Three-dimensional radioactivity measurement and visualization method based on shape recognition of equipment or structures to be decommissioned in nuclear-related facilities

Abstract

The present invention relates to a three-dimensional radioactivity measurement and visualization method based on shape recognition of equipment or structures to be decommissioned in nuclear-related facilities. To this end, the present invention comprises: (a) a three-dimensional modeling step using a three-dimensional scanner for equipment or structures to be decommissioned within nuclear-related facilities; (b) an optimization and material implementation step based on data meshing and reverse engineering for 3D modeling; (c) a three-dimensional modeling lattice structure-based characteristic information and measurement information storage database (DB) system construction step; (d) a three-dimensional modeling lattice structure-based physical characteristic information and major nuclides' unique characteristic information database (DB) storage step; (e) a measurement, correction, and storage step for the radioactivity of a measurement target using a radioactivity measurement apparatus linked to a three-dimensional scanning technology; and (f) a step of visualization according to radioactive waste level standards based on radioactivity measurement information. The purpose of the present invention configured as described above is to: provide an efficient and more accurate radioactivity measurement method by using a radioactivity measurement technology linked to a three-dimensional scanning technology, for the purpose of evaluating radiological characteristics required when establishing a decommissioning strategy and plan, such as a decommissioning method, decommissioning schedule, and decommissioning cost calculation for radioactive contaminated equipment or structures during decommissioning in nuclear-related facilities; enable the improvement of safety and work efficiency of a radiation worker through a series of automated processes of remote control, radioactivity measurement, and analysis; and enable the provision of efficient, safe, and more accurate radiological characteristic information with a system configuration that provides visualization information for each radioactive waste level by using a database system for storing and managing radioactivity measurement information based on a three-dimensional modeling lattice structure for a radioactivity measurement target.

Description

A shape recognition-based 3D radiation measurement and visualization method for facilities or structures subject to decommissioning of nuclear power facilities

[0001] An embodiment of the present invention relates to a three-dimensional radioactivity measurement and visualization method based on shape recognition for facilities or structures subject to dismantling of nuclear facilities, and more specifically, to an efficient and more accurate radioactivity measurement method by utilizing radioactivity measurement technology linked to three-dimensional scanning technology for radiological characteristic evaluation required when establishing a decommissioning strategy and plan, such as a dismantling method, a dismantling schedule, and a dismantling cost calculation for radioactively contaminated facilities or structures during the dismantling of nuclear facilities, and to an automated series of processes of remote control, radioactivity measurement, and analysis, so as to improve the safety and work efficiency of radiation workers, and to a system configuration that provides visualization information by radioactive waste level by utilizing a radioactivity measurement information storage and management database system based on a three-dimensional modeling grid structure for a radioactivity measurement target, thereby enabling the provision of efficient, safe, and more accurate radiological characteristic information.

[0002] Unless otherwise indicated herein, the matters described in this identifier are not prior art to the claims of this application, and their description in this identifier is not intended to be deemed prior art.

[0003] As is well known, the radiological characteristic assessment performed in the preparation stage or the progress stage of decommissioning nuclear facilities is a task to evaluate the nuclides, radioactivity, and contamination distribution of the radioactive contaminated facility or structure to be decommissioned, and is used as basic data for various decommissioning preparation and work stages, such as establishing a decommissioning plan for the facility or structure to be decommissioned, selecting waste treatment technology, classifying and disposing of waste, and calculating treatment costs.

[0004] In addition, according to the Nuclear Safety and Security Commission's notice, "Regulations on the Preparation of Decommissioning Plans for Nuclear Power Facilities," the decommissioning plan for decommissioning nuclear power facilities requires the description of the radiological characteristics and conditions of the site and facilities.

[0005] As a method for evaluating the radiological characteristics of equipment or structures subject to decommissioning of nuclear power facilities, a method has been widely used both domestically and internationally to roughly determine the contaminated area using a Gamma Camera (which provides visual data on the contaminated area, but cannot identify nuclides or quantitatively evaluate radioactivity), directly measure the measurement target using an ISOCS (In-Situ Object Counting System) to perform nuclide analysis, and then process a sampling sample of the most contaminated area to perform analysis on all alpha, beta, and gamma nuclides to compare direct and indirect measurement methods.

[0006] This conventional method of evaluating radiological characteristics of facilities or structures to be dismantled requires that the measurement target be divided into several sections by the measurement area of ​​the radiation measurement device and that the worker manually mark a unique number for each measurement section, which poses problems such as the risk of radiation exposure to the radiation measurement worker and delays in the dismantling process. In addition, additional work is required to store and manage each measurement information after radiation measurement for each measurement section, which reduces the work efficiency of the radiation measurement work.

[0007] In addition, the conventional method has the problem of low work efficiency because it requires additional work such as classifying and classifying radioactive waste levels of the target for dismantling by utilizing the radioactivity measurement information for each measurement section of the measurement area of ​​the radioactivity measurement device to establish a dismantling plan such as cutting and decontamination work for the target facility or structure for dismantling.

[0008] In order to solve the above-mentioned problems related to the radiation measurement technology for the equipment or structures for the dismantling of the nuclear power-related facilities, some prior art documents have been developed as follows. However, there is a major problem in that they cannot solve the above-mentioned problems related to the efficient and safe radiation measurement for the equipment or structures subject to the dismantling of the nuclear power-related facilities at once.

[0009] [Prior Art Literature]

[0010] (Patent Document 1) Republic of Korea Patent Publication No. 10-2608936 (November 28, 2023) has been registered.

[0011] (Patent Document 2) Republic of Korea Patent Publication No. 10-1095624 (December 12, 2011) has been registered.

[0012] (Patent Document 3) Republic of Korea Patent Publication No. 10-2374327 (March 10, 2022) has been registered.

[0013] (Patent Document 4) Republic of Korea Patent Publication No. 2024-0076215 (May 30, 2024) has been published.

[0014] (Patent Document 5) Republic of Korea Patent Publication No. 2020-0114580 (October 7, 2020) was published.

[0015] The present invention has been devised to solve various problems of the prior art as described above, and is divided into a 3D modeling step using a 3D scanner for equipment or structures to be dismantled in a nuclear power facility; an optimization and material implementation step based on data meshing and reverse engineering for the 3D modeling; a 3D modeling grid structure-based characteristic information and measurement information storage database (DB) system construction step; a 3D modeling grid structure-based physical characteristic information and unique characteristic information of major nuclides storage step; a 3D modeling grid structure-based physical characteristic information and major nuclide characteristic information database (DB) storage step; a 3D scanning technology-linked radioactivity measurement, correction, and storage step for a measurement target using a radioactivity measurement device; and a visualization step according to radioactive waste level standards based on radioactivity measurement information.

