claw with the screw cap of the black sample barrel, and rotate to open the barrel lid. Move the second robot arm 606 to put the barrel cover into the barrel cover temporary storage area 503. Move the second robot arm 606 to grab a target container in the container storage device 1001 and put it into the sample sorting operation table 504. Move the suction device 1002, and insert the two suction heads into the black sample barrel and the target container respectively. Turn on the peristaltic pump, extract 1 liter of sample and inject it into the target container. Remove the suction device 1002 and generate the sub-sample number to be tested.

[0113] Control the sample transport vehicle to move to the second pre-area, open the sample delivery door, and control the robot arm of the vehicle to grab the sub-sample to be tested and put it into the sample transport vehicle.

[0114] The mobile suction device 1002 inserts two suction heads into the cleaning table 701. The cleaning table 701 contains three cleaning nozzles spaced 120 degrees apart. Turn on the nozzles to clean the outside of the suction heads. Use the solenoid valve installed on the cleaning table 701 to close the water pipe under the cleaning table, fill the cleaning table with water, and clean the internal pipes of the suction heads. Use the solenoid valve to open the water pipe under the cleaning table and empty the cleaning table. The mobile suction device 1002 is reset and waits for the next task.

[0115] Move the second mechanical arm 606, grab the barrel cover from the barrel cover temporary storage 503, align the gripper with the black sample barrel capping place, and tighten the barrel cover. Place the sample barrel in the sample barrel recycling area 1003. Move the second mechanical arm 606 to reset and wait for the next task.

[0116] In this embodiment, on the one hand, after the suction task of the cover opening device is completed, the suction head is placed in the cleaning station for cleaning, so that the residual sample on the suction head will not affect the next test, thereby ensuring the accuracy of the test; on the other hand, in the process of testing the sample to be tested, no human participation is required, the mechanical arm replaces the human role, and the trolley replaces the transportation role, which can not only avoid the harm caused by nuclear leakage to the staff, but also improve work efficiency and prevent operational errors caused by human participation. In addition, the sample separation table is provided with a sampling door and a sample delivery door. In the process of sampling and sample separation, these two doors are controlled only when transporting samples, and are kept closed at other times, so that the sample separation table is kept in a closed state as much as possible, further preventing the harm caused by nuclear leakage to the staff.

[0117] See also Fig.11 , Fig.11This is a block diagram of an automatic sampling system for radioactive samples in a nuclear power plant provided in an embodiment of this specification. The sampling system includes a sample transport vehicle, a sampling platform, multiple detection instruments, and a control unit. The control unit includes:

[0118] A determination unit 1102 is configured to determine, in response to the acquired sample splitting request, the original sample corresponding to the sample splitting request;

[0119] The transport unit 1104 is used to obtain the original sample through the sample transport vehicle and transport the original sample to the sample separation station;

[0120] The sample separation unit 1106 is used to separate the original sample through the sample separation table to obtain multiple samples to be tested, and transport the samples to be tested to corresponding testing instruments through the sample transport vehicle for sample testing.

[0121] Optionally, the sample separation platform includes a mechanical arm, a sampling door and a sample delivery door;

[0122] The transport unit 1104 is specifically used to: when it is detected that the sample transport vehicle transports the original sample to the first preset area near the sampling door, grab the original sample to the sample separation table through the mechanical arm of the sample separation table;

[0123] The sample separation unit 1106 is specifically used to: when it is detected that the sample transport vehicle is located in a second preset area near the sample delivery door, grab the samples to be tested and place them on the sample transport vehicle through the robot arm of the sample separation platform.

[0124] Optionally, the sample separation table includes a sample temporary storage area and a sample separation operation area, the sample temporary storage area and the first preset area are close to the sampling door, and the sample separation operation area and the second preset area are close to the sample delivery door.

[0125] Optionally, the sampling unit 1106 is specifically used for:

[0126] In response to the received sample splitting request, determining the target detection instrument and the capacity to be detected corresponding to the sample splitting request;

[0127] The target container corresponding to the target detection instrument is determined, and the sample separation station is controlled to add the original sample of the to-be-tested volume into the target container to obtain the to-be-tested sample.

[0128] Optionally, the sample separation station further includes a cover opening device and a suction device, and the original sample is contained in a sample delivery barrel; and controlling the sample separation station to add the original sample of the to-be-tested volume to the target container includes:

[0129] Controlling the cover opening device to open the cover of the sample delivery barrel, and controlling the suction device to suck the original sample corresponding to the volume to be tested from the sample delivery barrel;

[0130] The robot arm is controlled to acquire the target container, and the suction device is controlled to release the sucked original sample into the target container.

