Radiation source automatic verification system and method integrating visual classification and intelligent analysis

Abstract

The application discloses a radioactive source automatic verification system and method integrating visual classification and intelligent analysis, and the features include a master control system, a grabbing device for automatically clamping and carrying source boxes, an automatic verification device for automatically verifying the source boxes, a carrying device for automatically conveying and storing the verified source boxes, and a lifting platform for lifting the source boxes. The application uses a mechanical arm to drive the carrying device to clamp the source boxes on a truck to the automatic verification device, the automatic verification device automatically verifies the source boxes, and after the verification, the mechanical arm drives the carrying device to clamp the source boxes to a rack, and the carrying device carries and stores the source boxes on the rack into corresponding bins, so that the automatic verification and storage are realized, the identification accuracy of the radioactive sources and the storage efficiency are improved, and the radiation risk and labor intensity of the personnel are reduced.

Description

Technical Field

[0001] This invention relates to the field of radioactive waste management technology, specifically to an automated verification system and method for radioactive sources that integrates visual classification and intelligent analysis. Background Technology

[0002] Currently, the collection and storage of radioactive waste (sources) mainly relies on manual operation, which has the following problems: staff need to hold equipment and come into close contact with radioactive sources (materials), which exposes staff to radiation environment for a long time and poses health risks.

[0003] During testing, technicians sequentially measure parameters such as surface dose rate, dose rate monitoring at 1 meter, and gamma energy spectrum analysis using instruments like gamma radiation dose rate meters and gamma spectrometers. They check whether the obtained radiation dose levels and characteristic nuclides of the radioactive source are within normal ranges or meet testing requirements. Technicians need to rely on their extensive experience or manually search through notebooks, increasing testing time and workload, and reducing efficiency. When encountering new types of nuclides, technicians cannot find the information in their notebooks and must report upwards, halting the process. Furthermore, the manual recording and uploading of measurement data is prone to errors and omissions, affecting the accuracy of subsequent tests and reducing overall accuracy.

[0004] Furthermore, during verification, differences in operating habits among different technicians can lead to inconsistencies in measurement locations and procedures, which can affect the verified data and consequently its accuracy. Therefore, this paper proposes an automated verification system and method for radioactive sources that integrates visual classification and intelligent analysis for automated multiple verification. Summary of the Invention

[0005] The purpose of this invention is to solve the above problems by proposing an automatic verification system and method for radioactive sources that integrates visual classification and intelligent analysis.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic verification method for radioactive sources integrating visual classification and intelligent analysis, characterized in that the verification method is as follows:

[0007] 1) The gripping device moves to the source box and scans the source box with a 3D vision camera to obtain the position, orientation and size information of the source box and send it to the main control system. The main control system controls the gripping device to grip the source box.

[0008] 2) The grabbing device places the source box containing the radioactive source on the weighing platform, obtains the accurate weight, and sends it to the main control system. The main control system then controls the automatic verification equipment to trigger the automatic verification process.

[0009] Data Acquisition: The tag identification and reading device identifies the tag on the source box and sends the identified information to the control module. After receiving the data, the control module calculates the motion trajectory of the automatic verification equipment based on the size and type of the source box. The control module controls the movement of the automatic verification equipment according to the motion trajectory. The automatic verification equipment moves the first detector according to the motion trajectory to detect the surface dose rate and the dose rate at one meter on the source box. At the same time, the second detector performs gamma-ray spectrum analysis of radionuclides to determine the type of nuclide.

[0010] Data analysis: The control module performs multi-parameter verification and comparison based on the nuclide type obtained by the second detector, the radiation dose rate obtained by the first detector, the radioactive source code obtained by the tag identification and reading device, as well as the weight and appearance characteristics, and historical parameters of the same type of nuclide.

[0011] 3) After verification, the control module uploads the verification results to the main control system; the gripping device picks up the verified source box and places it on the material rack. After the material rack is full, the main control system controls the conveying device to move to the material rack to move it.

