Miniaturized movable radioactive waste sorting and measuring device

Abstract

The invention discloses a miniaturized movable radioactive waste sorting and measuring device which comprises a sorting robot, a bag breaking mechanism arranged on the sorting robot, a measuring box, a radiation detection mechanism, a grabbing mechanism, a visual mechanism and a control mechanism connected with the sorting robot, the bag breaking mechanism, the measuring box, the grabbing mechanism and the visual mechanism. Automatic identification and unmanned sorting of the to-be-sorted radioactive waste are achieved based on the robot, and deployment flexibility and operation automation are achieved through autonomous movement of the robot. And moreover, long-acting operation is achieved, personal injury or result errors caused by manual sorting are reduced, the sorting efficiency is high, and the final disposal amount and disposal cost of the radioactive waste are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive material processing, and in particular to a miniaturized and movable radioactive waste sorting and measuring device. Background Art

[0002] Radioactive waste sorting is a practical activity based on the characterization of radioactive waste sources (mainly achieved through measurement) to provide appropriate waste differentiation for subsequent management links according to the chemical, physical, biological and radioactive characteristics of radioactive waste. Radioactive waste sorting is a requirement and important means to achieve waste minimization, a need for classified treatment and disposal of radioactive materials, and an effective means to achieve classified treatment and disposal of radioactive waste generated in all links of waste generation based on radioactive waste measurement technology.

[0003] At present, radioactive waste classification, measurement and sorting systems generally adopt a centralized architecture and are designed based on the structure of traditional industrial production lines. They have a long construction and installation cycle and occupy a large area. They are not conducive to rapid deployment and customized function modification and require human participation, making unmanned sorting difficult. Summary of the invention

[0004] The purpose of the present invention is to provide a miniaturized and movable radioactive waste sorting and measuring device, which can perform unmanned sorting operations on radioactive waste based on robot technology, achieve long-term operation and reduce personal injury or result errors caused by manual sorting.

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

[0006] A miniaturized and movable radioactive waste sorting and measuring device comprises a sorting robot; a bag-breaking mechanism arranged on the sorting robot for breaking a garbage bag containing radioactive waste to release the radioactive waste inside, a measuring box for storing the released radioactive waste and a radiation detection mechanism arranged in the measuring box, a grasping mechanism for grasping the garbage bag, picking up the radioactive waste and transferring the radioactive waste to the radiation detection mechanism for dose measurement and sorting the radioactive waste after the dose measurement, a visual mechanism for picking up the grasping mechanism, positioning before transfer and identifying the material of the radioactive waste before sorting, and a control mechanism respectively connected to the sorting robot, the bag-breaking mechanism, the measuring box, the grasping mechanism and the visual mechanism.

[0007] Furthermore, the sorting robot includes a robot chassis, and the control mechanism includes a chassis driver connected to the robot chassis to drive the robot chassis to move.

[0008] Furthermore, the bag breaking mechanism includes an electric slide arranged on the sorting robot and a cutting piece arranged on the electric slide; the cutting piece is a cutting wire or a cutting knife; preferably, the cutting wire is a thermal cutting wire, and the cutting knife is a thermal cutting knife. In some embodiments of the present invention, a horizontal electric vibration table for dispersing radioactive waste is provided in the measuring box, and the control mechanism includes a vibration table driver connected to the horizontal electric vibration table to drive the horizontal electric vibration table to vibrate; the radiation detection mechanism is a wide-range dose rate detector;

[0009] Preferably, the wide-range dose rate detector includes a plastic scintillator detector and a GM tube array; the dose is first measured by the plastic scintillator detector, if the measured dose is less than or equal to a preset switching threshold, the dose measured by the plastic scintillator detector is used as the dose measurement result, if the measured dose is greater than the preset switching threshold, it is switched to the GM tube array for measurement, and the dose measured by the GM tube array is used as the dose measurement result.

[0010] Furthermore, the grasping mechanism includes a robotic arm disposed on the sorting robot, and the control mechanism includes a robotic arm control box connected to the robotic arm to drive the robotic arm to move.

[0011] Furthermore, the visual mechanism is a binocular vision camera.

