JP6643115B2 - Method and apparatus for measuring radioactive concentration of radioactive waste - Google Patents

Description

  The present invention relates to a radioactive waste radioactivity concentration measurement method and apparatus suitable for measuring the radioactivity concentration of radioactive waste generated following decommissioning of nuclear power generation facilities and the like in a rational and highly accurate manner.

  In the decommissioning of nuclear power facilities, a large amount of waste is generated due to the demolition of the facilities. These include radioactive and contaminated waste, for which it is necessary to measure the radioactivity concentration and treat and dispose of it according to the radioactivity concentration level. . For example, a waste body having an extremely low radioactivity concentration is called L3 waste, and is planned to be buried in a trench after being housed in a container.

  It is assumed that the radioactivity concentration measurement of the waste is performed by arranging a radiation detector outside the container storing the waste. It is also conceivable to measure the radioactivity concentration from outside the container filled with sand after storing the waste. This is because it is assumed that after filling the container with waste and sand, the lid is closed to prevent subsequent intrusion of foreign matter and expansion of secondary contamination.

  As a method of measuring the radioactivity concentration of radioactive waste stored in such a container, there is a method described in Patent Document 1. In Patent Literature 1, cutting and molding are performed on an object to be measured so that contamination can be easily measured.

  As another method of measuring the radioactivity concentration of radioactive waste stored in a container, there is a method disclosed in Patent Document 2. Patent Literature 2 discloses a method in which measurement is performed from the outside of a container containing waste using two types of detectors, a NaI detector and a Ge detector. Specifically, two types of detectors are placed opposite each other so as to sandwich the container, and from the measurement results obtained in the facing direction, the source intensity is calculated by excluding the influence of the position of the source, and then the point is calculated. The radionuclide content is estimated by integrating the existing source intensities.

JP 2007-248066 A JP 2005-180936 A

  The method described in Patent Literature 1 requires a large amount of demolition waste generated from a nuclear power generation facility or the like, which requires cutting or molding as a pretreatment for measurement, which is time-consuming and expensive. .

  In addition, the size of the container under consideration is as large as about 1 m on one side, so that the attenuation of gamma rays is large due to the shielding effect of waste and the container wall. In the case where the measurement is performed after further filling with sand, the attenuation of gamma rays is further increased. Therefore, there is a problem that gamma ray measurement outside a container becomes difficult as described in Patent Document 2.

  In particular, when the level of radioactivity concentration is low, such as L3 waste, it is extremely difficult to measure gamma rays from the source even if there is a concentration distribution in which the source exists in the center of the container. There is a problem that it is difficult. In addition, there is a problem that even when the measurement is performed over a long time, a very long time is required, and it is extremely difficult to perform the measurement in a realistic time.

  From the above, the object of the present invention is to accurately measure even when the radioactive waste contained in the container has a low radioactive concentration level and the radioactive waste in the container has a radioactive concentration distribution. An object of the present invention is to provide a method and an apparatus for measuring the radioactive concentration of radioactive waste.

  The present invention includes a plurality of means for solving the above-mentioned problems. As an example, the present invention relates to a method for measuring the radioactive concentration of radioactive waste stored in a container having an opening. Detecting the position of the radioactive waste by visually observing the inside, determining the clearance space into which the radiation measuring instrument can be inserted, and obtaining the measurement result of the radiation measuring instrument inserted into the clearance space together with information on the insertion position in the clearance space This is a method for measuring the radioactive concentration of radioactive waste.

  Further, the present invention is an apparatus for measuring the radioactive concentration of radioactive waste stored in a container with an upper lid removed, comprising a three-dimensional measuring device and a radiation measuring device, The container with the upper lid removed is visually recognized from above to detect the position of the radioactive waste, determine a gap space in which a radiation measuring instrument can be inserted, and the radiation measurement device measures the radiation in the determined gap space. An apparatus for measuring the concentration of radioactive waste radioactivity, characterized in that a measuring instrument and a position detector of a radiation measuring instrument are inserted to obtain a measurement result of the radiation measuring instrument together with information on an insertion position in the gap.

  Accurate measurement can be performed even when the level of the radioactive concentration of the radioactive waste stored in the container is low and when the radioactive waste in the container has a radioactive concentration distribution.

