CN216210660U - Mobile radioactive source online identification and disposal system - Google Patents
Mobile radioactive source online identification and disposal system Download PDFInfo
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- CN216210660U CN216210660U CN202122733169.6U CN202122733169U CN216210660U CN 216210660 U CN216210660 U CN 216210660U CN 202122733169 U CN202122733169 U CN 202122733169U CN 216210660 U CN216210660 U CN 216210660U
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Abstract
The utility model provides a mobile radioactive source on-line identification and treatment system, which relates to the technical field of radiation detection and comprises the following components: the radioactive substance image positioning device comprises a radioactive substance image positioning instrument, a cradle head and a carrier, wherein the cradle head is arranged on the carrier, and the radioactive substance image positioning instrument is arranged on the cradle head; the radioactive substance image positioning instrument is used for detecting the radioactive substance in the region to be inspected and determining attribute information of the radioactive substance, wherein the attribute information comprises: nuclide species, radiation intensity, radiation image, spatial position information and discovery time; the holder is used for adjusting the detection angle of the radioactive substance image positioning instrument; the carrier is used for bearing the radioactive substance image position indicator and the cloud deck and moves in an area to be patrolled and examined, and the technical problem that workers are easy to radiate radioactive substances due to the fact that the existing mobile radiation monitoring equipment is mainly handheld is solved.
Description
Technical Field
The utility model relates to the technical field of radiation monitoring, in particular to a mobile radioactive source on-line recognition and disposal system.
Background
In the shipping and storage sites of goods such as customs and harbors, radioactive detection of metals, minerals, coal and other substances is generally required at different stages before, during and after unloading, and nuclear and radiation overproof events in the region are monitored. However, the existing fixed radiation monitoring equipment has a limited monitoring range and cannot fully detect substances to be detected; the mobile radiation monitoring equipment is mainly handheld, workers need to hold the monitoring equipment to enter a field, and whether the radioactivity in the field exceeds the standard cannot be judged in advance, so that the workers cannot be guaranteed not to be irradiated by the radioactivity and endanger the health of the bodies. Especially, in the nuclear emergency site, the reactor decommissioned core, the nuclear radiation terrorist event, etc., the nuclear radiation detector is not suitable for the staff to enter the site to perform the radiation detection and the radioactive substance disposal work.
No effective solution has been proposed to the above problems.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide an online identification and disposal system for a mobile radiation source, so as to alleviate the technical problem that the existing mobile radiation monitoring device is mainly handheld, so that the workers are easily exposed to radiation to radioactive materials.
In a first aspect, an embodiment of the present invention provides an online identification treatment system for a mobile radiation source, including: the radioactive substance image positioning device comprises a radioactive substance image positioning instrument, a cloud deck and a carrier, wherein the cloud deck is arranged on the carrier, and the radioactive substance image positioning instrument is arranged on the cloud deck; the radioactive substance image locator is used for detecting the radioactive substance in the area to be inspected and determining the attribute information of the radioactive substance, wherein the attribute information comprises: nuclide species, radiation intensity, radiation image, spatial position information and discovery time; the holder is used for adjusting the detection angle of the radioactive substance image positioning instrument; and the carrier is used for bearing the radioactive substance image positioning instrument and the holder and moving in the area to be inspected.
Further, the mobile radioactive source online identification treatment system further comprises: a grasping apparatus, wherein the grasping apparatus is disposed on the carrier; the grasping equipment is used for grasping the radioactive substances; the carrier is further configured to transport the radioactive substance to a preset area after the grasping device grasps the radioactive substance, so as to seal the radioactive substance.
Further, the grasping apparatus includes: the carrier comprises a mechanical arm and electric claws, wherein the mechanical arm is arranged on the carrier, and the electric claws are arranged on the mechanical arm.
Further, the grasping apparatus further includes: the image acquisition equipment is arranged at the joint of the electric claw and the mechanical arm; the image acquisition equipment is used for acquiring real-time image information of the radioactive substance in the grabbing process.
Further, the mobile radioactive source online identification treatment system further comprises: the system comprises communication equipment and terminal equipment, wherein the communication equipment is respectively connected with the radioactive substance image positioning instrument, the cradle head, the carrier, the grabbing equipment and the terminal equipment; the communication device is used for sending the attribute information and the real-time image information to the terminal device; the terminal device is used for controlling the working state of the mobile radioactive source online identification treatment system, wherein the working state comprises: an automatic inspection state, a manual inspection state and a semi-automatic inspection state.