[0016] The first step is the 3D modeling step using a 3D scanner for facilities or structures to be dismantled within nuclear facilities. This step involves acquiring data for each coordinate based on point cloud data using a 3D scanner for facilities or structures to be dismantled, and then acquiring shape recognition 3D model data through processing and alignment.

[0017] The second stage, data meshing for 3D modeling and optimization and material implementation based on reverse engineering, is a stage for optimization and material implementation through meshing of point cloud data for 3D modeling and comparison verification and supplementation based on reverse engineering using field photos or design drawing data for modeling using a 3D scanner.

[0018] The third step, the step of building a database (DB) system for storing characteristic information and measurement information based on a 3D modeling grid structure, is the step of building a database (DB) system that can store physical characteristic information such as material, density, and thickness of the target facility or structure by classifying the 3D model of the target facility or structure based on a grid structure; unique characteristic information such as the type of radiation emission of major nuclides, unique radiation energy, half-life, and probability of radiation emission; radioactivity measurement information for each gamma-ray emitting nuclide; and scale factor information for calculating radioactivity for difficult-to-detect nuclides such as non-gamma-ray (alpha and beta-ray) emitting nuclides or low-energy gamma-ray emitting nuclides by utilizing the radioactivity measurement information for each gamma-ray emitting nuclide; and measurement environment information of the radiation measurement device (measurement distance, measurement time, area (or size) of the measurement area (or grid structure), detection efficiency, and scale factor information, etc.).

[0019] The fourth step, the step of storing physical characteristic information and unique characteristic information of major nuclides in a database (DB) based on a 3D modeling grid structure, is the step of storing physical characteristic information such as material, density, and thickness information of the 3D modeling target facility or structure in a database (DB) system in units of a 3D modeling grid structure, and storing unique characteristic library information such as radiation emission types, unique radiation energy, half-life, and radiation emission probability information for major nuclides in the database (DB) system.

[0020] The fifth step, the step of measuring, correcting, and storing the radioactivity of the measurement target using a radioactivity measurement device linked to 3D scanning technology, is based on the location coordinates based on 3D scanning technology. The type of gamma-ray emitting nuclide and the radioactivity (Bq) measurement information (uncorrected radioactivity) of each nuclide in each measurement area of ​​the grid-based radioactivity measurement device for 3D modeling of the facility or structure to be dismantled are used as the target. The measurement environment information such as the measurement distance, measurement time, area (or size) of the measurement area (or grid structure), and detection efficiency information, as well as the physical characteristic information such as the material and thickness of the measurement target, are used to correct the actual radioactivity (Bq) value for each nuclide detected in each measurement area of ​​the radioactivity measurement device within the measurement target. The density and thickness information of the 3D modeling grid structure and the weight (g) information of the grid structure (= grid structure area x thickness x density) automatically calculated from the 3D modeling are used to calculate the radioactivity concentration (Bq / g) of each nuclide. The radioactivity of each corrected nuclide is calculated. This is a step of calculating the radioactivity concentration values ​​(Bq / g) of difficult-to-detect nuclides using scale factor information based on the concentration value (Bq / g) and storing the radioactivity measurement information in a database (DB) system based on a lattice structure of a three-dimensional modeling.

[0021] The sixth and final step, the visualization step based on the radioactive waste classification criteria based on the radioactivity measurement information, is a step that calculates the radioactive waste level according to the domestic radioactive waste classification regulations by using the measured and corrected radioactivity concentration (Bq / g) information of gamma-ray emitting nuclides in grid units within the 3D modeling for the facilities or structures to be dismantled and the calculated radioactivity concentration (Bq / g) information of difficult-to-detect nuclides based on the scale factor information, and provides visualization information in grid units within the 3D modeling for the facilities or structures to be dismantled by using the color distinction by radioactive waste level and the difference in color intensity according to the detailed sub-grade within each radioactive waste classification.

[0022] The present invention is a shape recognition-based 3D radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities. It utilizes 3D scanning technology for facilities or structures subject to dismantling and applies radioactivity measurement technology linked to position coordinates based on a 3D modeling grid structure, thereby eliminating the manual work of compartmentalizing the radioactivity measurement area units for the conventional measurement target, thereby eliminating the risk of radiation exposure to workers, reducing costs and increasing work efficiency due to a reduction in radioactivity measurement work time, and maximizing the efficiency of radioactivity measurement work by performing radioactivity measurement, correction, and storage as a series of continuous automatic processes. In addition, based on the radioactivity measurement information of the grid structure units of the 3D modeling of the facilities or structures subject to dismantling, the radioactive waste level of the grid structure units corresponding to each radioactivity measurement area is automatically calculated and provided as visualized information according to the radioactive waste level, thereby providing a safe and efficient radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities.

[0023] To achieve these objectives, the present invention relates to a shape recognition-based 3D radioactivity measurement and visualization method for facilities or structures subject to decommissioning in nuclear facilities, and is characterized by including: (a) a 3D modeling step using a 3D scanner for facilities or structures subject to decommissioning in nuclear facilities; (b) an optimization and material implementation step based on data meshing and reverse engineering for 3D modeling; (c) a 3D modeling grid structure-based characteristic information and measurement information storage database (DB) system construction step; (d) a 3D modeling grid structure-based physical characteristic information and unique characteristic information of major nuclides storage step; (e) a 3D measurement, correction, and storage step of the radioactivity of the measurement target using a radioactivity measurement device linked to 3D scanning technology; and (f) a visualization step according to radioactive waste level standards based on the radioactivity measurement information.

[0024] In addition, the present invention provides a method for measuring and visualizing three-dimensional radiation based on shape recognition for facilities or structures subject to decommissioning of nuclear power facilities, characterized in that the step of measuring, correcting, and storing radiation of a measurement target using a radiation measuring device linked to the above-mentioned (e) three-dimensional scanning technology includes a step of matching the center point and size of the location coordinates of the measurement area and the grid structure of the radiation measuring device based on the position coordinate recognition technology of the three-dimensional modeling grid structure unit of the 3D scanner, and a step of adjusting the measurement direction; a step of setting the measurement environment of the radiation measuring device; a step of measuring the radiation of a gamma-ray emitting nuclide using the radiation measuring device; a step of correcting the radiation measurement information of the measured gamma-ray emitting nuclide and calculating the radiation concentration; a step of calculating the radiation concentration of a difficult-to-detect nuclide (e.g., alpha, beta, low-energy gamma-ray emitting nuclide) using scale factor information; and a step of storing the radiation measurement information.