The figure which shows a series of outline processing in the waste processing and measuring equipment which concern on this invention. The figure which showed an example of the processing flow of the waste measuring method which concerns on this invention. FIG. 3 is a diagram illustrating an example of an apparatus for performing three-dimensional measurement in the processing flow of FIG. 2. The figure which showed an example of the radioactive waste stored in the container. The figure which shows the example of the clearance gap 41 into which the radiation spectrum measuring instrument 31 can be inserted. The figure which shows an example of the radiation measuring device 200. The figure which shows a mode that the guide tube 51 is inserted in the container 1 concretely. The figure which shows a mode that the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 are inserted in the guide tube 51. The figure which shows a mode that a measurement point is changed and it measures. The figure which shows the top view of the container 1. The figure which shows the AA cross section of the container 1 of FIG. The figure which shows an example of the method of measuring the large plate-shaped radioactive waste 2. FIG. The figure which shows an example of the method of attaching the collimator 34 to the radiation spectrum measuring instrument 31, and measuring.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  A series of schematic processes in the waste treatment and measurement equipment according to the present invention will be described with reference to FIG.

  FIG. 1 shows a disassembly place P1 and a measurement place P2. The dismantling site P1 is a nuclear power generation facility subject to decommissioning. After dismantling waste 2 is stored in the container 1, the dismantling waste 2 is covered with the lid 3 as required, and is carried into the measuring site P2. The measurement place P2 is preferably installed indoors if possible. The container carried into the measuring place P2 is measured after the radioactivity concentration of the radioactive waste stored in the container with the cover removed, and then filled with sand and then carried out with the cover covered, for example, in a trench. Buried.

  As a process for measuring the radioactivity concentration of the radioactive waste 2 at the measurement place P2, three-dimensional measurement and radiation measurement of the waste 2 are executed. For this reason, in the waste measuring method according to the present invention, internal measurement of the container is enabled instead of measurement from the outside of the container.

  FIG. 2 shows an example of the flow of the measuring method in the present invention. The present measuring method includes the processes of steps S101 to S108. Steps S101 to S104 indicate processing steps for three-dimensional measurement, and steps S105 to S108 indicate processing steps for radiation measurement.

  In the measurement method of the present invention, in the first step S101, the container 1 containing the radioactive waste 2 is received in the measurement place P2. The received container 1 is usually closed with a lid (not shown) for the purpose of preventing foreign substances from being mixed and secondary contamination from spreading.

  Therefore, in step S102, the lid 3 on the container 1 is opened so that the inside of the container 1 can be checked. When opening the lid 3, it is desirable to take measures such as curing to prevent the secondary contamination from spreading. Further, in some cases, it is conceivable that the lid 1 is not provided on the container 1. In that case, step S102 may be skipped.

  Next, in step S103, the position of the radioactive waste 2 stored in the container 1 is measured three-dimensionally from above the container.

  FIG. 3 shows an example of the three-dimensional measuring apparatus 100 that realizes step S103. The system for realizing step S103 includes a first linear actuator 12 supported by the support leg 11, a second linear actuator 13 attached to the first linear actuator 12 in a direction orthogonal to the first linear actuator 12, and a second linear actuator 13. The three-dimensional position measuring device 21 attached to the linear actuator 13, the control device 14 for controlling the first linear actuator 12 and the second linear actuator 13 are measured and controlled by the three-dimensional position measuring device 21 and output from the same. It comprises a measurement control / data collection device 22 for collecting measurement data.

  The second linear actuator 13 is translated by the first linear actuator 12 in the direction of the arrow 15 according to a control signal from the control device 14. In addition, the three-dimensional position measuring device 21 is translated by the second linear actuator 13 in the direction of the arrow 23 according to the control signal from the control device 14.

  If the translation direction 15 of the first linear actuator 12 is a movement in the lateral direction with respect to the container 1, the translation direction 23 of the second linear actuator 13 is a movement in the vertical direction with respect to the container 1. It is. In addition, the three-dimensional position measuring device 21 looks down at the storage container 1 from above. Thereby, the storage position of the radioactive waste 2 stored in the container 1 can be three-dimensionally measured.