[0012] 4) The main control system controls the handling device to move the rack into the lifting platform. When the main control system controls the lifting platform to descend to the underground warehouse, it controls the handling device in the underground warehouse to move onto the lifting platform to transport the rack full of source boxes to the storage silo of the same type of nuclide.

[0013] Preferably, in step 2, a camera can be moved with the multi-axis robotic arm to a preset photographing position of the radioactive source to take a picture of the radioactive source and transmit the picture to the control module. The control module will then verify the shape of the radioactive source in the picture against the shape of the radioactive source stored in the local database, or identify new types of radioactive sources. When identifying new types of radioactive sources, the control module will compare and analyze the obtained picture with the radioactive source pictures in the database of the superior department to determine the type of radioactive source. At the same time, the weight data and dose rate data of the new type of radioactive source will be transmitted back to the control module and stored in the local database for direct identification and verification of this type of radioactive source in the future. Then, the control module will control the verification instrument to verify the weight data and dose rate data based on the obtained weight data and dose rate data to ensure that they are accurate.

[0014] Preferably, the method for detecting whether the material rack is full of source boxes in step 3 is that the main control system controls the gripping device based on the number of times the gripping device places the source boxes on the material rack. After the number of placements reaches the set number, the conveying device takes a picture of the material rack and sends it back to the main control system. The main control system reviews the picture to check whether the material rack is full. If it is full, the main control system controls the conveying device to move the material rack to the lifting platform. If it is not full, the main control system controls the gripping device to continue placing source boxes.

[0015] A system for an automated verification method of radioactive sources integrating visual classification and intelligent analysis is characterized by a main control system, a gripping device for automatically picking up and transporting source boxes, an automated verification device for automatically verifying source boxes, a transport device for automatically conveying and storing verified source boxes, and a lifting platform for lifting source boxes.

[0016] The automatic verification equipment includes a verification base, a weighing platform and control module installed on the verification base, a six-axis robotic arm that replaces manual verification, a camera integrated on the six-axis robotic arm to collect data from the radioactive source, a first detector, a second detector installed in the weighing platform, a label recognition and reading device installed on the verification base, and source boxes of different sizes containing radioactive sources placed on the weighing platform.

[0017] Preferably, the gripping device includes a robotic arm, gripping jaws mounted on the robotic arm, and a 3D vision camera mounted on the gripping jaws.

[0018] Preferably, the gripping jaws include a fixed base frame, grippers that are movably and symmetrically mounted on the fixed base frame, forward and reverse screws that drive the grippers to move, and servo motors that drive the forward and reverse screws to rotate; both ends of the forward and reverse screws are equipped with nut seats that are connected to the grippers; the grippers are also equipped with anti-slip pads and force sensors.

[0019] Preferably, the end of the six-axis robotic arm is equipped with a load-fixing bracket for fixing the first detector and the camera; the camera on the load-fixing bracket is also equipped with a supplementary light for supplementing the light for the camera to take pictures.

[0020] Preferably, the control module includes an industrial control computer, a switch and an industrial touch screen connected to the industrial control computer, and a switching power supply that powers the camera, tag recognition and reading device, switch and industrial touch screen.

[0021] Preferably, the device also includes a self-adjusting fixture installed on the verification base to limit the position of source boxes of different sizes; the self-adjusting fixture includes an adjusting base, a gear ring rotatably mounted on the adjusting base, a drive source for driving the gear ring to rotate, gears evenly distributed around the four ends of the gear ring and meshing with the gear ring, and adjusting plates that mesh with the gears and are assembled with each other; each adjusting plate is provided with a guide surface to facilitate the adjustment and guidance between the adjusting plates.

[0022] Preferably, the first and second detectors are NaI(Tl) detectors and / or LaBr3 detectors.