[0025] In addition, in the step of measuring, correcting and storing the radioactivity of the measurement target using the radioactivity measuring device linked to the above (e) 3D scanning technology of the present invention, the radioactivity measurement is characterized by measuring the radioactivity in units of the 3D modeling grid structure of the 3D scanner based on the fixed positional correlation between the 3D scanner and the radioactivity measuring device, the 3D direction control technology of the 3D scanner and the radioactivity measuring device, and the physical characteristic information of material, density and thickness information and the radioactivity measurement information by linking with a database (DB) system for storing the data, which is installed on the detection sensor part of the radioactivity measuring device and the two aperture opening structures that are each adjusted according to the radioactivity level and the size of the measurement area, and the radioactivity is measured in units of the 3D modeling grid structure of the nuclear power facility equipment or structure, and the method for measuring and visualizing the 3D radioactivity based on shape recognition of the facilities or structures to be dismantled at nuclear power facilities is provided.

[0026] In addition, the present invention is based on the position coordinate recognition technology of the 3D modeling grid structure unit of the 3D scanner, and the step of matching the center point and size of the position coordinates for the measurement area and the grid structure of the radiation measurement device and adjusting the measurement direction is based on the fixed position correlation between the 3D scanner and the radiation measurement device, and the position coordinate recognition technology of the 3D modeling grid structure unit of the 3D scanner is used to match the center point of the radiation measurement area and the center point of the grid structure, and the size of the aperture opening is adjusted according to the size of the 3D modeling grid structure of the measurement object by using the surrounding radiation shielding collimate structure installed in the detection sensor part of the radiation measurement device and the size of the 3D modeling grid structure of the radiation measurement object, and the 3D direction control device (100) for the 3D scanner and the radiation measurement device is used to adjust the measurement direction to be vertical from the left-right and up-down viewpoints of the radiation measurement device based on the plane coordinates connecting the four vertices of the grid structure of the 3D modeling, or vertical. In cases where control is difficult, a shape recognition-based 3D radiation measurement and visualization method for equipment or structures subject to dismantling of nuclear power facilities is provided, characterized by providing measurement direction information to be used as basic data for correcting radiation measurement values ​​according to the measurement direction.

[0027] In addition, the 3D direction control device (100) for the 3D scanner and the radiation measurement device of the present invention comprises: a 3D scanner (113) that can be independently and separately operated from step 1 to step 4 in the radiation measurement and visualization steps; a radiation measurement device (112) having a fixed positional relationship with the 3D scanner; a detector sensor (117) within the radiation measurement device and a peripheral radiation shielding collimator and aperture (116); a quadrilateral laser distance sensor (115) that provides visible information in the form of a 3D modeling grid structure for visual position confirmation for the radiation measurement device measurement area; a 3D scanner and radiation measurement device fixing and protection device (111); a vertical TILT control device (120) for the 3D scanner and the radiation measurement device; a video camera (131) for checking the radiation measurement work status, etc.; a horizontal TURN control device (130) for the 3D scanner and the radiation measurement device; an UP / DOWN control device (140) for the 3D scanner and the radiation measurement device; The present invention provides a shape recognition-based 3D radiation measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities, characterized in that wireless or wired remote control of each device and facility is possible by a left-right movement and direction control facility (150) for the above devices and facilities; a surrounding obstacle detection sensor (151); and operation of the devices and facilities using a battery-based portable power supply device or an external power source is possible.

[0028] In addition, the peripheral radiation shielding collimate structure installed in the detection sensor part of the radiation measuring device of the present invention and the two aperture opening structures each adjusted according to the radiation level and the size of the measurement area are characterized by having a collimate structure (stage 1 and stage 3) divided into two stages for radiation shielding around the detector sense of the radiation measuring device, an aperture structure (stage 2 and stage 4) divided into two stages located in the middle and last part in connection with the collimate of each stage, and a fixing device structure for the collimate and the aperture, each divided into two stages, and the aperture is characterized by a structure that can be selectively replaced and used as an aperture having a circular or square shape depending on the radiation measurement method, and among the two apertures divided into two stages, the first aperture (stage 2) close to the detector sense of the radiation measuring device adjusts the opening size of the aperture according to the characteristics of the radioactivity contaminated in the facility or structure to be dismantled in the nuclear power facility in consideration of the detection characteristics (dead time, counts per second, or dose rate) of the radiation measuring device, but When measuring radioactivity for a target object of radioactivity level measurement, the opening size is reduced so as not to exceed the dead time, counts per second, or dose rate limit of the radioactivity measurement device, and the second aperture (4 stages) is adjusted to adjust the measurement area size of the radioactivity measurement device by considering the opening size of the first aperture and the size of the 3D modeling grid structure for the target object of measurement. A shape recognition-based 3D radioactivity measurement and visualization method for equipment or structures subject to dismantling of nuclear facilities is provided.

[0029] In addition, the visualization step according to the radioactive waste level standard based on the above (f) radioactivity measurement information of the present invention is characterized in that the radioactive waste is classified into three-dimensional modeling grid structure units according to the domestic radioactive waste classification regulations based on the radioactivity concentration of each nuclide calculated in three-dimensional modeling grid structure units, and visualization information is provided by distinguishing by color according to the radioactive waste classification of the three-dimensional modeling grid structure units (examples of application: self-disposal waste (blue), extremely low-level radioactive waste (green), low-level radioactive waste (yellow), intermediate-level radioactive waste (red)) and color concentration according to the detailed sub-grade within each radioactive waste classification, thereby providing a three-dimensional radioactivity measurement and visualization method based on shape recognition for equipment or structures subject to decommissioning of nuclear-related facilities.