[0012] Furthermore, the principle of the positioning before picking is: based on the visual mechanism, the first information of the position and the grasping angle of the radioactive waste as the target in the measurement box in the preset reference coordinate system is obtained, and the grasping mechanism uses the first information as the motion target posture to perform the positioning before picking and moves to the target radioactive waste based on the positioning before picking;

[0013] The principle of the pre-transfer positioning is: based on the visual mechanism, the second information of the position and measurement posture of the radiation detection mechanism in the preset reference coordinate system is obtained, and the grasping mechanism uses the second information as the moving target posture to perform pre-transfer positioning and transfers the target radioactive waste to the radiation detection mechanism based on the pre-transfer positioning.

[0014] Furthermore, the sorting includes sorting based on dosage and sorting based on material;

[0015] The principle of the dose-based sorting is: radioactive waste with a dose greater than 20 mSv / h measured by the radiation detection mechanism is collected separately, and radioactive waste with a dose less than or equal to 20 mSv / h is transferred out for subsequent secondary radiation measurement;

[0016] The principle of the material-based sorting is: based on the visual mechanism, the material of the radioactive waste is identified, and the materials include combustible types of cotton and linen fabrics, rubber products and plastic products, non-combustible types of metals and glass, and recyclable types of other materials; the combustible types of radioactive waste of cotton and linen fabrics, rubber products and plastic products are transferred out for subsequent secondary radiation measurement; the non-combustible types of radioactive waste of metals and glass are collected separately, and the recyclable types of radioactive waste of other materials are collected separately.

[0017] Furthermore, it also includes a clamping mechanism installed on the sorting robot to clamp and adjust the posture of the garbage bags, a metal detection sensor for identifying that the material of the radioactive waste is metal, and a display screen and an obstacle avoidance sensor mechanism respectively connected to the control mechanism; the obstacle avoidance sensor mechanism is one or both of a laser radar obstacle avoidance module or an ultrasonic obstacle avoidance module, and the clamping mechanism is preferably an electric gripper.

[0018] Furthermore, the control mechanism includes an industrial computer for controlling various mechanisms and processing various data.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention has a simple structure, a scientific and reasonable design, and is easy to use. It realizes automatic identification and unmanned sorting of radioactive waste to be sorted based on a robot, and has deployment flexibility and automatic operation through the autonomous movement of the robot. The present invention can perform unmanned measurement of the dose of radioactive waste and sort it based on the dose, or perform unmanned measurement of the material of radioactive waste and sort it based on the material, realize long-term operation and reduce personnel injuries or result errors caused by manual sorting, with high sorting efficiency, and reduce the final disposal amount and disposal cost of radioactive waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of the present invention.

[0022] Figure 2 It is a top view of the present invention.

[0023] Figure 3 It is a top view of the measuring box of the present invention.

[0024] Figure 4 It is a schematic diagram of the radiation detection mechanism and metal detection sensor of the present invention.

[0025] Figure 5 This is a connection diagram of the electrical equipment of the present invention.

[0026] The names corresponding to the reference numerals are:

[0027] 1- sorting robot, 2- bag breaking mechanism, 3- measuring box, 4- grasping mechanism, 5- visual mechanism, 6- visual mechanism, 7- display screen, 8- obstacle avoidance sensing mechanism, 9- clamping mechanism, 10- metal detection sensor, 11- robot chassis, 21- electric slide, 22- cutting piece, 31- radiation detection mechanism, 32- horizontal electric vibration table, 33- plastic scintillator detector, 34- GM tube array, 41- robotic arm, 61- chassis driver, 62- vibration table driver, 63- robotic arm control box, 64- industrial computer. 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", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore they cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[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 Figures 1 to 5As shown, the miniaturized movable radioactive waste sorting and measuring device provided by the present invention comprises a sorting robot 1; a bag breaking mechanism 2 arranged on the sorting robot 1 for breaking a garbage bag containing radioactive waste to release the radioactive waste inside, a measuring box 3 for storing the released radioactive waste and a radiation detection mechanism 31 arranged in the measuring box 3, a grasping mechanism 4 for grasping the garbage bag, picking up the radioactive waste and transferring the radioactive waste to the radiation detection mechanism 31 for dose measurement and sorting the radioactive waste after the dose measurement, a visual mechanism 5 for picking up the grasping mechanism 4, positioning before transfer and identifying the material of the radioactive waste before sorting, and a control mechanism 6 respectively connected to the sorting robot 1, the bag breaking mechanism 2, the measuring box 3, the grasping mechanism 4 and the visual mechanism 5.