[0023] The beneficial effects of this invention are as follows: A robotic arm drives a gripping device to replace manual labor in picking up source boxes from a truck and placing them onto an automatic verification device. The automatic verification device automatically verifies the source boxes. After verification, the robotic arm drives the gripping device to pick up the source boxes onto a rack. A transport device then transports the source boxes from the rack to the corresponding storage bins, thus achieving automated verification and storage. This improves the accuracy of radioactive source identification and the efficiency of storage operations, while reducing radiation risks and labor intensity for personnel.

[0024] By simulating human actions with a six-axis robotic arm, combined with a weighing platform, detector, label identification and reading device and control system, the system can automatically collect, analyze, record and verify key data of radioactive sources (such as dose rate, image, weight, code, nuclide type, etc.), thereby reducing radiation risk to personnel and improving work efficiency and data accuracy.

[0025] The source box is scanned by a 3D vision camera to generate 3D point cloud data, obtaining the position, orientation, and size information of source box 8, which is then sent to the main control system. Based on the received data, the main control system controls the adjustment of the clamp opening to grasp the source box. It then determines whether the source box can be placed on the shelf based on its size and the remaining space. If it can, the system adjusts the real-time movement path of the gripping device to accurately place the source box in the corresponding position on the shelf. If it determines that the remaining space on the shelf is insufficient, the control system determines in real-time whether other smaller source boxes can be placed based on the shelf size and the space occupied by already stored source boxes. If not, the system controls the conveying device to... The material rack is moved to the designated location, and a new material rack is moved. If it can fit, the gripping device is controlled to lower the already gripped source box and move it above the waste radioactive source to be verified. It is then scanned by a 3D vision camera. If there is a source box that can fit in the remaining space on the material rack after scanning, the opening of the gripper is adjusted to grip the source box, and the real-time movement path of the gripping device is adjusted so that the source box is accurately placed in the corresponding position on the material rack. This achieves the function of visual perception adaptive dynamic sorting. Through this dynamic sorting and handling method, the verification, sorting and handling efficiency of waste radioactive sources stored in the source box is improved, and the storage space of the material rack can be fully utilized to avoid waste of storage space. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the automatic verification device of the present invention.

[0028] Figure 3 This is a partial structural schematic diagram of the automatic verification device of the present invention.

[0029] Figure 4This is a partial structural schematic diagram of the automatic verification device of the present invention.

[0030] Figure 5 This is a schematic diagram of the clamping device of the present invention.

[0031] Figure 6 This is a schematic diagram of the gripper structure of the present invention.

[0032] Figure 7 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0033] Figure 8 This is a schematic diagram of the structure of the self-adjusting clamp of the present invention.

[0034] Figure 9 This is a schematic diagram of the automatic verification device of the present invention.

[0035] Legend: 01. Gripping device; 011. Robotic arm; 012. Gripping gripper; 013. 3D Vision camera; 014, fixed base frame; 015, gripper; 016, forward and reverse lead screw; 017, servo motor; 018, nut seat; 019, anti-slip mat; 020, force sensor; 02, handling device; 03, lifting platform; 04, automatic verification equipment; 1, verification base; 2, weighing platform; 3, six-axis robotic arm; 301, load fixing bracket; 4, camera; 401, supplementary light; 5, label recognition and reading device; 6, first detector; 601, second detector; 7, industrial control computer; 701, switch; 702, industrial touch screen; 703, switching power supply; 8, source box; 9, self-adjusting fixture; 901, adjusting base; 902, gear ring; 903, drive source; 904, gear; 905, adjusting plate; 906, guide surface. Detailed Implementation

[0036] Below we combine Figures 1-9 The automatic verification system and method for radioactive sources integrating visual classification and intelligent analysis described in this invention will be further explained.

