Method, device and equipment for determining decontamination path of radioactive substance contaminated metal plate

Abstract

The invention provides a method, a device and equipment for determining a decontamination path of a radioactive substance contaminated metal plate, and relates to the technical field of nuclear facility decommissioning governance, and the method comprises the steps: obtaining a metal plate image; dividing the metal plate image into a plurality of detection areas; radioactive substance pollution detection is carried out on the multiple detection areas, and area pollution values are determined; determining a polluted area according to the area pollution value; and determining a decontamination path of the radioactive substance polluted metal plate according to the polluted area. According to the scheme, the decontamination sequence and the decontamination times of all the detection subareas are designed, the decontamination track is planned, pertinence is better achieved, the pollution level of the plate metal can be rapidly reduced, and the decontamination efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear facility decommissioning and management, and in particular to a method, device and equipment for determining a decontamination path of a metal plate contaminated by radioactive substances. Background Art

[0002] During the decommissioning process of nuclear facilities, a large amount of α-contaminated waste is generated. For medium-level radioactive α-contaminated waste (radioactive contamination mainly comes from transuranic nuclides that emit α particles with a half-life greater than 5 years), the existing technology generally uses α double-layer sealed barrels to package the waste and send it to a waste temporary storage facility for temporary storage, which not only occupies the scarce temporary storage resources of the waste facility, but also brings great difficulties to subsequent processing and disposal.

[0003] In the prior art, a 3D scanner and a surface contamination measuring instrument are usually used to measure the workpiece to be decontaminated, obtain the 3D point cloud model and surface contamination level of the workpiece, and then plan the decontamination trajectory with the 3D point cloud model, and judge the decontamination effect with the surface contamination level, so as to realize the automatic decontamination of the workpiece. The technical solution of the prior art is to peel off the workpiece as a whole, without considering the particularity of radioactive contaminants, and the decontamination effect of radioactive contaminants is poor. Summary of the invention

[0004] The present invention provides a method, device and equipment for determining a decontamination path of a metal plate contaminated by radioactive substances, so as to solve the problems of poor decontamination effect and low decontamination efficiency of radioactive contaminated substances in the prior art.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A method for determining a decontamination path of a metal plate contaminated by radioactive substances, comprising:

[0007] Acquire a metal plate image;

[0008] Dividing the metal plate image into a plurality of detection areas;

[0009] Conduct radioactive substance contamination detection on a plurality of the detection areas to determine regional contamination values;

[0010] Determining a polluted area according to the pollution value of the area;

[0011] According to the contaminated area, a decontamination path of the metal plate contaminated by the radioactive substance is determined.

[0012] Optionally, obtain images of metal sheets, including:

[0013] Identify features and edge lines of metal sheets;

[0014] A metal plate image is obtained according to the features and edge lines of the metal plate.

[0015] Optionally, the metal plate image is divided into a plurality of detection areas, including:

[0016] Determining the geometric shape of the metal plate according to the metal plate image;

[0017] The metal plate is divided into a preset number of detection areas according to the geometric shape of the metal plate.

[0018] Optionally, performing radioactive substance contamination detection on a plurality of the detection areas to determine the regional contamination value includes:

[0019] The detection area is tested for radioactive material contamination along a preset detection path to determine the regional contamination value.

[0020] Optionally, determining the polluted area according to the regional pollution value includes:

[0021] When the pollution value of the area is greater than a preset pollution threshold, it is determined to be a polluted area;

[0022] When the pollution value of the area is less than or equal to a preset pollution threshold, it is determined to be a non-polluted area.

[0023] Optionally, determining a decontamination path according to the contaminated area includes:

[0024] Classifying the pollution values ​​of the polluted area to obtain a pollution value classification result;

[0025] Determining decontamination coordinates according to the pollution value classification result;

[0026] A decontamination path is determined according to the decontamination coordinates.

[0027] Optionally, determining the decontamination coordinates according to the pollution value classification result includes:

[0028] Acquire the image coordinates of the polluted area;

[0029] The image coordinates are classified according to the pollution value classification result to obtain the decontamination coordinates.