[0032] The present invention adopts a sorting robot 1, which autonomously moves to the place where radioactive waste is generated or collected or a designated location; then the garbage bag containing radioactive waste is grabbed onto the sorting robot 1 by a grabbing mechanism 4, and the radioactive waste inside the garbage bag is released and stored in a measuring box 3 under the action of a bag breaking mechanism 2; then the radioactive waste in the measuring box 3 is transferred one by one to a radiation detection mechanism 31 for dose measurement by the grabbing mechanism 4, and then sorted based on the dose, or the radioactive waste is identified by material by a visual mechanism 5, and then sorted based on the material. The radioactive waste sorting and measuring device of the present invention has the characteristics of classified measurement and intelligent sorting, realizes long-term operation and reduces personnel injury or result errors caused by manual sorting, has high sorting efficiency, and reduces the final disposal amount and disposal cost of radioactive waste.

[0033] In one embodiment, the sorting robot 1 includes a robot chassis 11, and the control mechanism 6 includes a chassis driver 61 connected to the robot chassis 11 to drive the robot chassis 11 to move. The robot chassis 11 adopts any one of a differential chassis, an Ackerman chassis, an omnidirectional motion chassis based on a Mecanum wheel, and an omnidirectional motion chassis based on a steering wheel, and is calculated with a load of about 300 kg. Under the premise of ensuring the chassis load and power, the chassis weight is minimized. At the same time, a high-precision servo motor is selected as the actuator driven by the chassis to ensure the chassis motion accuracy and avoid affecting the cooperation with the measuring robot due to positioning errors. According to the previous environmental survey of the waste treatment area in the control area of ​​the nuclear power plant, there are narrow passages and doorways on site. At the same time, when a large robot is operating in a radioactive environment, it may cause uncontrolled movement due to unknown circuit failures, so it is necessary to limit the volume of the robot, especially the ground projection area. Preferably, the projection area of ​​the sorting robot 1 is 1.5m×1.5m, and the vibration table is not higher than 1.2m, which is convenient for placing bagged waste. At the same time, the ground conditions in the control area are generally flat, the crawler mobile chassis has a large weight, and there are no complex requirements for crossing bumps and obstacles on site, so the crawler mobile chassis is not selected.

[0034] In one embodiment, the bag breaking mechanism 2 includes an electric slide 21 provided on the sorting robot 1 and a cutting member 22 provided on the electric slide 21. The cutting member 22 cuts and breaks the garbage bag under the movement of the electric slide 21, and the cutting member 22 is a cutting wire or a cutting knife.

[0035] Furthermore, the cutting wire is a thermal cutting wire, and the cutting knife is a thermal cutting knife, and a thermal cutting method is adopted to achieve high-speed cutting.

[0036] In one embodiment, the measuring box 3 is provided with a horizontal electric vibration table 32 for dispersing radioactive waste, and the control mechanism 6 includes a vibration table driver 62 connected to the horizontal electric vibration table 32 to drive the horizontal electric vibration table 32 to vibrate; the radiation detection mechanism 31 is a wide-range dose rate detector. After the bag is broken, the dispersed radioactive waste on the horizontal electric vibration table 32 is dispersed by vibration of a specified frequency, so that the visual system can determine the grabbing point of the dispersed radioactive waste. The vibration table of the horizontal electric vibration table 32 is rooted on the inner side wall of the body of the sorting robot, with the table surface facing upward. The sorting robot realizes table surface vibration through the rigid connection between the vibration motor of the horizontal electric vibration table 32 and the table surface, and the vibration frequency and vibration amplitude can be adjusted with the table surface through the driver of the vibration motor.

[0037] Furthermore, the wide-range dose rate detector includes a plastic scintillator detector 33 and a GM tube array 34; the dose is first measured by the plastic scintillator detector 33, and if the measured dose is less than or equal to a preset switching threshold, the dose measured by the plastic scintillator detector 33 is used as the dose measurement result; if the measured dose is greater than the preset switching threshold, the GM tube array 34 is switched to measure, and the dose measured by the GM tube array 34 is used as the dose measurement result. Furthermore, there are multiple plastic scintillator detectors 33 and GM tube arrays 34. When there are multiple plastic scintillator detectors 33, one is used as enhanced detection, and the rest are used for standard detection, and the GM tube array 34 is also set in the same way.