[0037] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0038] In one embodiment, see Figures 1-4As shown in this embodiment, the system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis is characterized by a main control system, a gripping device 01 for automatically picking up and transporting the source box 8, an automatic verification device 04 for automatically verifying the source box 8, a transport device 02 for automatically conveying and storing the verified source box 8, and a lifting platform 03 for lifting the source box 8. The automatic verification device 04 includes a verification base 1, a weighing platform 2 and a control module installed on the verification base 1, a six-axis robotic arm 3 to replace manual verification, a camera 4 integrated on the six-axis robotic arm 3 for data acquisition of radioactive sources, a first detector 6, a second detector 601 installed in the weighing platform 2, a label recognition and reading device 5 installed on the verification base 1, and packages of different sizes placed on the weighing platform 2. The system includes a source box 8 containing a radioactive source; a handling device 02, which can be an AGV forklift or other automated guided vehicle capable of moving the material rack; a label recognition and reading device 5, which can be a RED reader or a QR code scanner; and a six-axis robotic arm 3 that simulates human action, combined with a weighing platform 2, a first detector 6, a second detector 601, a label recognition and reading device 5, and a control system, to automatically collect, analyze, record, and verify key data of the radioactive source (such as dose rate, image, weight, code, nuclide type, etc.), thereby reducing the risk of radiation exposure to personnel and improving operational efficiency and data accuracy; the first detector 6 and the second detector 601 are both NaI(Tl) detectors and / or LaBr3 detectors, with NaI(Tl) detectors being preferred and LaBr3 detectors being preferred for the second detector.

[0039] Furthermore, the first detector 6 and the second detector 601 can be replaced with other types of detectors for detecting the dose rate of radionuclides and performing energy spectrum analysis, depending on the on-site verification application requirements.

[0040] See Figures 5-6As shown, the gripping device 01 includes a robotic arm 011, a gripping jaw 012 mounted on the robotic arm 011, and a 3D vision camera 013 mounted on the gripping jaw 012. The gripping jaw 012 includes a fixed base 014, grippers 015 movably and symmetrically mounted on the fixed base 014, a forward / reverse screw 016 driving the gripper 015, and a servo motor 017 driving the forward / reverse screw 016 to rotate. Nut seats 018 connected to the gripper 015 are mounted at both ends of the forward / reverse screw 016. Anti-slip pads 019 and force sensors 020 are also mounted on the gripper 015. Through 3D... The vision camera 013 scans the source box 8 to form 3D point cloud data, obtaining the position, orientation, and size information of the source box 8, and sends it to the main control system. The main control system controls the servo motor 017 to rotate, which drives the forward and reverse screw 016 to rotate. The forward and reverse screw 016 drives the nut seats 018 at both ends to move inward simultaneously. The nut seats 018 drive the gripper 015 to move inward simultaneously to clamp the source box 8. At the same time, the force sensor 020 senses the clamping force of the gripper 015 to prevent excessive clamping force from damaging the source box 8, thus facilitating the clamping of the source box 8. The anti-slip pad 019 on the gripper 015 increases the contact area between the gripper 015 and the source box 8, achieving an anti-slip effect.

[0041] See Figure 9 As shown, the control module includes an industrial control computer 7, a switch 701 and an industrial touch screen 702 connected to the industrial control computer 7, and a switching power supply 703 that supplies power to the camera 4, detector, tag recognition and reading device 5, switch 701 and industrial touch screen 702. The switching power supply 703 converts AC power into DC low-voltage power to supply power to the camera 4, detector, tag recognition and reading device 5, switch 701 and industrial touch screen 702. The switch 701 is used to expand network communication and can be connected to the user management system. The industrial touch screen 702 is used for human-machine interaction, allowing users to manually control the storage process, thereby achieving automated control.

[0042] See Figure 2 As shown, the end of the six-axis robotic arm 3 is fitted with a load fixing bracket 301 for fixing the first detector 6 and the camera 4 by screws; the camera 4 on the load fixing bracket 301 is also fitted with a fill light 401 for supplementing light to take pictures of the camera 4; the camera 4, the fill light 401 and the first detector 6 are integrated and installed at the end of the six-axis robotic arm 3 by the load fixing bracket 301, so that the six-axis robotic arm 3 can integrate and drive the camera 4, the fill light 401 and the first detector 6 to move.

