Radioactive source management system and method

Abstract

The application relates to the field of radioactive source management, and discloses a radioactive source management system and method. The system comprises a multi-modal verification module configured to compare and verify initial sampling information of a radioactive source with preset standard information of the radioactive source, and obtain a multi-modal verification result of the radioactive source; a main control module configured to send the initial sampling information to the multi-modal verification module, and generate a target storage signal of the radioactive source based on a digital twin model in the case that the multi-modal verification result indicates that the radioactive source passes the verification; wherein the target storage signal comprises a target storage position of the radioactive source in a storage warehouse; and a transfer and storage module configured to perform storage and operation on the radioactive source in response to the target storage signal, and obtain a real-time storage result of the radioactive source. By constructing a full-process closed-loop intelligent management system from information verification, decision planning to execution feedback, the accuracy, safety and overall efficiency of the radioactive source storage operation are significantly improved.

Description

Technical Field

[0001] This application relates to the field of radioactive source management, and more particularly to a radioactive source management system and method. Background Technology

[0002] With the widespread application of nuclear technology in industry, medicine and scientific research, the amount of waste radioactive sources generated is increasing year by year. Because they are radioactive, improper management may pose a serious threat to human health and the ecological environment. Therefore, their safe storage and management are of paramount importance.

[0003] In related technologies, the management of radioactive sources, especially waste radioactive sources, still faces problems such as limited verification dimensions, inaccurate location verification, and difficulty in early warning of radiation exceeding standards. Further improvements are needed to enhance the stability and safety of their storage. Summary of the Invention

[0004] This application aims to at least partially solve one of the technical problems in related technologies. To this end, this application proposes a radioactive source management system and method. The main technical solutions adopted in this application include: In a first aspect, embodiments of this application provide a radioactive source management system, which includes: a multimodal verification module, a main control module, and a transfer and storage module; the multimodal verification module and the transfer and storage module are respectively communicatively connected to the main control module; the multimodal verification module is used to compare and verify the initial sampling information of the radioactive source with the preset standard information of the radioactive source to obtain the multimodal verification result of the radioactive source; wherein, the initial sampling information includes the radioactive source's identification tag, radiation characteristic parameters, and source box parameters; the main control module is used to send the initial sampling information to the multimodal verification module, and when the multimodal verification result shows that the radioactive source has passed the verification, it generates a target storage signal of the radioactive source based on a digital twin model; wherein, the digital twin model is used to describe the physical environment state and real-time inventory state of the storage warehouse; the target storage signal includes the target storage location of the radioactive source in the storage warehouse; the transfer and storage module, in response to the target storage signal, performs storage and storage operations on the radioactive source to obtain the real-time storage result of the radioactive source.

[0005] Optionally, the real-time storage results include the real-time location and status information of the radioactive source in the storage warehouse; the system also includes a radiation monitoring and early warning module; the radiation monitoring and early warning module is communicatively connected to the main control module; the radiation monitoring and early warning module includes a dose rate determination unit and an exceedance early warning unit: the dose rate determination unit is used to determine the radiation dose rate data of all pits in the storage warehouse based on the real-time storage results; the exceedance early warning unit is used to make exceedance judgments based on the radiation dose rate data, and generate early warning information data for the exceedance pit when the radiation dose rate data indicates that the current pit is an exceedance pit; wherein, the early warning information data includes the early warning time, the pit number of the exceedance pit, and the actual radiation dose rate; the main control module is also used to respond to the visual early warning model to realize intelligent operation and maintenance management; wherein, the visual early warning model is determined based on the early warning information data and the digital twin model.

[0006] Optionally, the system also includes an information acquisition module; the information acquisition module is communicatively connected to the main control module; the information acquisition module includes: an identification unit for acquiring the identification tag of the radioactive source; a radiation measuring instrument for determining the radiation characteristic parameters of the radioactive source; a laser ranging sensor group for determining the source box parameters of the radioactive source; and an information integration unit for determining the initial sampling information of the radioactive source based on the identification tag, radiation characteristic parameters, and source box parameters of the radioactive source, and sending the initial sampling information to the main control module.

[0007] Optionally, the multimodal verification module includes: an initial verification unit, used to determine the preset standard information corresponding to the radioactive source in the preset storage data based on the radioactive source's identity tag, and to compare and verify the initial sampling information of the radioactive source based on the preset standard information to obtain the multimodal verification result; an early warning judgment unit, used to make an early warning judgment based on the multimodal verification result to obtain the early warning judgment result; and an early warning verification unit, used to perform radiation exceedance early warning analysis on the radioactive source when the early warning judgment result indicates that the radioactive source has failed the verification, to obtain the radiation detection result; the radiation exceedance early warning analysis includes generating an abnormal early warning signal when the radiation detection result indicates that the radiation content of the radioactive source exceeds the standard, and sending it to the main control module so that the main control module responds to the abnormal early warning signal and generates an isolation signal for the radioactive source.

[0008] Optionally, the early warning judgment includes: generating a verification pass signal and sending it to the main control module when the multimodal verification result shows that the radioactive source has passed the verification; generating a verification fail signal and sending it to the early warning verification unit when the multimodal verification result shows that the radioactive source has failed the verification, so that the early warning verification unit responds to the verification fail signal and performs radiation exceedance early warning analysis on the radioactive source.

[0009] Optionally, the system also includes a transfer and placement module, which is communicatively connected to both the main control module and the transfer and storage module. The transfer and placement module uses a gripping device to place the radioactive source into a preset placement position on the current shelf and determines the remaining space data of the current shelf. The preset placement position is determined based on a preset stacking scheme, which describes the target placement information of the radioactive source in the current shelf. The main control module is also used to make a transfer judgment based on the remaining space data and generate a transfer signal, so that the transfer and storage module responds to the transfer signal and, based on the target storage signal, controls the transport equipment to transfer the current shelf to the target storage position.

[0010] Optionally, the transfer determination includes: performing a size determination based on the remaining space data and preset source box parameters to obtain a size determination result; and generating a transfer signal if the size determination result indicates that the remaining space data does not meet the preset space conditions.

[0011] Optionally, the system also includes a path planning module; the path planning module is used to determine the target transfer path based on the target storage location and digital twin model, so that the transfer and storage module controls the transportation equipment to perform the storage and collection operations of the radioactive source according to the target transfer path.

[0012] Optionally, the path planning module includes a collision warning unit; the collision warning unit is used to perform collision warning analysis based on the target transfer path of the radioactive source; wherein, the collision warning analysis includes: determining the traffic status of the target road segment to which the transport equipment arrives at a preset transfer time based on the target transfer path, and generating an avoidance command when the traffic status indicates that the target road segment is occupied, so as to control the transport equipment to perform an avoidance operation.

[0013] Secondly, embodiments of this application provide a radioactive source management method applied to the aforementioned radioactive source management system. The method includes: acquiring initial sampling information for all radioactive sources; wherein the initial sampling information includes the radioactive source's identification tag, radiation characteristic parameters, and source box parameters; comparing and verifying the initial sampling information with preset standard information of the radioactive sources to obtain multimodal verification results; if the multimodal verification results indicate that the radioactive source has passed verification, performing storage and collection operations on the radioactive source based on a digital twin model to obtain real-time collection results; wherein the digital twin model is used to describe the physical environment and real-time inventory status of the collection warehouse; the real-time collection results are used to describe the real-time location and status information of the radioactive source in the collection warehouse; and monitoring is performed based on the real-time collection results and real-time radiation dose rate data of the collection warehouse to achieve intelligent operation and maintenance management of all radioactive sources.

[0014] Thirdly, this application also provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described radioactive source management method.

[0015] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described radioactive source management method.

[0016] Fifthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described radioactive source management method.

