CN106843292A - The motion control method and system of a kind of radioactive solid waste bucket detection means - Google Patents

Abstract

This application provides the motion control method and system of a kind of radioactive solid waste bucket detection means, wherein method includes：Radioactive solid waste bucket is divided into multiple voxels；Multiple detection aspects are divided into vertically；Choose initial detecting aspect, it is determined that the initial detecting aspect center of circle and intersection point that intersects vertically with vertical plane is initial detecting position；The initial detecting position of radioactive source and detector is calculated according to the initial detecting position；Initial detecting position and Mass Calculation its movement locus according to radioactive solid waste bucket；Initial detecting position according to the movement locus, radioactive source and detector calculates the movement locus of radioactive source and detector；Pail for used dressings horicontal motion mechanism, radioactive source vertical motion mechanism, detector vertical motion mechanism and the synchronous operation of detector horicontal motion mechanism are controlled according to each movement locus；Radionuclide in detection radioactive solid waste bucket.The technical scheme of the application can improve the harmony and detection efficiency of detection means Nei Ge mechanisms.

Description

A motion control method and system for a radioactive solid waste barrel detection device

technical field

The present application relates to the technical field of radioactive material detection, and more specifically, to a motion control method and system for a radioactive solid waste barrel detection device.

Background technique

With the continuous development of new energy technologies, nuclear energy, as a high-efficiency new energy, is widely used in power generation and other fields. However, in the process of nuclear power generation, it is easy to generate a large amount of low- and medium-level radioactive waste. These low- and medium-level radioactive wastes are required to be packed in drums, and stored and transported according to the type and activity of radionuclides. Because the low- and medium-level radioactive waste in the barrel is radioactive, non-destructive testing technology has become the main detection method for the type and activity of the nuclide in the barrel.

The non-destructive testing devices for radioactive solid waste barrels mainly include testing devices using TGS (Tomographic Gamma Scanning, tomographic gamma scanning technology) and SGS (Segented Gamma Scanning segmental gamma scanning technology). Among them, the SGS technology is relatively simple and can be considered as a simplification of the TGS technology. Correspondingly, the control method of the SGS nondestructive testing device can also be considered as a simplification of the control method of the TGS nondestructive testing device. The detection device of the above-mentioned radioactive solid waste barrel needs to scan the radioactive solid waste barrel in the horizontal direction and rotation angle, as well as up and down segmented scanning, and each movement mechanism is a discrete structure, so that the coordination of each movement mechanism and detection device of the detection device is not high, and the detection efficiency is low.

Contents of the invention

The purpose of this application is to provide a technical solution for the motion control of the radioactive solid waste barrel detection device, so as to solve the inconsistency of the various motion mechanisms and detection devices of the radioactive solid waste barrel detection device in the prior art introduced in the background art. High and low detection efficiency.

In order to solve the above technical problems, the application provides the following technical solutions:

According to the first aspect of the present application, a motion control method of a radioactive solid waste barrel detection device is provided, wherein the radioactive solid waste barrel detection device includes a radioactive source vertical movement mechanism and a radioactive source; a detector vertical movement mechanism, a detection The horizontal movement mechanism of the radiation source and the detector, the collimation holes of the radiation source and the collimation holes of the detector are parallel to each other; the waste bucket arranged between the vertical movement mechanism of the radiation source and the vertical movement mechanism of the detector A horizontal movement mechanism, the long side of the waste barrel horizontal movement mechanism is perpendicular to the vertical plane where the radioactive source and detector are located; and a waste barrel rotating platform slidably connected to the waste barrel horizontal movement mechanism;

The motion control method of the radioactive solid waste barrel detection device includes: dividing the radioactive solid waste barrel into multiple voxels according to the volume of the radioactive solid waste barrel; dividing the radioactive solid waste barrel into multiple voxels along the axial direction. A detection level, wherein each detection level includes a plurality of voxels; an initial detection level is selected from the plurality of detection levels, the center of the circle of the initial detection level is determined and the intersection point of a straight line perpendicular to the vertical plane is used as The initial detection position of the radioactive solid waste barrel; according to the initial detection position of the radioactive solid waste barrel, calculate the initial detection position of the radioactive source and the initial detection position of the detector, wherein, the radioactive solid waste barrel, radioactive source and detector The initial detection position of the detector is horizontally collinear; according to the quality of the radioactive solid waste barrel and the initial detection position, the trajectory of the radioactive solid waste barrel is calculated, wherein the trajectory of the radioactive solid waste barrel is the initial detection The movement trajectory of the outermost voxel on the layer moving from the original position of the voxel to the initial detection position of the radioactive solid waste barrel; calculate the movement of the radioactive source according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source trajectory, and calculate the motion trajectory of the detector according to the motion trajectory of the radioactive solid waste bucket and the initial detection position of the detector; respectively control the motion trajectory of the radioactive solid waste bucket, radioactive source and detector The waste barrel horizontal movement mechanism, the radioactive source vertical movement mechanism, the detector vertical movement mechanism and the detector horizontal movement mechanism operate synchronously, so that the radioactive solid waste barrel, radioactive source and detector move synchronously to the respective Initial detection position: controlling the detector to detect radionuclides in the radioactive solid waste barrel.

Optionally, the control detector detects radionuclides in the radioactive solid waste bucket, including:

controlling the radioactive source and the detector to be turned on, so as to detect the radionuclide in the radioactive solid waste barrel;

Controlling the rotating platform of the waste bin to rotate step by step according to a preset angle;

Whenever the waste barrel rotating platform rotates one circle, control the waste barrel horizontal movement mechanism to move a predetermined distance to the initial detection position of the radioactive solid waste barrel, and repeat the control of the waste barrel rotating platform to step by step according to the preset angle. step into rotation;

When the detection of the innermost radionuclide on the initial detection level is completed, calculate the initial detection positions of the other detection levels of the radioactive solid waste barrel, and adjust the rotation of the waste barrel synchronously according to the initial detection positions of the other detection levels The positions of the platform, the radioactive source and the detector are used to detect radionuclides at other detection levels in the radioactive solid waste barrel in a preset order.

Optionally, the calculating the initial detection positions of other detection levels of the radioactive solid waste barrel, and synchronously adjusting the positions of the waste barrel rotating platform, radioactive sources and detectors according to the initial detection positions of the other detection levels include:

calculating the initial detection positions of the other detection levels according to the initial detection positions of the radioactive solid waste barrel and the height difference between adjacent detection levels;

Calculate the position of the detection point of the radioactive source and the detection point of the detector according to the initial detection position of the other detection level, wherein the initial detection position of the other detection level, the detection point of the radioactive source and the detection point of the detector point horizontal collinear;

Controlling the waste barrel rotary platform, the vertical movement mechanism of the radioactive source and the vertical movement mechanism of the detector to operate synchronously, so that the radioactive solid waste barrel, the radioactive source and the detector move synchronously to the initial detection positions of the other detection levels, The detection point of the radioactive source and the detection point of the detector.

Optionally, the calculating the trajectory of the radioactive solid waste barrel according to the initial detected position and mass of the radioactive solid waste barrel includes:

Determine the position of the origin of the waste barrel of the radioactive solid waste barrel, and calculate the original position of the voxel according to the position of the origin of the waste barrel and the distance between the center point of the initial detection level and the center point of the outermost voxel. Location;

calculating the movement distance of the radioactive solid waste barrel according to the in-situ position of the voxel and the initial detection position of the radioactive solid waste barrel;

According to the moving distance and mass of the radioactive solid waste barrel, the moving time and instantaneous moving speed of the radioactive solid waste barrel are calculated.