[0043] Verification process of this invention:

[0044] 1) The robotic arm 011 drives the gripper 012 to move to the source box 8 on the truck. The 3D vision camera 013 scans the source box 8 to form three-dimensional point cloud data. The three-dimensional point cloud data is sent to the image processing unit. The image processing unit obtains the position, orientation and size information of the source box 8 based on the three-dimensional point cloud data and sends it to the main control system. The main control system controls the servo motor 017 to rotate. The servo motor 017 drives the forward and reverse screw 016 to rotate. The forward and reverse screw 016 drives the nut seats 018 at both ends to move inward at the same time. The nut seats 018 drive the gripper 015 to move inward at the same time to clamp the source box 8. At the same time, the force sensor 020 senses the clamping force of the gripper 015.

[0045] When the clamping force is too large, the main control system controls the servo motor 017 to rotate in the opposite direction. The servo motor 017 drives the forward and reverse screw 016 to rotate. The forward and reverse screw 016 drives the nut seats 018 at both ends to move outward at the same time. The nut seats 018 drive the gripper 015 to move inward at the same time to adjust the clamping force of the source box 8.

[0046] 2) The robotic arm 011 drives the gripper 012 to place the source box 8 containing the radioactive source on the weighing platform 2 as required. After the weight stabilizes, the weighing platform 2 triggers automatic verification.

[0047] Data acquisition: The tag recognition and reading device 5 identifies the tags in the source box and sends the identified information to the control module. After receiving the data, the control module calculates the verification motion trajectory according to the size and type of the source box.

[0048] The control module controls the six-axis robotic arm 3 to move according to the motion trajectory. The six-axis robotic arm 3 moves according to the calculated trajectory, driving the first detector 6 to move outward a set distance from the source box boundary as the coordinate origin, sequentially performing surface dose motion trajectory and dose motion trajectory at one meter to obtain the corresponding detection data. At the same time, the second detector 601 performs radionuclide gamma spectrum analysis and sends the data to the control module. During verification, the RFID tag information of the source box is read by the tag identification and reading device 5 to obtain relevant data information of the radioactive source. The first detector 6 obtains surface dose and dose rate data at one meter. The second detector 601 performs radionuclide gamma spectrum analysis to obtain the type of radioactive source, and the weighing platform obtains the weight of the radioactive source. This realizes an automated, unattended data acquisition process, thereby improving the efficiency of data acquisition and the safety protection performance of the staff.

[0049] Data Analysis: After receiving the relevant data, the control module performs data analysis. The specific analysis method is as follows:

[0050] The current weight data is verified by comparing it with the maximum and minimum historical weight data of the same type of radionuclide: if the current weight data falls within the range of the maximum and minimum historical weights of the same type of radionuclide, the verification is considered successful; if the weight data does not fall within the range of the maximum and minimum historical weights of the same type of radionuclide, the verification is considered unsuccessful. If the verification fails, manual verification is required. If the radionuclide type is correct but the weight data is not within the historical data range, the system will include the current weight data in the historical data after manual confirmation and use it for subsequent weight data verification. By verifying the current weight data against the maximum and minimum historical weight data of the same type of radionuclide, automated classification by weight radionuclide is facilitated, improving the security of the verification. Furthermore, manually verified data where the radionuclide type is correct but the data is not within the historical data range is included in the historical data, thereby improving the efficiency of subsequent verifications.

[0051] Then, the current dose rate data is verified against the maximum and minimum historical dose rate data of the same type of radionuclide: if the current dose rate data falls within the range of the maximum and minimum historical dose rates of the same type of radionuclide, the verification is considered successful; if the dose rate data does not fall within the range of the maximum and minimum historical dose rates of the same type of radionuclide, the verification is considered unsuccessful. After a failed verification, manual verification is required. If the radionuclide type is correct but the dose rate data is not within the historical data range, the system will include the current dose rate data in the historical data after manual confirmation and use it for subsequent dose rate data verification. By verifying the current dose rate data against the maximum and minimum historical dose rate data of the same type of radionuclide, the classification of radionuclide types can be further automated, preventing classification errors and improving the safety of verification. Furthermore, manually verified data where the radionuclide type is correct but the data is not within the historical data range will be included in the historical data, thereby improving the efficiency of subsequent verifications.