[0030] Finally, based on the radioactivity concentration of each nuclide calculated in the three-dimensional modeling grid structure unit of the present invention, radioactive waste is classified into three-dimensional modeling grid structure units according to the domestic radioactive waste classification regulations, and the radioactivity concentration of each nuclide in the three-dimensional modeling grid structure unit is calculated by using the radioactivity concentration information of Co-60, Cs-137 and Ce-144 nuclides in the three-dimensional modeling grid structure unit and the scale factor information for the radioactivity measurement target, and calculating the radioactivity concentrations of C-14, H-3, Fe-55, Ni-59(63), and Nb-94 nuclides by using the radioactivity concentration information of Co-60, which is used as an indicator nuclide of radioactivity production, and calculating the radioactivity concentrations of Sr-90, Tc-99, and I-129 nuclides by using the radioactivity concentration information of Cs-137, which is used as an indicator nuclide of fission production, and calculating the radioactivity concentrations of Ce-144 and Co-60, which are used as indicator nuclides of transuranium nuclides. The activity concentrations of Pu-239, Pu-240, Pu-241 and Gross α nuclides are calculated to calculate the activity concentrations of each nuclide in the grid structure unit of the 3D modeling, and the radioactive waste classification of the grid structure unit of the 3D modeling is performed by calculating the self-disposal allowable concentration ratio for each nuclide in the grid structure unit of the 3D modeling, and the radioactive waste is first classified into self-disposal waste and ultra-low-level radioactive waste, respectively, based on the maximum self-disposal allowable concentration ratio being less than 1 or 1 or more, and in the case of being first classified as self-disposal waste, if the sum of the self-disposal allowable concentration ratios for each nuclide is less than 1, it is finally classified as self-disposal waste, and if it is 1 or more, it is finally classified as ultra-low-level radioactive waste, and in the case of being first classified as ultra-low-level radioactive waste, if the maximum self-disposal allowable concentration ratio is 1 or more but less than 100, it is finally classified as ultra-low-level radioactive waste, and up to If the self-disposal allowable concentration ratio is 100 or more and the radioactivity concentration of the corresponding nuclide with the maximum self-disposal allowable concentration is lower than the low-level radioactive waste concentration limit, it is finally classified as low-level radioactive waste.Provided is a 3D radioactivity measurement and visualization method based on shape recognition for equipment or structures subject to decommissioning of nuclear power facilities, characterized in that if the maximum self-disposal allowable concentration ratio is 100 or more and the radioactivity concentration of the corresponding nuclide with the maximum self-disposal allowable concentration is higher than the low-level radioactive waste concentration limit, it is finally classified as intermediate-level radioactive waste.

[0031] As described in detail above, the present invention is a shape recognition-based 3D radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities. It utilizes 3D scanning technology for facilities or structures subject to dismantling and applies radioactivity measurement technology linked to position coordinates based on a 3D modeling grid structure, thereby eliminating the manual work of compartmentalizing the radioactivity measurement area units for the conventional measurement target, thereby eliminating the risk of radiation exposure to workers, reducing costs and increasing work efficiency due to a reduction in radioactivity measurement work time, and maximizing the efficiency of radioactivity measurement work by performing radioactivity measurement, correction, and storage as a series of continuous automatic processes. In addition, based on the radioactivity measurement information of the grid structure units of the 3D modeling for the facilities or structures subject to dismantling, the radioactive waste level of the grid structure units corresponding to each radioactivity measurement area is automatically calculated and provided as visualized information according to the radioactive waste level, thereby providing a safe and efficient radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities.

[0032] Hereinafter, a preferred embodiment of the present invention for achieving such effects will be described in detail with reference to the attached drawings.

[0033] Figure 1 is a diagram of a facility or structure to be dismantled in a nuclear power facility to which the present invention is applied.

[0034] Flowchart of 3D radioactivity measurement and visualization based on shape recognition.

[0035] Figure 2 is an example of application of steps 1 to 3 of Figure 1 according to an embodiment of the present invention.

[0036] do.

[0037] FIG. 3 is a detailed flowchart of step 5 in FIG. 1 according to an embodiment of the present invention.

[0038] Figure 4 is a radiation measurement linked to a 3D scanning technology according to an embodiment of the present invention.

[0039] Basic configuration of the device's three-dimensional direction control device.

[0040] Figure 5 is a radiation shielding and measurement around a radiation measuring device according to an embodiment of the present invention.

[0041] Basic collimator and aperture configuration for adjusting the size of the fixed area.

[0042] Figure 6 shows the radiation obtained through a radiation measuring device according to an embodiment of the present invention.

[0043] Explanation of measurement value correction method and correction factor.

[0044] Figure 7 is a method and correction for the radiation measurement value of Figure 6 according to an embodiment of the present invention.

[0045] Radiation measuring device, collimator and aperture of Fig. 5 for factor application

[0046] Open structure, lattice structure (or measurement area) correlation diagram.

[0047] FIG. 8 is a detailed flowchart of step 5-5 of FIG. 3 according to an embodiment of the present invention.

[0048] Figure 9 is a classification of radioactive waste based on radiation measurement information according to an embodiment of the present invention.

[0049] Standards and flowcharts.

[0050] Figure 10 is the Nuclear Safety and Security Commission's notice on "Radioactive Waste Classification and Self-Disposal Standards".

[0051] Self-disposal allowable concentrations for each radionuclide in Appendix 1 of the “One Regulation”.

[0052] Figure 11 is the Nuclear Safety and Security Commission's notice on "Radioactive Waste Classification and Self-Disposal Standards".

[0053] Radioactivity concentration limits for low-level radioactive waste in Appendix 2 of the “One Regulation”.

[0054] Figure 12 is a radioactive waste classification standard according to Figure 9 according to an embodiment of the present invention.

[0055] Example of visualization of 3D modeling grid structure units.

[0056] <Explanation of symbols for major parts of the drawing>

[0057] 100: 3D direction control device for radiation measurement device

[0058] The shape recognition-based 3D radiation measurement and visualization method for equipment or structures subject to dismantling of nuclear power facilities applied to the present invention is configured as shown in FIGS. 1 to 12.

[0059] In describing the present invention below, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

[0060] The terms described below are terms established in consideration of their functions in the present invention, and may vary depending on the manufacturer's intention or custom, so their definitions should be based on the contents throughout this specification.

[0061] In addition, the size and thickness of each component shown in the drawing are arbitrarily shown for convenience of explanation, so the present invention is not necessarily limited to what is shown in the drawing.

[0062] First, the present invention relates to a shape recognition-based 3D radiation measurement and visualization method for equipment or structures subject to dismantling of nuclear power facilities.

