Stackable modular multi-purpose radiation measurement device

Abstract

The application discloses a layered and modular multifunctional radioactive measuring device, which comprises a measuring robot and a temporary storage layer and a measuring layer arranged on the measuring robot from top to bottom in sequence, the measuring layer has a plurality of layers and is connected in a layered mode, a plurality of temporary storage bins are arranged in the temporary storage layer, a position giving area is formed in the bottom of the measuring robot, the measuring robot is moved to above a waste barrel for storing radioactive waste, the waste barrel is located in the position giving area, and radioactive waste is transferred into a corresponding waste barrel according to a measurement result of radioactive measurement, and a camera for positioning and identifying the waste barrel is arranged in the bottom of the measuring robot. The application can further classify radioactive waste after initial screening of a dose rate, perform radioactive measurement on the radioactive waste, and sort the radioactive waste into corresponding waste barrels based on the measurement result of the radioactive measurement, realizes unmanned and automation, and a plurality of measuring layers meet different radioactive measurement requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radioactive material processing, in particular to a layered modular multifunctional radioactive measurement device. BACKGROUND

[0002] Radioactive waste minimization is one of the key factors for the sustainable development of the nuclear industry, which can reduce the burden of radioactive waste treatment and disposal of nuclear power plants, and ensure human health and a good ecological environment. Radioactive waste sorting is a practical activity that provides appropriate waste differentiation for subsequent management based on the characterization of radioactive waste source items (mainly through measurement). Radioactive waste sorting is a requirement and important means of waste minimization, a need for radioactive waste classification and disposal, and an effective means to ensure that radioactive waste generated at each stage of waste generation can be classified and disposed of based on radioactive waste measurement technology.

[0003] Currently, in the task of radioactive waste sorting in nuclear power plants, the measurement device mainly uses single radioactive detection equipment, and the data integration degree is low. At the same time, due to the detection method and equipment capacity, the detection efficiency is low or the waste cannot be accurately classified and measured. At the same time, the equipment system used in radioactive sorting tasks currently mainly adopts a pipeline structure and operation mode, and the overall volume of the equipment is large, which requires a large amount of space in the waste treatment area. In addition, such equipment adopts a fixed construction and installation method, which increases the construction and maintenance cost of the nuclear power plant and the economic burden during operation. Due to the fixed structure of such equipment, it cannot be quickly deployed, and the production and construction period is long. Therefore, it is of great practical significance to develop a new type of multifunctional small-sized and modular radioactive measurement device. SUMMARY

[0004] The purpose of the present application is to provide a layered modular multifunctional radioactive measurement device, which is based on the modularization of radioactive measurement functions and can achieve rapid integration and modification deployment for different measurement methods of radioactive waste, thereby reducing the construction period and cost.

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

[0006] The multifunctional radioactive measurement device is a stacked modular system, comprising a measurement robot and, from top to bottom, a temporary storage layer for buffering radioactive waste that has undergone initial dose rate screening, and a measurement layer for measuring the radioactive waste in the temporary storage layer. Multiple measurement layers are stacked and connected, each designed for different radioactive measurement needs. The temporary storage layer contains multiple storage compartments. A clearance area is provided at the bottom of the measurement robot. The measurement robot moves above the waste bins storing radioactive waste, positioning the waste bins within the clearance area, and transfers the radioactive waste to the corresponding waste bins based on the measurement results. A camera at the bottom of the measurement robot is used for locating and identifying the waste bins.

[0007] In some embodiments of the present invention, each measurement layer has a quick-connect electrical and signal interface that modularizes the current measurement layer into a radiometric measurement function.

[0008] Each measurement layer is equipped with a radioactive measurement mechanism, which includes a body appearance feature measurement mechanism, a material weight measurement mechanism, a material dose rate measurement mechanism, a material energy spectrum measurement mechanism, a material gamma-ray imaging measurement mechanism, a material X-ray measurement mechanism, a material neutron imaging measurement mechanism, a material source term nuclide identification mechanism, and a specific activity measurement mechanism.