[0017] In the above embodiments, a multi-modal verification module performs multi-dimensional automated verification of the radioactive source, ensuring the accuracy and completeness of the source information for storage. Subsequently, the main control module intelligently generates target storage signals based on a digital twin model, achieving precise allocation and optimized scheduling of storage locations. Finally, the transfer and storage module executes automated storage operations and provides real-time storage results, thus constructing a closed-loop intelligent management system covering the entire process from information verification and decision-making to execution feedback, significantly improving the accuracy, safety, and overall efficiency of radioactive source storage operations. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1a This is a structural block diagram of a radioactive source management system provided according to an embodiment of this application; Figure 1b This is a structural block diagram of a radioactive source management system provided according to yet another embodiment of this application; Figure 2 This is a structural block diagram of a radioactive source management system provided according to another embodiment of the present application; Figure 3 This is a structural block diagram of a radiation source management system according to another embodiment of this application; Figure 4 A flowchart of a radioactive source management method according to yet another embodiment of this application; Figure 5 This is an internal structural diagram of a computer device according to an embodiment of the present application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] Specifically, taking the storage of spent radioactive sources as an example, the verification methods used in the storage process of related technologies typically only focus on the identity information of the spent radioactive sources, ignoring the verification of their radiation characteristics and the status of the source boxes. This leads to inconsistencies between the radioactive source information and the storage list, and makes it impossible to provide timely warnings of radiation exceeding the limits, posing safety hazards to subsequent operators. Furthermore, the lack of an effective location verification mechanism during the transfer of radioactive sources may result in problems such as misplacement or loss of source boxes. In addition, during the underground storage stage, it is impossible to monitor the placement of the storage space in real time, making it difficult to accurately and efficiently store the source boxes, and failing to provide timely warnings of the risk of overall radiation exceeding the limits within the storage facility, thus affecting storage efficiency and safety.

[0022] Based on this, according to the embodiments of this application, a radiation source management system embodiment is provided, such as... Figure 1a As shown, the radioactive source management system 100 includes a main control module 110, a multimodal verification module 120, and a transport and storage module 130. Specifically, the multimodal verification module 120 and the transport and storage module 130 are communicatively connected to the main control module 110.

[0023] The multimodal verification module 120 can refer to a hardware and software combination unit for multi-dimensional, automated verification of radioactive sources. The main control module 110 can refer to a core processor used to coordinate the work of various modules in the system and to make data storage and processing decisions. For example, the main control module 110 can coordinate the data interaction of various modules in the radioactive source management system, receive and analyze the returned data, issue instructions and control operations, thereby achieving full-process collaboration. The transfer and storage module 130 can refer to an execution unit that responds to storage instructions and completes the transfer, positioning and storage operations of radioactive sources from the verification area to the storage warehouse.

[0024] Specifically, the multimodal verification module 120 can compare and verify the initial sampling information of the radioactive source with the preset standard information of the radioactive source to obtain the multimodal verification result of the radioactive source.

[0025] The preset standard information for radioactive sources can refer to a set of standard parameters pre-entered in the inventory of all radioactive sources, which may include the source's identity, radiation levels, and reference parameters of the source box. Initial sampling information, on the other hand, can refer to the parameters of a real radioactive source obtained in real time using on-site acquisition equipment.

[0026] Specifically, the initial sampling information may include the radioactive source's identification tag, radiation characteristic parameters, and source box parameters. For example, the radioactive source's identification tag may include an RFID tag affixed to the surface of the radioactive source and a QR code tag affixed to the surface of the source box, containing identification information such as the radioactive source number, type, manufacturer, manufacturing date, and weight. The radioactive source's radiation characteristic parameters may refer to parameters such as the radiation dose rate, radiation type, and energy distribution. The radioactive source's source box parameters may refer to dimensional parameters such as the length, width, height, and outer wall thickness of the source container (i.e., the source box) in which the radioactive source is placed.

[0027] Multimodal verification results of a radioactive source can refer to data generated by comparing the initial sampling information of the same radioactive source with preset standard information, which can characterize whether there are no abnormalities, abnormalities, or specific types of abnormalities. For example, multimodal verification results may include verification pass signals or verification fail signals, and verification fail signals can be further subdivided into specific warning signals, such as radiation exceedance signals, routine abnormality signals, and routine warning signals, to accurately locate the cause of the abnormality.

[0028] Optionally, the system also includes an information acquisition module 140. Please refer to... Figure 1b The information acquisition module 140 is connected to the main control module 110.

[0029] It should be noted that the initial sampling information of the radioactive source is not generated directly, but is determined by the information acquisition module 140 through multi-dimensional data acquisition and integration of the radioactive source and source box using a dedicated acquisition device, which can provide a real and complete original data foundation for subsequent verification.

[0030] Specifically, the information acquisition module 140 includes an identity recognition unit 141, a radiation measuring instrument 143, a laser ranging sensor group 145, and an information integration unit 147.

[0031] The identification unit 141 can refer to a collection of devices capable of non-contactly reading tag information, including an RFID reader and a QR code reader. The RFID reader has the function of reading RFID electronic tags affixed to the radiation source and can be used to obtain the RFID tag information of the radiation source. The QR code reader has the function of reading QR code tags affixed to the surface of the radiation source housing and can be used to obtain the QR code tag information of the radiation source. The radiation measuring instrument 143 can refer to an instrument for measuring the radiation characteristics of the radiation source and can be used to determine the radiation characteristic parameters of the radiation source. The laser ranging sensor group 145 can refer to a sensor array that measures using the principle of laser reflection, and can be composed of multiple laser ranging sensors, capable of measuring and determining the housing parameters of the radiation source from multiple angles. For example, the laser ranging sensor group 145 can also be a laser rangefinder, which can be equipped with a camera to acquire the radiation source location information in real time.

[0032] The information integration unit 147 can refer to a microprocessor unit with data preprocessing and packaging functions, which is used to determine the initial sampling information of the radioactive source based on the radioactive source's identification tag, radiation characteristic parameters and source box parameters, and send the initial sampling information to the main control module.

[0033] Specifically, the workflow of the information acquisition module 140 is as follows: First, the identification unit 141 reads the RFID tag and / or QR code tag of the radiation source to obtain the identification tag information of the current radiation source. Then, the radiation measuring instrument 143 collects radiation characteristic parameters, and the laser ranging sensor group 145 scans the source box size. Finally, the information integration unit 147 integrates these three types of information into a structured initial sampling information data packet or data signal and sends it to the main control module 110. After receiving it, the main control module 110 forwards the initial sampling information to the multimodal verification module 120 for verification, completing the data transmission before verification.

[0034] Thus, through the information acquisition module 140, the automated and multi-dimensional collection of key information from spent radioactive sources has been achieved, laying a solid data foundation for subsequent intelligent verification and precise management, and effectively avoiding errors and inefficiencies that may result from manual data entry. Simultaneously, the structured initial sampling information provides a unified data format for subsequent multimodal verification, ensuring the accuracy and efficiency of the verification process and guaranteeing the quality of basic data for radioactive source storage from the source.

[0035] Furthermore, after determining the initial sampling information of the radioactive source, the multimodal verification module 120 can be used for verification.

[0036] It should be noted that the verification work of the multimodal verification module 120 can be summarized as covering two key dimensions: First, verifying whether the identification label information of the radioactive source is correct, that is, checking whether the radioactive source identification label is consistent with the storage list; second, verifying whether the radiation dose rate of the radioactive source is normal. This verification result can, on the one hand, determine whether the radioactive source is correctly placed in the source container (i.e., the source box). For example, if the radiation characteristic parameters (i.e., radiation dose rate) contained in the initial sampling information are significantly lower than the specified values ​​in the preset standard information, it may indicate that the radioactive source is not correctly placed in the source box or that there is an abnormality in shielding. On the other hand, this verification result can also directly reflect whether the radioactive source is dangerous (i.e., whether its dose rate exceeds the standard).