Optionally, calculating the movement trajectory of the radioactive source according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source, and calculating the movement trajectory of the detector according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the detector ,include:

Calculate the distance between the origin of the radioactive source and the initial detection position of the radioactive source;

calculating the instantaneous moving speed of the radioactive source according to the moving time of the radioactive solid waste barrel and the distance between the origin of the radioactive source and the initial detection position of the radioactive source;

as well as,

Calculate the distance between the origin of the detector and the initial detection position of the detector, wherein the distance between the origin of the detector and the initial detection position of the detector includes the vertical distance between the origin of the detector and the initial detection position of the detector distance, and the horizontal distance between the origin of the detector and the initial detection position of the detector;

Calculate the instantaneous movement of the detector horizontal movement mechanism along the detector vertical movement mechanism according to the movement time of the radioactive solid waste barrel and the vertical distance between the origin of the detector and the initial detection position of the detector speed;

According to the movement time of the radioactive solid waste bucket and the horizontal distance between the origin of the detector and the initial detection position of the detector, the instantaneous moving speed of the detector along the horizontal movement mechanism of the detector is calculated.

According to the second aspect of the present application, a motion control system of a radioactive solid waste barrel detection device is provided, wherein the radioactive solid waste barrel detection device includes a radioactive source vertical movement mechanism and a radioactive source; a detector vertical movement mechanism, a detection The horizontal movement mechanism of the radiation source and the detector, the collimation holes of the radiation source and the collimation holes of the detector are parallel to each other; the waste bucket arranged between the vertical movement mechanism of the radiation source and the vertical movement mechanism of the detector A horizontal movement mechanism, the long side of the waste barrel horizontal movement mechanism is perpendicular to the vertical plane where the radioactive source and detector are located; and a waste barrel rotating platform slidably connected to the waste barrel horizontal movement mechanism;

The motion control system of the radioactive solid waste barrel detection device includes: a voxel division module, used to divide the radioactive solid waste barrel into multiple voxels according to the volume of the radioactive solid waste barrel; a layer division module, used to The radioactive solid waste barrel is divided into multiple detection levels along the axial direction, wherein each detection level includes a plurality of voxels; a level selection module is used to select an initial detection level from the multiple detection levels; the detection position is determined A module for determining the intersection point of a straight line passing through the center of the initial detection level and perpendicular to the vertical plane as the initial detection position of the radioactive solid waste barrel; a position calculation module for determining the initial detection position of the radioactive solid waste barrel according to the initial The detection position is to calculate the initial detection position of the radioactive source and the initial detection position of the detector respectively, wherein the initial detection positions of the radioactive solid waste barrel, the radioactive source and the detector are horizontally collinear; the first trajectory calculation module is used to calculate the initial detection position according to the mass of the radioactive solid waste barrel and the initial detection position, and calculate the movement trajectory of the radioactive solid waste barrel, wherein the movement trajectory of the radioactive solid waste barrel is the voxel from the outermost circle of the initial detection level The movement trajectory of the initial detection position of the radioactive solid waste barrel moved in situ; the second trajectory calculation module is used to calculate the movement trajectory of the radioactive source according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source, And calculate the movement trajectory of the detector according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the detector; the synchronous operation control module is used to calculate according to the movement of the radioactive solid waste barrel, radioactive source and detector respectively trajectory, controlling the synchronous operation of the waste barrel horizontal movement mechanism, the radioactive source vertical movement mechanism, the detector vertical movement mechanism and the detector horizontal movement mechanism, so that the radioactive solid waste barrel, radioactive source and detector move synchronously respectively To the respective initial detection positions; a detection control module, controlling the detectors to detect radionuclides in the radioactive solid waste barrel.

Optionally, the detection control module includes:

Start the control submodule, which is used to control the opening of the radioactive source and the detector, so as to detect the radionuclide in the radioactive solid waste barrel;

The rotation control sub-module is used to control the rotation platform of the waste bucket to rotate step by step according to a preset angle;

The movement control sub-module is used to control the horizontal motion mechanism of the waste barrel to move a predetermined distance to the initial detection position of the radioactive solid waste barrel every time the waste barrel rotating platform rotates once, and repeatedly execute the control waste barrel The step of rotating the rotating platform step by step according to the preset angle;

The position adjustment sub-module is used to calculate the initial detection position of other detection levels of the radioactive solid waste barrel when the detection of the innermost radionuclide of the initial detection level is completed, according to the initial detection positions of the other detection levels Synchronously adjust the positions of the waste bin rotary platform, radioactive source and detector;

The nuclide detection submodule is used to detect radionuclides at other detection levels in the radioactive solid waste barrel in a preset sequence.

Optionally, the position adjustment submodule includes:

The first position calculation submodule is used to calculate the initial detection position of the other detection levels according to the initial detection position of the radioactive solid waste barrel and the height difference between adjacent detection levels;

The second position calculation submodule is used to calculate the position of the detection point of the radiation source and the detection point of the detector according to the initial detection position of the other detection level, wherein the initial detection position of the other detection level, radiation The detection point of the source and the detection point of the detector are horizontally collinear;

The operation control sub-module is used to control the synchronous operation of the rotary platform of the waste barrel, the vertical movement mechanism of the radioactive source and the vertical movement mechanism of the detector, so that the radioactive solid waste barrel, the radioactive source and the detector move synchronously to the other The initial detection position of the detection level, the detection point of the radioactive source and the detection point of the detector.

Optionally, the first trajectory calculation module includes:

The submodule for determining the origin position of the waste barrel is used to determine the position of the origin of the waste barrel of the radioactive solid waste barrel;

The voxel in-situ calculation submodule is used to calculate the in-situ position of the voxel according to the position of the origin of the waste bin and the distance between the center of the initial detection level and the center point of the outermost voxel;

The first movement distance calculation submodule is used to calculate the movement distance of the radioactive solid waste barrel according to the original position of the voxel and the initial detection position of the radioactive solid waste barrel;

The time velocity calculation sub-module is used to calculate the movement time and instantaneous velocity of the radioactive solid waste barrel according to the movement distance and mass of the radioactive solid waste barrel.

Optionally, the second trajectory calculation module includes:

The second motion distance calculation submodule is used to calculate the distance between the origin of the radioactive source and the initial detection position of the radioactive source;

The first moving speed calculation sub-module is used to calculate the instantaneous moving speed of the radioactive source according to the moving time of the radioactive solid waste barrel and the distance between the origin of the radioactive source and the initial detection position of the radioactive source;

as well as,

The third movement distance calculation sub-module is used to calculate the distance between the origin of the detector and the initial detection position of the detector, wherein the distance between the origin of the detector and the initial detection position of the detector includes the distance between the origin of the detector and the initial detection position of the detector. The vertical distance between the initial detection positions of , and the horizontal distance between the origin of the detector and the initial detection position of the detector;

The second movement speed calculation sub-module is used to calculate the movement time of the radioactive solid waste barrel and the vertical distance between the origin of the detector and the initial detection position of the detector, and calculate the The instantaneous speed of motion of the vertical motion mechanism of the detector;

The third movement speed calculation submodule is used to calculate the movement time of the radioactive solid waste barrel and the horizontal distance between the origin of the detector and the initial detection position of the detector, and calculate the horizontal speed of the detector along the detector. The instantaneous movement speed of the movement mechanism.

Through the above working process, it can be concluded that the mobile control scheme of the radioactive solid waste barrel detection device provided by the application determines the initial detection position of the radioactive solid waste barrel, and determines the radioactive source and the radioactive solid waste barrel through the initial detection position of the radioactive solid waste barrel The initial detection position of the detector, and then the movement trajectory of the radioactive solid waste barrel, radioactive source and detector can be planned, so that the horizontal movement mechanism of the waste barrel and the radioactive source can be controlled according to the movement trajectory of the radioactive solid waste barrel, radioactive source and detector. The vertical movement mechanism, the detector vertical movement mechanism and the detector horizontal movement mechanism operate synchronously to control the radioactive solid waste barrel, radioactive source and detector to move synchronously to their respective initial detection positions. Since the control process of each mechanism is carried out synchronously and once, the coordination of each mechanism and the detection efficiency of the detector are relatively high.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Other drawings can also be obtained based on these drawings.

