CN-122007051-A - Automatic measurement and sorting device and method for radioactive solid waste based on vision

CN122007051ACN 122007051 ACN122007051 ACN 122007051ACN-122007051-A

Abstract

The invention discloses a vision-based automatic measurement and sorting device and method for radioactive solid waste, and relates to the technical field of solid waste treatment, comprising the following steps of S1, equipment initialization; S2, visual identification and positioning, S3, vibration dispersion, S4, flexible grabbing, S5, radioactivity detection, S6, sorting and S7, and cyclic operation. According to the automatic measurement and sorting device and method for the radioactive solid waste based on vision, the integrated design of eye-in-hand vision guidance and radioactivity detection is adopted, and the flexible grabbing technology is combined, so that automatic and accurate sorting of the radioactive solid waste is realized, the exposure risk of artificial radiation is effectively reduced, and the sorting efficiency and accuracy are improved.

Inventors

CUI ZHENG
SHAO WEI
LI SHU
XU JIAHUA
CUI YONGKANG
LIU YU
FENG YANFENG
CHEN JIAN

Assignees

山东高等技术研究院
中广核清洁能源科技(上海)有限公司
山东大学

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (9)

1. An automatic measurement and sorting method for radioactive solid waste based on vision is characterized by comprising the following steps: s1, initializing equipment, starting each module by a communication and control module, completing hand-eye calibration to obtain a hand-eye matrix, configuring RS485 bus communication parameters and Ethernet communication parameters, and moving the tail end of a mechanical arm of a cooperative robot to a visual identification position; S2, visual identification and positioning, wherein a visual identification and positioning module collects image information of a region to be sorted, and a communication and control module obtains 3D coordinates of the solid waste package under a coordinate system of a cooperative robot tool through image preprocessing, color segmentation, contour detection and coordinate conversion; S3, vibration is dispersed, the communication and control module sends grabbing coordinates to the cooperative robot module through the Ethernet unit, the cooperative robot module drives the flexible grabbing module to move to a target position, the flexible grabbing module grabs solid waste to the vibration platform in a wrapping mode, and the cooperative robot drives the bag breaking mechanism to break bags of the package, and the solid waste is dispersed and tiled through vibration; S4, flexibly grabbing, namely collecting waste image information on a vibration platform by a visual identification positioning module, distinguishing combustible waste and incombustible waste in the solid waste based on an image identification technology, and obtaining a 3D coordinate of the corresponding solid waste under a coordinate system of a cooperative robot tool; S5, detecting radioactivity, wherein the collaborative robot module drives the grabbed solid waste to move to a detection position of the radioactivity detection module, the communication and control module reads a radiation value through the RS485 bus unit, and the detection data is processed by adopting a multi-sampling average algorithm; S6, sorting, namely sorting the combustible and incombustible waste according to the identification result by the communication and control module, wherein the incombustible waste is directly put into an incombustible waste temporary storage area after detection, and the combustible waste compares the radiation value with a preset threshold value and is put into the combustible material temporary storage area: and S7, circularly operating, returning the cooperative robot module to the waiting position, pre-opening the flexible grabbing module, and repeating the steps S2-S6 to realize continuous sorting.
2. The vision-based automatic measurement and sorting method for radioactive solid wastes is characterized in that the RS485 bus unit is used for realizing communication between the communication and control module and the flexible grabbing module as well as between the communication and control module and the radioactive detection module, and the Ethernet unit is used for realizing communication between the communication and control module and the cooperative robot module.
3. The vision-based automatic measurement and sorting method for radioactive solid wastes is characterized in that the control logic of flexible grabbing in S4 is that a communication and control module sends a pretension instruction to a flexible grabbing module through an RS485 bus unit, a parcel type grabbing instruction is sent during grabbing, a feedback signal of the flexible grabbing module is received after grabbing is successful, grabbing failure control collaboration robot module returns to a standby position to try grabbing again, and sound and light alarm is triggered after grabbing fails for 3 times continuously.
4. The vision-based automatic measurement and sorting method for radioactive solid waste according to claim 3, wherein the specific process of the multi-sampling average algorithm in S5 is that the communication and control module continuously reads the radiation value for 3 times, eliminates abnormal values beyond the normal range, and takes the maximum value of the residual effective data as a final detection result.
5. The vision-based automatic measurement and sorting method for radioactive solid waste according to claim 4, wherein the radiation value in S6 is less than 0.3mSV/h, the radiation value is between 0.3 and 2mSV/h, the second temporary storage area is placed in the combustible waste, the third temporary storage area is placed in the radiation value is between 2 and 10mSV/h, and the radiation value is greater than 10mSV/h, and the fourth temporary storage area is placed in the combustible waste.
6. The vision-based automatic measurement and sorting device for the radioactive solid wastes is applied to the vision-based automatic measurement and sorting method for the radioactive solid wastes, which is characterized by comprising a cooperative robot module, a vision-recognition positioning module, a flexible grabbing module, a bag breaking mechanism module, a radioactivity detection module and a communication and control module, wherein the communication and control module is arranged on the upper part of a workbench, the upper part of the workbench is connected with the cooperative robot module, the tail end of the cooperative robot module is connected with the flexible grabbing module, the upper part of the flexible grabbing module is connected with the vision-recognition positioning module through a customized bracket, the back of the flexible grabbing module is connected with the bag breaking mechanism module through the customized bracket, and the bag breaking mechanism module is arranged in the grabbing direction towards the flexible grabbing module.
7. The vision-based automatic measurement and sorting device for radioactive solid wastes according to claim 6, wherein the flexible grabbing module is an industrial bionic hand, the cooperative robot module is an industrial robot, the visual identification positioning module is a 3D camera, the resolution is not less than 640×480, the frame rate is not less than 30fps, and the depth accuracy is not more than +/-2%.
8. The vision-based automatic measurement and sorting device for radioactive solid wastes according to claim 6, wherein the radioactivity detection module is fixed in a working space of the cooperative robot module, and the detection accuracy of the radioactivity detection module is not more than +/-0.1 mu Sv/h.
9. The vision-based automatic measurement and sorting device for radioactive solid waste according to claim 6, wherein the communication and control module is internally provided with a vision processing algorithm, a coordinate conversion algorithm and cooperative control logic, and comprises an RS485 bus unit and an Ethernet unit, and the communication delay of the Ethernet unit is not more than 100ms.