[0052] 3) Result Judgment and Upload: The control module uploads the verification results to the main control system. When all source boxes 8 are the same size, the robotic arm 011 drives the gripper 012 to pick up the verified source box 8 and place it on the material rack on the conveying device 02. The main control system controls the number of times the robotic arm 011 places the source box 8 according to its size. After the corresponding number of times is reached, the conveying device 02 takes a picture of the material rack and sends it to the main control system. The main control system reviews the picture to check if the material rack is full. If it is full, the main control system controls the conveying device 02 to transport the material rack to the lifting platform 03. If it is not full, the main control system controls the robotic arm 011 to continue placing source boxes 8.

[0053] When the source boxes 8 are all different sizes, the 3D vision camera 013 scans the source boxes 8 to be gripped to form three-dimensional point cloud data, obtains the position, orientation and size information of the source boxes 8, and sends it to the main control system. The main control system adjusts the placement of the source boxes 8 on the material rack according to the size of the source boxes 8 and the size of the material rack, controls the movement path of the gripping device 01, and controls the gripping device 01 to grip and place the source boxes 8 at the corresponding position on the material rack. When the source boxes 8 that are gripped again cannot be placed on the material rack, the main control system controls the conveying device 02 to move the material rack and replace it with a new material rack for continued placement.

[0054] 4) The main control system controls the transport device 02 to move to the lifting platform 03. After the radar sensor on the transport device 02 senses the lifting platform 03, it sends a signal to the main control system. The main control system controls the transport device 02 to move onto the lifting platform 03. The infrared sensor on the lifting platform 03 senses the transport device 02 and sends information to the main control system. Then the transport device 02 places the rack on the lifting platform 03 and exits the lifting platform 03. When the main control system controls the lifting platform 03 to descend to the underground warehouse, the transport device 02 in the underground warehouse moves to the lifting platform 03. After the radar sensor on the transport device 02 in the underground warehouse senses the lifting platform 03, it sends a signal to the main control system. The main control system controls the transport device 02 in the underground warehouse to move onto the lifting platform 03. The transport device 02 transports the rack full of source boxes 8 to the storage silo of the same type of nuclide.

[0055] It also deploys high-precision radiation dose rate detectors, temperature and humidity sensors, video surveillance cameras and other IoT devices in the silo to collect radiation levels, environmental parameters and video data in the silo area in real time. Using IoT technology, the data is fed back to the main control system in real time, thereby ensuring the timeliness and accuracy of the information and improving the safety performance of the silo.

[0056] In one embodiment, a camera is moved with a multi-axis robotic arm to a preset photographing position of the radiation source to take a picture of the radiation source, and the picture is transmitted to the control module. The control module compares the shape of the radiation source in the picture with the shape of the radiation source stored in the local database. By combining the graphic structure of the radiation source in the picture with the dose rate, type and weight of the radiation source after acquisition, multimodal data fusion is formed and compared with historical data to finally determine the type of radiation source, thereby improving the accuracy of verification.

[0057] Alternatively, it can identify new types of radioactive sources. When identifying a new type of radioactive source, the control module compares and analyzes the obtained photos with radioactive source photos in the superior department's database to determine the type of radioactive source. At the same time, it sends the weight and dose rate data of the new type of radioactive source back to the control module and stores them in the local database, so that the source can be directly identified and verified later. Then, the control module controls the automatic verification equipment to verify the weight and dose rate data of the radioactive source according to the above verification process to ensure that there are no errors.