[0037] For example, the multimodal verification module 120 first retrieves the corresponding preset standard information of the radioactive source from the system's preset standard database based on the radioactive source's identity label in the initial sampling information. Then, it compares the identity label, radiation characteristic parameters, and source box parameters in the initial sampling information with the corresponding data parameters in the preset standard information item by item. During this process, special attention can be paid to the matching of the radiation dose rate: if the measured dose rate is significantly inconsistent with the standard value in the preset standard information (e.g., significantly lower), it may indicate an abnormal state of "radioactive source not in source box". If all parameters are consistent, or all parameters are within the allowable error range, a multimodal verification result indicating successful verification is generated. If at least one parameter is inconsistent, a multimodal verification result indicating failed verification is generated. When the multimodal verification result indicates that the current radioactive source has failed verification, further radiation exceedance analysis logic can be performed, generating exceedance signals, routine abnormal signals, or routine warning signals based on whether the radiation dose rate exceeds a preset threshold. Optionally, after obtaining the initial multimodal verification result, the multimodal verification module 120 can also review the result. For example, the multimodal verification module 120 may also include an image review module to use a camera to capture an image of the source box's appearance and perform feature comparison for visual verification of the source box's surface markings and physical state, thereby further improving the accuracy and reliability of the verification result.

[0038] After the multimodal verification module 120 completes the verification and outputs the multimodal verification result to the main control module, the main control module 110 will determine whether to start the subsequent storage process based on the multimodal verification result.

[0039] Specifically, the main control module 110 receives the multimodal verification results, and if the multimodal verification results show that the radioactive source has passed the verification, it can generate the target storage signal of the radioactive source based on the digital twin model.

[0040] The digital twin model refers to a virtual model constructed using 3D modeling technology and synchronized in real time with the physical storage space. For example, this digital twin model can be constructed by a 1:1 virtual mapping of the physical entity of the storage warehouse, and can be used to describe the physical environment and real-time inventory status of the storage warehouse. Specifically, the storage warehouse can refer to an underground storage warehouse for dedicated radioactive sources. The physical environment of the storage warehouse can include static information and environmental parameters such as the warehouse's structure, dimensions, passageways, and pit layout. The real-time inventory status can include dynamic information such as the number of shelves already stored in each pit and the remaining space.

[0041] It should be noted that the digital twin model can be constructed by using a 3D laser scanner to perform a panoramic scan of the underground storage warehouse, obtaining physical structure data, and integrating data collected in real time from UWB positioning tags, surveillance cameras, and various environmental sensors.

[0042] For example, a 3D laser scanner can first be used to perform a panoramic scan of the underground storage warehouse to obtain physical structure data. Then, dynamic data is acquired using devices deployed within the warehouse, such as UWB positioning tags for real-time data acquisition of shelf locations, temperature and humidity sensors, and pressure sensors for collecting environmental parameters. The physical structure data and dynamic data are then cleaned and fused to construct a basic database. A digital twin model is then built based on this database using 3D modeling software. Optionally, the physical environment and real-time inventory status in the model can be updated in real-time based on preset update intervals or dynamic update signals such as the acquisition of new radioactive sources, ensuring consistency between the digital twin model and the physical entity of the storage warehouse.

[0043] For example, the real-time update process of the digital twin model is as follows: First, the main control module 110 can set an initial autonomous update interval for the digital twin model. Within each update interval, the system monitors the actual update duration of various displayed data (such as temperature, humidity, and shelf position) in the digital twin model and compares it with a preset standard update duration that reflects the normal rate of data change, thereby calculating the update difference between the two. Subsequently, the system can count the percentage of items whose update differences exceed a preset threshold to the total number of monitored items. If this percentage is less than the preset threshold, it indicates that most data changes are gradual, and the system generates a regular update signal and performs a regular update according to the original plan. If the percentage is greater than or equal to the threshold, it indicates that the environment or inventory status has changed drastically or extensively, and the system generates a dynamic update signal.

[0044] Furthermore, to intelligently adjust the update frequency, the system also calculates the persistence ratio, which is the ratio of the time between the end of the last autonomous update and the generation of the current dynamic update signal to the original autonomous update interval. For example, multiple persistence ratio intervals can be preset in ascending order, and each interval corresponds to a shortening ratio value set in descending order. Based on the interval in which the calculated persistence ratio falls, the main control module will proactively shorten the next autonomous update interval according to the corresponding shortening ratio value, thereby increasing the model update frequency when data changes drastically and ensuring high consistency between the virtual model and the physical entity.

[0045] Conversely, if the main control module receives two consecutive regular update signals, it can determine that the system state has stabilized and then restore the update interval to the initially set autonomous update interval to conserve system resources. This adaptive update mechanism based on data change trends ensures the real-time performance and accuracy of the digital twin model while also optimizing the overall system performance.

[0046] Optionally, this system can also adopt a modular architecture and standardized data interface design. Through a defined API gateway and data exchange protocol, the system can securely and systematically interact with external systems. For example, when a new storage task is issued through an external platform, the system can automatically capture and receive task information through a standardized interface to trigger its own storage workflow. Simultaneously, the verification results and storage status data recorded by the system can also be fed back to the external platform through the interface, achieving bidirectional synchronization and closed-loop management of business data. This standardized interface-based approach ensures data consistency and timeliness between systems while allowing for flexible expansion of system functions according to actual management needs, providing a solid technical foundation for building broader intelligent radioactive management. After constructing and maintaining a real-time updated digital twin model, the main control module 110 can utilize its clear understanding of the idle status and safety level of each storage pit to generate target storage signals for precise and reasonable allocation of storage locations.

[0047] It should be noted that the digital twin model of this system is not only a virtual mapping of physical space, but also constitutes a unified information management platform covering the entire life cycle of radioactive sources. This platform uses the radioactive source's identity tag as a unique identifier, storing previously independent transfer and handover data, current multimodal verification results from warehousing verification, real-time storage status, and subsequent inventory management information within the digital twin model. This completely changes the situation of scattered data and information silos in the traditional model. Seamless integration and connection of all process data are achieved on this digital twin model, constructing a true, fully traceable "one source, one file" electronic archive for each radioactive source.

[0048] The target storage signal can refer to a combined instruction issued by the main control module 110 for a verified radioactive source, containing the target storage location and instructions to relevant modules to execute specific storage tasks. In other words, the target storage signal includes the target storage location of the radioactive source in the storage warehouse. The target storage location can refer to a specific pit allocated to the current radioactive source in an underground storage warehouse. It is understood that the determination of the target storage location needs to follow preset allocation rules, such as prioritizing pits with sufficient remaining space and a current radiation dose rate below a threshold. Furthermore, the allocation process should avoid the concentrated storage of similar high-radiation radioactive sources to ensure the safety and space utilization of the storage process.

[0049] For example, the main control module 110 can first access the digital twin model to obtain the real-time inventory status and remaining space size of the storage warehouse. Then, by combining the type of radioactive source to be stored and the radiation dose rate data, the target storage location can be determined.

[0050] The real-time inventory status can include dynamic information such as the quantity, location, and occupancy status of racks already stored in each storage pit. The remaining space dimension refers to the specific three-dimensional space that each storage pit can still accommodate. Specifically, candidate storage pits that are not yet full can be initially screened based on the real-time inventory status. Then, a secondary screening is performed based on the remaining space dimensions of the candidate storage pits to ensure that the selected target storage pits have sufficient remaining space to accommodate the radioactive sources to be stored. For example, the secondary screening can be performed by matching the source box dimensions of the radioactive sources to be stored with the remaining space dimensions of each candidate storage pit to select target storage pits with sufficient space. Next, the categories of the radioactive sources to be stored can be used to perform a further category screening among the secondary candidate target storage pits to ensure uniformity in storage categories. Furthermore, the radiation dose rate data of the radioactive source to be stored is superimposed with the current radiation level of the pit after three screenings (which can be obtained directly using a digital twin model) to predict the total radiation dose rate of the pit after the radioactive source to be stored is placed in it. This ensures that the overall radiation dose rate of the pit after allocation is still below the safety threshold. At the same time, it is also necessary to avoid excessive concentration of the same type of high-activity radioactive source in physical space, thereby obtaining the target storage location.