Fig. 1 is a structural diagram of a radioactive solid waste barrel detection device shown in the embodiment of the present application;

Fig. 2 is a simulated structure diagram of a kinematic joint of a radioactive solid waste barrel detection device shown in an embodiment of the present application;

Fig. 3 is a flow chart of the motion control method of the first radioactive solid waste barrel detection device shown in the embodiment of the present application;

Fig. 4 is a flow chart of the first motion trajectory calculation method shown in the embodiment shown in Fig. 3;

Fig. 5 is a flow chart of the second motion trajectory calculation method shown in the embodiment shown in Fig. 3;

Fig. 6 is a motion flow diagram of a radionuclide detection method shown in the embodiment shown in Fig. 3;

Fig. 7 is a flow chart of the motion control method of the second radioactive solid waste barrel detection device shown in the embodiment of the present application;

FIG. 8 is a structural diagram of voxel division at a detection level shown in an embodiment of the present application;

Fig. 9 is a structural diagram of a motion control system of a radioactive solid waste barrel detection device shown in an embodiment of the present application;

Fig. 10 is a structural diagram of a detection control module shown in the embodiment shown in Fig. 9;

Fig. 11 is a structural diagram of a first trajectory calculation module shown in the embodiment shown in Fig. 9;

Fig. 12 is a structural diagram of a second trajectory calculation module shown in the embodiment shown in Fig. 9 .

The corresponding relationship between each structure shown in Fig. 1 to Fig. 12 and reference numerals is as follows:

1-radiation source vertical movement mechanism, 2-radiation source, 3-detector vertical movement mechanism, 4-detector horizontal movement mechanism, 5-detector, 6-waste barrel horizontal movement mechanism, 7-waste barrel rotation platform .

detailed description

The motion control scheme of the radioactive solid waste barrel detection device provided in the embodiment of the present application solves the problem of low coordination between the various motion mechanisms and detection devices of the nuclide detection device introduced in the background art, and thus the problem of low detection efficiency. In addition, the motion control method and system of the radioactive solid waste barrel detection device provided in the following embodiments of this application are applicable to TGS technology, and related improvements based on this method are also applicable to the scanning method of SGS technology, and are protected under the protection of this application. within range.

In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are described below in conjunction with the accompanying drawings The program is described in further detail.

Please refer to Fig. 1. Fig. 1 is a schematic structural diagram of a radioactive solid waste barrel detection device provided in the embodiment of the present application. As shown in Fig. 1, the radioactive solid waste barrel detection device includes:

The radiation source vertical movement mechanism 1 and the radiation source 2; the radiation source 2 is located on the radiation source vertical movement mechanism 1, and can be driven vertically along the radiation source vertical movement mechanism 1 under the drive of the drive motor (not marked in the figure). sports;

The detector vertical movement mechanism 3, the detector horizontal movement mechanism 4 and the detector 5, the detector horizontal movement mechanism 4 is located on the detector vertical movement mechanism 3, driven by the drive motor, the detector horizontal movement mechanism 4 can move along the Move vertically with the detector vertical motion mechanism 3; detector 5 is located on the detector horizontal motion mechanism 4, driven by the drive motor, the detector 5 can move horizontally along the detector horizontal motion mechanism . Wherein, the collimating holes of the radioactive source 2 and the collimating holes of the detector 5 are parallel to each other; therefore, when the radioactive source 2 and the detector 5 are flush with each other, the detector 5 can detect that the radioactive source 2 emits and passes through the radioactive solid waste barrel Attenuated rays.

The waste barrel horizontal movement mechanism 6 is arranged between the radiation source vertical movement mechanism 1 and the detector vertical movement mechanism 3, wherein, the long side of the waste barrel horizontal movement mechanism 6 is perpendicular to the vertical position where the radiation source 2 and the detector 5 are located. face up. The radioactive solid waste barrel detection device in this embodiment also includes a waste barrel rotating platform 7 slidably connected to the waste barrel horizontal movement mechanism 6 .

The waste barrel horizontal movement mechanism 6 is arranged between the radioactive source vertical movement mechanism 1 and the detector vertical movement mechanism 3, and the long side is perpendicular to the vertical plane where the radioactive source 2 and the detector 5 are located, then the waste barrel horizontal movement mechanism The trash can rotary platform 7 on the 6 can move vertically to the above-mentioned vertical plane along the long side of the waste bucket horizontal motion mechanism 6 under the drive of the drive motor. Therefore, the radioactive solid waste barrel on the waste barrel rotating platform 7 can be moved between the radioactive source 2 and the detector 5 for detection. In order to realize the detection of radionuclides at each detection level and part of the radioactive solid waste barrel, the waste barrel rotating platform 7 can rotate, so that the detector 5 can detect the radionuclides at each detection level of the radioactive solid waste barrel .

Specifically, as shown in Figure 2, in order to study the movement of the radioactive solid waste barrel, the detection device for the radioactive solid waste barrel can be built. When the radioactive solid waste barrel is located at the end of the waste barrel horizontal movement mechanism, the radioactive solid waste barrel The center of the bottom surface, that is, the center of the waste bin rotating platform, is the origin of the coordinates, the Y axis is the straight line passing through the origin of the coordinates and parallel to the long side of the horizontal movement mechanism of the waste bin, and the long side perpendicular to the horizontal movement mechanism of the waste bin in the horizontal direction The straight line of is the X-axis, and the straight line passing through the origin of the coordinates is the Z-axis. The waste barrel rotating platform 7 is connected with the waste barrel horizontal movement mechanism 6 around the Z axis through the rotating joint a, and the waste barrel rotating platform 7 is slidingly connected with the waste barrel horizontal movement mechanism 6 along the Y axis through the moving joint b, and the radioactive source 2 moves through The joint c can be slidably connected with the radiation source vertical motion mechanism 1 along the Z axis, the detector horizontal motion mechanism 4 can be slidably connected with the detector vertical motion mechanism 3 along the Z axis by moving the joint d, and the detector 5 can be slidably connected with the detector vertical motion mechanism 3 by moving the joint e It is slidingly connected with the detector horizontal motion mechanism 4 along the X axis.

Since the radiation source 2 and the detector horizontal movement mechanism 4 on the radiation source vertical movement mechanism 1 and the detector vertical movement mechanism 3 can move up and down, that is, move along the Z-axis direction; the detector 5 can move along the detector horizontal movement mechanism 4. Move horizontally, that is, move along the X-axis direction; the waste bin rotating platform 7 can move forward and backward along the waste bin horizontal movement mechanism 6 perpendicular to the vertical plane where the radioactive source 2 and the detector 5 are located, that is, move along the Y-axis direction ; The waste bin rotating platform 7 can rotate itself, that is, rotate around the Z axis. Therefore, the radioactive solid waste barrel detection device shown in the embodiment of the present application can realize nuclide detection with four degrees of freedom.

Please refer to FIG. 3 . FIG. 3 is a flowchart of a motion control method of a radioactive solid waste barrel detection device shown in an embodiment of the present application. The motion control method is used to control the radioactive solid waste barrel detection device shown in FIG. 1 . As shown in Figure 3, the motion control method of the radioactive solid waste barrel detection device comprises the following steps:

S110: Divide the radioactive solid waste barrel into multiple voxels according to the volume of the radioactive solid waste barrel.

A voxel is a volume element of a solid radioactive waste barrel, and each voxel occupies the same volume, and is also the smallest unit for detecting radionuclides in this embodiment of the present application. By dividing the radioactive solid waste barrel into multiple voxels, the radionuclide in the radioactive solid waste barrel can be accurately and meticulously detected.

S120: Divide the radioactive solid waste barrel into multiple detection levels along the axis, where each detection level includes multiple voxels.

In the embodiment of this application, by dividing the radioactive solid waste barrel into multiple detection levels, each time the radionuclide in the detection level is detected, the detector and the radioactive source are moved to the same height as each detection level. Location. Since each detection level includes a plurality of voxels, the position of the nuclide detection in each detection level can be determined by the position of the voxel during the specific nuclide detection.

As shown in Figure 8, the radioactive solid waste barrel is divided into multiple detection levels, each detection level is k layers, the height of each detection level is H, and each detection level can be divided into multiple matrices of i*j , then the length times width of each voxel is L*W, so the volume of each voxel is L*W*H.

S130: Select an initial detection level from multiple detection levels, and determine an intersection point of a straight line passing through the center of the initial detection level and perpendicular to the vertical plane as the initial detection position of the radioactive solid waste barrel.