  FIG. 4 shows an example of the radioactive waste 2 stored in the container 1. This figure shows an example of an image obtained by looking down on the storage container 1 from above by the three-dimensional measuring apparatus 100 in FIG. In the example of the figure, the heat transfer tube group used in the heat exchanger as the radioactive waste 2 is taken as an example. Conventionally, the heat transfer tube was housed in the container 1 after further shredding. However, in order to greatly reduce the number of cutting steps, as shown in FIG. I am cutting it. The three-dimensional position measuring device 21 shown in FIG. 3 measures the position of the radioactive waste 2 in the container 1 from above the container 1.

  An example of the three-dimensional position measuring device 21 is a laser distance measuring device that measures the distance to the target using the reflection of the laser light applied to the target. The pinpoint measurement type laser distance measuring device has high measurement accuracy, but has a narrow field of view that can be measured. In this case, the scanning procedure is programmed in advance, and based on the scanning procedure, the control device 14 and the measurement control / data collection device 22 scan the laser distance measuring device to obtain the position information of the radioactive waste 2 in the container 1. It is possible to get. Further, by generating a map of the position of the radioactive waste 2 in the container 1 from the position information of the radioactive waste 2 in the container 1 obtained by the scan, the insertion position of the radiation spectrum measuring instrument 31 described later is determined. It becomes easier to do.

  Another example of a laser range finder is a so-called laser range finder (LRF). The LRF scans the irradiated laser beam in a fan shape by reflecting the laser beam on a rotating mirror. For this reason, there is a feature that the measurement visual field range is much wider than that of a pinpoint measurement type laser distance measurement device. The measurement data by the LRF is output as point group data which is a three-dimensional coordinate value of a point (X, Y, Z) with respect to a reference origin (for example, a laser emission point). A map similar to the case where scanning is performed using the linear actuator 13 and the linear actuator 13 can be formed in a short time.

  As an example of the three-dimensional position measuring device 21, it is also possible to use a stereo camera that obtains a distance from camera images taken from at least two different directions by using the triangular distance principle. In this case, although the accuracy is inferior to the distance measurement using a laser, storing the storage state of the radioactive waste 2 in an optical camera makes it easier to visually grasp the storage state. is there. In addition, since the measurement accuracy of the laser distance measuring device may be reduced for an object having a metallic luster, a stereo camera can be used when the radioactive waste 2 having a metallic luster is mainly used. On the other hand, in the case of a stereo camera, distance measurement may be difficult when an object has little change in undulation such as unevenness such as a flat plate. For this reason, robust measurement is possible by using a laser distance measuring device and a stereo camera together.

  Returning to the flowchart of FIG. 2, in the next step S104, based on the three-dimensional position measurement data in step S103, a gap 41 into which a radiation spectrum measuring instrument 31 described later can be inserted is searched for and extracted.

  FIG. 5 is a diagram showing an example of the gap 41 into which the radiation spectrum measuring instrument 31 obtained as a result of the processing in step S104 can be inserted. The gap 41 indicates a region where the radiation spectrum measuring instrument 31 inserted from the top of the container 1 can be inserted toward the bottom of the container 1.

  Specifically, the processing in step S104 is performed by inputting in advance the size of the radiation spectrum measuring device 31 used for measurement and the size of the radiation spectrum measuring device position detector 32 to be described later, and the container 1 generated in step S103. The gap 41 for inserting the radiation spectrum measuring instrument 31 and the radiation spectrum measuring instrument position detector 32 is searched for by comparing the map information (FIG. 4) of the radioactive waste 2 in FIG. Basically, the size of the gap 41 in the direction in which the visual field spreads when the container 1 is viewed from above may be used as a criterion.

  FIG. 5 shows an image obtained when map information of the radioactive waste 2 in the container 1 generated in step S103 and the gap 41 extracted by the gap search in step S104 are displayed on a screen of a computer or the like. At this time, for each position of the extracted gap 41, information such as how much space is present in the viewing direction is also acquired, so that the insertion depth of the radiation spectrum measuring instrument 31 described later is determined. It can be used as a judgment material for making a decision.

  Steps S101 to S104 described above are the three-dimensional measurement processing, which is executed using the three-dimensional measurement apparatus 100 in FIG. On the other hand, steps S105 to S108 described below correspond to radiation measurement processing, which is executed using the radiation measurement apparatus 200 in FIG.