[0131] Optionally, the sample separation table is surrounded by an outer shell, the outer shell includes the sampling door and the sample delivery door, the sampling door and / or the sample delivery door includes two supporting rails and a baffle door, and the baffle door is slidably connected to the supporting rails.

[0132] Optionally, the sample separation table includes a pH measurement area, which includes a plurality of container storage positions, a pH detection device, an image acquisition device and a mechanical arm; and further includes:

[0133] The first control unit 1108 is used to place the to-be-tested sub-sample on the target container storage position in response to the acquired PH test request, and control the robot arm to obtain a PH detection probe matching the PH detection device;

[0134] The second control unit 1110 is used to 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;

[0135] The moving unit 1112 is used to control the mechanical arm to move the pH detection probe to the pH detection device, and detect the pH value of the sample to be detected through the pH detection device;

[0136] The first recognition unit 1114 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 detected.

[0137] Optionally, the plurality of container storage positions include a target container storage position for storing the sub-samples to be tested and other container storage positions for storing predicted samples, and the sample separation system stores the actual pH value of the predicted sample; before performing a pH test on the sub-samples to be tested, the method further includes:

[0138] A third control unit 1116 is used to determine the position of the other container storage position, and control the robot arm to place the pH detection probe into the predicted sample on the other container storage position;

[0139] A first prediction unit 1118, configured to control the robot 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;

[0140] A second recognition unit 1120, configured to recognize the prediction result image of the pH detection device acquired by the image acquisition device to determine the pH value of the predicted sample;

[0141] The trigger unit 1122 is used to trigger the pH test request when the determined predicted pH value of the sample matches the actual pH value stored in the sample separation system.

[0142] Optionally, also include:

[0143] The second prediction unit 1124 is used to control the robot arm to obtain a new pH detection probe and detect the pH value of the predicted sample through the new pH detection probe when the determined pH value of the predicted sample does not match the actual pH value stored in the sampling system.

[0144] Optionally, the pH test area further includes a cleaning device; and further includes:

[0145] The cleaning unit 1126 is used to control the robot arm to put the pH detection probe into the cleaning device, and clean the pH detection probe through the cleaning device.

[0146] 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 injection port is provided at the edge of the cleaning table and a plurality of cleaning nozzles are installed at intervals; the cleaning unit 1126 is specifically used for:

[0147] Opening the first valve and controlling the water discharge from the cleaning nozzle to perform external cleaning on the pH detection probe;

[0148] 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;

[0149] The first valve is opened a second time to drain the liquid in the cleaning station.

[0150] Optionally, 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; and further comprising:

[0151] The grabbing unit 1128 is used to control the robot 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;

[0152] An opening unit 1130, configured to open the first valve and the second valve;

[0153] The closing unit 1132 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 drainage pipe.

[0154] Optionally, each detection instrument includes a switch device, and the switch device is used to close the corresponding detection instrument; the transport unit 1104 is specifically used to:

[0155] Determine a target detection instrument corresponding to the sample separation request from the multiple detection instruments, and determine a target position of the target detection instrument;

[0156] When it is detected that the sample transport vehicle moves to the target position, sending an opening instruction to the target detection instrument to open the switch device of the target detection instrument;

[0157] Determine the grabbing position of the sub-sample to be tested, and send a grabbing instruction to the sample transport vehicle, so that the sample transport vehicle grabs the sub-sample to be tested and puts it into the target detection instrument;

[0158] When it is detected that the sub-sample to be tested is placed in the target testing instrument, a closing instruction is sent to the target instrument to close the switch device of the target instrument.

[0159] Optionally, the detection instrument is a lead can device, which includes a lead can container, a support frame installed on the outside of the lead can container, and the switch device, and the switch device includes two rotating gates installed at the opening structure of the lead can container, and the two rotating gates are used to open and close the opening structure of the lead can container.

[0160] Optionally, the switch device also includes two retraction mechanisms, both ends of which are rotatably connected to the support frame and the rotating baffle respectively, and the end of the rotating baffle farther from the connection with the retraction mechanism is rotatably connected to the opening structure of the lead can container.

[0161] Optionally, the detection instrument is a liquid scintillation device, which includes a base, a box body, a box cover and the switch device, and the switch device is an external opening and closing hinge. The base is located at the bottom of the liquid scintillation instrument, the box body is fixedly installed on the base, one side of the box cover is connected to the box body, and both ends of the external opening and closing hinge are rotatably connected to the base and the box cover respectively.