Further, the robot arm includes: the device comprises a first fixing device, a plurality of arm bodies, a plurality of rotating devices and a second fixing device, wherein the first fixing device is connected with a first arm body through the rotating devices, any two adjacent arm bodies in the plurality of arm bodies are connected through the rotating devices, and the second fixing device is connected with a last arm body; the first fixing device is used for fixing the mechanical arm on the carrier; and the second fixing device is used for fixing the electric claw on the last arm body.
Further, the robot arm further includes: the telescopic structure, wherein, be provided with a telescopic structure in every arm body.
Further, the robot arm further includes: and the protection equipment is used for carrying out radioactive protection on the mechanical arm, the electric claw and the image acquisition equipment.
Further, the mobile radioactive source online identification treatment system further comprises: the alarm device is connected with the radioactive substance image positioning instrument; the alarm device is used for generating an alarm signal after the radioactive substance image locator detects the radioactive substance.
Further, the mobile radioactive source online identification treatment system further comprises: the cradle head is arranged on the guide rail at the top of the carrier through the adapter plate.
In the embodiment of the utility model, the mobile radioactive source online identification processing system comprises a radioactive substance image positioning instrument, a cradle head and a carrier, wherein the cradle head is arranged on the carrier, and the radioactive substance image positioning instrument is arranged on the cradle head; the radioactive substance image locator is used for detecting the radioactive substance in the area to be inspected and determining the attribute information of the radioactive substance, wherein the attribute information comprises: nuclide species, radiation intensity, radiation image, spatial position information and discovery time; the holder is used for adjusting the detection angle of the radioactive substance image positioning instrument; the carrier is used for bearing the radioactive substance image positioner and the cloud platform, and waiting to patrol and examine the regional internal motion, reached and need not the handheld monitoring facilities of staff just can carry out the purpose that detects to radioactive substance, and then solved current portable radiation monitoring facilities and used handheld as leading to the staff receiving the technical problem of radiation easily to radioactive substance to the technical effect of guarantee staff's safety has been realized.
Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of an online identification and disposal system for a mobile radioactive source according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a second mobile radioactive source on-line identification handling system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an online identification and treatment system for a third mobile radioactive source according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
according to an embodiment of the present invention, an embodiment of an online identification and treatment system for a mobile radiation source is provided, and fig. 1 is a schematic diagram of an online identification and treatment system for a mobile radiation source according to an embodiment of the present invention, as shown in fig. 1, the online identification and treatment system for a mobile radiation source includes: the radioactive substance image positioning device comprises a radioactive substance image positioning instrument 10, a cloud deck 20 and a carrier 30, wherein the cloud deck is arranged on the carrier, and the radioactive substance image positioning instrument is arranged on the cloud deck;
the radioactive substance image locator 10 is configured to detect a radioactive substance in an area to be inspected, and determine attribute information of the radioactive substance, where the attribute information includes: nuclide species, radiation intensity, radiation image, spatial position information and discovery time;
specifically, the radioactive substance image positioning instrument can be used for remotely and accurately positioning the radioactive substance and identifying nuclides, the technology is realized through the technology of integrating radiation imaging of the coding plate and optical imaging of the high-definition camera, the integrated image can directly display the radioactive substance in the optical image and track the radioactive substance in real time, and radiation visualization is really realized.
The holder 20 is configured to adjust a detection angle of the radioactive substance image positioning instrument;
preferably, the cradle head is a two-shaft cradle head, horizontal 360-degree continuous rotation and pitching large-angle rotation are supported, and the functions of automatic cruise and automatic reset can be realized.
The holder is arranged on the guide rail at the top of the carrier through the adapter plate.
The carrier 30 is configured to carry the radioactive substance image positioning instrument and the cradle head, and move in the area to be inspected.
Preferably, the carrier adopts a ground vehicle, the ground vehicle adopts a high-precision laser radar and high-performance industrial control, and autonomous positioning navigation, route planning and obstacle avoidance can be completed in complex indoor and outdoor environments such as a warehouse, a mine field and the like.
It should be noted that the carrier may also adopt other devices capable of automatically operating, such as an unmanned aerial vehicle, which can carry the pan/tilt and the radioactive substance image locator.