[0030] Optionally, determining a decontamination path according to the decontamination coordinates includes:

[0031] Obtaining movement coordinates through the metal plate image and a preset scale factor;

[0032] A decontamination path is determined according to the movement coordinates and the decontamination coordinates.

[0033] The present invention also provides a device for determining a decontamination path of a metal plate contaminated by radioactive substances, comprising:

[0034] An acquisition module, used for acquiring a metal plate image;

[0035] The processing module is used to divide the metal plate image into multiple detection areas; perform radioactive material contamination detection on the multiple detection areas to determine regional contamination values; determine the contaminated area according to the regional contamination values; and determine the decontamination path of the radioactive material contaminated metal plate according to the contaminated area.

[0036] The present invention also provides a computing device, comprising: a processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed.

[0037] The above solution of the present invention includes at least the following beneficial effects:

[0038] The above solution of the present invention can quickly reduce the contamination level of plate metal and effectively improve the decontamination efficiency by dividing the metal plate image into multiple detection areas; performing radioactive material contamination detection on the multiple detection areas to determine the regional contamination value; determining the contaminated area according to the regional contamination value; and determining the decontamination path of the radioactive material contaminated metal plate according to the contaminated area. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flow chart of a method for determining a decontamination path of a metal plate contaminated by radioactive substances provided by an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of the detection area division provided by an embodiment of the present invention;

[0041] Figure 3 It is a module schematic diagram of a device for determining a decontamination path of a metal plate contaminated by radioactive substances provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0043] like Figure 1 As shown, an embodiment of the present invention provides a method for determining a decontamination path of a metal plate contaminated by radioactive substances, comprising:

[0044] Step 11, obtaining a metal plate image;

[0045] Step 12, dividing the metal plate image into a plurality of detection areas;

[0046] Step 13, performing radioactive material contamination detection on a plurality of the detection areas to determine the regional contamination value;

[0047] Step 14, determining the polluted area according to the regional pollution value;

[0048] Step 15: Determine a decontamination path for the metal plate contaminated by radioactive substances according to the contaminated area.

[0049] The method for determining the decontamination path of a metal plate contaminated by radioactive substances in this embodiment is applied to a laser decontamination device for a metal plate contaminated by radioactive substances, especially to the downgrading treatment of alpha pollutant waste. The laser decontamination device for a metal plate contaminated by radioactive substances includes an industrial camera, a radiation detector, and a laser cleaning robot. The laser decontamination device for a metal plate contaminated by radioactive substances is controlled as a whole by a built-in controller, and the controller may be a programmable logic controller (PLC). The industrial camera is used to take a picture of the metal plate to obtain an image of the metal plate; the radiation detector is used to detect the radioactivity value in each detection area on the metal plate; the controller identifies the contaminated area and determines the area to be cleaned according to the radioactivity value; the laser cleaning robot is used to clean each contaminated area of ​​the metal plate according to the decontamination path planned by the controller.

[0050] The method for determining the decontamination path of the radioactive material contaminated metal plate of this embodiment designs the decontamination sequence and decontamination times of each detection zone, plans the decontamination trajectory, is more targeted, can quickly reduce the contamination level of plate metal, and effectively improve the decontamination efficiency.

[0051] In an optional embodiment of the present invention, step 11 may include:

[0052] Step 111, identifying features and edge lines of the metal plate;

[0053] Step 112: obtaining a metal plate image according to the features and edge lines of the metal plate.

[0054] In this embodiment, after the industrial camera takes a photo of the metal plate, the controller recognizes the geometric features of the metal plate according to the photo, that is, recognizes the shape and edge line position of the metal plate.

[0055] An image coordinate system is established. The image coordinates are the current position coordinates of the industrial camera. According to the image coordinate system, the coordinate data of a series of points on the edge line are obtained. For each edge line, the least square method is used for straight line fitting. The coordinates of a series of points on the edge line collected are (x i ,y i ), i = 1, 2, ..., n. For a straight line y = kx + b, the value of the slope k and the intercept b can be calculated by the least squares method, so that Reach minimum value.

[0056] Taking a rectangular metal plate as an example, the point data collected belonging to an edge line is subjected to the above straight line fitting operation to obtain the straight line equation of the first edge line, y1=kx1+b;

[0057] Similarly, the point data of another adjacent edge line is fitted to obtain the straight line equation of the second edge line y2=kx2+b. The edge straight line equations of the four sides of the rectangular metal plate can be determined successively. Then, the coordinates of the right angle point of the rectangular metal plate can be determined by the adjacent edge straight line equations:

[0058] When two lines are perpendicular to each other, k1×k2=-1; combine y1=kx1+b and y2=kx2+b, The coordinates of the rectangular point can be obtained:

[0059] For example, the coordinates of the rectangular point of the straight line y1=kx1+b

[0060] Then, the coordinates of the four right-angle points of the rectangular metal plate and the coordinates of each point on its image are determined, and then the metal plate image is determined. The right-angle point coordinates are used as the reference point coordinates of the placement position of the subsequent metal plate decontamination step.

[0061] In an optional embodiment of the present invention, step 12 may include:

[0062] Step 121, determining the geometric shape of the metal plate according to the metal plate image;

[0063] Step 122: Divide the metal plate into a preset number of detection areas according to the geometric shape of the metal plate.

[0064] In this embodiment, Figure 2 As shown, reference numeral 9 is a metal plate, and reference numerals 1 to 8 are detection areas. After determining the geometric shape of the metal plate in step 11, the area of ​​the metal plate is calculated, and the area of ​​the metal plate is divided into regions according to the area of ​​the effective nuclear detection area of ​​the ray detector, that is, the area of ​​the metal plate is equally divided so that the size of each equally divided detection area is the same as the area of ​​the effective nuclear detection area.

[0065] Specifically, if the metal plate is rectangular, the length and width of the metal plate image can be divided into several equal parts according to the area of ​​the nuclear detection effective area. Assuming that the length of the metal plate image is L pixels and the width is W pixels, and it is desired to divide the detection area into m rows and n columns, then the length of each small rectangular area is L / m pixels and the width is W / n pixels.

[0066] In an optional embodiment of the present invention, step 13 may include:

[0067] Step 131 , performing radioactive material contamination detection on the detection area along a preset detection path to determine the regional contamination value.

[0068] In this embodiment, after the metal plate is divided into a preset number of detection areas, the detection areas are marked with serial numbers in an "S" shape. Then the radiation detector detects the detection areas in sequence according to the sequence from small to large or from large to small, and obtains the regional pollution value of each monitoring area.

[0069] In an optional embodiment of the present invention, step 14 includes:

[0070] Step 141, when the pollution value of the area is greater than a preset pollution threshold, it is determined to be a polluted area;

[0071] Step 142: When the pollution value of the area is less than or equal to a preset pollution threshold, it is determined to be a non-polluted area.

[0072] In this embodiment, the regional pollution value of each area obtained in step 13 is compared with the preset pollution threshold. When the regional pollution value is greater than the preset pollution threshold, it is determined as a polluted area, and when the regional pollution value is less than or equal to the preset pollution threshold, it is determined as a non-polluted area. The polluted area is the area that needs to be cleaned and decontaminated, and the non-polluted area is the area that does not need to be cleaned and decontaminated.

[0073] Specifically, the laser decontamination device performs a single decontamination on the α-contaminated metal plate with a decontamination factor of 10 and sets the contamination threshold to 4 Bq / cm 2 Therefore, when the regional pollution value is greater than 4Bq / cm 2 When the pollution value of the area is less than or equal to 4Bq / cm 2 When the area is identified as non-contaminated, no cleaning or decontamination is required.

[0074] In an optional embodiment of the present invention, step 15 includes:

[0075] Step 151, classifying the pollution value of the polluted area to obtain a pollution value classification result;

[0076] Step 152, determining the decontamination coordinates according to the pollution value classification result;

[0077] Step 153, determining a decontamination path according to the decontamination coordinates.

[0078] In this embodiment, the regional pollution values ​​of the polluted areas are sorted according to the size of the detection results and classified according to the value range. Specifically, for the α pollution level greater than 4 Bq / cm 2 , less than or equal to 40Bq / cm 2The contaminated area is classified as the first contaminated area and needs to be decontaminated once; for the α contamination level greater than 40Bq / cm 2 , less than or equal to 400Bq / cm 2 The contaminated area is classified as the second contaminated area and needs to be decontaminated twice; for the α contamination level greater than 400Bq / cm 2 , less than or equal to 4000Bq / cm 2 The contaminated area is classified as the third contaminated area and needs to be decontaminated three times.

[0079] Furthermore, the coordinates of all the first contaminated areas, the second contaminated areas, and the third contaminated areas are determined according to the classification results, and decontamination is performed in the order and path of first decontaminating the first contaminated areas, then decontaminating the second contaminated areas, and finally decontaminating the third contaminated areas, or first decontaminating the third contaminated areas, then decontaminating the second contaminated areas, and finally decontaminating the first contaminated areas.

[0080] like Figure 2 In the figure, it is assumed that the contaminated areas are sorted by size according to the detection results as follows: 75482316, where numbers 7, 5, and 4 are the third contaminated areas, numbers 8, 2, and 3 are the second contaminated areas, and numbers 1 and 6 are the first contaminated areas. The corresponding cleaning order is 75482316.

[0081] In an optional embodiment of the present invention, step 152 may include:

[0082] Step 1521, obtaining the image coordinates of the polluted area;

[0083] Step 1522: classify the image coordinates according to the pollution value classification result to obtain decontamination coordinates.

[0084] In this embodiment, the image coordinates of the contaminated area in the image coordinate system are obtained, and the image coordinates are classified according to the pollution value classification result, the image coordinates of the first contaminated area are classified as first image coordinates, the image coordinates of the second contaminated area are classified as second image coordinates, and the image coordinates of the third contaminated area are classified as third image coordinates. The first image coordinates, the second image coordinates, and the third image coordinates are sorted in the order of the first contaminated area, the second contaminated area, and the third contaminated area to determine the order of the decontamination coordinates.

[0085] In an optional embodiment of the present invention, step 15 may include:

[0086] Step 151, obtaining the moving coordinates through the metal plate image and the preset scale factor;

[0087] Step 152: determining a decontamination path according to the movement coordinates and the decontamination coordinates.

[0088] In this embodiment, the reference coordinates are obtained based on the metal plate image. The reference coordinates are used to fix the metal plate to the reference position of the workstation by a clamping device when the metal plate is decontaminated. In this embodiment, the coordinates of the four rectangular points determined in the above steps are used as the reference coordinates, and the four vertex corners of the metal plate are aligned with the reference coordinates and fixed to the workstation.

[0089] When the laser cleaning robot is cleaning the metal plate, the robot drives the laser cleaning head to clean the area specified by the PLC, so there is an offset between the coordinates of the robot's movement and the image coordinates. At this time, the image coordinates need to be converted into the robot's movement coordinates so that the robot can move to the corresponding position.

[0090] The coordinates are calibrated by translation and rotation. On the robot's working plane, the length and width directions are divided into three equal parts to form 9 intersections, which form 9 calibration points. The robot moves to the first calibration point and records the robot's physical coordinates (3D coordinates) and the image coordinates (2D coordinates) of the metal plate at this time. Repeat the above steps and let the robot move to the remaining 8 calibration points in turn, recording the robot's physical coordinates and the image coordinates of the metal plate each time. In this way, 9 sets of corresponding data of the robot's physical coordinates and image coordinates are obtained.

[0091] Select a suitable rotation axis, usually an axis perpendicular to the work plane. Determine the angles of the three rotation points around this axis, for example, you can choose 0°, 45°, and 90°.

[0092] Let the robot return to the initial position (which can be one of the 9-point calibration points), and then rotate the robot according to the selected first rotation angle (such as 0°). After the rotation is completed, record the robot's physical coordinates (due to the rotation, the physical coordinates at this time may not change in the direction of the rotation axis, but other directions may change) and image coordinates; then, repeat the above rotation and coordinate recording operations according to the second and third rotation angles, so that 3 sets of corresponding data of the robot's physical coordinates and image coordinates are obtained.

[0093] The data of 12 groups (9 plane points and 3 rotation points) of robot physical coordinates and image coordinates are organized into a matrix form. The robot physical coordinates are used as the column vector of one matrix, and the image coordinates are used as the column vector of another matrix. The conversion matrix between the two coordinate systems is solved by the least square method, etc., and the image coordinates are converted to the robot physical coordinates. The coordinate offset proportional coefficient between the image coordinates and the robot physical coordinates can be inferred, and all subsequent image coordinates can be converted to the corresponding mobile coordinates of the robot according to the proportional coefficient. In this embodiment, the x-coordinate of the image coordinate moves 12, and the x-coordinate of the robot physical coordinate moves 55 correspondingly, 12 / 55=0.218, so the proportional coefficient is 0.218.

[0094] The first image coordinates, the second image coordinates and the third image coordinates of the contaminated area are converted into the corresponding moving coordinates of the robot. The robot drives the laser cleaning head to clean the metal plate according to the moving coordinates and the determined decontamination path. After the robot completes the cleaning operation on the front of the metal plate, the PLC controls the clamping device to flip and place it in the work station. The robot drives the laser head to clean the back of the metal plate. After cleaning, it returns to its original position.

[0095] After the front and back of the metal plate are cleaned, the X-ray detector re-tests the detection area of ​​the metal plate for radioactive contamination according to step 13 to determine whether the cleaned area meets the standard. If the detection area does not meet the standard, the robot performs a secondary cleaning according to steps 14 and 15, and then performs another test after completion, repeating the test process until the cleaning area meets the standard. If the test results show that area 2 and area 7 are unqualified, return to the cleaning station to perform a secondary cleaning of area 2 and area 7, and calculate and execute the number of cleanings based on the excess value.

[0096] In an optional embodiment of the present invention, the above method may also include: automated laser decontamination of metal plates, and then using a X-ray detector to automatically obtain surface contamination data of the plate metal after decontamination. If the inspection fails, the metal plate is returned to the decontamination station for further decontamination; if the inspection passes, the metal plate is unloaded through the transition cabin.

[0097] The method for determining the decontamination path of the radioactive material contaminated metal plate described in the above embodiment of the present invention is as follows: obtaining a metal plate image; dividing the metal plate image into multiple detection areas; performing radioactive material contamination detection on multiple detection areas to determine the regional contamination value; determining the contaminated area according to the regional contamination value; and determining the decontamination path of the radioactive material contaminated metal plate according to the contaminated area. The decontamination sequence and decontamination times of each detection partition are designed, the decontamination trajectory is planned, and the medium-level radioactive α-contaminated waste is downgraded, which better implements the waste minimization principle, can be widely used in the fields of nuclear facility decommissioning and three waste treatment technology, and is more targeted; it can quickly reduce the contamination level of plate metals and effectively improve the decontamination efficiency.

[0098] like Figure 3 As shown, in an embodiment of the present invention, there is also provided a device 30 for determining a decontamination path of a metal plate contaminated by radioactive substances, comprising:

[0099] An acquisition module 31, used for acquiring a metal plate image;

[0100] The processing module 32 is used to divide the metal plate image into multiple detection areas; perform radioactive substance contamination detection on the multiple detection areas to determine the regional contamination values; determine the contaminated area according to the regional contamination values; and determine the decontamination path of the radioactive substance contaminated metal plate according to the contaminated area.

[0101] Optionally, obtain a metal plate image, including:

[0102] Identify features and edge lines of metal sheets;

[0103] A metal plate image is obtained according to the features and edge lines of the metal plate.

[0104] Optionally, the metal plate image is divided into a plurality of detection areas, including:

[0105] Determining the geometric shape of the metal plate according to the metal plate image;

[0106] The metal plate is divided into a preset number of detection areas according to the geometric shape of the metal plate.

[0107] Optionally, performing radioactive substance contamination detection on a plurality of the detection areas to determine the regional contamination value includes:

[0108] The detection area is tested for radioactive material contamination along a preset detection path to determine the regional contamination value.

[0109] Optionally, determining the polluted area according to the regional pollution value includes:

[0110] When the pollution value of the area is greater than a preset pollution threshold, it is determined to be a polluted area;

[0111] When the pollution value of the area is less than or equal to a preset pollution threshold, it is determined to be a non-polluted area.

[0112] Optionally, determining a decontamination path according to the contaminated area includes:

[0113] Classifying the pollution values ​​of the polluted area to obtain a pollution value classification result;

[0114] Determining decontamination coordinates according to the pollution value classification result;

[0115] A decontamination path is determined according to the decontamination coordinates.