When detecting the radionuclides in the radioactive solid waste barrel, it is necessary to start the detection from the initial detection level of the radioactive solid waste barrel. Between the detector and the radioactive source; at the same time, it is necessary to control the detector and the radioactive source to move to a position flush with the initial detection level, so as to start detecting radionuclides in the initial detection level. Preferably, the initial detection level is the lowest detection level among all the detection levels in the radioactive solid waste barrel.

Since the long side of the horizontal movement mechanism of the waste bin is perpendicular to the vertical plane where the radioactive source and the detector are located, the straight line passing through the center of the initial detection level and perpendicular to the vertical plane is parallel to the long side of the horizontal movement mechanism of the waste bin. That is, it is in the same direction as the movement direction of the waste barrel rotary platform on the waste barrel horizontal movement mechanism. The intersection of the straight line perpendicular to the vertical plane and the vertical plane is the initial detection position. When the radioactive solid waste barrel moves to the initial detection position, the initial detection level of the radioactive solid waste barrel will be located between the moved radioactive source and the detector, and at the same time, since the radioactive source and the detector are respectively flush with the initial detection level, Therefore, the detector can perform accurate and rapid detection of radionuclides on the detection level.

S140: According to the initial detection position of the radioactive solid waste barrel, respectively calculate the initial detection position of the radioactive source and the initial detection position of the detector, wherein the initial detection positions of the radioactive solid waste barrel, the radioactive source, and the detector are horizontally collinear.

According to the initial detection position of the radioactive solid waste barrel, the initial detection position of the radioactive source and the initial detection position of the detector can be calculated, and then the radioactive source and the detector can be controlled to move to a position flush with the initial detection level, so that the Detectors perform rapid detection of radiation from radioactive sources passing through the initial detection level of radionuclide radiation.

S150: According to the mass of the radioactive solid waste barrel and the initial detection position, calculate the movement trajectory of the radioactive solid waste barrel, wherein the movement trajectory of the radioactive solid waste barrel is that the outermost voxel at the initial detection level moves from the original position of the voxel to the radioactive The trajectory of the initial detection position of the solid waste bin. Specifically, the movement trajectory of the voxel center or the voxel center of gravity of the outermost voxel moving from the original position of the voxel to the initial detection position of the radioactive solid waste barrel can be selected.

By determining the initial detection position of the radioactive solid waste barrel, the movement distance of the outermost voxel of the initial detection level in the radioactive solid waste barrel from the original position of the voxel to the initial detection position can be determined; by determining the mass of the radioactive solid waste barrel, The load of the horizontal movement mechanism of the waste barrel can be determined, so that the output power required for the movement of the solid radioactive waste barrel on the horizontal movement mechanism of the waste barrel can be further calculated, and then the movement time and instantaneous speed of the solid radioactive waste barrel can be calculated. To control the radioactive solid waste barrel to move smoothly to the initial detection position. Wherein, the outermost voxel in this embodiment is the radioactive voxel closest to the vertical plane where the radioactive source and the detector are located in the initial detection level.

As shown in Figure 8, when the outermost voxel on the initial detection level moves to the initial detection position of the radioactive solid waste barrel, the center point 1 of the voxel along the Y axis in the outermost voxel will be the same as the initial detection The location coincides. The trajectory of the voxel moving from the original position of the voxel to the initial detection position along the Y axis is the trajectory of the radioactive solid waste barrel.

Wherein, the motion track of the radioactive solid waste barrel includes the moving distance, moving time and instantaneous moving speed of the radioactive solid waste barrel. As a preferred embodiment, as shown in Figure 4, step S150: Calculate the trajectory of the radioactive solid waste barrel according to the initial detection position and mass of the radioactive solid waste barrel, specifically including:

S151: Determine the position of the origin of the waste barrel of the radioactive solid waste barrel, and calculate the original position of the voxel according to the position of the origin of the waste barrel and the distance between the center of the initial detection level and the center point of the outermost voxel.

The origin of the waste barrel of the radioactive solid waste barrel is the position of the center point of the waste barrel when the radioactivity stays at the preset initial position. When determining the position of the origin of the waste barrel of the radioactive solid waste barrel, the initial detection can be calculated according to the position of the origin of the waste barrel The position of the center of the layer, after obtaining the position of the center of the initial detection layer, by calculating the distance between the center of the initial detection layer and the center point of the outermost voxel, the original position of the voxel can be calculated, and then according to The in-situ position of the voxel accurately calculates the movement distance from the radioactive solid waste barrel to the initial detection position. The center point of the outermost voxel above is the center point of the voxel along the Y axis in the outermost voxel of the initial detection level in the embodiment shown in FIG. 8 .

S152: Calculate the movement distance of the radioactive solid waste barrel according to the original position of the voxel and the initial detection position of the radioactive solid waste barrel.

The distance from the original position of the voxel in the outermost voxel of the initial detection level to the initial detection position of the radioactive solid waste barrel is the movement distance of the radioactive solid waste barrel. The distance can be used to control the accurate operation of the horizontal movement mechanism of the waste barrel, thereby accurately controlling the movement of the radioactive solid waste barrel.

S153: Calculate the movement time and instantaneous movement speed of the radioactive solid waste barrel according to the movement distance and mass of the radioactive solid waste barrel.

After calculating the movement distance of the radioactive solid waste barrel, according to the mass of the radioactive solid waste barrel combined with the mass of the waste barrel rotating platform, the load of the horizontal movement mechanism of the waste barrel can be obtained, through which the radioactive solid waste barrel can be pushed to run stably output power, and then calculate the movement time required for the radioactive solid waste barrel to move from the original position of the voxel to the initial detection position, and then calculate the instantaneous movement speed of the radioactive solid waste barrel.

S160: Calculate the movement trajectory of the radioactive source according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source, and calculate the movement trajectory of the detector according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the detector.

In the embodiment of the present application, the radioactive solid waste barrel, the radioactive source, and the detector all operate synchronously, so the movement time of the detector, the radioactive source, and the radioactive solid waste barrel are all the same. According to the movement trajectory of the radioactive solid waste barrel, the movement time of the radioactive solid waste barrel can be accurately determined. Through the movement time of the radioactive solid waste barrel and the initial detection position of the radioactive source, the movement distance and movement speed of the radioactive source from the origin of the radioactive source to the initial detection position of the radioactive source can be calculated; and through the movement time and the initial detection position of the radioactive solid waste barrel The initial detection position of the detector can calculate the movement distance and movement speed of the detector from the origin of the detector to the initial detection position of the detector, and then realize the coordinated and synchronous operation of the radioactive solid waste barrel, radioactive source and detector. Wherein, preferably, the initial detection position of the radiation source is the initial detection position of the collimation hole of the radiation source, and the initial detection position of the detector is specifically the initial detection position of the collimation hole of the detector.

S170: Control the horizontal movement mechanism of the waste barrel, the vertical movement mechanism of the radioactive source, the vertical movement mechanism of the detector, and the horizontal movement mechanism of the detector according to the movement trajectories of the radioactive solid waste barrel, radioactive source and detector, so that the radioactive The solid waste barrel, radioactive source and detector move synchronously to their respective initial detection positions.

By controlling the synchronous operation of the horizontal movement mechanism of the waste barrel, the vertical movement mechanism of the radioactive source, the vertical movement mechanism of the detector and the horizontal movement mechanism of the detector, it is possible to control the radioactive solid waste barrel, the radioactive source and the detector to move synchronously to their respective initial detection positions , so as to realize the coordinated and synchronous operation of radioactive solid waste barrels, radioactive sources and detectors.

The same as the movement trajectory of the radioactive solid waste barrel, the movement trajectory of the radioactive source includes the movement distance, movement time and instantaneous movement speed of the radioactive source; and the movement trajectory of the detector includes the movement distance, movement time and instantaneous movement speed of the detector. As a preferred embodiment, as shown in Figure 5, step S170: calculate the motion trajectory of the radioactive source according to the motion trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source, and calculate the Calculate the motion trajectory of the detector based on the initial detection position of the detector, including:

S171: Calculate the distance between the origin of the radioactive source and the initial detection position of the radioactive source.