[0009] Preferably, the specific activity measurement mechanism includes a square detection cavity composed of four large-area plastic scintillator detectors and a weight sensor located on the bottom surface of the measurement layer, with each large-area plastic scintillator detector seamlessly spliced ​​together.

[0010] In some embodiments of the present invention, lead plates are installed on the front, back, left, right and bottom surfaces of the square detection cavity, and the thickness of the lead plates is 50 mm.

[0011] In some embodiments of the present invention, the temporary storage compartment includes a base plate, a baffle surrounding the base plate, and a top plate covering the baffle.

[0012] In some embodiments of the present invention, a feed inlet for introducing radioactive waste into the temporary storage bin is provided on the baffle or top plate on the outside of the temporary storage bin, and the feed inlet is equipped with a telescopic accordion door or an electrically operated door.

[0013] In some embodiments of the present invention, each temporary storage bin has a primary screening and sorting port on its bottom plate, and a discharge port connected to multiple primary screening and sorting ports is provided at the bottom of the temporary storage layer. The primary screening and sorting ports and the discharge port are equipped with electric opening and closing doors.

[0014] In some embodiments of the present invention, each measurement layer is provided with a measurement inlet and a measurement outlet at the top and bottom, respectively, and both the measurement inlet and the measurement outlet are equipped with electrically operated doors.

[0015] In some embodiments of the present invention, the measuring robot includes a robot base and movable wheels installed at the four corners of the robot base. The robot base is provided with an outlet that communicates with the measurement outlet. Radioactive waste that has completed specific activity measurement in the measurement layer is transferred to the waste bin in the clearance area through the outlet.

[0016] In some embodiments of the present invention, the measuring robot is equipped with an obstacle avoidance sensing mechanism, which is any one or both of a lidar obstacle avoidance module or an ultrasonic obstacle avoidance module.

[0017] In some embodiments of the present invention, a control mechanism is further included, which is connected to the measuring robot, the temporary storage layer, the measuring layer, the camera, and the obstacle avoidance sensing mechanism respectively. Preferably, the control mechanism is an industrial control computer.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This invention features a simple structure, a scientifically sound design, and ease of use. It utilizes robotics to achieve automated measurement and unmanned sorting of radioactive waste, offering deployment flexibility and operational automation through autonomous robot movement. This invention can further classify radioactive waste after initial dose rate screening, perform radioactivity measurements, and then sort the waste into corresponding bins based on the measurement results, thus achieving unmanned and automated operation. This invention uses multiple stacked measurement layers to meet different radioactivity measurement needs, and its modular radioactivity measurement functions enable rapid integration, modification, and deployment, reducing construction time and costs. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention.

[0021] Figure 2 This is a structural diagram of the measurement layer of the present invention.

[0022] Figure 3 This is a structural diagram of the first type of temporary storage bin of the present invention.

[0023] Figure 4 This is a second structural diagram of the temporary storage bin of the present invention.

[0024] Figure 5 This is a top view of the temporary storage compartment (top panel not shown) of the present invention.

[0025] Figure 6 This is a structural diagram of the bottom of the measuring layer of the present invention.

[0026] Figure 7 This is a structural diagram of the measurement layer of the present invention.

[0027] Figure 8 This is a structural diagram of the bottom of the measuring layer of the present invention.

[0028] Figure 9 This is a diagram of the internal structure of the measurement layer of the present invention.

[0029] Figure 10 This is a structural diagram of the robot base of the present invention.