[0063] The method for three-dimensional radioactivity measurement and visualization based on shape recognition for facilities or structures subject to dismantling in nuclear facilities to which the present invention is applied is a safe and efficient radioactivity measurement and visualization method based on shape recognition for facilities or structures subject to dismantling in nuclear facilities, as shown in FIG. 1. The method comprises a series of methods according to a flowchart of three-dimensional radioactivity measurement and visualization based on shape recognition for facilities or structures subject to dismantling in nuclear facilities, characterized by being divided into a three-dimensional modeling step using a three-dimensional scanner for facilities or structures subject to dismantling in nuclear facilities; an optimization and material implementation step based on data meshing and reverse engineering for the three-dimensional modeling; a step of constructing a database (DB) system for storing characteristic information and measurement information based on the three-dimensional modeling grid structure; a step of storing physical characteristic information and unique characteristic information of major nuclides in a database (DB) based on the three-dimensional modeling grid structure; a step of measuring, correcting, and storing the radioactivity of a measurement target using a radioactivity measurement device linked to three-dimensional scanning technology; and a visualization step according to radioactive waste level standards based on the radioactivity measurement information.

[0064] Step 1 of the present invention is a step of acquiring data for each coordinate based on point cloud data for equipment or structures to be dismantled in a nuclear power facility by independently utilizing a 3D scanner capable of independent operation, and acquiring shape recognition 3D model data through processing and alignment, thereby acquiring shape data having coordinate values ​​of 3D modeling data for the measurement object through X, Y, Z position coordinate data and point cloud data for the measurement object.

[0065] Step 2 of FIG. 1 of the present invention implements optimization and material through comparative verification and supplementation based on reverse engineering using field photographs or design drawing data, etc. for meshing point cloud data of 3D modeling acquired through Step 1 of FIG. 1 and modeling using a 3D scanner.

[0066] Step 3 of FIG. 1 of the present invention builds a database (DB) system that can store physical characteristic information such as material, density, and thickness of the facility or structure to be dismantled by dividing the three-dimensional modeling of the facility or structure to be dismantled based on a grid structure, unique characteristic information such as unique radiation energy, half-life, and radiation emission probability of the type of radiation emitted by the main nuclides, radioactivity measurement information for each gamma-ray emitting nuclide, and scale factor information for calculating radioactivity for difficult-to-detect nuclides such as non-gamma-ray (alpha and beta-ray) emitting nuclides or low-energy gamma-ray emitting nuclides by utilizing the radioactivity measurement information for each gamma-ray emitting nuclide, and measurement environment information of the radiation measurement device (measurement distance, measurement time, area (or size) of the measurement area (or grid structure), detection efficiency, and scale factor information, etc.).

[0067] Figure 2 shows an example of application for steps 1 to 3 of Figure 1.

[0068] Step 4 of FIG. 1 of the present invention utilizes the database (DB) system constructed in Step 3 to store physical characteristic information such as material, density, and thickness information for target facilities or structures in a three-dimensional modeling grid structure unit in the database (DB) system, and stores unique characteristic library information such as types of radiation emission, unique radiation energy, half-life, and radiation emission probability information for major nuclides in the database (DB) system.

[0069] Step 5 of FIG. 1 of the present invention operates the 3D scanner, which was independently operated from Step 1 to Step 4, jointly with the radiation measurement device based on a fixed position correlation based on the 3D direction control device (100) of FIG. 4, to link the position coordinates of the 3D modeling grid structure for the measurement target of the 3D scanner and the measurement area of ​​the radiation measurement device, and utilizes the measurement environment information such as the measurement distance, measurement time, measurement area (or size) and detection efficiency information, and the physical characteristic information such as the material and thickness of the measurement target, to correct the type of nuclide and the actual radiation (Bq) value of the measurement area of ​​the radiation measurement device within the measurement target, and utilizes the density and thickness information of the 3D modeling grid structure unit and the weight (i.e., weight = grid structure area x thickness x density) information (g) of the corresponding grid structure, which is automatically calculated from the 3D modeling. This is the step of calculating the concentration (Bq / g), and using the scale factor information based on this corrected radioactivity concentration value (Bq / g) to calculate the radioactivity concentration value (Bq / g) of difficult-to-detect nuclides, and storing the radioactivity measurement information in a database (DB) system based on a lattice structure of a 3D modeling.

[0070] Figure 3 shows a detailed flowchart for the above 5 steps, and is divided into a step (Step 5-1) of matching the center point and size of the position coordinates of the measurement area and grid structure of the radiation measurement device and adjusting the measurement direction based on the position coordinate recognition technology of the 3D modeling grid structure unit of the 3D scanner; a step (Step 5-2) of setting the measurement environment of the radiation measurement device; a step (Step 5-3) of measuring the radiation of a gamma-ray emitting nuclide using the radiation measurement device; a step (Step 5-4) of correcting the radiation measurement information of the measured gamma-ray emitting nuclide and calculating the radiation concentration; a step (Step 5-5) of calculating the radiation concentration of a difficult-to-detect nuclide (alpha, beta, low-energy gamma-ray emitting nuclide) using the scale factor information; and a step (Step 5-6) of storing the radiation measurement information.

[0071] In step 5-1, the center point and size of the position coordinates for the measurement area of ​​the radiation measurement device and the grid structure of the 3D modeling are aligned and the measurement direction is adjusted by utilizing the position coordinate recognition technology of the 3D modeling grid structure unit of the 3D scanner based on the fixed position correlation between the 3D scanner (113) and the radiation measurement device, as in the 3D direction control device (100) of FIG. 4, to align the center point of the radiation measurement area with the center point of the grid structure, and, as in FIG. 5, by utilizing the surrounding radiation shielding collimate structure installed in the detection sensor part of the radiation measurement device and the two aperture opening size structures each adjusted according to the radiation level and the size of the measurement area, the aperture opening size is adjusted according to the size of the 3D modeling grid structure of the measurement object, thereby matching the size of the radiation measurement area with the size of the 3D modeling grid structure, and, utilizing the 3D direction control device (100) of FIG. 4 for the 3D scanner and the radiation measurement device, the radiation measurement device is aligned based on the plane coordinates connecting the four vertices of the grid structure of the 3D modeling. This is a step to provide measurement direction information to adjust the measurement direction to be vertical from the left-right and up-down perspectives, or to use it as basic data for correcting radiation measurement values ​​according to the measurement direction when vertical adjustment is difficult.

[0072] Among the two apertures shown in Fig. 5, the first aperture, which is closer to the detector sense of the radiation measuring device, adjusts its aperture opening size according to the characteristics of the radioactivity contaminated within the facility or structure to be dismantled in the nuclear power plant, taking into account the detection characteristics (dead time, counts per second, or dose rate) of the radiation measuring device. That is, when measuring the radioactivity of a measurement target with a high radioactivity level, the opening size is reduced so that the dead time, counts per second, or dose rate limits inherent to the radiation measuring device are not exceeded.