S172: Calculate the instantaneous moving speed of the radioactive source according to the moving time of the radioactive solid waste barrel and the distance between the origin of the radioactive source and the initial detection position of the radioactive source.

In the embodiment of this application, since the radioactive solid waste barrel, the radioactive source and the detector are all running synchronously, the movement time of the radioactive solid waste barrel is the movement time of the radioactive source. After the distance between them, combined with the movement time of the above-mentioned radioactive solid waste barrel, the instantaneous movement speed of the radioactive source at each moment can be planned, so as to ensure the smooth operation of the radioactive source along the vertical movement mechanism of the radioactive source. as well as,

S173: Calculate the distance between the origin of the detector and the initial detection position of the detector, wherein the distance between the origin of the detector and the initial detection position of the detector includes the vertical distance between the origin of the detector and the initial detection position of the detector distance, and the horizontal distance between the detector origin and the detector's initial detection position.

S174: According to the movement time of the radioactive solid waste barrel and the vertical distance between the origin of the detector and the initial detection position of the detector, calculate the instantaneous movement speed of the detector horizontal movement mechanism along the detector vertical movement mechanism.

Because the radioactive solid waste barrel, the radioactive source and the detector all run synchronously, the movement time of the radioactive solid waste barrel is the movement time of the detector; and because the movement mechanism of the detector includes the vertical movement mechanism of the detector and the horizontal movement mechanism of the detector Therefore, it is necessary to calculate the vertical distance between the origin of the detector and the initial detection position of the detector and the horizontal distance between the origin of the detector and the initial detection position of the detector. After calculating the vertical distance between the origin of the detector and the initial detection position of the detector, combined with the movement time of the radioactive solid waste barrel, the instantaneous movement speed of the horizontal movement mechanism of the detector along the vertical movement mechanism of the detector can be planned, In order to coordinate the detector to run synchronously and smoothly with the radioactive solid waste barrel in the vertical direction.

S175: According to the movement time of the radioactive solid waste barrel and the horizontal distance between the origin of the detector and the initial detection position of the detector, calculate the instantaneous movement speed of the detector along the horizontal movement mechanism of the detector.

After calculating the horizontal distance between the origin of the detector and the initial detection position of the detector, according to the horizontal distance and the movement time of the radioactive solid waste barrel, the instantaneous movement speed of the detector along the horizontal movement mechanism of the detector can be calculated, so as to coordinate the detection The horizontal motion mechanism of the detector controls the detector to run synchronously and smoothly with the radioactive solid waste barrel in the horizontal direction.

S180: The control detector detects the radionuclide in the radioactive solid waste barrel.

The motion control method of the radioactive solid waste barrel detection device provided in the embodiment of the present application determines the initial detection position of the radioactive solid waste barrel, and determines the initial detection positions of the radioactive source and the detector through the initial detection position of the radioactive solid waste barrel, Furthermore, the movement trajectory of the radioactive solid waste barrel, radioactive source and detector can be planned, so that the horizontal movement mechanism of the waste barrel, the vertical movement mechanism of the radioactive source, and the detector can be controlled according to the movement trajectory of the radioactive solid waste barrel, radioactive source and detector. The vertical movement mechanism and the detector horizontal movement mechanism operate synchronously to control the radioactive solid waste barrel, radioactive source and detector to move synchronously to their respective initial detection positions. Because the control process of each mechanism is coordinated and controlled and carried out synchronously, the coordination of each mechanism and the detection efficiency of the detector are relatively high.

As a preferred embodiment, as shown in FIG. 6, step S180 in the embodiment shown in FIG. 3: controlling the detector to detect the radionuclide in the radioactive solid waste bucket includes the following steps:

S181: Control the radioactive source and the detector to be turned on, so as to detect the radionuclide in the radioactive solid waste barrel.

After the voxel center point of the outermost voxel on the initial detection level moves to the initial detection position, after the radiation source and the detector are turned on, the radiation emitted by the radiation source can pass through the radionuclide at the initial detection position, so the detection The detector can receive the radiation attenuated by the radionuclide at the initial detection position, and by detecting the radiation, it can detect the radionuclide at the initial detection position in the radioactive solid waste barrel.

S182: Control the rotating platform of the waste bin to rotate step by step according to a preset angle.

When the detector detects the radionuclide in the outermost voxel at the initial detection level, by controlling the waste bucket rotating platform to step and rotate at a preset angle, the radionuclide contained in each voxel in the outermost circle at the initial detection level can be are detected, and then realize the detection of all radionuclides in the outermost circle voxels of the initial detection level.

S183: Control the horizontal motion mechanism of the waste barrel to move a predetermined distance toward the initial detection position of the radioactive solid waste barrel every time the rotating platform of the waste barrel rotates once, and repeat the step of controlling the rotating platform of the waste barrel to rotate step by step according to a preset angle.

By controlling the waste barrel horizontal movement mechanism to move a predetermined distance to the initial detection position direction of the radioactive solid waste barrel every time the waste barrel rotating platform rotates one revolution, and then controlling the waste barrel rotating platform to step and rotate again, the initial position of the radioactive solid waste barrel can be made Each circle of voxels on the detection level is detected from the outer circle to the inner circle, wherein the predetermined distance moved by the horizontal movement mechanism of the waste bucket is the distance between the center points of two adjacent voxels.

S184: When the detection of the innermost nuclide at the initial detection level is completed, calculate the initial detection positions of other detection levels of the radioactive solid waste barrel, and synchronously adjust the waste barrel rotating platform, radioactive source and detector according to the initial detection positions of other detection levels position, and detect radionuclides at other detection levels in the radioactive solid waste barrel in a preset sequence.

By calculating the initial detection positions of other detection levels of the radioactive solid waste barrel, the positions of the waste barrel rotating platform, radioactive source and detector can be adjusted synchronously according to the initial detection positions of other detection levels, so as to detect the position of each detection level of the radioactive solid waste barrel Radionuclides, to achieve the overall detection of all radionuclides in the entire radioactive solid waste barrel.

Among them, step S184: calculating the initial detection positions of other detection levels in the radioactive solid waste barrel, and synchronously adjusting the positions of the waste barrel rotating platform, radioactive source and detector according to the initial detection positions of other detection levels, including:

According to the initial detection position of the radioactive solid waste barrel and the height difference between adjacent detection levels, calculate the initial detection position of other detection levels; where the height difference between adjacent detection levels is the distance between the center points of adjacent detection levels distance;

The initial detection positions of all detection levels in the radioactive solid waste barrel are vertically aligned, therefore, when detecting radionuclides in each detection level of the radioactive solid waste barrel, according to the initial detection position of the initial detection level and adjacent detection The height difference between layers can be used to obtain the initial detection positions of other detection layers. For example: according to the coordinates of the initial detection position of the initial detection level at the lowest end of the radioactive solid waste barrel plus the height difference between adjacent detection levels, the coordinates of the initial detection position of the second detection level at the lower end of the radioactive solid waste barrel can be obtained .

Calculate the position of the detection point of the radioactive source and the detection point of the detector according to the initial detection position of other detection levels; wherein, the initial detection position of other detection levels and the detection point of the radioactive source and the detector are horizontally collinear;

Both the detection point of the radioactive source and the detection point of the detector are horizontally collinear with the initial detection positions of the other detection levels, by calculating the positions of the detection point of the radioactive source and the detection point of the detector, and then controlling the movement of the radioactive source and the detector To the respective detection points, each radionuclide in other detection levels can be detected by detectors.

Control the synchronous operation of the rotary platform of the waste barrel, the vertical movement mechanism of the radioactive source and the vertical movement mechanism of the detector, so that the radioactive solid waste barrel, the radioactive source and the detector move to the initial detection position of other detection levels and the detection point of the radioactive source respectively and the detection point of the detector;

After calculating the initial detection positions of other detection levels and the detection points of radioactive sources and detectors, the radioactive solid waste barrels, radioactive solid waste barrels, The radioactive source and the detector move to their respective detection points, so as to realize the detection of radionuclides in the other detection levels; wherein, during the detection process of the radioactive solid waste barrel, the outermost voxels of the other detection levels The center point of the voxel first moves to the initial detection position, and controls the rotation of the waste bin rotating platform to detect all the voxels in the outermost circle in the other detection levels mentioned above, and all radionuclides in the outermost circle voxels in other detection levels are detected After the completion, control the horizontal moving platform of the waste bin to move forward for a predetermined distance, and repeat the above steps to detect each circle of voxels in other detection levels from the outside to the inside.