  The radiation measurement device 200 of FIG. 6 will be described. Here, a plurality of U-shaped support legs 11 are placed on rails 61 arranged on the floor surface and translate in the direction of arrow 62. The translation position of each support leg 11 can be individually set by the control device. A guide tube elevating device 64 that can translate in the direction of arrow 63 along the support leg upper part 16 is attached to the upper part of the plurality of U-shaped support legs 11. The guide tube elevating device 64 can move up and down in the height direction 66. The guide tube lifting device 64 suspends and holds the guide tube 51 by the guide tube holding mechanism 65, and the guide tube 51 can be inserted into the container 1 from above the container. Note that the translation direction 63 and the height position 66 of the guide tube lifting / lowering device 64 can be individually set by the control device.

  Further, the guide tube lifting / lowering device 64 is capable of suspending and holding the guide tube 51 and positioning the guide tube 51 at an arbitrary position on the upper surface of the container, and inside the guide tube 51 positioned at the position and inserted into the container. A structure for inserting a radiation spectrum measuring instrument 31 and a radiation spectrum measuring instrument position detector 32 from above the guide tube is included.

  Return to FIG. In the next step S105, a guide tube 51 for inserting the radiation spectrum measuring instrument 31 and the radiation spectrum measuring instrument position detector 32 is inserted into the gap 41 extracted in step S104. The radiation measuring device 200 shown in FIG. 6 is used for positioning the insertion.

  FIG. 7 specifically shows how the guide tube 51 is inserted into the container 1. Insertion of the guide tube 51 prevents the radiation spectrum measuring instrument 31 from colliding with the radioactive waste 2 and being damaged by the impact, or inserting / extracting the radiation spectrum measuring instrument 31 into the radioactive waste 2. In this case, the object is to prevent the radioactive waste 2 from being caught by the radioactive waste 2 and being unable to be inserted or extracted.

  Although a highly rigid guide tube 51 may be used, in consideration of the fact that radioactive waste 2 having various shapes will be stored in the container 1, a flexible tube having a variable tube shape is used. Desirably. By using the flexible pipe, it is possible to insert the radioactive waste 2 deep into the gap 41.

  When the gap 41 extracted in step S104 is sufficiently large with respect to the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32, it is sufficiently conceivable to perform the measurement without inserting the guide tube 51. .

  Return to FIG. Next, in step S106, the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 are inserted into the guide tube 51 inserted in step S105.

  Further, in step S107, the radiation spectrum measuring instrument 31 and the radiation spectrum measuring instrument position detector 32 inserted into the guide tube 51 are moved to the first measurement point in the insertion depth direction.

  In step S108, when reaching the first measurement point, the radiation spectrum measurement by the radiation spectrum measurement device 31 and the position measurement of the radiation spectrum measurement device 31 by the radiation spectrum measurement device position detector 32 are performed.

  In step S109, when the radiation spectrum measurement at that position and the position measurement of the radiation spectrum measurement device 31 are completed, the radiation spectrum measurement device 31 and the radiation spectrum measurement device position detector 32 are moved to the next measurement point.

  Steps S108 and S109 are repeatedly executed until the measurement at the preset measurement point is completed.

  FIG. 8 shows a state where the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 are inserted into the guide tube 51. The radiation spectrum measuring instrument 31 and the radiation spectrum measuring instrument position detector 32 are inserted and removed by a cable 33 sent out by a measuring instrument insertion device (not shown) which operates in conjunction with the guide tube elevating device 64. The cable 33 includes a cable for supplying power to the radiation spectrum measuring instrument 31 and the position detector 32 of the radiation spectrum measuring instrument and a cable for transmitting a control signal and a cable for collecting data. Data from the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 are taken into the data collection device 24.

  FIG. 9 shows a state in which the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 are moved inside the guide tube 51 and measured at different measurement points. It is desirable to set the measurement points or the distance between the measurement points in accordance with the required measurement accuracy.

  In the above measurement, when there are many measurement points, it is possible to generate a detailed density distribution map from the position information of the measurement points and the radiation spectrum measurement data at the positions. Even when the number of measurement points is small, it is possible to generate a map of a coarse concentration distribution, and it is also possible to estimate a concentration distribution from measurement data by using an inverse problem solving method such as Bayesian estimation or maximum likelihood estimation. is there.