[0073] The second aperture is adjusted to adjust the aperture opening size to control the measurement area size of the radiation measurement device by taking into account the opening size of the first aperture and the size of the three-dimensional modeling grid structure (measurement area) for the measurement target.

[0074] The left side of Fig. 5 shows an aperture structure composed of two apertures whose opening size is adjusted according to the surrounding radiation shielding collimator structure and the radiation level and the size of the three-dimensional modeling grid structure (or measurement area), and the right side shows an example of adjusting the opening size of the first and second apertures according to the radiation level for a three-dimensional modeling grid structure having a constant size.

[0075] Step 5-2, which is the setting of the measurement environment of the radiation measuring device, is the step of setting the measurement date, the area (or size) of the measurement area (or grid structure), and the measurement time, and the detection efficiency of the radiation measuring device and the scale factor information applied according to the measurement target. Step 5-3, which is the step of measuring the radiation of a gamma-ray emitting nuclide using a radiation measuring device, is the step of measuring the type and radiation (Bq) of a gamma-ray emitting nuclide using a radiation measuring device in units of a three-dimensional modeling grid structure. Step 5-4, which is the step of correcting the radiation measurement information of the measured gamma-ray emitting nuclide and calculating the radiation concentration, is the step of calculating the actual radiation (Bq) and radiation concentration (Bq / g) of the measurement target based on the radiation measurement value (Bq) obtained through the radiation measuring device using the radiation correction method and correction factor of FIG. 6.

[0076] That is, in step 5-4, the actual radioactivity value (Bq) for each gamma-ray emitting nuclide measured in step 5-3 is calculated by taking into account the grid structure size acquired in step 5-1 (applied when considered as a surface source, not applied when considered as a dotted source), distance from the radiation measurement device, and size of the detection sensor entrance window of the radiation measurement device, geometric correction factor information based on the measurement direction from the left-right and up-down perspectives of the radiation measurement device based on the plane coordinates connecting the four vertices of the grid structure, absorption and scattering correction factor information between the radiation source and the detection sensor of the radiation measurement device (reflecting physical characteristic information such as material, density, and thickness of the corresponding grid structure in the 3D modeling of the measurement target), absorption and scattering correction factor information at the detection sensor entrance window of the radiation measurement device, gamma-ray emission probability information per decay of each nuclide, and the inherent detection efficiency of the radiation measurement device, and based on the grid structure area (or size) acquired in step 5-1 and the density and thickness information of the corresponding grid structure acquired in step 3. This is the step of calculating the radioactivity concentration (Bq / g) by using the weight information (g) and actual radioactivity value (Bq) of the corresponding grid structure.

[0077] The geometric correction factor (G) using the distance to the above-mentioned radiation measurement device and the area (or size) of the radiation measurement device's detection sensor entrance window and grid structure (or measurement area) can be calculated using mathematical expression 1 or mathematical expression 2 based on the correlation diagram of the radiation measurement device, collimator and aperture opening structure, and grid structure (or measurement area) of FIG. 7.

[0078] When the distribution of contaminating nuclides within a 3D modeling grid structure is assumed to be a dotted line source,

[0079]

[0080] When the distribution of contaminating nuclides within the 3D modeling grid structure is assumed to be a uniform surface source,

[0081]

[0082] Absorption and scattering correction factors in the path between the source and detector in Fig. 6 can be calculated using mathematical formula 3.

[0083]

[0084] Absorption and scattering correction factors at the entrance window of the detector in Fig. 6 can be calculated using mathematical formula 4.

[0085]

[0086] Probability of radiation emission per decay of Fig. 6 The intrinsic emission probability characteristic value of the contaminating nuclide is applied, and the self-absorption correction factor at the source is applied. Backscatter correction factor of support, etc. It can be used as the default value of 1 considering the contamination distribution characteristics of the unknown measurement target, and the inherent detection efficiency of the detector The unique detection efficiency characteristic values ​​or experimental data for standard sources provided by the manufacturer of the radiation measuring device can be used.

[0087] Also, the geometric correction factor of Fig. 6 and the inherent detection efficiency of the detector It can be used by calculating a single correction factor value based on experimental data using a standard source.

[0088] Step 5-5 is a step for calculating the radioactivity concentration (Bq / g) for alpha, beta, and low-energy gamma-ray nuclides (C-14, H-3, Fe-55, Ni-59(63), Nb-94, Sr-90, Tc-99, I-129, Pu-238, Pu-239, Pu-240, Pu-241, and Gross α) by utilizing the radioactivity concentration (Bq / g) of Co-60, Cs-137, and Ce-144 nuclides calculated in Step 5-4 according to FIG. 8 and the scale factor information for the measurement target.

[0089] Figure 8 shows a flow chart for calculating the activity concentration (Bq / g) of difficult-to-detect nuclides by utilizing the activity concentration (Bq / g) information of Co-60, Cs-137 and Ce-144 nuclides calculated in step 5-4 and the latest scale factor information for the radioactivity measurement target (recalculating the scale factor information considering radioactive decay, if necessary). The activity concentration (Bq / g) of C-14, H-3, Fe-55, Ni-59(63), and Nb-94 nuclides is calculated by utilizing the Co-60 radioactivity concentration (Bq / g) information used as an indicator nuclide for radioactive products, and the activity concentration (Bq / g) of Sr-90, Tc-99, and I-129 nuclides is calculated by utilizing the Cs-137 radioactivity concentration information (Bq / g) used as an indicator nuclide for fission products, and the Ce-144 and Co-60 used as indicator nuclides for transuranium nuclides. Using the activity concentration (Bq / g) information, the activity concentration (Bq / g) of Pu-238, Pu-239, Pu-240, Pu-241, and Gross α nuclides is calculated.

[0090] Steps 5-6 are the steps for storing all of the above measurement and output information related to the 3D modeling grid structure on which the radioactivity measurement was performed in a database (DB).

[0091] Meanwhile, in step 6, the last step of Fig. 1, based on the radioactivity measurement information for each grid structure measured and calculated in step 5, the radioactive waste is classified into radioactive waste levels according to the domestic radioactive waste classification standards, and the color is classified according to the radioactive waste levels and the color density is classified according to the detailed sub-grade within each radioactive waste classification, thereby providing visualization information for the 3D modeling grid structure. As shown in Fig. 9, based on the radioactivity concentration (Bq / g) of each nuclide calculated for each 3D modeling grid structure unit, the color is classified according to the radioactive waste classification standards (examples of application: self-disposal waste (blue), extremely low-level radioactive waste (green), low-level radioactive waste (yellow), intermediate-level radioactive waste (red)) and the color density is classified according to the detailed sub-grade within each radioactive waste classification, thereby providing visualization information. The self-disposal allowable concentration by radionuclide in Fig. 9 applies the self-disposal allowable concentration by radionuclide in Appendix 1 of the Nuclear Safety and Security Commission's notice "Regulations on Classification and Self-Disposal Standards for Radioactive Waste" as in Fig. 10, and the low-level radioactive waste concentration limit in Fig. 9 applies the radioactivity concentration limit of low-level radioactive waste in Appendix 2 of the same notice as in Fig. 11.