[0162] Optionally, the sample splitting request includes a correspondence between each sample to be tested and a corresponding detection instrument, and each sample to be tested corresponds to a sample number;

[0163] Also includes:

[0164] A matching unit 1134, used to identify the sample number placed inside the target detection instrument, and determine whether the identified sample number matches the target detection instrument according to the corresponding relationship;

[0165] The warning unit 1136 is used to take out the sample placed inside the target detection instrument and warn the user when the identified sample number does not match the target detection instrument.

[0166] In this embodiment, during the sampling, sorting and testing of samples, no human intervention is required. The robotic arm replaces the human action, and the trolley replaces the transportation action. This not only avoids the harm to the workers caused by the leakage of radioactive materials, but also improves work efficiency, prevents operational errors caused by human participation, and improves the accuracy of detection.

[0167] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the automatic sampling device for radioactive samples in a nuclear power plant, since it is basically similar to the embodiment of the automatic sampling method for radioactive samples in a nuclear power plant, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0168] See also Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification is shown.

[0169] like Fig.12 As shown, the electronic device 1200 may include: at least one processor 1201 , at least one network interface 1204 , a user interface 1203 , a memory 1205 , and at least one communication bus 1202 .

[0170] The communication bus 1202 may be used to realize the connection and communication among the above-mentioned components.

[0171] The user interface 1203 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0172] The network interface 1204 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0173] Among them, the processor 1201 may include one or more processing cores. The processor 1201 uses various interfaces and lines to connect various parts within the entire electronic device 1200, and executes various functions and processes data of the electronic device 1200 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1205, and calling data stored in the memory 1205. Optionally, the processor 1201 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 1201 can integrate one or a combination of CPU, GPU, modem, etc. 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 process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1201, and it can be implemented separately through a chip.

[0174] Among them, the memory 1205 may include RAM or ROM. Optionally, the memory 1205 includes a non-transitory computer-readable medium. The memory 1205 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1205 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1205 may also be at least one storage device located away from the aforementioned processor 1201. The memory 1205 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an automatic sorting application for radioactive samples in a nuclear power plant. The processor 1201 may be used to call the automatic sorting application for radioactive samples in a nuclear power plant stored in the memory 1205, and execute the steps of automatic sorting of radioactive samples in a nuclear power plant mentioned in the aforementioned embodiment.

[0175] The embodiment of the present specification also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a computer or a processor, the computer or the processor executes the above Figure 2 One or more steps in the illustrated embodiment. If the components of the electronic device described above 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.

[0176] 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 through the computer-readable storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. 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)).

[0177] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes. In the absence of conflict, the technical features in this embodiment and the implementation scheme can be combined arbitrarily.

[0178] 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. A method for automatically sorting radioactive samples in a nuclear power plant, characterized in that: Applied to a sample separation system, the sample separation system includes a sample transport vehicle, a sample separation platform, and multiple detection instruments, including the following steps: In response to the acquired sample splitting request, determining the original sample corresponding to the sample splitting request; Obtaining the original sample through the sample transport vehicle, and transporting the original sample to the sample separation station; The original sample is sampled by the sample separation table to obtain a plurality of samples to be tested, and the sample transport vehicle is used to transport the samples to corresponding testing instruments for sample testing.

2. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 1, characterized in that: The sample separation platform includes a first mechanical arm, a sampling door and a sample delivery door; The original sample is transported to the sample separation table, comprising: when it is detected that the sample transport vehicle transports the original sample to a first preset area near the sampling door, the first mechanical arm of the sample separation table grabs the original sample to the sample separation table; The sample to be tested is transported to the corresponding testing instrument by the sample transport vehicle for sample testing, including: when it is detected that the sample transport vehicle is located in a second preset area near the sample delivery door, the sample to be tested is grabbed by the first robotic arm of the sample sorting platform and placed on the sample transport vehicle.

3. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 2, characterized in that: The sample splitting table includes a sample temporary storage area and a sample splitting operation area. The sample temporary storage area and the first preset area are close to the sampling door, and the sample splitting operation area and the second preset area are close to the sample delivery door.

4. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 1, wherein the original sample is sorted by the sorting station to obtain a plurality of samples to be tested, comprising: In response to the received sample splitting request, determining the target detection instrument and the capacity to be detected corresponding to the sample splitting request; The target container corresponding to the target detection instrument is determined, and the sample separation station is controlled to add the original sample of the to-be-tested volume into the target container to obtain the to-be-tested sample.

5. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 4, characterized in that: The sample separation station also includes a cover opening device and a suction device. The original sample is contained in a sample delivery barrel. The control of the sample separation station to add the original sample of the to-be-tested volume to the target container includes: Controlling the cover opening device to open the cover of the sample delivery barrel, and controlling the suction device to suck the original sample corresponding to the volume to be tested from the sample delivery barrel; The robot arm is controlled to acquire the target container, and the suction device is controlled to release the sucked original sample into the target container.

6. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 2, characterized in that: The sample dividing platform is surrounded by an outer shell, and the outer shell includes the sampling door and the sample delivery door. The sampling door and / or the sample delivery door include two supporting rails and a blocking door, and the blocking door is slidably connected to the supporting rails.

7. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 1, characterized in that: The sample separation table includes a pH measurement area, which includes a plurality of container storage positions, a pH detection device, an image acquisition device and a second mechanical arm; and further includes: In response to the acquired PH test request, the sample to be tested is placed on the target container storage position, and the robot arm is controlled 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 detected by 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 detected.

8. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 7, characterized in that: The plurality of container storage positions include a target container storage position for storing the sub-samples to be tested and other container storage positions for storing predicted samples, and the sample separation system stores the actual pH value of the predicted sample; before performing a pH test on the sub-samples to be tested, the 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 the case where the determined predicted pH value of the sample matches the actual pH value stored in the sample separation system, the pH test request is triggered.

9. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 8, characterized in that: The method further comprises: When the determined pH value of the predicted sample does not match the actual pH value stored in the sample separation system, 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.

10. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 7, characterized in that: The pH test area also includes a cleaning device; the 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.

11. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 10, 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.

12. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 11, 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 of the container access space is provided with a water outlet screen door; the method further 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.

13. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 1, characterized in that: Each detection instrument includes a switch device, and the switch device is used to close the corresponding detection instrument; the sample transport vehicle transports the sample to be tested to the corresponding detection instrument for sample testing, including: Determine a target detection instrument corresponding to the sample separation request from the multiple detection instruments, and determine a target position of the target detection instrument; When it is detected that the sample transport vehicle moves to the target position, sending an opening instruction to the target detection instrument to open the switch device of the target detection instrument; Determine the grabbing position of the sub-sample to be tested, and send a grabbing instruction to the sample transport vehicle, so that the sample transport vehicle grabs the sub-sample to be tested and puts it into the target detection instrument; When it is detected that the sub-sample to be tested is placed in the target testing instrument, a closing instruction is sent to the target instrument to close the switch device of the target instrument.

14. A method for automatically sorting radioactive samples in a nuclear power plant according to claim 13, characterized in that: The detection instrument is a lead can device, which includes a lead can container, a support frame installed on the outside of the lead can container, and the switch device. The switch device includes two rotating gates installed at the opening structure of the lead can container, and the two rotating gates are used to open and close the opening structure of the lead can container.

15. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 14, characterized in that: The switch device also includes two retracting mechanisms, both ends of which are rotatably connected to the support frame and the rotating baffle respectively, and the end of the rotating baffle farther from the connection with the retracting mechanism is rotatably connected to the opening structure of the lead can container.

16. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 13, characterized in that: The detection instrument is a liquid scintillation device, which includes a base, a box body, a box cover and the switch device. The switch device is an external opening and closing hinge. The base is located at the bottom of the liquid scintillation instrument, the box body is fixedly installed on the base, one side of the box cover is connected to the box body, and the two ends of the external opening and closing hinge are rotatably connected to the base and the box cover respectively.

17. The method for automatically sorting radioactive samples in a nuclear power plant according to claim 1, characterized in that: The sample splitting request includes the correspondence between each sample to be tested and the corresponding detection instrument, and each sample to be tested corresponds to a sample number; It also includes: identifying the sample number placed inside the detection instrument, and determining whether the identified sample number matches the detection instrument based on the corresponding relationship; if the identified sample number does not match the detection instrument, taking out the sample placed inside the detection instrument and alerting the user.

18. An automatic sampling system for radioactive samples in a nuclear power plant, characterized in that: It includes a sample transport vehicle, a sample separation platform, multiple testing instruments, and a control module; the control module includes: A determination unit, configured to determine, in response to the acquired sample splitting request, the original sample corresponding to the sample splitting request; A transport unit, used for obtaining the original sample through the sample transport vehicle and transporting the original sample to the sample separation station; The sample separation unit is used to separate the original sample through the sample separation table to obtain multiple samples to be tested, and transport the samples to be tested to corresponding testing instruments through the sample transport vehicle for sample testing.

19. 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 method according to any one of claims 1 to 17.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 17 is implemented.

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