As a preferred embodiment, please refer to Fig. 7, Fig. 7 is a flowchart of a motion control method for a nuclide detection device shown in an exemplary embodiment of the present application, combined with Fig. 1, Fig. 2, Fig. 7 and Fig. 8, the motion control method shown in FIG. 7 includes the following steps:

S701: Initialize each movement mechanism of the nuclide detection device. During the initialization process, the radioactive solid waste barrel is first divided into k layers along the vertical direction, that is, the height of the voxel is H, and the section is divided into an i*j matrix, namely The length multiplied by the width of the voxel is L*W, and the nuclide detection device starts to start after the initialization is completed.

S702: Control the joints a, b, c, d and e shown in Figure 2 to return to the original point respectively, that is, control the waste barrel rotating platform, the waste barrel horizontal movement mechanism, the radioactive source vertical movement mechanism, the detector vertical movement mechanism and The horizontal motion mechanisms of the detectors return to their respective initial positions.

S703: Acquire the volume L*W*H of the voxel.

S704: Deriving the Y-axis voxel center point coordinate set (0, y _j , z _k ), the voxel center point coordinate set is the center point of the outermost voxel when the radioactive solid waste barrel is at the initial detection position.

S705: Deriving a radioactive source coordinate set (x _1i , y _j , z _k ), the radioactive source coordinate set is aligned with the voxel central point coordinate set, that is, on the same horizontal straight line parallel to the X axis.

S706: Deriving a detector coordinate set (x _2i , y _j , z _k ), where the detector coordinate set is equal to the voxel central point coordinate set.

S707: Measure the mass of the barrel of radioactive solid waste.

_S708 : Plan the motion trajectories of the linear joints b, c, d, and e _respectively ; specifically, plan the rotary joints a and linear The trajectory of joint b; according to the voxel center point coordinate set (0, y _j , z _k ), plan the trajectory of linear joints c, d and e.

S709: The radioactive source and the detector move to their respective measurement points along the Z axis, that is, their respective initial detection positions.

S710: the detector moves along the X axis to adjust the detection distance of the detector.

S711: The rotating platform of the waste bin moves along the Y-axis of the horizontal movement mechanism of the waste bin to the measuring point, which is the initial detection position (0, y _j , z _k ).

S712: The waste bin rotating platform rotates in steps around the Z axis, and at the same time turns on the detection mode of the detector.

S713: Determine whether the waste bin rotating platform has rotated 360 degrees; if yes, perform step S714; if not, return to step S712.

S714: Control the waste bin rotating platform to move forward [0, W, 0], and move to measuring point 2, that is, the horizontal line connecting the collimation hole of the radioactive source and the collimating hole of the detector passes through the measuring point 2; then judge the current measuring point Whether the point is equal to j/2 or j/2+1; if yes, execute step S715; if not, return to execute step S711. Through this method, all nuclides in the first detection level are detected.

S715: Determine whether the detection of the kth layer is completed; if yes, execute step S716; if not, return to execute step S709.

S716: Control the joints a, b, c, d and e to return to the origin respectively, that is, control the return of the waste bucket rotary platform, waste bucket horizontal movement mechanism, radioactive source vertical movement mechanism, detector vertical movement mechanism and detector horizontal movement mechanism their respective initial positions.

In addition, the motion control method of the radioactive solid waste barrel detection device provided in the above embodiments of the present application uses Cartesian coordinates as an example for positioning and motion control. Correspondingly, the method of using polar coordinates for positioning and motion control is also used in this application within the scope of protection.

Based on the same application idea, the embodiment of the present application also provides a motion control system for the radioactive solid waste barrel detection device, since the method corresponding to the system is the motion control method of the radioactive solid waste barrel detection device in the embodiment of the present application, and the The principle of the system to solve the problem is similar to the method, so the implementation of the system can refer to the implementation of the method, and the repetition will not be repeated.

Please refer to Figure 9. Figure 9 is a schematic structural diagram of the motion control system of a radioactive solid waste barrel detection device provided in the embodiment of the present application. The motion control system provided in this embodiment is used to control the detection of the radioactive solid waste barrel shown in Figure 1. Device, as shown in Figure 9, the motion control system of this radioactive solid waste barrel detection device, comprises:

A voxel division module 901, configured to divide the radioactive solid waste barrel into multiple voxels according to the volume of the radioactive solid waste barrel;

A level division module 902, configured to divide the radioactive solid waste barrel into multiple detection levels along the axial direction, wherein each detection level includes a plurality of voxels;

A level selection module 903, configured to select an initial detection level from multiple detection levels;

The detection position determination module 904 is used to determine the intersection point of the straight line passing through the center of the initial detection level and perpendicular to the vertical plane as the initial detection position of the radioactive solid waste barrel;

The position calculation module 905 is used to calculate the initial detection position of the radioactive source and the initial detection position of the detector respectively according to the initial detection position of the radioactive solid waste barrel, wherein the initial detection positions of the radioactive solid waste barrel, the radioactive source and the detector are horizontally Collinear;

The first trajectory calculation module 906 is used to calculate the movement trajectory of the radioactive solid waste barrel according to the mass of the radioactive solid waste barrel and the initial detection position, wherein the movement trajectory of the radioactive solid waste barrel is the outermost voxel at the initial detection level from The trajectory of the voxel moving in situ to the initial detection position of the radioactive solid waste barrel;

The second trajectory calculation module 907 is configured to calculate the movement trajectory of the radioactive source according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the radioactive source, and calculate the detector according to the movement trajectory of the radioactive solid waste barrel and the initial detection position of the detector track of movement;

The synchronous operation control module 908 is used to control the horizontal movement mechanism of the waste barrel, the vertical movement mechanism of the radioactive source, the vertical movement mechanism of the detector and the horizontal movement mechanism of the detector according to the movement tracks of the radioactive solid waste barrel, radioactive source and detector respectively Synchronous operation, so that the radioactive solid waste barrel, radioactive source and detector move synchronously to their respective initial detection positions;

The detection control module 909 controls the detector to detect the radionuclide in the radioactive solid waste barrel.

The motion control system of the radioactive solid waste barrel detection device provided in the embodiment of the present application determines the initial detection position of the radioactive solid waste barrel, and determines the initial detection position of the radioactive source and the detector through the initial detection position of the radioactive solid waste barrel , and then the movement trajectory of the radioactive solid waste barrel, radioactive source and detector can be planned, so that the horizontal movement mechanism of the waste barrel, the vertical movement mechanism of the radioactive source, the detection The vertical movement mechanism of the detector and the horizontal movement mechanism of the detector operate synchronously to control the radioactive solid waste barrel, radioactive source and detector to move synchronously to their respective initial detection positions. Since the control process of each mechanism is carried out synchronously and once, the coordination of each mechanism and the detection efficiency of the detector are relatively high.