[0092] Meanwhile, Fig. 12 shows an example of visualization according to the radioactive waste level based on the radioactivity measurement information of the three-dimensional modeling grid structure unit for the measurement target according to the radioactivity measurement and visualization flowchart of Fig. 1 described above.

[0093] The following steps are performed as a series of continuous processes: a 3D modeling step using a 3D scanner for the equipment or structures to be dismantled within the above-mentioned nuclear power facility; an optimization and material implementation step based on data meshing and reverse engineering for the 3D modeling; a database (DB) system construction step for storing characteristic information and measurement information based on the 3D modeling grid structure; a database (DB) storage step for physical characteristic information and unique characteristic information of major nuclides based on the 3D modeling grid structure; a radioactivity measurement, correction, and storage step for the measurement target using a radioactivity measurement device linked to 3D scanning technology; and a visualization step according to the radioactive waste level standards based on the radioactivity measurement information.

[0094] As a result of the above, the present invention is a shape recognition-based 3D radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear facilities for the purpose of evaluating the radiological characteristics of radioactive contaminated facilities or structures performed in the preparation stage for dismantling or the progress stage of dismantling nuclear facilities. By utilizing 3D scanning technology for facilities or structures subject to dismantling, a radioactivity measurement technology linked to position coordinates based on a 3D modeling grid structure is applied, thereby eliminating the manual work of compartmentalizing the radioactivity measurement area unit for the conventional measurement target, thereby eliminating the risk of radiation exposure to workers, reducing costs and increasing work efficiency due to a reduction in radioactivity measurement work time, and maximizing the efficiency of the radioactivity measurement work by performing radioactivity measurement, correction, and storage as a series of continuous automatic processes. In addition, based on the radioactivity measurement information of the grid structure unit of the 3D modeling of the facilities or structures subject to dismantling, the radioactive waste level of the grid structure unit corresponding to each radioactivity measurement area is automatically calculated and provided as visualized information, thereby providing a safe and efficient radioactivity measurement and visualization method for facilities or structures subject to dismantling of nuclear facilities.

[0095] Meanwhile, the present invention can be modified in various ways and take various forms when applying the above components.

[0096] And it should be understood that the present invention is not limited to the specific forms mentioned in the detailed description above, but rather, it should be understood to include all modifications, equivalents and substitutes falling within the spirit and scope of the present invention as defined by the appended claims.

[0097] The technical idea of ​​the shape recognition-based 3D radiation measurement and visualization method for equipment or structures subject to dismantling of nuclear power facilities of the present invention is that it is actually possible to repeatedly obtain the same results, and in particular, by implementing the present invention as such, it can promote technological development and contribute to industrial development, and thus is sufficiently worth protecting.

Claims

1. This relates to a 3D radiation measurement and visualization method based on shape recognition for facilities or structures subject to dismantling of nuclear power facilities. (a) 3D modeling step using a 3D scanner for equipment or structures to be dismantled within nuclear power facilities; (b) Optimization and material implementation step based on data meshing and reverse engineering for 3D modeling; (c) Stage of building a database (DB) system for storing characteristic information and measurement information based on a 3D modeling grid structure; (d) Step of storing physical characteristic information and unique characteristic information of major nuclides in a database (DB) based on a 3D modeling grid structure; (e) a step of measuring, correcting and storing the radioactivity of a measurement target using a radioactivity measurement device linked to 3D scanning technology; and (f) A method for measuring and visualizing 3D radioactivity based on shape recognition for equipment or structures subject to dismantling of nuclear power facilities, characterized by including a visualization step according to radioactive waste level standards based on radioactivity measurement information.

2. In claim 1, The above (e) step of measuring, correcting and storing the radioactivity of the measurement target using a radioactivity measuring device linked to 3D scanning technology is as follows: A step of matching the center point and size of the position coordinates and adjusting the measurement direction for the measurement area and grid structure of the radiation measurement device based on the position coordinate recognition technology of the 3D scanner's 3D modeling grid structure unit; Step for setting the measurement environment of the radiation measurement device; Radioactivity measurement step of gamma-ray emitting nuclides using a radioactivity measuring device; Step for correcting the radioactivity measurement information of the measured gamma-ray emitting nuclide and calculating the radioactivity concentration; Step for calculating the radioactivity concentration of undetected nuclides using scale factor information; and A shape recognition-based 3D radiation measurement and visualization method for a facility or structure subject to dismantling of a nuclear power facility, characterized in that it includes a radiation measurement information storage step.

3. In claim 1, In the above (e) radioactivity measurement, correction and storage stage of the measurement target using a radioactivity measurement device linked to 3D scanning technology, radioactivity measurement is A 3D modeling grid structure unit positional coordinate recognition technology of a 3D scanner based on a fixed positional correlation between a 3D scanner and a radiation measurement device, a 3D direction control technology of a 3D scanner and a radiation measurement device, and a peripheral radiation shielding collimate structure installed in the detection sensor part of the radiation measurement device and two aperture opening structures each adjusted according to the radiation level and the size of the measurement area, and a database (DB) system for storing physical characteristic information such as material, density, and thickness information and radiation measurement information, and a shape recognition-based 3D radiation measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities, characterized in that radiation is measured in units of a 3D modeling grid structure for facilities or structures subject to dismantling of nuclear power facilities.