[0051] Optionally, after screening using radiation dose rate, if there are still multiple candidate target storage locations that meet the above conditions, the target storage locations can be further updated based on multi-objective optimization principles such as minimizing AGV transfer distance, maximizing space utilization, or optimizing the path, to generate a more complete storage plan that includes the transfer path, target pit coordinates, and the specific placement location of the source box. This intelligent planning process significantly reduces the workload of manual planning and the errors that may be introduced by subjective judgment.

[0052] Furthermore, after the transfer and storage module 130 receives the target storage signal, it can perform storage and collection operations on the radioactive source to obtain the real-time storage results of the radioactive source.

[0053] The real-time storage result can refer to the status feedback information that characterizes the radioactive source's final location and storage. For example, the real-time storage result can refer to the result data containing the final status of the radioactive source generated by the transfer and storage module 130 after completing the entire process of transfer, positioning, and storage of the radioactive source from the elevator entrance to the target storage location.

[0054] Specifically, the real-time storage results include the real-time location and status information of the radioactive source in the storage warehouse. The real-time location information can refer to the precise coordinates of the rack within the target storage pit. The real-time status information can refer to safety status parameters such as the overall radiation dose rate of the rack at that location. For example, the real-time status information can be the real-time radiation dose rate detected by radiation sensors or other information reflecting the safety status of the radioactive source.

[0055] Optionally, the system also includes a radiation monitoring and early warning module 150. Please refer to [link / reference needed]. Figure 1b Specifically, the radiation monitoring and early warning module 150 is communicatively connected to the main control module 110. The radiation monitoring and early warning module 150 includes a dose rate determination unit 151 and an exceedance early warning unit 153.

[0056] The dose rate determination unit 151 can refer to the radiation sensor network and its data acquisition unit deployed in each reservoir pit. The exceedance warning unit 153 can refer to a processing unit with data discrimination and warning information generation functions.

[0057] Specifically, the dose rate determination unit 151 can be used to determine the radiation dose rate data of all pits in the storage warehouse based on real-time storage results. The radiation dose rate data can refer to the set of dose rate values ​​reported in real-time by radiation monitoring instruments in each pit. Specifically, the dose rate determination unit 151 can receive real-time storage results of the radioactive source, calculate and summarize the radiation levels of all pits in the storage warehouse, and obtain the radiation dose rate data of all pits in the storage warehouse.

[0058] Optionally, to enhance the precision of management, the system can also integrate equipment such as an energy spectrometer. By measuring the characteristic energy spectrum of the radioactive source, different types of radionuclides can be accurately identified and distinguished. This nuclide information can be combined with radiation dose rate data to simultaneously label the real-time radiation level of the storage pit and the specific category of the stored radioactive source in the digital twin model. This enables precise classification and regional management of radioactive sources with different characteristics, providing more comprehensive data support for optimizing storage strategies and improving emergency response capabilities. The exceedance warning unit 153 can be used to determine exceedances based on radiation dose rate data, and generate warning information data for the exceedance pit when the radiation dose rate data indicates that the current storage pit is an exceedance pit. Here, an exceedance pit refers to a storage pit whose radiation dose rate data exceeds a preset safety threshold. The warning information data can refer to a standardized data packet used to trigger alarms and record events. For example, the warning information data may include the warning time, the storage pit number of the exceedance pit, and the actual radiation dose rate. Specifically, the over-limit early warning unit 153 first retrieves the preset radiation dose rate thresholds (i.e., preset safety thresholds) for each reservoir pit, and then compares them one by one with the radiation dose rate data for each reservoir pit sent by the dose rate determination unit 151. If the radiation dose rate of a reservoir pit is less than or equal to the preset safety threshold, it is considered a normal reservoir pit, and continuous monitoring is sufficient. If the radiation dose rate of a reservoir pit is greater than the preset safety threshold, it is considered an over-limit reservoir pit. Once an over-limit is detected, the over-limit early warning unit 153 immediately generates an early warning information data packet containing the current early warning time, the reservoir pit number of the over-limit reservoir pit, and the actual radiation dose rate, and reports it to the main control module 110.

[0059] Furthermore, after receiving the warning information data reported by the over-standard warning unit 153, the main control module 110 is also used to respond to the visual warning model to realize intelligent operation and maintenance management.

[0060] The visual early warning model can refer to an enhanced visualization model that overlays early warning information onto a digital twin model. For example, the visual early warning model is determined based on early warning information data and the digital twin model. That is, it combines early warning information data with the digital twin model to achieve a dynamic early warning model that visually marks excessive pitfalls.

[0061] Specifically, after receiving the warning information data, the main control module 110 first maps it to the corresponding pit model in the digital twin model. By changing its display color (such as marking it as red) and superimposing the warning information data on the virtual model of the pit exceeding the standard, a three-dimensional dynamic model containing the red mark and the warning information is generated, which is the visual warning model.

[0062] Subsequently, the main control module 110 will further present the visual early warning model through a display device, such as pushing the visual early warning model to the system's visualization panel in real time, allowing maintenance personnel to intuitively view the location and details of the exceeding limits in the storage pits. Simultaneously, it will trigger an audible and visual alarm device to remind maintenance personnel to handle the situation promptly, thus achieving intelligent operation and maintenance management. In this way, by utilizing the radiation monitoring and early warning module, all-weather and full-coverage automatic monitoring and early warning of the radiation environment in the storage warehouse is achieved. By combining abstract data alarms with intuitive spatial location, the efficiency and reliability of safety management are greatly improved, further ensuring the long-term safety of radioactive source storage.

[0063] In the above implementation, a multi-modal verification module performs multi-dimensional automated verification of the radioactive source, ensuring the accuracy and completeness of the source information for storage. Subsequently, the main control module intelligently generates target storage signals based on a digital twin model, achieving precise allocation and optimized scheduling of storage locations. Finally, the transfer and storage module executes automated storage operations and provides real-time storage results, thus constructing a closed-loop intelligent management system covering the entire process from information verification and decision-making to execution feedback. This significantly improves the accuracy, safety, and overall efficiency of radioactive source storage operations.

[0064] In some implementation methods, please refer to Figure 2 The multimodal verification module 120 includes an initial verification unit 210, an early warning judgment unit 220, and an early warning verification unit 230.

[0065] The initial verification unit 210 can be a logic processing unit responsible for matching preset standard information of the radioactive source from preset stored data and performing multi-dimensional comparison between the initial sampling information and the preset standard information. The early warning judgment unit 220 can be a decision-making unit that performs a triage judgment on the comparison results of the initial verification unit 210. The early warning verification unit 230 can be a verification unit specifically for handling abnormal situations and performing in-depth radiation analysis.

[0066] Specifically, the initial verification unit 210 can determine the preset standard information corresponding to the radioactive source in the preset storage data based on the identity tag of the radioactive source, and compare and verify the initial sampling information of the radioactive source based on the preset standard information to obtain the multimodal verification result.

[0067] Among them, the preset storage data can refer to the full list of waste radioactive sources stored in the main control module, which includes the standard parameters corresponding to each radioactive source and can be called by the initial verification unit through the data interface.

[0068] It should be noted that the pre-set storage data and pre-set standard information can be understood as the relationship between a global database and a specific data entry. Specifically, the pre-set storage data is a centralized and complete standard information database (storage list), storing the set of standard parameters for all potentially stored radioactive sources. The pre-set standard information, on the other hand, refers to the standard parameters corresponding to a specific radioactive source, retrieved from the storage list database using the current radioactive source's identity tag as the unique search key. In other words, the pre-set storage data is a global database, while the pre-set standard information is a personalized data set specific to the currently verified radioactive source.

[0069] For example, the initial verification unit 210 can determine the identity label of the current radioactive source based on the initial sampling information of the current radioactive source transmitted by the information acquisition module. Then, it retrieves the entry corresponding to this identity label from the preset storage data to determine the standard identity label, standard radiation characteristic parameters, and standard source box size parameters corresponding to the current radioactive source, which are used as preset standard information. Subsequently, this preset standard information is compared item by item with the initial sampling information. Special attention must also be paid to the matching of the radiation dose rate: if the measured dose rate is significantly lower than the standard value, it may indicate that the radioactive source is not correctly placed in the source box. If all parameters are consistent, or all parameters are within the allowable error range, a multimodal verification result indicating that the verification has passed is generated. If at least one parameter is inconsistent, a multimodal verification result indicating that the verification has failed is generated.