[0038] In one embodiment, the grasping mechanism 4 includes a mechanical arm 41 provided on the sorting robot 1, and the control mechanism 6 includes a mechanical arm control box 63 connected to the mechanical arm 41 to drive the mechanical arm 41 to move. The mechanical arm 41 is used to grasp and sort a single piece of radioactive waste. According to the type of technical waste in the control area, the weight of a single piece of radioactive waste is generally not more than 10k, so a miniaturized mechanical arm is used as much as possible. At the same time, considering the operating range, it is preferred to use a mechanical arm with a maximum arm span of 1.2m to 2.0m. At the same time, the mechanical arm should have a variety of safety protection functions, including independent dual-channel redundant sensor information monitoring, active safety design of real-time detection of position and force control, no need for safety gratings and fences, and high-sensitivity collision protection capabilities based on joint torque sensors. Therefore, the mechanical arm 41 is preferably a collaborative mechanical arm.

[0039] The task actions of the robotic arm 41 mainly include four: action 1, grabbing the garbage bag to facilitate the bag breaking mechanism 2 to break the bag; action 2, picking up the single target radioactive waste after the bag is broken; action 3, moving the current target radioactive waste to the radiation detection mechanism for measurement; action 4, sorting the target radioactive waste that has been measured to a designated location.

[0040] In one embodiment, the visual mechanism 5 is a binocular visual camera. For the first action, the binocular visual camera takes a picture of the garbage bag at the place where the radioactive waste is generated, collected or designated, and obtains the location information of the garbage bag. The robotic arm grabs the garbage bag based on the information and moves it to the sorting robot 1 for subsequent bag breaking operations. For the second action, the binocular visual camera takes a picture of any target radioactive waste in the measuring box 3, obtains the location information of the target radioactive waste and obtains the first information of the position and grabbing angle of the target radioactive waste in the preset reference coordinate system. The robotic arm then uses the first information as the motion target posture to perform pre-pickup positioning and moves to the target radioactive waste based on the pre-pickup positioning. For the third action, the second information of the position and measurement posture of the radiation detection mechanism 31 in the preset reference coordinate system can be obtained by taking pictures with the binocular visual camera. The robotic arm then uses the second information as the motion target posture to perform pre-transfer positioning and transfers the target radioactive waste to the radiation detection mechanism 31 based on the pre-transfer positioning. For action 4, when the sorting robot 1 is fixed relative to the designated position, under the action of the binocular vision camera, the reference coordinate system of the robot arm is successively converted to the reference coordinate system of the sorting robot and the reference coordinate system of the designated position, and the robot arm can be converted to fixed-point motion, which can quickly perform subsequent waste sorting. Preferably, a mounting plate is provided on the measuring box 3, and the binocular vision camera is fixed on the mounting plate.

[0041] In one embodiment, the sorting includes dosage-based sorting and material-based sorting.

[0042] The principle of the dose-based sorting is: radioactive waste with a dose greater than 20 mSv / h measured by the radiation detection mechanism 31 is collected separately, and radioactive waste with a dose less than or equal to 20 mSv / h is transferred out for subsequent secondary radiation measurement.

[0043] The principle of the material-based sorting is: based on the visual mechanism 5, the material of the radioactive waste is identified, and the material includes combustible types of cotton, linen, rubber products and plastic products, non-combustible types of metals and glass, and recyclable types of other materials; the combustible radioactive waste of cotton, linen, rubber products and plastic products is transferred for subsequent secondary radiation measurement; the non-combustible radioactive waste of metals and glass is collected separately, and the recyclable radioactive waste of other materials is collected separately. The radioactive waste is photographed by the visual mechanism 5, and the material is identified based on the surface geometric information and light reflection characteristics in the RGB-D data in the photographed photo. Then, by analyzing the microstructure of the object surface and the reflection pattern under the lighting conditions, the features related to the material can be extracted, and then the machine learning classifier is used to realize the automatic identification of the material.