4. In claim 2, Based on the position coordinate recognition technology of the 3D modeling grid structure unit of the above 3D scanner, the steps of matching the center point and size of the position coordinates and adjusting the measurement direction for the measurement area and grid structure of the radiation measurement device are as follows. Based on the fixed positional correlation between the 3D scanner and the radiation measurement device, the 3D modeling grid structure unit's positional coordinate recognition technology is utilized to match the center point of the radiation measurement area with the center point of the grid structure, and the size of the 3D modeling grid structure is adjusted according to the size of the 3D modeling grid structure of the measurement target by utilizing the surrounding radiation shielding collimate structure installed in the detection sensor part of the radiation measurement device and two aperture opening structures that are each adjusted according to the radiation level and the size of the measurement area, thereby matching the size of the radiation measurement area with the size of the 3D modeling grid structure, and using the 3D direction control device (100) for the 3D scanner and the radiation measurement device, the measurement direction is adjusted to be vertical from the left-right and up-down perspectives of the radiation measurement device based on the plane coordinates connecting the four vertices of the 3D modeling grid structure, or in cases where vertical direction control is difficult, measurement direction information is provided to be used as basic data for correcting the radiation measurement value according to the measurement direction. This is a shape recognition-based 3D radiation measurement and visualization for facilities or structures subject to decommissioning of nuclear power facilities. method.

5. In claim 4, The 3D direction control device (100) for the above 3D scanner and radiation measuring device is A 3D scanner (113) that can be independently operated from step 1 to step 4 in the radiation measurement and visualization stages; a radiation measurement device (112) having a fixed positional relationship with the 3D scanner; a detector sensor (117) within the radiation measurement device and a peripheral radiation shielding collimator and aperture (116); a quadrilateral laser distance sensor (115) that provides visual information in the form of a 3D modeling grid structure for visual position confirmation of the radiation measurement device measurement area; a fixing and protection device (111) for the 3D scanner and the radiation measurement device; a vertical TILT control device (120) for the 3D scanner and the radiation measurement device; a video camera (131) for checking the status of radiation measurement work, etc.; a horizontal TURN control device (130) for the 3D scanner and the radiation measurement device; an UP / DOWN control device (140) for the 3D scanner and the radiation measurement device; a forward / left / right movement and direction control device (150) for the above devices and equipment; A shape recognition-based 3D radiation measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities, characterized in that wireless or wired remote control of each device and facility is possible by a surrounding obstacle detection sensor (151), and operation of the device and facility is possible using a battery-based portable power supply or an external power source.

6. In claim 4, The peripheral radiation shielding collimate structure installed in the detection sensor section of the above radiation measuring device and the two aperture opening structures each adjusted according to the radiation level and the size of the measurement area are, It is characterized by a collimate structure (stage 1 and 3) divided into two stages for radiation shielding around the detector sense of a radiation measurement device, an aperture structure (stage 2 and 4) divided into two stages located in the middle and last part in connection with the collimate of each stage, and a fixing device structure for the collimate and aperture, each divided into two stages. The aperture is characterized by a structure that can be selectively replaced and used as an aperture of a circular or square shape depending on the radiation measurement method. Among the two apertures divided into two stages, the first aperture (stage 2) close to the detector sense of the radiation measurement device adjusts the aperture opening size according to the characteristics of the radioactivity contaminated within the facility or structure to be dismantled in the nuclear facility, taking into account the detection characteristics (dead time, counts per second, or dose rate) of the radiation measurement device. However, when measuring radiation for a measurement target with a high radiation level, the opening size is reduced so that the dead time, counts per second, or dose rate limits unique to the radiation measurement device are not exceeded, and the second aperture A shape recognition-based 3D radiation measurement and visualization method for facilities or structures subject to dismantling of nuclear power facilities, characterized in that the aperture (4 stages) is adjusted to adjust the measurement area size of the radiation measurement device by considering the opening size of the first aperture and the size of the 3D modeling grid structure for the measurement target.

7. In claim 1, The visualization step according to the radioactive waste level standard based on the above (f) radioactivity measurement information is as follows: A 3D radioactivity measurement and visualization method based on shape recognition for facilities or structures subject to decommissioning of nuclear power facilities, characterized by classifying radioactive waste into 3D modeling grid structure units in accordance with domestic radioactive waste classification regulations based on the radioactivity concentration of each nuclide calculated in 3D modeling grid structure units, and providing visualization information by distinguishing by color according to radioactive waste classification in 3D modeling grid structure units (examples of application: self-disposal waste (blue), extremely low-level radioactive waste (green), low-level radioactive waste (yellow), intermediate-level radioactive waste (red)) and color concentration according to detailed sub-grades within each radioactive waste classification.

8. In claim 7, Based on the radioactivity concentration of each nuclide calculated in the above 3D modeling grid structure unit, radioactive waste is classified in 3D modeling grid structure unit according to the domestic radioactive waste classification regulations. The activity concentration of each nuclide in the 3D modeling grid structure unit is calculated based on the activity concentration measurement information of Co-60, Cs-137, and Ce-144 nuclides in the 3D modeling grid structure unit and the scale factor information for the radioactivity measurement target. The radioactivity concentration of C-14, H-3, Fe-55, Ni-59(63), and Nb-94 nuclides is calculated using the Co-60 radioactivity concentration information, which is used as an indicator nuclide for radioactive products. The radioactivity concentration of Sr-90, Tc-99, and I-129 nuclides is calculated using the Cs-137 radioactivity concentration information, which is used as an indicator nuclide for fission products. The radioactivity concentration of Pu-238, Pu-239, Pu-240, Pu-241, and Gross α nuclides is calculated using the Ce-144 and Co-60 radioactivity concentration information, which are used as indicator nuclides for transuranium nuclides. The concentration is calculated, and the radioactive waste classification of the 3D modeling grid structure unit is first classified into self-disposal waste target and ultra-low-level radioactive waste target based on the maximum self-disposal concentration ratio of the grid structure unit of the 3D modeling, and if the maximum self-disposal concentration ratio is less than 1 or 1 or more, it is classified as self-disposal waste target and ultra-low-level radioactive waste target, and in the case of first classification as self-disposal waste target, if the sum of the self-disposal concentration ratios for each nuclide is less than 1, it is finally classified as self-disposal waste, and if it is 1 or more, it is finally classified as ultra-low-level radioactive waste, and in the case of first classification as ultra-low-level radioactive waste target, if the maximum self-disposal concentration ratio is 1 or more but less than 100, it is finally classified as ultra-low-level radioactive waste, and if the maximum self-disposal concentration ratio is 100 or more and the radioactivity concentration of the corresponding nuclide with the maximum self-disposal concentration is less than the low-level radioactive waste concentration limit, Finally classified as low-level radioactive waste,A shape recognition-based 3D radioactivity measurement and visualization method for equipment or structures subject to decommissioning of nuclear power facilities, characterized in that if the maximum self-disposal allowable concentration ratio is 100 or more and the radioactivity concentration of the corresponding nuclide with the maximum self-disposal allowable concentration is higher than the low-level radioactive waste concentration limit, it is finally classified as intermediate-level radioactive waste.

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