[0070] After the initial verification unit 210 completes the basic verification and outputs the multimodal verification results, the early warning judgment unit 220 will further classify the results to determine whether a special analysis of radiation exceeding the standard needs to be initiated. Specifically, the early warning judgment unit 220 can be used to make early warning judgments based on the multimodal verification results to obtain early warning judgment results.

[0071] The early warning judgment can refer to the logical judgment process of classifying the verification results. The early warning judgment result can refer to the final judgment conclusion output by the early warning judgment unit 220. For example, the early warning judgment result may include a verification pass signal or a verification fail signal.

[0072] Optionally, the early warning judgment includes: generating a verification pass signal and sending it to the main control module if the multimodal verification result shows that the radioactive source has passed the verification; and generating a verification fail signal and sending it to the early warning verification unit if the multimodal verification result shows that the radioactive source has failed the verification, so that the early warning verification unit responds to the verification fail signal to perform a radiation exceedance early warning analysis on the radioactive source.

[0073] The verification pass signal can be an instruction signal that allows the current radioactive source to enter the subsequent transport and storage process, indicating that the parameters of the radioactive source meet the storage standards. The verification fail signal can be an instruction signal that the initial sampling information of the current radioactive source deviates from the preset standard information in at least one aspect, requiring further safety analysis, indicating that the radioactive source has abnormal parameters that require special attention.

[0074] Specifically, the early warning judgment unit 220 receives the multimodal verification results from the initial verification unit 210. When the result indicates that the verification is successful, a verification success signal is immediately generated and sent to the main control module 110, which then initiates the subsequent transfer and storage process. When the result indicates that the verification fails, a verification failure signal is generated and sent to the early warning verification unit 230, initiating a deeper level of radiation safety analysis. Thus, through this early warning judgment mechanism triggered by different scenarios based on multimodal verification results, the system achieves differentiated processing of normal and abnormal sources, ensuring both the efficient storage of qualified radioactive sources and strict control over abnormal radioactive sources, significantly improving the system's safety and processing efficiency.

[0075] Subsequently, if the early warning verification unit 230 indicates that the radioactive source has failed verification, it can perform radiation exceedance early warning analysis on the radioactive source and obtain radiation detection results.

[0076] Radiation exceedance early warning analysis can refer to a deep safety assessment process specifically targeting radiation dose rate parameters. Specifically, radiation exceedance early warning analysis includes generating an abnormal early warning signal and sending it to the main control module when radiation detection results indicate that the radiation content of a radioactive source exceeds the standard. The main control module then responds to the abnormal early warning signal by generating an isolation signal for the radioactive source.

[0077] For example, after receiving a verification failure signal, the early warning verification unit 230 first identifies parameters that are inconsistent with the initial sampling information and preset standard information, and sets them as abnormal parameters. Then it determines whether the abnormal parameters include radiation characteristic parameters (such as radiation dose rate and radiation type).

[0078] If no abnormalities are found, indicating only anomalies in the identity or source box parameters, the result can be classified as a normal parameter anomaly. If abnormalities are found, the actual measured radiation dose rate is further compared with a preset radiation dose rate safety threshold. If the measured radiation dose rate is greater than or equal to the preset threshold, the result is classified as radiation exceeding the limit. If the measured radiation dose rate is less than the preset threshold, the result is classified as radiation compliant but with data deviation, and a radiation detection result characterizing the radiation risk of the radioactive source is generated. Optionally, if the measured radiation dose rate is significantly less than the preset threshold, it may indicate an abnormal state where the radioactive source is not in the source container (i.e., source box), and the radiation detection result will also include relevant information in this case.

[0079] Understandably, when radiation detection results indicate that the radiation content of a radioactive source exceeds the standard, the early warning verification unit 230 will generate an abnormal early warning signal. This abnormal early warning signal can refer to an alarm signal that reports a safety hazard to the main control module 110. For example, the abnormal early warning signal can specifically refer to an exceedance signal indicating that radiation parameters exceed the standard. The isolation signal, on the other hand, can refer to a specific control command generated by the main control module 110 after receiving an exceedance signal representing the highest risk level, used to initiate physical isolation operations. For example, this command controls the grabbing robot to grab the corresponding exceedance radioactive source and transfer it to a designated independent shielded storage area, thereby achieving physical isolation from the regular storage process. This is the highest level of safety intervention measure executed by the system when radiation exceedance is detected. In other words, radiation detection results can include exceedance signals (radiation parameters exceeding the standard), source box status abnormal signals (significantly low radiation dose rate, possibly not correctly placed in the source box), regular abnormal signals (radiation parameters compliant but other parameter deviations), and regular early warning signals (no radiation parameter abnormalities, only identity or source box parameter deviations).

[0080] Furthermore, after the main control module 110 receives the radiation detection results from the early warning verification unit 230, it will perform corresponding preset early warning operations for different signals contained therein. Specifically, if the main control system 110 receives an excessive signal, it will generate an isolation signal to immediately control the grabbing device to transfer the excessive radioactive source to an independent shielded storage area. It will also trigger the highest level of audible and visual alarm to remind personnel to wear professional protective clothing for handling, thereby maximizing the safety of personnel and the environment. If the main control system 110 receives an abnormal source box status signal, it will control the audible and visual equipment to issue an alarm at a specific frequency and suspend the current collection and storage process, reminding operators to prioritize checking whether the radioactive source is correctly placed in the source box. If the main control system 110 receives a regular abnormal signal or a regular early warning signal, it will control the audible and visual equipment to issue an alarm, thereby reminding operators to manage the source box and the discarded radioactive source.

[0081] In the above implementation, by setting up multimodal verification, not only can radioactive sources with correct labels but abnormal content or those disguised as compliant be identified, but the correct placement of the radioactive source in the source box can also be detected. This effectively identifies radioactive sources with correct labels but abnormal content or those disguised as compliant, thus avoiding misjudgments caused by single-dimensional verification. Furthermore, abnormal signals are processed in a closed loop within the multimodal verification module, without the need for the main control module to intervene in the analysis process, thereby reducing the burden on the main control module and improving the system response speed.

[0082] In some implementation methods, please refer to Figure 3 The system also includes a transfer and placement module 310, which is communicatively connected to the main control module 110 and the transfer and storage module 130.

[0083] The transfer and placement module 310 can refer to a functional module that places the verified radioactive source from the verification table to the rack and prepares it for subsequent transfer. For example, the transfer and placement module 310 may include a gripping device and a transport device. The gripping device may be a six-axis robotic arm with radiation-proof clamps, and the transport device may be an AGV transfer vehicle.

[0084] Specifically, the transfer and placement module 310 can be used to place the radiation source into the preset placement position of the current material rack using a gripping device, and determine the remaining space data of the current material rack.

[0085] The gripping equipment can refer to automated gripping devices such as industrial robots, like the six-axis robotic arm of a radiation shielding clamp. The preset placement position of the current rack can refer to the physical area within the rack where the current radioactive source (i.e., the current source box) is pre-determined based on the storage list. Specifically, the preset placement position can be determined based on a preset palletizing scheme, which can be a scheme describing the target placement information of different radioactive sources in the current rack. The preset palletizing scheme can also be determined based on a target storage signal, meaning that the target storage signal includes not only the target storage location of the radioactive source to be stored in the storage pit but also the target placement information on the rack during transfer. Specifically, the target placement information defines the arrangement rules and priority order of source boxes of different sizes within the rack. The preset palletizing scheme generates specific and executable position instructions based on this, and the preset placement position is the physical mapping of this instruction on the current rack, i.e., the position where the current source box should be placed.

