CN105118535A - Nuclear fuel assembly repair detection control system - Google Patents

Nuclear fuel assembly repair detection control system Download PDF

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Publication number
CN105118535A
CN105118535A CN201510390042.5A CN201510390042A CN105118535A CN 105118535 A CN105118535 A CN 105118535A CN 201510390042 A CN201510390042 A CN 201510390042A CN 105118535 A CN105118535 A CN 105118535A
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China
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described
nuclear fuel
video
fuel assembly
pulling force
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CN201510390042.5A
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Chinese (zh)
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CN105118535B (en
Inventor
张涛
刘青松
余冰
孙绮林
刘士心
邓志燕
李其朋
陈嘉杰
周国丰
黄文有
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中科华核电技术研究院有限公司
中国广核集团有限公司
中国广核电力股份有限公司
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Priority to CN201510390042.5A priority Critical patent/CN105118535B/en
Publication of CN105118535A publication Critical patent/CN105118535A/en
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Abstract

The present invention discloses a nuclear fuel assembly repair detection control system, which is used for detecting whether a nuclear fuel assembly is damaged and repairing the monitoring during the damaged nuclear fuel assembly work, and comprises a video detection device and a monitoring device, wherein the video detection device collects the video image in the monitoring work, and the monitoring device is respectively connected with the video detection device, a pulling force sensor (on a nuclear fuel rod drawing-inserting tool) and a cable encoder (on a new fuel elevator). According to the present invention, the action of the video detection device can be controlled, the video image collected by the video detection device can be displayed, the works of the nuclear fuel rod drawing-inserting tool and the new fuel elevator can be monitored through the pulling force data and the height data detected by the pulling force sensor (on the nuclear fuel rod drawing-inserting tool) and the cable encoder (on the new fuel elevator), and the operator can be reminded in case of failure, such that the operator can complete the whole monitoring work through the monitoring device, the operation is simple, the operation safety is good, and the repair efficiency is high.

Description

Nuclear fuel assembly repairs detecting and controlling system

Technical field

The present invention relates to nuclear power generation field, particularly relate to the monitoring of Nuclear Power Station nuclear fuel assembly defects detection and repair.

Background technology

Nuclear fuel assembly is made up of nuclear fuel rod, nuclear fuel assembly screen work, holddown spring, upper pipes and lower end pipe.Fuel can holds nuclear fuel rod, fuel and cooling medium is kept apart, and contains fission gas.It is the first barrier preventing radioactive particle from escaping.When normally running, nuclear fuel rod all likely causes fuel can deformation fracture due to the fission gas of thermal expansion, densification, swelling, crack and release, primary circuit coolant activity is caused to improve, therefore need to carry out necessary detection to nuclear fuel assembly, change nuclear fuel rod damaged in nuclear fuel assembly in time when nuclear fuel assembly is damaged.

Detect and comprise with the step changing nuclear fuel rod in nuclear fuel assembly: whether (1) nuclear fuel assembly is sobbed to inhale and detected, have radioactive nuclide to discharge for detecting nuclear fuel assembly, thus judge that whether nuclear fuel rod is damaged; (2) nuclear fuel assembly video detects, each that observes nuclear fuel assembly, judge the deformation extent of nuclear fuel assembly and the state of appearance of nuclear fuel assembly screen work, whether component internal has differently is stayed thing, whether outer nuclear fuel rod has the surface appearance such as breakage, scuffing, to determine whether that carrying out changing clubs does; (3) the damaged excellent position monitor of nuclear fuel assembly, when nuclear fuel rod changed by needs, uses all nuclear fuel rods of ultrasonic monitor device to nuclear fuel assembly to monitor one by one, accurately to locate the nuclear fuel rod of breakage; (4) nuclear fuel assembly of breakage is put into new fuel elevator, the hydraucone of described new fuel elevator is provided with some guiding, locating device with fixing nuclear fuel assembly and be convenient to nuclear fuel rod pull and push instrument stretch into and captures breakage nuclear fuel rod; (5) base in dismounting, installs nuclear fuel rod guide piece at hydraucone place; (6) with reference to figure 2, nuclear fuel rod is used to pull and push the upper base that nuclear fuel rod 501 clamped by instrument 300, the action of Long-distance Control new fuel elevator, pulls and pushes instrument 300 to make described nuclear fuel rod and to be taken out from nuclear fuel assembly 500 by the nuclear fuel rod 501 of breakage and put into temporary storage container 103; (7) pulling and pushing instrument 300 by nuclear fuel rod inserts in the grid of damaged nuclear fuel rod 501 correspondence in nuclear fuel assembly 500 by new nuclear fuel rod; (8) upper base is installed back on nuclear fuel assembly 500.

In step (2), with reference to figure 1, operating personnel need detected nuclear fuel assembly 500 to hang by auxiliary the corresponding surveyed area that 600 are hung in Spent Fuel Pool, the shooting main body 21 of video detecting device is fixed on the edge of Spent Fuel Pool by holder 22, the relative position of detected nuclear fuel assembly 500 in Spent Fuel Pool is stretched into by suspension rod 23, use shooting main body 21 to take a surface of nuclear fuel assembly, and rotational nucleus fuel assembly is to detect each surface to be measured of nuclear fuel assembly.Wherein, when operating personnel carry out the detection of nuclear fuel assembly video, need the brightness first being regulated the luffing angle of camera in shooting main body 21, level angle, focal length, visual field and illuminating lamp by operation control panel on video detecting device, regulate that rear control is auxiliary hangs 600 vertically with while certain speed movement, by video image, the video image of the display screen display of viewing video detecting device, judges that whether nuclear fuel assembly is damaged, distortion.

In step (6)-(7), for preventing because misoperation causes nuclear fuel rod to bend, distortion etc. problem, to need on the control panel of new fuel elevator the action of Long-distance Control new fuel elevator with the Renewal process of monitoring nuclear fuel rod while pulling and pushing nuclear fuel rod: operating personnel need constantly to use the operation control panel of video detecting device to regulate the luffing angle of video camera in video detecting device, to make hydraucone 402 position of the camera alignment new fuel elevator 400 of shooting main body 21, by the video image that the display screen real time monitoring nuclear fuel rod of video detecting device is changed, the data of the draw wire encoder of new fuel elevator 400 are monitored to judge the adjustable height of new fuel elevator 400 by the control panel of new fuel elevator 400, the size that the pulling force sensor monitoring pulled and pushed in instrument 300 by nuclear fuel rod pulls and pushes power with people for judging whether fault.When operating personnel lack experience or react unhappy, not only very likely there is erroneous judgement, the action of new fuel elevator 400 can not be stopped in time when the nuclear fuel rod 501 that new fuel elevator control nuclear fuel rod pulls and pushes tool holding arrives nuclear fuel assembly 500 lower end or departs from nuclear fuel assembly 500 upper end, thus cause the damage of nuclear fuel assembly, and can not react in time when in Renewal process fault, affect remediation efficiency.

Therefore be badly in need of a kind of easy to operate, safe nuclear fuel assembly reparation detecting and controlling system.

Summary of the invention

The object of this invention is to provide a kind of easy to operate, safe nuclear fuel assembly and repair detecting and controlling system.

To achieve these goals, the invention provides a kind of nuclear fuel assembly and repair detecting and controlling system, for the testing of nuclear fuel assembly video and the monitoring work of repairing damaged nuclear fuel assembly, it comprises supervising device and video detecting device, and described video detecting device gathers video image; Described supervising device comprises processing module, and the image capture module, data acquisition module, