Radioactive waste classification measurement and automatic barreling method

Abstract

The invention discloses a radioactive waste classification measurement and automatic barreling method. The method comprises the steps that S1, a measurement robot caches radioactive waste into different temporary storage bins in the measurement robot; s2, the radioactive waste in the single temporary storage bin is transferred into a measuring layer of a measuring robot in sequence; s3, measuring each radioactive waste of the single temporary storage bin at the measurement layer to obtain a measurement value; s4, the measurement robot moves to the position above the waste bin corresponding to the current measurement value, and the radioactive waste in the measurement layer is put into the waste bin; and S5, the step S2 to the step S4 are repeated until all the radioactive wastes in the temporary storage bins are put into the corresponding waste bins. Unmanned automatic barreling is completed based on measured values, radioactive waste with different measured values can be efficiently classified and collected in different barrels, the treatment effect of the radioactive waste is improved, and the automatic treatment degree is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an automatic barreling method for radioactive waste classification measurement. Background Art

[0002] At present, most of the radioactive waste sorting work is done manually; the second is semi-automatic sorting, for example, the sorting facilities are equipped with lifting devices that can lift and move waste barrels, mobile imaging devices, sorting operation platforms, and measurement systems.

[0003] In the research process of automated sorting of radioactive waste, how to classify, collect and treat the radioactive waste after sorting has a significant impact on the treatment effect and degree of automated treatment of radioactive waste. Summary of the invention

[0004] The purpose of the present invention is to provide a radioactive waste classification measurement automatic barreling method to increase the treatment effect of radioactive waste and improve the degree of automated treatment.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A radioactive waste classification measurement and automatic barreling method comprises the following steps:

[0007] Step S1, the measuring robot caches the radioactive waste into different temporary storage bins inside the measuring robot;

[0008] Step S2, sequentially transferring the radioactive waste in the individual temporary storage bins into the measurement layer of the measurement robot;

[0009] Step S3, measuring each radioactive waste in a single temporary storage bin at the measurement layer to obtain a measurement value;

[0010] Step S4: The measuring robot moves to the top of the waste barrel corresponding to the current measurement value, and puts the radioactive waste in the measuring layer into the waste barrel;

[0011] Step S5, repeating steps S2 to S4 until all radioactive wastes in the temporary storage warehouse are placed in corresponding waste barrels.

[0012] Furthermore, in step S1, the radioactive waste that has completed the initial dose rate screening is cached in different temporary storage bins according to the set dose rate interval.

[0013] Furthermore, the waste bins are set to different colors or logos, each color or logo is set to a measurement value range, and the position coordinates of each waste bin are marked.

[0014] Furthermore, in step S4, the measurement value is transmitted to the central control system, and the central control system compares the measurement value with the set measurement value range, and matches the current measurement value with a waste bin of the corresponding color or mark; if a waste bin is matched, the position coordinates of the waste bin are obtained; the measuring robot moves to the matching waste bin according to the position coordinates, and drops the currently measured radioactive waste from the measuring layer into the waste bin.

[0015] Furthermore, the central control system calculates the distance between the measuring robot and the matching waste bin, verifies whether the distance is less than or equal to a preset distance threshold, and if so, re-matches the waste bin until the distance is less than or equal to the distance threshold.

[0016] Furthermore, in step S4, the measuring robot searches for a waste bin through a vehicle-mounted camera; searches for a waste bin with a color or mark corresponding to the current measurement value; obtains the distance between the measuring robot and the searched waste bin through a distance measuring device, moves to the waste bin according to the distance, and verifies whether the color or mark of the waste bin is correct through the vehicle-mounted camera; if correct, the radioactive waste currently being measured is dropped from the measuring layer into the waste bin.

[0017] Furthermore, the search is a 360° rotation search in situ, searching for the waste bin that is closest and has a color or mark corresponding to the current measurement value, and then moving straight to the waste bin.

[0018] Furthermore, the search is a search along the way, searching for the waste bin that is closest and has a color or mark corresponding to the current measurement value, and then moving in a straight line to the waste bin.

[0019] Furthermore, in step S4, the relative posture of the measuring robot and the waste barrel is adjusted through the on-board camera so that the bottom overhead channel of the measuring robot faces the waste barrel; the measuring robot is translated so that the waste barrel enters the bottom overhead channel until the barrel mouth of the waste barrel faces the opening and closing of the measuring layer; the opening and closing are opened, and the radioactive waste in the measuring layer is placed into the waste barrel; the opening and closing are closed to complete the barreling, and the measuring robot is translated to leave the waste barrel.

[0020] Furthermore, the translation distance is measured by a vehicle-mounted camera; the waste bin is positioned by two sets of laser sensors installed on both sides of the bottom overhead channel so that the mouth of the waste bin faces the opening of the measuring layer.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The invention is scientifically and reasonably designed, easy to use, and can complete unmanned automatic barreling based on measured values. It can efficiently classify and collect radioactive waste with different measured values ​​in different barrels, thereby increasing the treatment effect of radioactive waste and improving the degree of automated treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The figure is a flow chart of the method of the present invention.

[0024] Figure 2 This is an exploded view of the measurement robot of the present invention.

[0025] Figure 3 This is a diagram showing the location of the bottom overhead channel and waste barrels when loading barrels.

[0026] Reference numerals:

[0027] 1-temporary storage, 2-measurement layer, 3-on-board camera, 4-bottom overhead channel, 5-laser sensor, 6-waste bin. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; of course, it can also be a mechanical connection or an electrical connection; in addition, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] like Figure 1-Figure 3 As shown, the present invention provides a radioactive waste classification measurement automatic barreling method comprising the following steps:

[0032] Step S1, the measuring robot caches the radioactive waste into different temporary storage bins 1 inside the measuring robot;

[0033] Step S2, sequentially transferring the radioactive waste in the individual temporary storage bins into the measurement layer 2 of the measurement robot;

[0034] Step S3, measuring each radioactive waste in a single temporary storage bin at the measurement layer to obtain a measurement value;

[0035] Step S4, the measuring robot moves to above the waste barrel 6 corresponding to the current measurement value, and puts the radioactive waste in the measuring layer 2 into the waste barrel 6;

[0036] Step S5, repeating steps S2 to S4 until all radioactive wastes in the temporary storage warehouse are placed in corresponding waste barrels.

[0037] The present invention completes unmanned automatic barreling based on measured values, can efficiently classify and collect radioactive wastes with different measured values ​​in different barrels, thereby increasing the treatment effect of radioactive waste and improving the degree of automated treatment.

[0038] In some embodiments of the present invention, in step S1, the radioactive waste that has completed the initial dose rate screening is cached in different temporary storage bins 1 according to the set dose rate interval. The radioactive waste is preliminarily classified through the initial dose rate screening, and subsequent measurements are performed on the basis of the initial screening to achieve better classification measurement and barreling effects.

[0039] The measurements include body surface characteristic measurement, material weight measurement, material dose rate measurement, material energy spectrum measurement, material gamma-ray imaging measurement, material X-ray measurement, material neutron imaging measurement, material source item nuclide identification, and specific activity measurement.

[0040] In some embodiments of the present invention, the waste bins are set to different colors or logos, each color or logo is set to a measurement value range, and the position coordinates of each waste bin are marked. Different colors or logos are used to mark different measurement value ranges on the one hand, and on the other hand, it is convenient for the measurement robot to quickly identify and locate different waste bins.

[0041] In some embodiments of the present invention, in step S4, the measured value is transmitted to the central control system, the central control system compares the measured value with the set measurement value range, and matches the current measured value with the waste bucket of the corresponding color or mark; if the waste bucket is matched, the position coordinates of the waste bucket are obtained; the measuring robot moves to the matching waste bucket according to the position coordinates, and puts the currently measured radioactive waste from the measuring layer into the waste bucket. The matching of the waste bucket is realized by searching the central control system, and the central control system matches the corresponding waste bucket. Since each waste bucket has a position coordinate, the position coordinates of all waste buckets can form a global map. The corresponding waste bucket can be quickly searched through the central control system, and the position coordinates are given to control the movement of the measuring robot. The central control system is a PC or a microprocessor, which is connected to the controller of the measuring robot.

[0042] In some embodiments of the present invention, the central control system calculates the distance between the measuring robot and the matching waste bin, verifies whether the distance is less than or equal to a preset distance threshold, and if so, re-matches the waste bin until the distance is less than or equal to the distance threshold. The preset distance threshold is the maximum moving distance, and when the distance is greater than the distance threshold, it means that the movement is too far, and further search for a closer waste bin is required.

[0043] In some embodiments of the present invention, in step S4, the measuring robot searches for waste bins through a vehicle-mounted camera; searches for waste bins with colors or logos corresponding to the current measurement value; obtains the distance between the measuring robot and the searched waste bin through a distance measuring device, moves to the waste bin according to the distance, and verifies whether the color or logo of the waste bin is correct through the vehicle-mounted camera; if correct, the currently measured radioactive waste is placed from the measurement layer into the waste bin. The matching of waste bins is achieved through a self-service search by the measuring robot. The search is a 360° rotation search in situ, searching for the waste bin with the closest distance and the color or logo corresponding to the current measurement value, and then moving in a straight line to the waste bin. Or the search is a search along the way, searching for the waste bin with the closest distance and the color or logo corresponding to the current measurement value, and then moving in a straight line to the waste bin.