In the embodiment of the utility model, the mobile radioactive source online identification processing system comprises a radioactive substance image positioning instrument, a cradle head and a carrier, wherein the cradle head is arranged on the carrier, and the radioactive substance image positioning instrument is arranged on the cradle head; the radioactive substance image locator is used for detecting the radioactive substance in the area to be inspected and determining the attribute information of the radioactive substance, wherein the attribute information comprises: nuclide species, radiation intensity, radiation image, spatial position information and discovery time; the holder is used for adjusting the detection angle of the radioactive substance image positioning instrument; the carrier is used for bearing the radioactive substance image positioner and the cloud platform, and waiting to patrol and examine the regional internal motion, reached and need not the handheld monitoring facilities of staff just can carry out the purpose that detects to radioactive substance, and then solved current portable radiation monitoring facilities and used handheld as leading to the staff receiving the technical problem of radiation easily to radioactive substance to the technical effect of guarantee staff's safety has been realized.
In an embodiment of the present invention, the mobile radioactive source online identification handling system further includes: a grasping apparatus, wherein the grasping apparatus is disposed on the carrier;
the grasping equipment is used for grasping the radioactive substances;
the carrier is further configured to transport the radioactive substance to a preset area after the grasping device grasps the radioactive substance, so as to seal the radioactive substance.
In an embodiment of the present invention, as shown in fig. 2, the grasping apparatus includes: a robotic arm 40 disposed on the carrier and an electrical jaw 50 disposed on the robotic arm.
In the embodiment of the present invention, as shown in fig. 2, the grasping apparatus further includes: an image acquisition device 60, wherein the image acquisition device is arranged at the connection of the electric claw and the mechanical arm;
the image acquisition device 60 is configured to acquire real-time image information of the capturing process of the radioactive substance.
In an embodiment of the present invention, the mobile radioactive source online identification handling system further includes: the system comprises communication equipment and terminal equipment, wherein the communication equipment is respectively connected with the radioactive substance image positioning instrument, the cradle head, the carrier, the grabbing equipment and the terminal equipment;
the communication device is used for sending the attribute information and the real-time image information to the terminal device;
the terminal device is used for controlling the working state of the mobile radioactive source online identification treatment system, wherein the working state comprises: an automatic inspection state, a manual inspection state and a semi-automatic inspection state.
Preferably, the communication device is respectively connected with the radioactive substance image positioning instrument, the cradle head, the carrier, the grasping device and the terminal device through wireless communication, a series of treatment operations such as online identification, grasping transfer and the like of the radioactive source can be remotely realized by the terminal device, close-range contact between a worker and a nuclear radioactive source is avoided, and the worker is guaranteed not to be irradiated by radioactivity and endanger the health of the body.
It should be noted that the grabbing process flow is completed cooperatively by the image acquisition device, the electric claw, the mechanical arm and the terminal device, and the terminal device continuously analyzes and plans the stroke route of the mechanical arm and judges the grabbing time of the electric claw through the real-time transmission data of the camera. The process puts higher requirements on the data processing capacity of the terminal equipment, and the optimized electric claw also has a force adaptation function so as to ensure that the target nuclear power source is not damaged and not dropped.
After the electric claw grabs the target nuclear radioactive source, the equipment can be remotely and manually operated to reach a preset nuclear radioactive source disposal position, and the nuclear radioactive source is subjected to disposal operations such as sealing and hiding.
In the embodiment of the utility model, the carrier has an autonomous positioning and navigation function; the holder has an automatic cruising function.
If the working state of the mobile radioactive source online identification processing system is the automatic inspection state, the carrier moves according to a preset route, and the cradle head controls the radioactive substance image positioning instrument to detect the radioactive substances in the area to be inspected according to a preset detection angle;
if the working state of the mobile radioactive source online identification processing system is the manual inspection state, the carrier moves according to a first control instruction, and the cradle head adjusts the detection angle of the radioactive substance image positioning instrument according to a second control instruction, wherein the first control instruction and the second control instruction are both instructions input by a worker through the terminal equipment;
if the working state of the mobile radioactive source online identification processing system is the semi-automatic inspection state, the carrier moves according to a preset route and the cradle head adjusts the detection angle of the radioactive substance image positioning instrument according to a second control instruction, or the carrier moves according to a first control instruction and the cradle head detects the radioactive substance in the area to be inspected according to a preset detection angle.