  According to the method and the apparatus according to the first embodiment of the present invention described above, the radioactivity concentration of the radioactive waste stored in the waste container is determined by using the radioactivity concentration distribution in the container. Even when the concentration level is low, it can be measured with high accuracy.

  Second Embodiment A second embodiment of the present invention will be described with reference to FIGS. FIGS. 10 and 11 show an example of a method for previously setting an insertion region 51 ′ for inserting the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 into the container 1. FIG. 10 is a top view of the container, and FIG. 11 is a sectional view taken along the line AA shown in FIG.

  In FIGS. 10 and 11, the size of the radioactive waste 2 is not limited to that illustrated in the first embodiment, but also varies from one long in one direction to a relatively small one such as a pipe. If the shape and size of the radioactive waste 2 are known in advance and they do not occupy the entire area of the container 1 in the spreading direction when the container 1 is viewed from above, the insertion region 51 ′ is first set. If it is set in a container and the procedure for storing the radioactive waste 2 is followed, the radiation spectrum measuring instrument 31 and the radiation spectrum measuring instrument position detector 32 can be reliably inserted, and the radioactivity concentration level is low. Even with this, measurement can be performed with high accuracy.

  In addition, at the time of insertion, the three-dimensional position measuring device 21 measures the insertion position from the upper part of the container 1, thereby enabling reliable insertion. The insertion region 51 ′ shown in FIGS. 10 and 11 is an example, and the insertion region 51 ′ is formed of a plurality of guide tubes 51 according to the size and shape of the radioactive waste 2 to be stored. By preparing a plurality of patterns, measurement can be performed rationally.

  It goes without saying that a map of the radioactivity concentration distribution is created from the measurement data from the above measurement data, or the radioactivity concentration distribution is estimated using the inverse problem solving method as in the first embodiment.

  According to the method of the second embodiment of the present invention described above, even when the size, shape, and size of the radioactive waste 2 are various, the radiation spectrum measuring device 31 and the radiation spectrum measuring device position detector 32 can be reliably inserted, and the container 1 The radioactivity concentration can be measured accurately even when there is a distribution of the radioactivity concentration inside, or when the level of the radioactivity concentration is low.

  Third Embodiment A third embodiment of the present invention will be described with reference to FIGS. FIG. 12 shows an example of a method for measuring a large plate-shaped radioactive waste 2 by inserting a radiation spectrum measuring instrument 31 and a radiation spectrum measuring instrument position detector 32 into the container 1.

  When measuring a large plate-shaped radioactive waste 2, the radioactive waste 2 may not have a gap 41. Also, when the radioactive waste 2 is a concrete dismantled product, the concrete dismantled product and the concrete debris generated therewith are stored in the container without gaps. There are cases where the waste 2 has no gap 41. Even in this case, when the level of the radioactivity concentration is low, it is desired to measure the radioactive waste 2 by bringing the radiation spectrum measuring instrument 31 as close as possible. Even a large plate-shaped radioactive waste 2 may have undulations or curvatures on its surface. If the position of the radioactive waste 2 in the container 1 is not accurately grasped, radiation spectrum measurement is performed. When the instrument 31 is inserted, it collides with the radioactive waste 2, and the impact may damage the radiation spectrum measuring instrument 31.

  Therefore, it is necessary to measure the position of the upper surface of the radioactive waste 2 by the three-dimensional position measuring device 21 in advance and determine the insertion depth of the radiation spectrum measuring instrument 31. According to the insertion depth determined here, a radiation spectrum measuring instrument 31 and a radiation spectrum measuring instrument position detector 32 are inserted into the container 1 by a measuring instrument insertion device (not shown) and measured.

  FIG. 13 is a diagram illustrating an example of a method of mounting the collimator 34 on the radiation spectrum measuring device 31 and performing measurement. When the radiation spectrum measuring device 31 cannot be inserted into the radioactive waste 2, the radiation spectrum is measured from the surface of the radioactive waste 2. In such a case, the measurement range of the radioactive waste 2 can be limited to the area inside the dotted line shown in the figure by mounting the collimator 34 on the radiation spectrum measuring instrument 31 for measurement. By performing the measurement at a large number of measurement points in this manner, a detailed radioactivity concentration distribution map can be generated.

  According to the method of the third embodiment of the present invention described above, even if the radioactive waste 2 has a large plate shape and a radiation spectrum measuring instrument cannot be inserted into the radioactive waste 2, the radioactivity concentration distribution can be determined in detail. It can be measured, and the radioactivity concentration can be measured accurately even when the radioactivity concentration level is low.