[0116] Optionally, determining the decontamination coordinates according to the pollution value classification result includes:

[0117] Acquire the image coordinates of the polluted area;

[0118] The image coordinates are classified according to the pollution value classification result to obtain the decontamination coordinates.

[0119] Optionally, determining a decontamination path according to the decontamination coordinates includes:

[0120] Obtaining movement coordinates through the metal plate image and a preset scale factor;

[0121] A decontamination path is determined according to the movement coordinates and the decontamination coordinates.

[0122] It should be noted that the device is a device corresponding to the above method, and all implementation methods in the above method embodiments are applicable to the embodiments of the device and can achieve the same technical effects.

[0123] The embodiment of the present invention further provides a computing device, including: a processor, a memory storing a computer program, and when the computer program is executed by the processor, the method described in the above embodiment is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0124] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0126] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0129] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0130] In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

[0131] Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

[0132] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining a decontamination path for a metal plate contaminated by radioactive substances, characterized in that: The method comprises: Acquire a metal plate image; Dividing the metal plate image into a plurality of detection areas; Conduct radioactive substance contamination detection on a plurality of the detection areas to determine regional contamination values; Determining a polluted area according to the pollution value of the area; According to the contaminated area, a decontamination path of the metal plate contaminated by the radioactive substance is determined.

2. The method for determining a decontamination path of a metal plate contaminated by radioactive substances according to claim 1, characterized in that: Acquire sheet metal images, including: Identify features and edge lines of metal sheets; A metal plate image is obtained according to the features and edge lines of the metal plate.

3. The method for determining a decontamination path for a metal plate contaminated by radioactive substances according to claim 1, characterized in that: The metal plate image is divided into a plurality of detection areas, including: Determining the geometric shape of the metal plate according to the metal plate image; The metal plate is divided into a preset number of detection areas according to the geometric shape of the metal plate.

4. The method for determining a decontamination path of a metal plate contaminated by radioactive substances according to claim 1, characterized in that: Conducting radioactive material contamination detection on a plurality of the detection areas to determine the regional contamination value includes: The detection area is tested for radioactive material contamination along a preset detection path to determine the regional contamination value.

5. The method for determining a decontamination path of a metal plate contaminated by radioactive substances according to claim 1, characterized in that: Determine the polluted area according to the pollution value of the area, including: When the pollution value of the area is greater than a preset pollution threshold, it is determined to be a polluted area; When the pollution value of the area is less than or equal to a preset pollution threshold, it is determined to be a non-polluted area.

6. The method for determining a decontamination path for a metal plate contaminated by radioactive substances according to claim 5, characterized in that: According to the contaminated area, a decontamination path of the metal plate contaminated by radioactive substances is determined, including: Classifying the pollution values ​​of the polluted area to obtain a pollution value classification result; Determining decontamination coordinates according to the pollution value classification result; A decontamination path is determined according to the decontamination coordinates.

7. The method for determining a decontamination path for a metal plate contaminated by radioactive substances according to claim 6, characterized in that: Determining decontamination coordinates according to the pollution value classification result includes: Acquire the image coordinates of the polluted area; The image coordinates are classified according to the pollution value classification result to obtain the decontamination coordinates.

8. The method for determining a decontamination path for a metal plate contaminated by radioactive substances according to claim 7, characterized in that: Determining a decontamination path of the metal plate contaminated by the radioactive substance according to the decontamination coordinates includes: Obtaining movement coordinates through the metal plate image and a preset scale factor; A decontamination path is determined according to the movement coordinates and the decontamination coordinates.

9. A device for determining a decontamination path for a metal plate contaminated by radioactive substances, characterized in that: include: An acquisition module, used for acquiring a metal plate image; A processing module, used for dividing the metal plate image into a plurality of detection areas; Conduct radioactive substance contamination detection on a plurality of the detection areas to determine regional contamination values; The contaminated area is determined according to the regional contamination value; and the decontamination path of the metal plate contaminated by the radioactive substance is determined according to the contaminated area.

10. A computing device, characterized in that include: A processor and a memory storing a computer program, wherein when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is performed.

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