[0044] In some embodiments of the present invention, in step S4, the relative position of the measuring robot and the waste barrel is adjusted by the vehicle-mounted camera 3, so that the bottom overhead channel 4 of the measuring robot faces the waste barrel 6; the measuring robot is translated to make the waste barrel enter the bottom overhead channel until the barrel mouth of the waste barrel faces the opening and closing of the measuring layer; the opening and closing are opened, and the radioactive waste in the measuring layer is put into the waste barrel; the opening and closing are closed, the barrel loading is completed, and the measuring robot is translated to leave the waste barrel. A plurality of temporary storage bins are arranged at the top of the measuring robot, the measuring layer is arranged below the temporary storage bins, the bottom overhead channel is arranged at the bottom, and the bottom overhead channel is adapted to the waste barrel to facilitate the embedding of the waste barrel. Preferably, the translation distance is measured by the vehicle-mounted camera; the waste barrel is positioned by two groups of laser sensors 5 installed on both sides of the bottom overhead channel, so that the barrel mouth of the waste barrel faces the opening and closing of the measuring layer. When the barrel loading is completed, the measuring robot is translated to make the bottom overhead channel leave the waste barrel.

[0045] The PC / microprocessor, vehicle-mounted camera, and laser sensor used in the present invention are all existing known electrical equipment and can be directly purchased and used on the market. Their structures, circuits, and control principles are all existing known technologies. Therefore, the structures, circuits, and control principles of the PC / microprocessor, vehicle-mounted camera, and laser sensor are not described in detail here.

[0046] Finally, it should be noted that the above embodiments are only preferred embodiments of the present invention to illustrate the technical solutions of the present invention, rather than limiting them, and certainly not limiting the patent scope of the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. In other words, any changes or modifications made to the main design concept and spirit of the present invention that have no substantive significance, and the technical problems they solve are still consistent with the present invention, should be included in the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention in other related technical fields is also included in the patent protection scope of the present invention.

Claims

1. A radioactive waste classification measurement and automatic barreling method, characterized in that: The following steps are involved: Step S1, the measuring robot caches the radioactive waste into different temporary storage bins inside the measuring robot; Step S2, sequentially transferring the radioactive waste in the individual temporary storage bins into the measurement layer of the measurement robot; Step S3, measuring each radioactive waste in a single temporary storage bin at the measurement layer to obtain a measurement value; Step S4: The measuring robot moves to the top of the waste barrel corresponding to the current measurement value, and puts the radioactive waste in the measuring layer into the waste barrel; Step S5, repeating steps S2 to S4 until all radioactive wastes in the temporary storage warehouse are placed in corresponding waste barrels.

2. The method for automatically barreling radioactive waste according to claim 1, characterized in that: In the step S1, the radioactive waste that has completed the initial dose rate screening is cached in different temporary storage bins according to the set dose rate interval.

3. The method for automatically barreling radioactive waste according to claim 1, characterized in that: The waste bins are set to different colors or logos, each color or logo is set to a measurement value range, and the position coordinates of each waste bin are marked.

4. The method for automatically barreling radioactive waste according to claim 3, characterized in that: In step S4, the measurement value is transmitted to the central control system, and the central control system compares the measurement value with the set measurement value range, and matches the current measurement value with a waste bin of corresponding color or mark; if a waste bin is matched, the position coordinates of the waste bin are obtained; the measuring robot moves to the matching waste bin according to the position coordinates, and puts the currently measured radioactive waste from the measuring layer into the waste bin.

5. The method for automatically barreling radioactive waste according to claim 4, characterized in that: The central control system calculates the distance between the measuring robot and the matching waste bin, verifies whether the distance is less than or equal to a preset distance threshold, and if so, re-matches the waste bin until the distance is less than or equal to the distance threshold.

6. The method for automatically barreling radioactive waste according to claim 3, characterized in that: In step S4, the measuring robot searches for the waste bin through the on-board camera; searches for the waste bin with the color or mark corresponding to the current measurement value; obtains the distance between the measuring robot and the searched waste bin through the distance measuring device, moves to the waste bin according to the distance, and verifies whether the color or mark of the waste bin is correct through the on-board camera; if correct, the radioactive waste currently being measured is placed from the measuring layer into the waste bin.

7. The method for automatically barreling radioactive waste according to claim 6, characterized in that: The search is a 360° rotation search in situ, searching for the waste bin that is closest and has a color or mark corresponding to the current measurement value, and then moving straight to the waste bin.

8. The method for automatically barreling radioactive waste according to claim 6, characterized in that: The search is a search along the way, searching for the waste bin that is closest and has a color or mark corresponding to the current measurement value, and then moving in a straight line to the waste bin.

9. The method for automatically barreling radioactive waste according to claim 1, characterized in that: In step S4, the relative position of the measuring robot and the waste barrel is adjusted by the on-board camera so that the bottom overhead channel of the measuring robot faces the waste barrel; the measuring robot is translated so that the waste barrel enters the bottom overhead channel until the barrel mouth of the waste barrel faces the opening and closing of the measuring layer; the opening and closing are opened, and the radioactive waste in the measuring layer is placed into the waste barrel; the opening and closing are closed to complete the barreling, and the measuring robot is translated to leave the waste barrel.

10. The method for automatically barreling radioactive waste according to claim 9, characterized in that: The translation distance is measured by a vehicle-mounted camera; the waste bin is positioned by two sets of laser sensors installed on both sides of the bottom overhead channel so that the mouth of the waste bin faces the opening of the measurement layer.

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