  By using the method of the present invention, for radioactive waste of various radioactivity concentration levels, even if there is a distribution of radioactivity concentration inside the container, the radioactivity concentration in the container can be accurately measured. .

1: container 2: radioactive waste 3: lid 11: support legs 12, 13: linear actuator 14: control device 15: arrow 21: three-dimensional position measuring device 22: measurement control and data collection device 23: arrow 31: radiation spectrum Measuring device 32: radiation spectrum measuring device position detector 33: cable 34: collimator 41: gap 51: guide tube 51 ': insertion region S101 to S109: processing step P1: dismantling location P2: measurement location

Claims (18)

A method for measuring the radioactive concentration of radioactive waste stored in a container having an opening,
The position of the radioactive waste is detected by visually recognizing the inside of the container from the direction of the opening, a gap space in which a radiation measuring instrument can be inserted is determined, and the measurement result of the radiation measuring instrument inserted into the gap space is determined. A method for measuring the radioactive concentration of radioactive waste, wherein the method is obtained together with information on an insertion position in a clearance space. A method for measuring the radioactive concentration of radioactive waste according to claim 1,
A method for measuring the radioactive waste radioactivity concentration, comprising using a laser distance measuring device for measuring a distance with a laser to detect the position of the radioactive waste. A method for measuring the radioactive concentration of radioactive waste according to claim 1,
A method for measuring the radioactive waste radioactivity concentration, comprising using a camera distance measuring device for measuring a distance based on camera images taken from at least two directions to detect the position of the radioactive waste. A method for measuring the radioactive concentration of radioactive waste according to any one of claims 1 to 3,
A radioactive waste characterized by using a radiation spectrum measuring instrument and a radiation spectrum measuring instrument position detector which moves together with the radiation spectrum measuring instrument in order to obtain a measurement result of the radiation measuring instrument together with information on an insertion position in the gap space. Method of measuring the radioactivity concentration of a substance. A method for measuring the radioactive concentration of radioactive waste according to any one of claims 1 to 4,
A method for measuring the radioactive concentration of radioactive waste, wherein the detected position of the radioactive waste is a three-dimensional position in the container. A method for measuring the radioactive concentration of radioactive waste according to any one of claims 1 to 5,
A method for measuring the radioactive waste radioactivity concentration, comprising inserting a guide tube into the determined clearance space into which the radiation measuring device can be inserted, and inserting the radiation measuring device into the guide tube. A method for measuring the radioactive concentration of radioactive waste according to claim 6,
The method according to claim 1, wherein the guide tube is a flexible tube. A method for measuring the radioactive concentration of radioactive waste according to any one of claims 1 to 7,
A method for measuring the radioactive waste radioactivity concentration, wherein a distribution of the measurement results in the direction of the insertion position is obtained from the measurement results of the radiation measuring instrument obtained for the insertion position of the clearance space. A method for measuring the radioactive concentration of radioactive waste stored in a container having an opening,
A radiation spectrum measuring instrument and a radiation spectrum measuring instrument position detector as a radiation measuring instrument, a detector insertion area to be inserted in advance in the container is installed, and after storing the radioactive waste in the container, the radiation spectrum measuring instrument And inserting the radiation spectrum measurement device position detector into the detector insertion region, and obtaining the measurement result of the radiation measurement device inserted into the detector insertion region together with information on the insertion position in the detector insertion region. To measure the radioactive concentration of radioactive waste. It is a radioactivity concentration measuring method of radioactive waste according to claim 9 ,
The radiation measuring instrument is a radiation spectrum measuring instrument, and the radiation spectrum measuring instrument includes a collimator. A method for measuring the radioactive concentration of radioactive waste according to claim 9 or claim 10 ,
The radiation measurement device includes a radiation spectrum measurement device and a radiation spectrum measurement device position detector, and radiates by inverse problem analysis from measurement spectrum data measured by the radiation spectrum measurement device and measurement position data measured by the radiation spectrum measurement device position detector. A method for measuring the radioactive concentration of radioactive waste, comprising a radioactive concentration reverse estimation for evaluating the active concentration distribution. A radioactivity concentration measurement device for radioactive waste stored in a container with an upper lid removed,
Equipped with a three-dimensional measuring device and a radiation measuring device,