[0030] The names corresponding to the reference numerals in the attached figures are as follows:

[0031] 1-Measuring robot, 2-Temporary storage layer, 3-Measuring layer, 4-Temporary storage bin, 5-Way clearance area, 6-Camera, 7-Obstacle avoidance sensor mechanism, 8-Control mechanism, 11-Robot base, 12-Moving wheel, 13-Outlet, 21-Outlet, 30-Specific activity measuring mechanism, 31-Large area plastic scintillator detector, 32-Weight sensor, 33-Lead plate, 34-Measuring inlet, 35-Measuring outlet, 41-Base plate, 42-Baffle, 43-Top plate, 44-Inlet, 45-Primary screening and sorting port. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0033] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; of course, they can also refer to a mechanical connection or an electrical connection; furthermore, they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] like Figures 1-10As shown, the multifunctional radioactive measurement device with a stacked modular design provided by the present invention includes a measurement robot 1 and a temporary storage layer 2 for buffering radioactive waste that has completed dose rate screening, and a measurement layer 3 for measuring the radioactive waste in the temporary storage layer 2, which are arranged sequentially from top to bottom on the measurement robot 1. There are multiple measurement layers 3, which are stacked and connected. Each measurement layer 3 is used for different radioactive measurement needs. The temporary storage layer 2 is provided with multiple temporary storage compartments 4. The bottom of the measurement robot 1 is provided with a clearance area 5. The measurement robot 1 moves to the top of the waste bin storing radioactive waste, so that the waste bin is located in the clearance area 5, and transfers the radioactive waste to the corresponding waste bin according to the measurement results of the radioactive measurement. The bottom of the measurement robot 1 is provided with a camera 6 for positioning and identifying the waste bin. Radioactive waste after initial dose rate screening is buffered in different temporary storage bins 4 of temporary storage layer 2 according to its initial dose rate. Then, the radioactive waste in the temporary storage bins 4 falls from the bottom into different measurement layers 3 below. Different radioactive measurements are performed on the radioactive waste in each temporary storage bin 4 in different measurement layers 3 to obtain measurement values. Then, the measurement robot 1 moves to find the waste bins storing radioactive waste and puts the radioactive waste into the corresponding waste bins according to the measurement values.

[0036] This invention enables in-depth measurement and transfer / binding of radioactive waste within the range after initial dose rate screening. Based on robotics, this invention achieves automated measurement and unmanned sorting of radioactive waste, offering deployment flexibility and operational automation through autonomous robot movement. The radioactive waste after initial dose rate screening is further classified and subjected to radioactivity measurement. Based on the measurement results, it is then sorted into corresponding waste bins, thus achieving unmanned and automated operation. This invention uses multiple stacked measurement layers to meet different radioactivity measurement needs and achieves rapid integration and modification deployment based on modular radioactivity measurement functions, reducing construction time and costs.

[0037] In one embodiment, each measurement layer 3 has a quick-connect electrical and signal interface that allows the current measurement layer 3 to be modularized into a radiometric measurement function. This quick-connect interface facilitates the construction of different radiometric measurement function modules. Each measurement layer 3 is equipped with a radiometric measurement mechanism to meet different radiometric measurement needs. Measurement layers 3 equipped with different radiometric measurement mechanisms can be configured according to actual requirements, enabling flexible deployment of new measurement needs. The radiometric measurement mechanisms include a body surface feature measurement mechanism, a material weight measurement mechanism, a material dose rate measurement mechanism, a material energy spectrum measurement mechanism, a material gamma-ray imaging measurement mechanism, a material X-ray measurement mechanism, a material neutron imaging measurement mechanism, a material source term nuclide identification mechanism, and a specific activity measurement mechanism 30. The combination of the body surface feature measurement mechanism and the material weight measurement mechanism can also achieve the measurement of average density. The body surface feature measurement mechanism, material weight measurement mechanism, material dose rate measurement mechanism, material energy spectrum measurement mechanism, material gamma-ray imaging measurement mechanism, material X-ray measurement mechanism, material neutron imaging measurement mechanism, and material source term nuclide identification mechanism are all existing measurement mechanisms that can be directly purchased and therefore will not be described in detail. Preferably, the specific activity measuring mechanism 30 includes a square detection cavity composed of four large-area plastic scintillator detectors 31 and a weight sensor 32 located on the bottom surface of the measuring layer 3. Each large-area plastic scintillator detector 31 is seamlessly connected, eliminating detection dead zones. The weight sensor 32 is installed on the bottom surface of the square detection cavity, below the bottom detector, and can weigh the mass of the tested item. Combined with the total activity measurement results obtained by the detectors, the gamma specific activity (Bq / kg) value of the tested item is obtained, i.e., the specific activity. Each large-area plastic scintillator detector 31 adopts a modular design, mainly composed of a plastic scintillator, a photomultiplier tube, and a data acquisition module. More preferably, lead plates 33 are installed on the front, back, left, right, and bottom surfaces of the square detection cavity. The lead plates 33 are 50 mm thick and provide lead shielding, maintaining a low background level for the square detection cavity. Furthermore, an electromagnetic door is provided at the top of the measuring layer 3 to ensure that the measuring layer 3 cannot be opened during normal measurement.