[0086] After placement is complete, the remaining space on the current shelf can be calculated using real-time data scanned by sensors and the total volume of the shelf. This remaining space data represents the unoccupied space on the current shelf that can be used to place other source boxes.

[0087] Furthermore, the main control module 110 is also used to make a transfer judgment based on the remaining space data and generate a transfer signal, so that the transfer and storage module responds to the transfer signal and controls the transportation equipment to transfer the current material rack to the target storage location based on the target storage signal.

[0088] The transfer determination can refer to the logical process of determining whether the storage rack is full and needs to be transferred. Specifically, this can be done by comparing the remaining space on the storage rack with the minimum size requirement for subsequent radioactive sources to be stored, thereby determining whether the current storage rack needs to be transferred. Correspondingly, the transfer signal can be a control command indicating that the current storage rack has met the transfer conditions and needs to be moved to the target storage location.

[0089] Specifically, the transfer judgment includes: making a size judgment based on the remaining space data and the preset source box parameters to obtain a size judgment result; and generating a transfer signal when the size judgment result shows that the remaining space data does not meet the preset space conditions.

[0090] The preset source box parameters refer to the system's pre-stored source box specification data categorized by size, which may include extra-large, large, medium, and minimum sizes. For example, if the source box's dimensions meet the following conditions: length within the range of 100 cm to the current shelf's length, width within the range of 80 cm to the current shelf's width, and height less than the current shelf's height, then the source box is determined to be extra-large; if it meets the following conditions: length greater than 50 cm but less than or equal to 100 cm, width greater than 40 cm but less than or equal to 80 cm, and height less than the current shelf's height, then the source box is determined to be large; if it meets the following conditions: length greater than 20 cm but less than or equal to 50 cm, width greater than 15 cm but less than or equal to 40 cm, and height less than the current shelf's height, then the source box is determined to be medium; if it meets the following conditions: length greater than 6 cm but less than or equal to 20 cm, width greater than 5 cm but less than or equal to 15 cm, and height less than the current shelf's height, then the source box is determined to be minimum size.

[0091] Taking the minimum source box size parameter of this batch of radioactive sources as an example, the size judgment can be achieved by comparing the remaining space data of the current material rack with the minimum source box size parameter. If the remaining space data is less than the minimum source box size parameter, it means that the remaining space can not accommodate even one minimum size source box, and the size judgment result that the current material rack is full can be obtained.

[0092] Subsequently, based on the size judgment result, if the preset space conditions are not met, the main control module immediately generates a transfer signal, triggering the rack transfer process. If the conditions are met, the rack remains in its original position, waiting for the next radiation source to be placed. Thus, through automated transfer judgment, the system achieves real-time monitoring of the rack loading status and precise control of transfer timing, avoiding wasted space or unnecessary waiting, and significantly improving overall storage efficiency.

[0093] Furthermore, upon receiving the transfer signal, the transfer and storage module 130 responds to the transfer signal by controlling the transport equipment to transfer the current material rack to the target storage location.

[0094] The transportation equipment can refer to AGV trolleys, which include radiation-proof pallets, are equipped with UWB positioning function, and have autonomous navigation function.

[0095] Specifically, after receiving the transfer signal, the transfer and storage module 130 first parses the rack identifier in the transfer signal to confirm the current rack that needs to be transferred. At the same time, based on the target storage location recorded in the target storage signal, it sends a control signal containing the rack identifier, the target storage location coordinates, and a start command to the transport equipment via a wireless communication protocol to control the transport equipment to travel to the current position of the current rack and transport it to the target storage location specified by the target storage signal.

[0096] Optionally, the system also includes a path planning module 320. Please refer to [link / reference needed]. Figure 3 The path planning module is connected to the main control module; the path planning module 320 can refer to an algorithm and processing unit that can calculate the optimal driving path for transportation equipment.

[0097] Specifically, the path planning module 320 can be used to determine the target transfer path based on the target storage location and digital twin model, so that the transfer and storage module controls the transportation equipment to perform the storage and collection operations of the radioactive source according to the target transfer path.

[0098] The target transfer path can refer to the optimal route from the current location of the transport equipment (such as the material rack grab point) to the target storage location.

[0099] Specifically, the path planning module 320 first obtains the overall layout of the storage warehouse based on the digital twin model. This layout clarifies the relative positional relationship between the verification station, the elevator and the storage pits for storing radioactive sources. The verification station serves as the workstation for collecting and verifying radioactive source information, the elevator is a vertical passage connecting different storage floors, and the storage pit is the final storage unit for radioactive sources.

[0100] It should be noted that the fixed starting point of the transportation equipment can be used as the origin of the spatial coordinate system to establish a spatial coordinate system that facilitates the determination of the target transfer path. This origin can be the preset stopping point of the transportation equipment located at the elevator entrance. Subsequently, in this spatial coordinate system, the direction from the preset stopping point to the elevator door is defined as the positive Y-axis, the direction from the preset stopping point to the pit area is defined as the positive X-axis, and the vertically upward direction is defined as the positive Z-axis.

[0101] Furthermore, within this spatial coordinate system, the path planning module 320 first determines the starting point of the path as a fixed preset stopping point. Then, it uses the target storage location as the ending point of the path for path planning, combining the real-time spatial structure information provided by the digital twin model to determine the coordinates of multiple waypoints. For example, based on the warehouse aisle layout and the positions of fixed obstacles such as load-bearing columns and equipment platforms, essential nodes such as the turning points of the passage from the elevator exit to the pit entrance can be selected as waypoints. Subsequently, the path planning module 320 connects the starting point, waypoints, and ending point of the path to form a continuous coordinate sequence as the target transfer path.

[0102] Further, please continue to refer to Figure 3 The path planning module 320 also includes a collision warning unit 321. The collision warning unit 321 is a functional unit responsible for real-time monitoring and prevention of collisions between transport equipment and the target transfer path. Specifically, the collision warning unit performs collision warning analysis based on the target transfer path of the radioactive source.

[0103] Collision warning analysis can refer to a dynamic analysis process that determines the possibility of a collision by tracking the position and trajectory of the current transportation equipment on the target transfer path in real time with other transportation equipment.

[0104] For example, collision warning analysis can determine the traffic status of the target road segment to which the transport equipment will arrive at a preset transfer time based on the target transfer path. If the traffic status indicates that the target road segment is occupied, an avoidance command is generated to control the transport equipment to perform an avoidance operation.

[0105] The preset transfer time can refer to a future time interval set to predict a collision. For example, the preset transfer time can be the estimated time for the current transport equipment to reach a certain road segment, calculated based on the target transfer path length and the transport equipment's speed; for instance, it can be estimated to reach the section from X=8m, Y=5m to X=10m, Y=5m in 10 seconds. The traffic status of the target road segment refers to whether a certain segment of the target transfer path is occupied by other transport equipment, which can include either an empty or occupied state. Avoidance operation can refer to actions such as deceleration, pausing, or detouring performed by the current transport equipment to avoid a collision.

[0106] For example, taking an AGV (Automated Guided Vehicle) as an example, the collision warning unit 321 performs collision warning analysis and avoidance operations through the following steps: First, a circular road-occupying area with a radius of R1 and centered at its center point is defined for each AGV (including the current AGV and other AGVs in the system); a prediction time period is set and discretized into n time points t (t=1,2,…,n). At each time point t, the system predicts and calculates the spatial position of the road-occupying area of ​​the current AGV and other AGVs (numbered i), and performs overlap discrimination analysis: if area overlap is predicted, a collision signal is immediately generated, and this moment is marked as the collision moment. At the same time, the position of the current AGV at the moment before the collision moment is set as the avoidance starting point.

[0107] Subsequently, the system calculates the time difference Δt from the current moment to the moment of collision. Different safety strategies are implemented based on the magnitude of Δt. Specifically, if Δt is less than or equal to a preset threshold, an emergency stop signal is generated, and the main control module controls the current AGV to brake urgently, resuming travel only after the obstacle AGV has passed the conflict area. If Δt is greater than the preset threshold, an adjustable signal is generated, and an avoidance arc is planned perpendicular to the original planned path of the current AGV (on the side away from the conflicting AGV), starting from the avoidance starting point. The radius of this avoidance arc is taken as the minimum turning radius of the current AGV, and the arc length is determined based on the relationship between the current speed and Δt, for example, arc length = current speed / 2 × Δt, ensuring that the vehicle can smoothly return to the original path after completing the avoidance. The endpoint of the planned avoidance arc is located on the extension line of the original target transfer path to ensure path continuity. While the current AGV travels along this avoidance arc, the system continuously assesses collision risk until it safely reaches the avoidance endpoint, after which it resumes the original path and speed to continue traveling towards the target storage location. Thus, the use of the collision warning unit for proactive risk prediction and intelligent obstacle avoidance greatly improves the safety of multi-transport equipment operating collaboratively. Meanwhile, the path planning module integrates global path planning and real-time collision warning to jointly ensure the efficiency and safety of transfer and storage operations.

[0108] In the above implementation, through the precise palletizing and status judgment of the transfer and placement module, and the intelligent navigation and safe obstacle avoidance of the path planning module, the system realizes the fully automated and intelligent operation of the entire process from post-verification placement to final warehousing, which significantly improves the operational efficiency, space utilization and intrinsic safety level of radioactive source storage.

[0109] It should be understood that the radiation source management system in this embodiment is presented in the form of functional units. Here, a unit refers to an ASIC (Application Specific Integrated Circuit), a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the aforementioned functions. Each module in the radiation source management system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0110] This embodiment also provides a method for managing radioactive sources, applied to the aforementioned radioactive source management system. For example... Figure 4 As shown, the method includes the following steps: S410. Obtain initial sampling information for all radioactive sources. This initial sampling information includes the source identification tags, radiation characteristic parameters, and source box parameters.

[0111] Specifically, the identification tag of the radiation source is read by the identification unit, the radiation characteristic parameters are collected by the radiation measuring instrument, the source box parameters are measured by the laser ranging sensor group, and these three types of information are integrated into structured initial sampling information.

[0112] S420. Based on the initial sampling information, the radioactive source is compared and verified with the preset standard information of the radioactive source to obtain the multimodal verification result of the radioactive source.

[0113] Specifically, firstly, based on the radioactive source's identification label in the initial sampling information, the system retrieves the corresponding preset standard information from a pre-defined standard database. Then, the identification label, radiation characteristic parameters, and source box parameters from the initial sampling information are compared item by item with the corresponding data parameters in the preset standard information. If all parameters are consistent, or all parameters are within the allowable error range, a multimodal verification result indicating successful verification is generated. If at least one parameter is inconsistent, a multimodal verification result indicating failed verification is generated. When the multimodal verification result indicates that the current radioactive source has failed verification, further radiation exceedance analysis logic can be performed, generating exceedance signals, routine abnormal signals, or routine warning signals based on whether the radiation dose rate exceeds a preset threshold.

[0114] S430. If the multimodal verification results show that the radioactive source passes the verification, the radioactive source is stored and collected based on the digital twin model to obtain the real-time storage results of the radioactive source.

[0115] The digital twin model is used to describe the physical environment and real-time inventory status of the storage warehouse. Real-time storage results are used to describe the real-time location and status information of the radioactive source within the storage warehouse.

[0116] Specifically, based on the digital twin model, a target storage location is assigned to the current radioactive source and a target storage signal is generated, thereby controlling the transport equipment to transfer the current material rack containing the current radioactive source to the target storage location. After the storage operation is completed, a real-time storage result containing real-time location coordinates and radiation state parameters is generated.

[0117] S440 monitors all radioactive sources based on real-time storage results and real-time radiation dose rate data from storage warehouses to enable intelligent operation and maintenance management.

[0118] The real-time radiation dose rate of the storage warehouse refers to the set of dose rate values ​​reported in real time by radiation monitoring instruments in each storage pit. Specifically, real-time radiation dose rate data is collected by a radiation sensor network deployed in each storage pit. If the radiation dose rate of a storage pit is less than or equal to a preset threshold, it is considered a normal storage pit, and continuous monitoring is sufficient. When the radiation dose rate of a storage pit exceeds the preset threshold, an early warning message is generated, including the warning time, storage pit number, and actual radiation dose rate. Subsequently, the early warning information is mapped to the corresponding storage pit in the digital twin model, generating a visual early warning model with red markers and an alarm list. The warning is then displayed on a screen and accompanied by audible and visual alarms to provide alerts, enabling intelligent operation and maintenance management of all radioactive sources.

[0119] In the above implementation, by organically combining multi-dimensional automated verification, digital twin-driven intelligent decision-making, fully automated storage and collection execution, and real-time radiation monitoring and early warning, a closed-loop intelligent management method for the entire process from information verification, decision planning to execution monitoring is constructed, which significantly improves the accuracy, safety and operation and maintenance efficiency of radioactive source storage operations.

[0120] For specific limitations regarding a method for managing radioactive sources, please refer to the limitations of a radioactive source management system described above, which will not be repeated here. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than that shown here.

[0121] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application, such as... Figure 5As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations. Figure 5 Take a processor 10 as an example.

[0122] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include hardware chips. Memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the methods shown in the above embodiments. Memory 20 may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, and the stored data area may store data created based on the use of the computer device. In some alternative embodiments, memory 20 may optionally include memory remotely located relative to processor 10, and this remote memory may be connected to the computer device via a network. Memory 20 may include volatile memory, such as random access memory. Memory 20 may also include non-volatile memory.

[0123] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 5 Taking a bus connection as an example, the input device 30 can receive input digital or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touch screen. The output device 40 may include a display device, an auxiliary lighting device, and a haptic feedback device. The aforementioned display devices include, but are not limited to, liquid crystal displays and plasma displays. In some optional embodiments, the display device may be a touch screen.

[0124] This application also provides a computer-readable storage medium. The methods described in this application can be implemented in hardware or firmware, or implemented as recordable on a storage medium, or implemented as computer code downloaded over a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and subsequently stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the methods shown in the above embodiments are implemented.

[0125] This application also provides a computer program product including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method of any embodiment of this application.

[0126] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

[0127] The systems or methods described in the above embodiments can be implemented by a computer chip or entity, or by a product with a certain function. A typical implementation device is a computer. Specifically, a computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0128] Those skilled in the art will understand that embodiments of this application can be provided as systems or methods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] This application is described with reference to flowchart illustrations and / or block diagrams of systems and methods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0130] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and one or more block diagrams.

[0131] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0132] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. The various embodiments in this specification are described in a progressive manner, and similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the method embodiments are relatively simple in description because they are substantially similar to the system embodiments; relevant parts can be referred to in the description of the method embodiments.