The three-dimensional measuring device detects the position of the radioactive waste by visually recognizing the container with the upper lid removed from above, and determines a clearance space into which a radiation measuring instrument can be inserted,
The radiation measuring device may insert a radiation measuring instrument and a position detector of the radiation measuring instrument into the determined gap space to obtain a measurement result of the radiation measuring instrument together with information on an insertion position in the gap space. Characteristic radioactivity concentration measurement device for radioactive waste. An apparatus for measuring the radioactive concentration of radioactive waste according to claim 12,
The radioactive waste, wherein the radiation measuring device includes a guide tube inserted into the determined clearance space, and then includes a means for inserting the radiation measuring device and a position detector of the radiation measuring device into the guide tube. Radioactivity concentration measurement device. A waste position measurement step of measuring the position of the radioactive waste stored in the container having an opening from the opening of the container, based on the position information of the radioactive waste obtained by the waste position measurement step , a measuring instrument insertion position determining step of determining a position to insert the radiation spectrum measuring device for measuring the radiation spectrum of the at least one gamma ray into the container or the radioactive within waste inserted as determined by the measuring instrument insertion position determining step A measuring instrument insertion step of inserting the radiation spectrum measuring instrument at a position, and the radiation spectrum measuring instrument inserted in the measuring instrument inserting step, the radiation spectrum is measured at at least one or more insertion positions or insertion depths with respect to the insertion direction. And the insertion position or insertion position of the radiation spectrum measuring instrument at that time. A radiation spectrum measuring device position detecting step of measuring the depth, the radiation spectrum measuring result by the radiation spectrum measuring device and the measurement position information of the radiation spectrum measuring device by the radiation spectrum measuring device position detecting step are stored in the container. And a radioactivity concentration evaluation step of evaluating the radioactivity concentration of the radioactive waste. A method for measuring the radioactive concentration of radioactive waste according to claim 14,
As the measuring instrument insertion position determining step, the size information of the radiation spectrum measuring instrument, the radioactive waste obtained from the position information of the radioactive waste obtained by the radiation spectrum measuring instrument position detecting step and the waste position measuring step comprising a size comparison step of comparing the gap data, the result of the comparison by the size comparison step, if the clearance of the radioactive waste is greater than the size of the radiation spectrum measuring instrument, the radiation spectrum of the said gap A method for measuring the concentration of radioactive waste radioactive waste, comprising a measuring device insertion position determining step for determining a measuring device insertion position. A radiation spectrum measuring instrument and a radiation spectrum measuring instrument position detector as a radiation measuring instrument, a detector insertion area setting step of setting a detector insertion area to be pre-inserted into a container having an opening, and a radioactive waste in the container. Radioactive waste storage step to store, after storing the radioactive waste in the container, a detector insertion step of inserting the radiation spectrum measurement device and the radiation spectrum measurement device position detector into the detector insertion region, The radiation measuring instrument inserted in the detector inserting step measures a radiation spectrum at at least one insertion position or insertion depth in the insertion direction, and then inserts or inserts the radiation spectrum measuring instrument at that time. Detecting a position of a radiation spectrum measuring instrument for measuring a depth; Radioactivity concentration evaluation for evaluating the radioactivity concentration of the radioactive waste stored in the container from the radiation spectrum measurement result by the vector measurement device and the measurement position information of the radiation spectrum measurement device by the radiation spectrum measurement device position detector A method for measuring the radioactive concentration of radioactive waste, comprising a step . A method for measuring the radioactive concentration of radioactive waste according to claim 16 ,
As the radioactivity concentration evaluation step, the radioactivity concentration inverse estimation step of evaluating the radioactivity concentration distribution by inverse problem analysis from the measured spectrum data by the radiation spectrum measuring device and the measurement position data by the radiation spectrum measuring device position detector A method for measuring the radioactive concentration of radioactive waste, comprising: A method for measuring the radioactive waste radioactive concentration according to any one of claims 1 to 5, or claim 10 to claim 11,
A method for measuring the concentration of radioactive waste, comprising: bringing the radiation measuring instrument close to the surface of the radioactive waste, and measuring or estimating a radioactivity concentration distribution from data measured by the radiation measuring instrument.

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