Description

Automatic measurement and sorting device and method for radioactive solid waste based on vision Technical Field The invention relates to the technical field of solid waste treatment, in particular to an automatic measurement and sorting device and method for radioactive solid waste based on vision. Background The radioactive solid waste mainly comes from the fields of nuclear industrial production, medical radioactive diagnosis and treatment, scientific research experiments and the like, and has the characteristics of strong radioactivity, long hazard period, high treatment difficulty and the like, and if the radioactive solid waste is improperly sorted, the radioactive solid waste can cause environmental pollution and human radiation injury. The traditional radioactive solid waste sorting mainly depends on manual operation or simple mechanical sorting, and has the obvious defects that (1) the manual sorting efficiency is low, operators directly contact radioactive substances, the health risk is extremely high, (2) the simple mechanical sorting lacks of accurate positioning and visual guiding capability, has poor cooperativity with radioactive detection and influences the sorting efficiency and stability, and (3) the grabbing mechanism is a rigid clamping jaw, cannot adapt to irregular-shaped solid waste, and is prone to wrong sorting and missing sorting. Disclosure of Invention The invention aims to provide an automatic measurement sorting device and method for radioactive solid waste based on vision, which can realize automatic and accurate sorting of the radioactive solid waste, reduce the exposure risk of artificial radiation, improve the sorting efficiency and accuracy, adapt to the radioactive solid waste with irregular shape and enhance the operation stability and environmental adaptability of the device. In order to achieve the above object, the present invention provides an automatic measurement and sorting method for radioactive solid waste based on vision, comprising the steps of: s1, initializing equipment, starting each module by a communication and control module, completing hand-eye calibration to obtain a hand-eye matrix, configuring RS485 bus communication parameters and Ethernet communication parameters, and moving the tail end of a mechanical arm of a cooperative robot to a visual identification position; S2, visual identification and positioning, wherein a visual identification and positioning module collects image information of a region to be sorted, and a communication and control module obtains 3D coordinates of the solid waste package under a coordinate system of a cooperative robot tool through image preprocessing, color segmentation, contour detection and coordinate conversion; S3, vibration is dispersed, the communication and control module sends grabbing coordinates to the cooperative robot module through the Ethernet unit, the cooperative robot module drives the flexible grabbing module to move to a target position, the flexible grabbing module grabs solid waste to the vibration platform in a wrapping mode, and the cooperative robot drives the bag breaking mechanism to break bags of the package, and the solid waste is dispersed and tiled through vibration; S4, flexibly grabbing, namely collecting waste image information on a vibration platform by a visual identification positioning module, distinguishing combustible waste and incombustible waste in the solid waste based on an image identification technology, and obtaining a 3D coordinate of the corresponding solid waste under a coordinate system of a cooperative robot tool; S5, detecting radioactivity, wherein the collaborative robot module drives the grabbed solid waste to move to a detection position of the radioactivity detection module, the communication and control module reads a radiation value through the RS485 bus unit, and the detection data is processed by adopting a multi-sampling average algorithm; S6, sorting, namely sorting the combustible and incombustible waste according to the identification result by the communication and control module, wherein the incombustible waste is directly put into an incombustible waste temporary storage area after detection, and the combustible waste compares the radiation value with a preset threshold value and is put into the combustible material temporary storage area: and S7, circularly operating, returning the cooperative robot module to the waiting position, pre-opening the flexible grabbing module, and repeating the steps S2-S6 to realize continuous sorting. Preferably, the RS485 bus unit is used for realizing the communication between the communication and control module, the flexible grabbing module and the radioactivity detection module, and the Ethernet unit is used for realizing the communication between the communication and control module and the cooperative robot module. The control logic of the flexible grabbing in the S4 is that the communication and control module s