[0058] In one embodiment, key equipment such as silos, gripping devices, handling devices, and lifting platforms are integrated into the visualization interface of the main control system. This allows the visualization interface of the main control system to not only reflect the current status of the silos and equipment in real time, but also to quickly query and analyze the data information of the waste sources entering the warehouse through the historical data backtracking function, providing comprehensive and accurate data support for management decisions.

[0059] With the support of IoT technology, high-precision radiation dose rate detectors, temperature and humidity sensors, video surveillance cameras and other IoT devices are deployed in the silo to collect environmental data and equipment operating parameters in real time. This data is transmitted to the main control system through a high-speed network to ensure the timeliness and accuracy of the information. The main control system automatically schedules equipment such as gripping devices, handling devices and lifting platforms to achieve automated operation, improve efficiency and reduce the risks caused by human intervention.

[0060] In one embodiment, see Figures 7-8 As shown, compared with Embodiment 1, this embodiment further includes a self-adjusting clamp 9 on the verification base 1, which can limit the position of source boxes 8 of different sizes; the self-adjusting clamp 9 includes an adjusting base 901, a gear ring 902 rotatably mounted on the adjusting base 901, a drive source 903 for driving the gear ring 902 to rotate, gears 904 evenly distributed around the four ends of the gear ring 902 and meshing with the gear ring 902, and adjusting plates 905 that mesh with the gears 904 and are assembled together; Each adjusting plate 905 is provided with a guide surface 906 to facilitate the adjustment between the adjusting plates 905; the drive source 903 can be a cylinder or an electric actuator; the drive source 903 drives the gear ring 902 to rotate along the adjusting base 901, the gear ring 902 drives the gear 904 to rotate, and the gears 904 at the four ends of the gear ring 902 respectively drive the adjusting plates 905 to move, so that the adjusting plates 905 move inward or outward simultaneously along the mutual guide surfaces 906 for adjustment, thereby being suitable for clamping source boxes 8 of different sizes and specifications.

[0061] The above embodiments are illustrative of the present invention and are not intended to limit the present invention. Any simple modifications to the present invention are within the scope of protection of the present invention.

Claims

1. An automated verification method for radioactive sources integrating visual classification and intelligent analysis, characterized in that, The verification method is as follows: 1) The gripping device moves to the source box and scans the source box with a 3D vision camera to obtain the position, orientation and size information of the source box and send it to the main control system. The main control system controls the gripping device to grip the source box. 2) The grabbing device places the source box containing the radioactive source on the weighing platform, obtains the accurate weight, and sends it to the main control system. The main control system then controls the automatic verification equipment to trigger the automatic verification process. Data Acquisition: The tag identification and reading device identifies the tag on the source box and sends the identified information to the control module. After receiving the data, the control module calculates and obtains the motion trajectory of the automatic verification equipment based on the size and type of the source box. The control module controls the movement of the automatic verification equipment according to the motion trajectory. The automatic verification equipment moves the first detector according to the motion trajectory to detect the surface dose rate and the dose rate at one meter on the source box. At the same time, the second detector performs gamma-ray spectrum analysis of radionuclides to determine the type of nuclide. Data analysis: The control module performs multi-parameter verification and comparison based on the nuclide type obtained by the second detector, the radiation dose rate obtained by the first detector, the radioactive source code obtained by the tag identification and reading device, as well as the weight and appearance characteristics, and historical parameters of the same type of nuclide. 3) After verification, the control module uploads the verification results to the main control system; the gripping device picks up the verified source box and places it on the material rack. After the material rack is full, the main control system controls the conveying device to move to the material rack to move it. 4) The main control system controls the handling device to move the rack into the lifting platform. When the lifting platform is lowered to the underground warehouse, the main control system controls the handling device in the underground warehouse to move onto the lifting platform to transport the rack full of source boxes to the storage silo of the same type of nuclide.