[0133] The above are merely embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application. Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A radiation source management system, characterized in that, The system includes a multimodal verification module, a main control module, and a transfer and storage module; the multimodal verification module and the transfer and storage module are respectively communicatively connected to the main control module; the system also includes a path planning module; the path planning module is communicatively connected to the main control module. The multimodal verification module is used to compare and verify the initial sampling information of the radioactive source with the preset standard information of the radioactive source to obtain the multimodal verification result of the radioactive source; wherein, the initial sampling information includes the radioactive source's identification tag, radiation characteristic parameters and source box parameters; The main control module is used to send the initial sampling information to the multimodal verification module, and, if the multimodal verification result shows that the radioactive source passes verification, generate a target storage signal for the radioactive source based on a digital twin model. The digital twin model describes the physical environment and real-time inventory status of the storage warehouse. The target storage signal includes the target storage location of the radioactive source in the storage warehouse. The target storage location is determined based on the real-time inventory status, remaining space dimensions, and the type and radiation dose rate data of the radioactive source to be stored in the storage warehouse. The physical environment and real-time inventory status of the digital twin model are updated in real time. The real-time update process includes: within each update interval, based on the actual iteration time of each displayed data in the digital twin model. The iteration interval is compared with the standard iteration duration to obtain the iteration difference; the proportion of the number of displayed data whose iteration difference exceeds the iteration difference threshold is determined to be the proportion of the total number of displayed data; if the proportion is less than a preset proportion threshold, a regular iteration signal is generated for regular updates; if the proportion is greater than or equal to the preset proportion threshold, a dynamic update signal is generated; the method for adjusting the update interval of the digital twin model includes: presetting multiple persistent effect ratio intervals arranged in ascending order, and each interval corresponding to a shortening ratio value set in descending order; based on the interval in which the calculated persistent effect ratio is located, the next update interval is shortened according to the corresponding shortening ratio value; the persistent effect ratio is the ratio of the time from the end of the last autonomous update to the generation of the current dynamic update signal to the original autonomous update interval. The transfer and storage module, in response to the target storage signal, performs storage and collection operations on the radioactive source to obtain the real-time storage result of the radioactive source; The path planning module is used to determine the target transfer path based on the target storage location and the digital twin model, so that the transfer and storage module controls the transportation equipment to perform the storage and collection operations of the radioactive source according to the target transfer path; wherein, the target transfer path is obtained by selecting the turning points of the passage from the elevator exit to the pit entrance as waypoints based on the warehouse passage layout and the position of fixed obstacles, and connecting the path start point, waypoints and path end point in series to form a continuous coordinate sequence; The path planning module includes a collision warning unit; The collision warning unit is used to perform collision warning analysis based on the target transport path of the radioactive source; wherein, the collision warning analysis includes: defining a circular lane-occupying area for each AGV; performing overlap discrimination analysis based on the current AGV's circular lane-occupying area and the predicted time period; if area overlap is predicted, generating a collision signal and collision time, and determining the avoidance starting point based on the collision time; calculating the time difference between the current time and the collision time, and executing different safety strategies based on the time difference; if the time difference is less than a preset time difference threshold, generating an emergency stop signal to control the current AGV to brake urgently; if the time difference is greater than... If a preset time difference threshold is set, an adjustable signal is generated. Starting from the avoidance starting point, an avoidance arc is planned in the perpendicular direction of the original planned path of the current AGV. The radius of the avoidance arc is the minimum turning radius of the current AGV. The arc length of the avoidance arc is equal to the current speed of the current AGV divided by 2 and multiplied by the time difference. The endpoint of the avoidance arc is located on the extension line of the original planned path. During the current AGV's travel along the avoidance arc, collision risk is continuously assessed until the current AGV safely reaches the avoidance endpoint, after which it resumes the original path and speed to continue traveling towards the target storage location.

2. The system according to claim 1, characterized in that, The real-time storage results include the real-time location and status information of the radioactive source in the storage warehouse; the system also includes a radiation monitoring and early warning module; the radiation monitoring and early warning module is communicatively connected to the main control module; the radiation monitoring and early warning module includes a dose rate determination unit and an exceedance early warning unit: The dose rate determination unit is used to determine the radiation dose rate data of all pits in the storage warehouse based on the real-time storage results. The above-mentioned warning unit is used to determine whether the radiation dose rate exceeds the standard based on the radiation dose rate data, and to generate warning information data for the above-mentioned pit when the radiation dose rate data indicates that the current pit is an above-mentioned pit; wherein, the warning information data includes the warning time, the pit number of the above-mentioned pit and the actual radiation dose rate; The main control module is also used to respond to the visual early warning model to realize intelligent operation and maintenance management; wherein, the visual early warning model is determined based on the early warning information data and the digital twin model.

3. The system according to claim 1, characterized in that, The system also includes an information acquisition module; the information acquisition module is communicatively connected to the main control module. The information collection module includes: An identification unit is used to obtain the identification tag of the radioactive source; A radiation measuring instrument used to determine the radiation characteristic parameters of the radiation source; A laser ranging sensor array is used to determine the source box parameters of the radiation source; The information integration unit is used to determine the initial sampling information of the radioactive source based on the source's identification tag, radiation characteristic parameters, and source box parameters, and to send the initial sampling information to the main control module.

4. The system according to claim 1, characterized in that, The multimodal verification module includes: An initial verification unit is used to determine the preset standard information corresponding to the radioactive source in the preset storage data based on the identity tag of the radioactive source, and to compare and verify the initial sampling information of the radioactive source based on the preset standard information to obtain the multimodal verification result. The early warning judgment unit is used to make an early warning judgment based on the multimodal verification results and obtain an early warning judgment result; The early warning verification unit is used to perform radiation exceedance early warning analysis on the radioactive source and obtain radiation detection results when the early warning judgment result indicates that the radioactive source has failed the verification. The radiation exceedance early warning analysis includes generating an abnormal early warning signal and sending it to the main control module when the radiation detection results indicate that the radiation content of the radioactive source exceeds the standard. This allows the main control module to respond to the abnormal early warning signal and generate an isolation signal for the radioactive source.

5. The system according to claim 4, characterized in that, The early warning judgment includes: If the multimodal verification results indicate that the radioactive source has passed the verification, a verification pass signal is generated and sent to the main control module. If the multimodal verification results indicate that the radioactive source has failed the verification, a verification failure signal is generated and sent to the early warning verification unit, so that the early warning verification unit responds to the verification failure signal and performs radiation exceedance early warning analysis on the radioactive source.

6. The system according to claim 1, characterized in that, The system also includes a transfer and placement module, which is communicatively connected to the main control module and the transfer and storage module. The transfer and placement module is used to place the radioactive source into a preset placement position on the current shelf using a gripping device, and to determine the remaining space data of the current shelf; wherein, the preset placement position is determined based on a preset stacking scheme, and the preset stacking scheme is used to describe the target placement information of the radioactive source in the current shelf; The main control module is also used to make a transfer judgment based on the remaining space data and generate a transfer signal, so that the transfer and storage module responds to the transfer signal and controls the transportation equipment to transfer the current material rack to the target storage location based on the target storage signal.

7. The system according to claim 6, wherein the transfer determination includes: The size is determined based on the remaining space data and the preset source box parameters to obtain the size determination result; If the size determination result indicates that the remaining space data does not meet the preset space conditions, the transfer signal is generated.

8. A method for managing radioactive sources, characterized in that, Applied to the radiation source management system as described in claim 1; the method includes: Acquire initial sampling information for all radioactive sources; wherein, the initial sampling information includes the identification tags, radiation characteristic parameters, and source box parameters of the radioactive sources; The initial sampling information is compared and verified with the preset standard information of the radioactive source to obtain the multimodal verification result of the radioactive source; If the multimodal verification result indicates that the radioactive source passes verification, the radioactive source is stored and collected based on a digital twin model to obtain the real-time collection and collection result of the radioactive source. The digital twin model describes the physical environment and real-time inventory status of the storage warehouse. The real-time collection and collection result describes the real-time location and status information of the radioactive source in the storage warehouse. The physical environment and real-time inventory status of the digital twin model are updated in real time. The real-time update process includes: within each update interval, comparing the actual iteration time and the standard iteration time of each displayed data item in the digital twin model to obtain an iteration difference; determining if the iteration difference exceeds the required iteration time. The percentage of displayed data at a threshold value relative to the total displayed data; if the percentage value is less than a preset percentage threshold, a regular update signal is generated for regular updates; if the percentage value is greater than or equal to the preset percentage threshold, a dynamic update signal is generated; the method for adjusting the update interval of the digital twin model includes: presetting multiple persistent effect ratio intervals arranged in ascending order, and each interval corresponding to a shortening ratio value set in descending order; based on the interval where the calculated persistent effect ratio is located, the next update interval is shortened according to the corresponding shortening ratio value; the persistent effect ratio is the ratio of the time from the end of the last autonomous update to the generation of the current dynamic update signal to the original autonomous update interval. Based on the real-time storage results and the real-time radiation dose rate data of the storage warehouse, intelligent operation and maintenance management of all radioactive sources is carried out.

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