Wherein, as shown in FIG. 10, the detection control module 909 in the embodiment shown in FIG. 9 includes: a startup control submodule 9091, which is used to control the opening of the radioactive source and the detector, so as to detect the radionuclide in the radioactive solid waste barrel ;

The rotation control sub-module 9092 is used to control the waste bucket rotation platform to rotate step by step according to the preset angle;

The movement control sub-module 9093 is used to control the horizontal movement mechanism of the waste bin to move a predetermined distance in the direction of the initial detection position of the waste bin every time the rotating platform of the waste bin rotates once, and repeatedly execute the stepwise rotation of the rotating platform of the waste bin to control the rotation of the waste bin at a preset angle A step of;

The position adjustment sub-module 9094 is used to calculate the initial detection position of other detection levels of the radioactive solid waste barrel when the detection of the innermost radionuclide of the initial detection level is completed, and adjust the rotation of the waste barrel synchronously according to the initial detection positions of other detection levels The location of platforms, radioactive sources and detectors;

The nuclide detection sub-module 9095 is used to detect radionuclides at other detection levels in the radioactive solid waste barrel in a preset sequence. Among them, the position adjustment sub-module 9094 includes: a first position calculation sub-module, which is used to calculate the initial detection position of other detection levels according to the initial detection position of the radioactive solid waste barrel and the height difference between adjacent detection levels; The position calculation sub-module is used to calculate the position of the detection point of the radioactive source and the detection point of the detector according to the initial detection position of other detection levels; wherein, the initial detection position of other detection levels, the detection point level of the radioactive source and the detector Collinear; the operation control sub-module is used to control the synchronous operation of the rotary platform of the waste barrel, the vertical movement mechanism of the radioactive source and the vertical movement mechanism of the detector, so that the radioactive solid waste barrel, the radioactive source and the detector can move to other detection levels respectively The initial detection position, the detection point of the radioactive source and the detection point of the detector.

As a preferred embodiment, as shown in Figure 11, the first trajectory calculation module 906 provided by the embodiment shown in Figure 9 includes: a waste barrel origin position determination sub-module 9061, which is used to determine the waste barrel of the radioactive solid waste barrel The position of the origin; the voxel in-situ calculation sub-module 9062, which is used to calculate the original position of the voxel according to the position of the origin of the waste bin and the distance between the center of the initial detection level and the center point of the outermost voxel; the first movement The distance calculation submodule 9063 is used to calculate the movement distance of the radioactive solid waste barrel according to the original position of the voxel and the initial detection position of the radioactive solid waste barrel; the time velocity calculation submodule 9064 is used to calculate the movement distance of the radioactive solid waste barrel according to the movement of the radioactive solid waste barrel Distance and mass, calculate the movement time and instantaneous movement speed of the radioactive solid waste barrel.

As a preferred embodiment, as shown in Figure 12, the second trajectory calculation module 907 in the embodiment shown in Figure 9 includes: a second movement distance calculation sub-module 9071, which is used to calculate the distance between the origin of the radiation source and the distance between the radiation source the distance between initial detection positions;

The first moving speed calculation sub-module 9072 is used to calculate the instantaneous moving speed of the radioactive source according to the moving time of the radioactive solid waste barrel and the distance between the origin of the radioactive source and the initial detection position of the radioactive source; and,

The third movement distance calculation sub-module 9073 is used to calculate the distance between the origin of the detector and the initial detection position of the detector, wherein the distance between the origin of the detector and the initial detection position of the detector includes the distance between the origin of the detector and the initial detection position of the detector. the vertical distance between the initial detection positions, and the horizontal distance between the origin of the detector and the initial detection position of the detector;

The second movement speed calculation sub-module 9074 is used to calculate the horizontal movement mechanism of the detector along the vertical movement mechanism of the detector according to the movement time of the radioactive solid waste barrel and the vertical distance between the origin of the detector and the initial detection position of the detector. the instantaneous speed of motion;

The third movement speed calculation sub-module 9075 is used to calculate the instantaneous movement speed of the detector along the horizontal movement mechanism of the detector according to the movement time of the radioactive solid waste barrel and the horizontal distance between the origin of the detector and the initial detection position of the detector.

Each embodiment in this specification is described in a progressive manner, the same and similar parts of each embodiment can be referred to each other, and each embodiment focuses on the differences from other embodiments.

The embodiments of the present application described above are not intended to limit the scope of protection of the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (10)

1. the motion control method of a kind of radioactive solid waste bucket detection means, it is characterised in that the solid radiation gives up Thing bucket detection means includes radioactive source vertical motion mechanism and radioactive source；Detector vertical motion mechanism, detector level fortune Motivation structure and detector, the collimating aperture of the radioactive source are parallel to each other with the collimating aperture of the detector；It is arranged at described putting The pail for used dressings horicontal motion mechanism penetrated between source vertical motion mechanism and detector vertical motion mechanism, the pail for used dressings level fortune The side long of motivation structure is perpendicular to the vertical plane where the radioactive source and detector；And it is slidably connected to the pail for used dressings level The pail for used dressings rotation platform of motion；

The motion control method of the radioactive solid waste bucket detection means, including：

Radioactive solid waste bucket is divided into multiple voxels by the volume according to radioactive solid waste bucket；

Radioactive solid waste bucket is divided into multiple detection aspects vertically, wherein, each detection layers face includes multiple Voxel；

From the multiple detection aspect choose initial detecting aspect, it is determined that the center of circle of excessively described initial detecting aspect and with it is described Vertical plane intersect vertically straight line intersection point as radioactive solid waste bucket initial detecting position；

According to the initial detecting position of radioactive solid waste bucket, initial detecting position and the detection of radioactive source are calculated respectively The initial detecting position of device, wherein, the initial detecting position difference water of the radioactive solid waste bucket, radioactive source and detector It is flat conllinear；

Quality and initial detecting position according to radioactive solid waste bucket, calculate the fortune of the radioactive solid waste bucket Dynamic rail mark, wherein, the movement locus of radioactive solid waste bucket is the outmost turns voxel of the initial detecting aspect from body Plain original position is moved to the movement locus of the initial detecting position of the radioactive solid waste bucket；

The initial detecting position of movement locus and radioactive source according to radioactive solid waste bucket calculates the motion of radioactive source Track, and movement locus according to radioactive solid waste bucket and the initial detecting position of detector calculate the detection The movement locus of device；

Respectively according to the movement locus of radioactive solid waste bucket, radioactive source and detector, the pail for used dressings level is controlled Motion, radioactive source vertical motion mechanism, detector vertical motion mechanism and the synchronous operation of detector horicontal motion mechanism, with Make the radioactive solid waste bucket, radioactive source and detector synchronizing moving to the respective initial detecting position；

The detector is controlled to detect the radionuclide in the radioactive solid waste bucket.

2. the motion control method of radioactive solid waste according to claim 1 bucket detection means, it is characterised in that institute The radionuclide that control detector is detected in the radioactive solid waste bucket is stated, including：

The radioactive source and detector is controlled to open, to detect the radionuclide in the radioactive solid waste bucket；

The pail for used dressings rotation platform is controlled to be rotated by predetermined angle stepping；

When the pail for used dressings rotation platform rotates a circle, the pail for used dressings horicontal motion mechanism is controlled to the radioactive solid The initial detecting locality movement preset distance of body pail for used dressings, repeats the control pail for used dressings rotation platform by preset angle The step of degree stepping rotates；

When the innermost circle radionuclide detection of the initial detecting aspect is finished, the radioactive solid waste bucket is calculated Other detect the initial detecting position of aspects, waste described in the initial detecting position synchronous adjustment according to other detection aspects Bucket rotation platform, the position of radioactive source and detector, detect in the radioactive solid waste bucket other each by preset order The radionuclide of detection aspect.

3. the motion control method of radioactive solid waste according to claim 2 bucket detection means, it is characterised in that institute The initial detecting position of other detection aspects for calculating radioactive solid waste bucket is stated, according to the initial of other detection aspects The position of pail for used dressings rotation platform, radioactive source and detector described in test position synchronous adjustment, including：

The difference in height between initial detecting position and adjacent detection aspect according to radioactive solid waste bucket, calculates institute State the initial detecting position of other detection aspects；

According to the initial detecting position of other detection aspects, the test point of the radioactive source and the test point of detector are calculated Position, wherein, it is described other detection aspects initial detecting position, the test point of radioactive source and detector test point level Collinearly；

Control pail for used dressings rotation platform, radioactive source vertical motion mechanism and the synchronous operation of detector vertical motion mechanism, so that institute State radioactive solid waste bucket, radioactive source and detector and distinguish synchronizing moving to the initial detecting position of other detection aspects Put, the test point of the test point of radioactive source and detector.