[0044] In one embodiment, the radioactive waste sorting and measuring device further includes a clamping mechanism 9 provided on the sorting robot 1 for clamping and adjusting the posture of the garbage bag, a metal detection sensor 10 for identifying that the material of the radioactive waste is metal, and a display screen 7 and an obstacle avoidance sensor mechanism 8 respectively connected to the control mechanism 6. The clamping mechanism 9 is used to assist the mechanical arm 41, connected to the control mechanism 6, to stably clamp and adjust the posture of the garbage bag, and the clamping mechanism is preferably an electric gripper or an electric clamp. The metal detection sensor 10 is provided next to the wide-range dose rate detector, and is used to identify radioactive waste made of metal and assist the sorting of the visual mechanism 5. The display screen 7 can be used to display the number and power of the sorting robot 1, the amount of radioactive waste in the sorting robot 1, and the dose of each measured radioactive waste. The obstacle avoidance sensor mechanism 8 is one or both of a laser radar obstacle avoidance module or an ultrasonic obstacle avoidance module. When there is a site distribution drawing of the waste treatment area in the control area of ​​a nuclear power plant, the building information modeling technology BIM can be used to reconstruct the site environment in the centralized control system and design multiple fixed channels according to the physical size of the robot, so that the movement of the sorting robot is constrained on the fixed channel, and the scheduling of multiple intelligent agents can be realized quickly and stably. When there is no site distribution drawing of the waste treatment area in the control area of ​​a nuclear power plant, the visual mechanism, laser radar obstacle avoidance module or / and ultrasonic obstacle avoidance module of the sorting robot itself are used to first allow the robot to move freely in the working environment, and the site map is reconstructed in real time through the simultaneous map positioning and reconstruction technology SLAM, Simultaneous Localization and Mapping. At the same time, the motion objective function is designed based on the robot's motion coverage and position repetition rate to quickly realize the reconstruction of the position environment. After obtaining the reconstructed point cloud map of the position environment, the BIM technology is used to design the robot's motion path in the centralized control system. After completing the channel division, the traditional navigation algorithms based on A*, D*, DP, DWA, etc. are optimized respectively, and the planning efficiency and accuracy are compared to realize the adaptive path planning of the sorting robot 1. Preferably, the display screen 7 is also fixed on the mounting plate.

[0045] In one embodiment, the control mechanism 6 includes an industrial computer 64 for controlling various mechanisms and processing various data. The industrial computer has a CPU frequency of Ghz level to meet the computing requirements. At the same time, the industrial computer has multiple signal and control interfaces such as industrial buses such as Ethernet, RS485 / RS232, CAN, EtherCAT, or directly controlling IO switches. Specifically, it is connected to each driver through industrial buses such as RS485 / RS232, CAN, EtherCAT, connected to the robot arm control box 63 through Ethernet or industrial bus, connected to the bag breaking mechanism 2 through IO switch or industrial bus, connected to the obstacle avoidance sensor mechanism 8 and the visual mechanism 5 through Ethernet, and connected to the radiation detection mechanism 31 through IO pulse counting / ADC voltage measurement or industrial bus. The industrial computer also integrates a wireless network connection function WiFi, and the industrial computer is also connected to a vehicle-mounted wireless communication system. The industrial computer communicates with the vehicle-mounted wireless communication system through WiFi or 915Mhz Lora.

[0046] In addition, the sorting robot 1 is powered by a large-capacity lithium battery, and a matching power management module is used to monitor the battery power in real time.

[0047] The chassis driver 61, electric slide 21, metal detection sensor 10, electric gripper, horizontal electric vibration table 32, vibration table driver 62, robotic arm 41, robotic arm control box 63, plastic scintillator detector 33, GM tube array 34, binocular vision camera, display screen 7, laser radar obstacle avoidance module, ultrasonic obstacle avoidance module, and industrial computer 64 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 above electrical equipment are not elaborated here.