[0038] In one embodiment, the temporary storage chamber 4 includes a base plate 41, baffles 42 surrounding the base plate 41, and a top plate 43 covering the baffles 42. Each temporary storage chamber 4 is an isolated chamber. Preferably, the baffles 42 or the top plate 43 on the outside of the temporary storage chamber 4 is provided with an inlet 44 for introducing radioactive waste into the temporary storage chamber 4. The inlet 44 is equipped with a telescopic accordion door or an electrically operated door to control the opening and closing of the temporary storage chamber 4. Radioactive waste that has passed the dose rate screening enters the corresponding temporary storage chamber 4 through the inlet 44. The temporary storage layer 2 can store radioactive waste within multiple dose rate ranges. At least one temporary storage chamber 4 is set for one dose rate range. When there is too much radioactive waste within the same dose rate range, multiple temporary storage chambers 4 can be used to buffer radioactive waste within the same dose rate range. The number of temporary storage chambers 4 is set according to actual needs. The temporary storage chambers 4 can further sort the radioactive waste that has passed the dose rate screening according to the dose rate, which is convenient for subsequent radioactivity measurement.

[0039] After being sorted in the temporary storage bins, the radioactive waste in each bin 4 falls from the bottom into the lower measuring layer 3 for measurement. In one embodiment, each temporary storage bin 4 has a primary screening and sorting port 45 on its bottom plate 41, and the bottom of the temporary storage layer 2 has a discharge port 21 connected to multiple primary screening and sorting ports 45. The primary screening and sorting ports 45 and the discharge port 21 are equipped with electrically operated opening and closing doors. When the primary screening and sorting ports 45 and the discharge port 21 of the temporary storage bin to be measured open simultaneously, the radioactive waste in the bin falls into the lower measuring layer 3 under gravity. The electrically operated opening and closing doors control the opening and closing of the primary screening and sorting ports 45 and the discharge port 21.

[0040] In one embodiment, each measurement layer 3 is provided with a measurement inlet 34 and a measurement outlet 35 at its top and bottom, respectively, and both the measurement inlet 34 and the measurement outlet 35 are equipped with electrically operated doors. After the radioactive waste in each measurement layer 3 has been measured, it is exported from the bottom of the current measurement layer 3 into the next measurement layer 3. After the radioactive waste in the last measurement layer 3 has been measured, it is exported from the measurement outlet 35 at the bottom. At the same time, the measurement robot 1 moves to the waste bins storing radioactive waste, so that the waste bins are located in the clearance area 5, and transfers the radioactive waste into the corresponding waste bins according to the measurement results of the radioactive measurement.