Specifically, if the carrier adopts a ground vehicle, the ground vehicle can be placed on a site to be detected, the ground vehicle realizes map drawing through laser reflection positioning, and then an advancing route is manually planned. This portable radiation source online discernment cloud platform for processing system can realize automatic cruise, and specific operation flow is: the method is characterized in that a plurality of point location angle information are preset, then point location switching is automatically executed by a program, and the switching interval duration and the switching speed can be freely set.
Automatic inspection state: and simultaneously, the autonomous positioning navigation function of the ground vehicle and the automatic cruise function of the holder are started, the ground vehicle and the holder complete automatic inspection according to respective preset lines, and after the radioactive substance image positioning instrument detects the radioactive substance, the radioactive substance image positioning instrument and the control host alarm and retain related information at the same time so as to be used for subsequent inquiry and treatment of the radioactive substance.
And (3) manual inspection state: the display image of the radioactive substance image positioning instrument is used as a control visual field to control the forward movement, the backward movement and the turning of the ground vehicle and the horizontal angle and the pitching angle conversion of the holder, and the control button and the control conversion button are integrated on a software main interface, so that the operation process is simple. After the radioactive substance image locator detects the radioactive substance, the information of the radioactive substance can be clearly presented in the image, the alarm is triggered, and the radioactive substance can be timely disposed according to the alarm information.
Semi-automatic inspection state: the automatic navigation device can independently start the autonomous positioning navigation of the ground vehicle and the automatic cruising of the holder, and when one device is started to automatically patrol and survey the mode, the other device can carry out manual operation matching and patrol and survey according to requirements so as to ensure that the spatial dead angle is cleared and patrolled and surveyed to the maximum extent.
Software installed on a control terminal of the mobile radioactive source online identification disposal system comprises a main interface, a visual field image, a ground vehicle and a cradle head control button, wherein a secondary interface respectively realizes related display and functions (map drawing presentation, route planning setting and the like) of the ground vehicle, related display and functions (point location information query setting, cradle head reset and automatic patrol setting and the like) of the cradle head, and related display and functions (radioactive substance alarm information query, system parameter setting and the like) of a radioactive substance image positioning instrument.
Preferably, the mobile radioactive source online identification treatment system further comprises: the alarm device is connected with the radioactive substance image positioning instrument;
the alarm device is used for generating an alarm signal after the radioactive substance image locator detects the radioactive substance.
In the embodiment of the present invention, as shown in fig. 3, the robot arm 40 includes: a first fixing device 41, a plurality of arm bodies 42, a plurality of rotating devices 43 and a second fixing device 44, wherein the first fixing device is connected with a first arm body through the rotating devices, any two adjacent arm bodies in the plurality of arm bodies are connected through the rotating devices, and the second fixing device is connected with a last arm body;
the first fixing device is used for fixing the mechanical arm on the carrier;
and the second fixing device is used for fixing the electric claw on the last arm body.
Preferably, the robot arm further comprises: the telescopic structure, wherein, be provided with a telescopic structure in every arm body.
The robot arm further includes: and the protection equipment is used for carrying out radioactive protection on the mechanical arm, the electric claw and the image acquisition equipment.
In the embodiment of the utility model, the mechanical arm is designed in a multi-joint mode (namely, the mechanical arm comprises a plurality of arm bodies and a plurality of rotating devices), the degree of freedom is high, and the motion range is wide. Be equipped with high definition digtal camera (image acquisition equipment) and multi-functional electric claw, image acquisition equipment guarantees the spatial position information of real-time transmission radioactive substance, and multi-functional electric claw needs possess dynamics adaptation and snatchs functions such as suggestion that drops. For the high-strength radioactive substance disposal work, the radioactivity protection grade of the mechanical arm, the image acquisition equipment and the multifunctional electric claw can be improved through a reasonable scheme if necessary, for example, the mechanical arm, the image acquisition equipment and the multifunctional electric claw can be wrapped by an isolation layer, or the mechanical arm, the image acquisition equipment and the multifunctional electric claw are prevented from being radiated by the radioactive substance in the form of covering isolation coatings on the surfaces of the mechanical arm, the image acquisition equipment and the multifunctional electric claw.
In summary, the mobile radioactive source online identification processing system in the embodiment of the present invention can autonomously and movably detect nuclear radioactive sources, provide monitoring capability, timely store relevant radioactive substance information, support lookup, reduce personnel attendance, and reduce labor cost.