4. the motion control method of radioactive solid waste according to claim 1 bucket detection means, it is characterised in that institute The quality according to radioactive solid waste bucket and initial detecting position are stated, the motion rail of the radioactive solid waste bucket is calculated Mark, including：

Determine the position of the pail for used dressings origin of radioactive solid waste bucket, position according to the pail for used dressings origin and just Distance calculates voxel position in situ between the central point of the center of circle of beginning detection aspect and the outmost turns voxel；

According to voxel position in situ and the initial detecting position of radioactive solid waste bucket, the radiation is calculated Property solid waste bucket move distance；

According to the move distance and quality of radioactive solid waste bucket, when calculating the motion of the radioactive solid waste bucket Between and transient motion speed.

5. the motion control method of radioactive solid waste barrel detection means according to claim 1 or 4, its feature exists In the motion rail that radioactive source is calculated according to the movement locus of radioactive solid waste bucket and the initial detecting position of radioactive source Mark, and movement locus and the motion rail of the initial detecting position calculating detector of detector according to radioactive solid waste bucket Mark, including：

Calculate the distance between initial detecting position of radioactive source origin and radioactive source；

The initial detecting position of run duration and the radioactive source origin and radioactive source according to radioactive solid waste bucket The distance between put, calculate the transient motion speed of the radioactive source；

And,

The distance between initial detecting position of calculating detector origin and detector, wherein, the detector origin and detection The distance between initial detecting position of device including the vertical distance between detector origin and the initial detecting position of detector, And the horizontal range of the initial detecting position of detector origin and detector；

The initial detecting position of run duration and the detector origin and detector according to radioactive solid waste bucket Vertical distance between putting, calculates transient motion of the detector horicontal motion mechanism along detector vertical motion mechanism Speed；

The initial detecting position of run duration and the detector origin and detector according to radioactive solid waste bucket Horizontal range between putting, calculates transient motion speed of the detector along the detector horicontal motion mechanism.

6. the kinetic control system of a kind of radioactive solid waste bucket detection means, it is characterised in that the solid radiation gives up Thing bucket detection means includes radioactive source vertical motion mechanism and radioactive source；Detector vertical motion mechanism, detector level fortune Motivation structure and detector, the collimating aperture of the radioactive source are parallel to each other with the collimating aperture of the detector；It is arranged at described putting The pail for used dressings horicontal motion mechanism penetrated between source vertical motion mechanism and detector vertical motion mechanism, the pail for used dressings level fortune The side long of motivation structure is perpendicular to the vertical plane where the radioactive source and detector；And it is slidably connected to the pail for used dressings level The pail for used dressings rotation platform of motion；

The kinetic control system of the radioactive solid waste bucket detection means, including：

Voxel division module, divides radioactive solid waste bucket for the volume according to radioactive solid waste bucket It is multiple voxels；

Aspect division module, for radioactive solid waste bucket to be divided into multiple detection aspects vertically, wherein, each Detection layers face includes multiple voxels；

Aspect chooses module, for choosing initial detecting aspect from the multiple detection aspect；

Test position determining module, for determining the initial detecting aspect center of circle and being intersected vertically straight line with the vertical plane Intersection point as radioactive solid waste bucket initial detecting position；

Position computation module, for the initial detecting position according to radioactive solid waste bucket, calculates radioactive source respectively Initial detecting position and the initial detecting position of detector, wherein, the radioactive solid waste bucket, radioactive source and detector Initial detecting position level is conllinear；

First trajectory computation module, for the quality according to radioactive solid waste bucket and initial detecting position, calculates institute The movement locus of radioactive solid waste bucket is stated, wherein, the movement locus of the radioactive solid waste bucket is the initial inspection The outmost turns voxel of survey aspect is moved to the motion rail of the initial detecting position of the radioactive solid waste bucket from voxel original position Mark；

Second trajectory computation module, for movement locus and the initial detecting of radioactive source according to radioactive solid waste bucket Position calculate radioactive source movement locus, and according to the radioactive solid waste bucket movement locus and detector it is initial Test position calculates the movement locus of the detector；

Synchronous operation control module, for motion rail respectively according to radioactive solid waste bucket, radioactive source and detector Mark, controls the pail for used dressings horicontal motion mechanism, radioactive source vertical motion mechanism, detector vertical motion mechanism and detector water Flat motion synchronous operation, so that radioactive solid waste bucket, radioactive source and detector distinguish synchronizing moving to described Respective initial detecting position；

Detection control module, controls the detector to detect the radionuclide in the radioactive solid waste bucket.

7. the kinetic control system of radioactive solid waste according to claim 6 bucket detection means, it is characterised in that institute Detection control module is stated, including：

Start control submodule, for controlling the radioactive source and detector to open, to detect the radioactive solid waste bucket Interior radionuclide；

Rotation control submodule, for controlling the pail for used dressings rotation platform to be rotated by predetermined angle stepping；

Mobile control submodule, for when the pail for used dressings rotation platform rotates a circle, controlling the pail for used dressings level fortune Motivation structure moves preset distance to the initial detecting locality of radioactive solid waste bucket, repeats control pail for used dressings The step of rotation platform is rotated by predetermined angle stepping；

Position adjustment submodule, for when the innermost circle radionuclide detection of the initial detecting aspect is finished, calculating institute The initial detecting position of other detection aspects of radioactive solid waste bucket is stated, according to the initial detecting of other detection aspects The position of pail for used dressings rotation platform, radioactive source and detector described in the synchronous adjustment of position；

Nucleic detection sub-module, for detecting other each detection aspects in the radioactive solid waste bucket by preset order Radionuclide.

8. the kinetic control system of radioactive solid waste according to claim 7 bucket detection means, it is characterised in that institute Position adjustment submodule is stated, including：

First position calculating sub module, for the initial detecting position according to radioactive solid waste bucket and adjacent detection Difference in height between aspect, calculates the initial detecting position of other detection aspects；

Second place calculating sub module, for the initial detecting position according to other detection aspects, calculates the radioactive source Test point and detector test point position, wherein, it is described other detection aspects initial detecting position, the inspection of radioactive source The test point level of measuring point and detector is conllinear；

Operation control submodule, for controlling pail for used dressings rotation platform, radioactive source vertical motion mechanism and detector vertically movable Mechanism runs simultaneously, so that radioactive solid waste bucket, radioactive source and detector distinguish synchronizing moving to described other inspections The test point of the initial detecting position, the test point of radioactive source and detector of survey aspect.

9. the kinetic control system of radioactive solid waste according to claim 6 bucket detection means, it is characterised in that institute The first trajectory computation module is stated, including：

Pail for used dressings origin position determination sub-module, the position of the pail for used dressings origin for determining the radioactive solid waste bucket；

Voxel In situ FTIRS submodule, for the position according to the pail for used dressings origin and the center of circle of initial detecting aspect and institute Distance calculates voxel position in situ between stating the central point of outmost turns voxel；

First move distance calculating sub module, for according to voxel position in situ and radioactive solid waste bucket Initial detecting position, calculate the move distance of radioactive solid waste bucket；

Time speed calculating sub module, for move distance and quality according to radioactive solid waste bucket, calculates described The run duration and transient motion speed of radioactive solid waste bucket.

10. the kinetic control system of radioactive solid waste barrel detection means according to claim 6 or 9, its feature exists In, second trajectory computation module, including：

Second move distance calculating sub module, for calculate between radioactive source origin and the initial detecting position of radioactive source away from From；

First movement velocity calculating sub module, for the run duration according to radioactive solid waste bucket and the radiation The distance between initial detecting position of source origin and radioactive source, calculates the transient motion speed of the radioactive source；

And,

3rd move distance calculating sub module, between calculating detector origin and the initial detecting position of detector away from From, wherein, the distance between initial detecting position of the detector origin and detector includes detector origin and detector Initial detecting position between vertical distance, and the initial detecting position of detector origin and detector horizontal range；

Second movement velocity calculating sub module, for the run duration according to radioactive solid waste bucket and the detection Vertical distance between device origin and the initial detecting position of detector, calculates the detector horicontal motion mechanism along the spy Survey the transient motion speed of device vertical motion mechanism；

3rd movement velocity calculating sub module, for the run duration according to radioactive solid waste bucket and the detection Horizontal range between device origin and the initial detecting position of detector, calculates the detector along the detector horizontal movement The transient motion speed of mechanism.