[0041] The measuring robot of this invention is an omnidirectional mobile measuring robot. In one embodiment, the measuring robot 1 includes a robot base 11 and moving wheels 12 installed at the four corners of the robot base 11. The robot base 11 is provided with an outlet 13 connected to the measurement outlet 35. Radioactive waste that has undergone specific activity measurement in the measurement layer 3 is transferred to the waste bin in the clearance area 5 through the outlet 13. Preferably, the robot base 11 is provided with a chassis driver, which is connected to the moving wheels to drive the moving wheels. The robot base 11 adopts any one of the following: differential chassis, Ackerman chassis, omnidirectional motion chassis based on Mecanum wheels, or omnidirectional motion chassis based on steering wheels. Calculated with a load of approximately 300 kg, the chassis weight is minimized while ensuring the chassis load and power. At the same time, a high-precision servo motor is selected as the actuator for chassis drive to ensure the accuracy of base movement. Preferably, the ground projection size of the robot base 11 is limited to the range of 1.5m × 1.5m. The measurement robot 1 is powered by a high-capacity lithium battery. The power supply system is integrated in the robot base 11, which simultaneously powers the temporary storage layer and the measurement layer and facilitates signal interaction.

[0042] The measuring robot 1 is equipped with a camera 6 at its bottom, specifically located around the outlet 13, for identifying target waste bins. The measuring robot needs to automate the bin loading process, as there are different target waste bins for the radioactive waste being measured. For target waste bins with a known location, the measuring robot moves directly to the top of the waste bin and unloads the waste through the outlet 13. When the location of the target waste bin is uncertain, the measuring robot first moves freely to find the waste bin. It locates a random waste bin using the camera, then identifies the color or graphic markings of the current waste bin and matches them with the color and markings of the target waste bin to determine if it is the target waste bin. If it is the target waste bin, it unloads the waste; otherwise, it continues searching for a waste bin. During this process, the measuring robot needs to obtain prior information based on different classification standards, namely the color and markings of different waste bins, before it can perform waste bin matching.

[0043] In one embodiment, the measuring robot 1 is equipped with an obstacle avoidance sensing mechanism 7, which can be any one or both of a lidar obstacle avoidance module and an ultrasonic obstacle avoidance module. Based on the obstacle avoidance sensing mechanism 7, the measuring device can achieve obstacle avoidance during operation.

[0044] In one embodiment, the measuring device further includes a control mechanism 8 connected to the measuring robot 1, the temporary storage layer 2, the measuring layer 3, the camera 6, and the obstacle avoidance sensing mechanism 7. Preferably, the control mechanism 8 is an industrial control computer. The industrial control computer has a CPU frequency in the GHz range to meet the computing requirements. The industrial control computer also integrates wireless network connectivity (WiFi). The measuring robot 1 is equipped with an onboard wireless communication system, and the industrial control computer communicates with the onboard wireless communication system via WiFi or 915MHz LoRa.

[0045] The camera 6, large-area plastic scintillator detector 31, weight sensor 32, telescopic accordion door, electric opening and closing door, laser radar obstacle avoidance module, ultrasonic obstacle avoidance module, and industrial control computer used in this invention are all existing known electrical equipment, and can all be purchased and used directly on the market. Their structure, circuit and control principle are all existing known technologies. Therefore, the structure, circuit and control principle of the above electrical equipment will not be described in detail here.

[0046] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention used to illustrate the technical solutions of the present invention, and are not intended to limit the invention, nor are they intended to limit the patent scope of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. That is to say, any changes or refinements made to the main design concept and spirit of the present invention that are not of substantial significance, but whose technical problems are still consistent with the present invention, should be included within the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention to other related technical fields are similarly included within the patent protection scope of the present invention.

Claims

1. A multifunctional radioactive measuring device with a stacked, modular design, characterized in that: The system includes a measuring robot (1) and a temporary storage layer (2) arranged from top to bottom on the measuring robot (1) for buffering radioactive waste that has completed dose rate screening, and a measuring layer (3) for measuring the radioactive waste in the temporary storage layer (2). There are multiple measuring layers (3) and they are stacked and connected. Each measuring layer (3) is used for different radioactive measurement needs. The temporary storage layer (2) is provided with multiple temporary storage bins (4). The radioactive waste in a single temporary storage bin (4) falls from the bottom into the measuring layer (3) below. The measuring robot (1) has a clearance area (5) at the bottom. The measuring robot (1) moves to the top of the waste bin storing radioactive waste, so that the waste bin is located in the clearance area (5) and transfers the radioactive waste to the corresponding waste bin according to the measurement results of the radioactive measurement. The measuring robot (1) has a camera (6) at the bottom for positioning and identifying the waste bin.