2. The automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 1, characterized in that: In step 2, a camera can be moved with a multi-axis robotic arm to a preset photographing position of the radioactive source to take a picture of the radioactive source and transmit the picture to the control module. The control module will then verify the shape of the radioactive source in the picture against the shape of the radioactive source stored in the local database, or identify new types of radioactive sources. When identifying new types of radioactive sources, the control module will compare and analyze the obtained picture with the radioactive source pictures in the higher-level department's database to determine the type of radioactive source. At the same time, the weight data and dose rate data of the new type of radioactive source will be transmitted back to the control module and stored in the local database for direct identification and verification of this type of radioactive source in the future. Then, the control module will control the verification instrument to verify the weight data and dose rate data based on the obtained weight data and dose rate data to ensure that they are accurate.

3. The automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 1, characterized in that: In step 3, the method for detecting whether the material rack is full of source boxes is that the main control system controls the gripping device based on the number of times the gripping device places the source boxes on the material rack. After the set number of placements is reached, the conveying device takes a picture of the material rack and sends it back to the main control system. The main control system reviews the picture to check whether the material rack is full. If it is full, the main control system controls the conveying device to move the material rack to the lifting platform. If it is not full, the main control system controls the gripping device to continue placing source boxes.

4. A system employing the integrated visual classification and intelligent analysis automatic verification method for radioactive sources as described in any one of claims 1-3, characterized by a main control system, a gripping device (01) for automatically picking up and transporting the source box (8), an automatic verification device (04) for automatically verifying the source box (8), a transport device (02) for automatically conveying and storing the verified source box (8), and a lifting platform (03) for lifting the source box (8) up and down. The automatic verification device (04) includes a verification base (1), a weighing platform (2) installed on the verification base (1), a control module, a six-axis robotic arm (3) to replace manual verification, a camera (4) integrated on the six-axis robotic arm (3) to collect data from the radioactive source, a first detector (6), a second detector (601) installed in the weighing platform (2), a label identification and reading device (5) installed on the verification base (1), and source boxes (8) of different sizes containing radioactive sources placed on the weighing platform (2).

5. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 4, characterized in that: The gripping device (01) includes a robotic arm (011), a gripping jaw (012) mounted on the robotic arm (011), and a 3D vision camera (013) mounted on the gripping jaw (012).

6. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 5, characterized in that: The gripper (012) includes a fixed base frame (014), grippers (015) that are movably and symmetrically mounted on the fixed base frame (014), a forward and reverse screw (016) that drives the gripper (015) to move, and a servo motor (017) that drives the forward and reverse screw (016) to rotate; both ends of the forward and reverse screw (016) are equipped with nut seats (018) that are connected to the gripper (015); the gripper (015) is also equipped with an anti-slip pad (019) and a force sensor (020).

7. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 4, characterized in that: The end of the six-axis robotic arm (3) is equipped with a load fixing bracket (301) for fixing the first detector (6) and the camera (4); the camera (4) on the load fixing bracket (301) is also equipped with a fill light (401) for filling light to take pictures of the camera (4).

8. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 4, characterized in that: The control module includes an industrial control computer (7), a switch (701) connected to the industrial control computer (7), an industrial touch screen (702), and a switching power supply (703) that supplies power to the camera (4), the tag recognition and reading device (5), the switch (701), and the industrial touch screen (702).

9. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 4, characterized in that: It also includes a self-adjusting fixture (9) installed on the verification base (1) to limit the position of source boxes (8) of different sizes; the self-adjusting fixture (9) includes an adjustment base (901), a toothed ring (902) rotatably installed on the adjustment base (901), a drive source (903) for driving the toothed ring (902) to rotate, gears (904) evenly distributed around the four ends of the toothed ring (902) and meshing with the toothed ring (902), and adjustment plates (905) meshing with the gears (904) and assembled with each other; the adjustment plates (905) are all provided with guide surfaces (906) to facilitate the adjustment and guidance between the adjustment plates (905).

10. The system of the automatic verification method for radioactive sources integrating visual classification and intelligent analysis according to claim 4, characterized in that: The first detector (6) and the second detector (601) are NaI(Tl) detectors and / or LaBr3 detectors.

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