The mechanical arm is automatically disposed to replace manpower, so that the working efficiency is improved, the working time is prolonged, and the working quality is guaranteed.
All the devices of the mobile radioactive source on-line identification treatment system can be remotely controlled by terminal devices, so that the nuclear radiation dose of operators in various inspection and maintenance treatments is reduced to a great extent, and the life health benefits of workers are guaranteed.
The equipment is small in size, convenient to pass through and bypass obstacles, strong in mobility and capable of rapidly reaching an operation place.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An online identification and treatment system for a mobile radioactive source, comprising: the radioactive substance image positioning device comprises a radioactive substance image positioning instrument, a cloud deck and a carrier, wherein the cloud deck is arranged on the carrier, and the radioactive substance image positioning instrument is fixed on the cloud deck;
the radioactive substance image locator is used for detecting the radioactive substance in the area to be inspected and determining the attribute information of the radioactive substance, wherein the attribute information comprises: nuclide species, radiation intensity, radiation image, spatial position information and discovery time;
the holder is used for adjusting the detection angle of the radioactive substance image positioning instrument;
and the carrier is used for bearing the radioactive substance image positioning instrument and the holder and moving in the area to be inspected.
2. The mobile radiation source online identification handling system of claim 1, further comprising: a grasping apparatus, wherein the grasping apparatus is disposed on the carrier;
the grasping equipment is used for grasping the radioactive substances;
the carrier is further configured to transport the radioactive substance to a preset area after the grasping device grasps the radioactive substance, so as to seal the radioactive substance.
3. The mobile radioactive source online identification disposal system of claim 2, wherein the grasping apparatus comprises: the carrier comprises a mechanical arm and electric claws, wherein the mechanical arm is arranged on the carrier, and the electric claws are arranged on the mechanical arm.
4. The mobile radioactive source online identification disposal system of claim 3, wherein the grasping apparatus further comprises: the image acquisition equipment is arranged at the joint of the electric claw and the mechanical arm;
the image acquisition equipment is used for acquiring real-time image information of the radioactive substance in the grabbing process.
5. The mobile radiation source online identification handling system of claim 4, further comprising: the system comprises communication equipment and terminal equipment, wherein the communication equipment is respectively connected with the radioactive substance image positioning instrument, the cradle head, the carrier, the grabbing equipment and the terminal equipment;
the communication device is used for sending the attribute information and the real-time image information to the terminal device;
the terminal device is used for controlling the working state of the mobile radioactive source online identification treatment system, wherein the working state comprises: an automatic inspection state, a manual inspection state and a semi-automatic inspection state.
6. The mobile radioactive source online identification disposal system of claim 3, wherein the robotic arm comprises: the device comprises a first fixing device, a plurality of arm bodies, a plurality of rotating devices and a second fixing device, wherein the first fixing device is connected with a first arm body through the rotating devices, any two adjacent arm bodies in the plurality of arm bodies are connected through the rotating devices, and the second fixing device is connected with a last arm body;
the first fixing device is used for fixing the mechanical arm on the carrier;
and the second fixing device is used for fixing the electric claw on the last arm body.
7. The mobile radioactive source online identification handling system of claim 6, wherein the robotic arm further comprises: the telescopic structure, wherein, be provided with a telescopic structure in every arm body.
8. The mobile radioactive source online identification handling system of claim 4, wherein the robotic arm further comprises:
and the protection equipment is used for carrying out radioactive protection on the mechanical arm, the electric claw and the image acquisition equipment.
9. The mobile radiation source online identification handling system of claim 1, further comprising: the alarm device is connected with the radioactive substance image positioning instrument;
the alarm device is used for generating an alarm signal after the radioactive substance image locator detects the radioactive substance.
10. The mobile radiation source online identification handling system of claim 1, further comprising: the cradle head is arranged on the guide rail at the top of the carrier through the adapter plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202122733169.6U CN216210660U (en) | 2021-11-09 | 2021-11-09 | Mobile radioactive source online identification and disposal system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122733169.6U CN216210660U (en) | 2021-11-09 | 2021-11-09 | Mobile radioactive source online identification and disposal system |
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| CN216210660U true CN216210660U (en) | 2022-04-05 |
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| CN202122733169.6U Active CN216210660U (en) | 2021-11-09 | 2021-11-09 | Mobile radioactive source online identification and disposal system |
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