2. The multifunctional radiometric measuring device with stacked modular design according to claim 1, characterized in that, Each measurement layer (3) has a quick-connect electrical and signal interface that allows the current measurement layer (3) to be modularized into a radiometric measurement function; Each measurement layer (3) is equipped with a radioactive measurement mechanism, which includes a body appearance feature measurement mechanism, a material weight measurement mechanism, a material dose rate measurement mechanism, a material energy spectrum measurement mechanism, a material gamma-ray imaging measurement mechanism, a material X-ray measurement mechanism, a material neutron imaging measurement mechanism, a material source term nuclide identification mechanism, and a specific activity measurement mechanism (30). The specific activity measurement mechanism (30) includes a square detection cavity consisting of four large-area plastic scintillator detectors (31) and a weight sensor (32) located on the bottom surface of the measurement layer (3). Each large-area plastic scintillator detector (31) is seamlessly spliced ​​together.

3. The multifunctional radiometric measuring device with stacked modular design according to claim 2, characterized in that, Lead plates (33) are installed on the front, back, left, right and bottom of the square detection cavity. The thickness of the lead plates (33) is 50 mm.

4. The multifunctional radiometric measuring device with stacked modular design according to claim 1, characterized in that, The temporary storage compartment (4) includes a bottom plate (41), a baffle (42) surrounding the bottom plate (41), and a top plate (43) covering the baffle (42).

5. The multifunctional radiometric measuring device with stacked modular design according to claim 4, characterized in that, The temporary storage bin (4) has an inlet (44) on the baffle (42) or top plate (43) on the outside for introducing radioactive waste into the temporary storage bin (4), and the inlet (44) is equipped with an electric opening and closing door.

6. The multifunctional radiometric measuring device with stacked modular design according to claim 4, characterized in that, Each temporary storage bin (4) has a primary screening and sorting port (45) on its bottom plate (41). The bottom of the temporary storage layer (2) is provided with a discharge port (21) that is connected to multiple primary screening and sorting ports (45). The primary screening and sorting ports (45) and the discharge port (21) are equipped with electric opening and closing doors.

7. The multifunctional radiometric measuring device with a stacked modular design according to claim 1, characterized in that, Each measurement layer (3) has a measurement inlet (34) at the top and a measurement outlet (35) at the bottom, and both the measurement inlet (34) and the measurement outlet (35) are equipped with electric opening and closing doors.

8. The multifunctional radiometric measuring device with stacked modular design according to claim 7, characterized in that, The measuring robot (1) includes a robot base (11) and moving wheels (12) installed at the four corners of the robot base (11). The robot base (11) is provided with an outlet (13) connected to the measuring outlet (35). Radioactive waste that has completed specific activity measurement in the measuring layer (3) is transferred to the waste bin in the clearance area (5) through the outlet (13).

9. The multifunctional radiometric measuring device with a stacked modular design according to claim 1, characterized in that, The measuring robot (1) is equipped with an obstacle avoidance sensing mechanism (7), which is any one or both of a laser radar obstacle avoidance module or an ultrasonic obstacle avoidance module.

10. The multifunctional radiometric measuring device with a stacked modular design according to claim 9, characterized in that, It also includes a control mechanism (8) that is connected to the measuring robot (1), the temporary storage layer (2), the measuring layer (3), the camera (6), and the obstacle avoidance sensing mechanism (7), respectively.

11. The multifunctional radiometric measuring device with stacked modular design according to claim 10, characterized in that, The control mechanism (8) is an industrial control computer.

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