[0048] 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 miniaturized and movable radioactive waste sorting and measuring device, characterized in that: The invention comprises a sorting robot (1); a bag breaking mechanism (2) arranged on the sorting robot (1) for breaking a garbage bag containing radioactive waste to release the radioactive waste inside; a measuring box (3) for storing the released radioactive waste and a radiation detection mechanism (31) arranged in the measuring box (3); a grasping mechanism (4) for grasping the garbage bag, picking up the radioactive waste, transferring the radioactive waste to the radiation detection mechanism (31) for dose measurement and sorting the radioactive waste after the dose measurement; a visual mechanism (5) for picking up the grasping mechanism (4), positioning before transfer and identifying the material of the radioactive waste before sorting; and a control mechanism (6) respectively connected to the sorting robot (1), the bag breaking mechanism (2), the measuring box (3), the grasping mechanism (4) and the visual mechanism (5).

2. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The sorting robot (1) comprises a robot chassis (11), and the control mechanism (6) comprises a chassis driver (61) connected to the robot chassis (11) for driving the robot chassis (11) to move.

3. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The bag breaking mechanism (2) comprises an electric slide (21) arranged on the sorting robot (1) and a cutting member (22) arranged on the electric slide (21); the cutting member (22) is a cutting wire or a cutting knife; preferably, the cutting wire is a hot cutting wire, and the cutting knife is a hot cutting knife.

4. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The measuring box (3) is provided with a horizontal electric vibration table (32) for dispersing radioactive waste, and the control mechanism (6) includes a vibration table driver (62) connected to the horizontal electric vibration table (32) and driving the horizontal electric vibration table (32) to vibrate; the radiation detection mechanism (31) is a wide-range dose rate detector; Preferably, the wide-range dose rate detector comprises a plastic scintillator detector (33) and a GM tube array (34); the dose is first measured by the plastic scintillator detector (33); if the measured dose is less than or equal to a preset switching threshold, the dose measured by the plastic scintillator detector (33) is used as the dose measurement result; if the measured dose is greater than the preset switching threshold, the measurement is switched to the GM tube array (34), and the dose measured by the GM tube array (34) is used as the dose measurement result.

5. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The grasping mechanism (4) comprises a mechanical arm (41) arranged on the sorting robot (1), and the control mechanism (6) comprises a mechanical arm control box (63) connected to the mechanical arm (41) to drive the mechanical arm (41) to move.

6. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The visual mechanism (5) is a binocular vision camera.

7. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The principle of the pre-pickup positioning is as follows: based on the visual mechanism (5), first information of the position and the grasping angle of the radioactive waste as the target in the measuring box (3) in a preset reference coordinate system is obtained, and the grasping mechanism (4) uses the first information as the motion target posture to perform pre-pickup positioning and moves to the target radioactive waste based on the pre-pickup positioning; The principle of the pre-transfer positioning is as follows: based on the visual mechanism (5), second information on the position and measurement posture of the radiation detection mechanism (31) in a preset reference coordinate system is obtained, and the grasping mechanism (4) uses the second information as the motion target posture to perform pre-transfer positioning and transfers the target radioactive waste to the radiation detection mechanism (31) based on the pre-transfer positioning.

8. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The sorting includes dosage-based sorting and material-based sorting; The principle of the dose-based sorting is: radioactive waste with a dose greater than 20 mSv / h measured by the radiation detection mechanism (31) is collected separately, and radioactive waste with a dose less than or equal to 20 mSv / h is transferred out for subsequent secondary radiation measurement; The principle of the material-based sorting is as follows: based on the visual mechanism (5), the material of the radioactive waste is identified, the material includes combustible types of cotton, linen, rubber products and plastic products, non-combustible types of metals and glass, and recyclable types of other materials; the combustible types of radioactive waste of cotton, linen, rubber products and plastic products are transferred out for subsequent secondary radiation measurement; the non-combustible types of radioactive waste of metals and glass are collected separately, and the recyclable types of radioactive waste of other materials are collected separately.

9. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: It also includes a clamping mechanism (9) arranged on the sorting robot (1) for clamping and adjusting the position of the garbage bag, a metal detection sensor (10) for identifying that the material of the radioactive waste is metal, and a display screen (7) and an obstacle avoidance sensor mechanism (8) respectively connected to the control mechanism (6); the obstacle avoidance sensor mechanism (8) is one or both of a laser radar obstacle avoidance module and an ultrasonic obstacle avoidance module, and the clamping mechanism is preferably an electric gripper.

10. The miniaturized and movable radioactive waste sorting and measuring device according to claim 1 is characterized in that: The control mechanism (6) includes an industrial computer (64) for controlling various electrical mechanisms and processing various data.

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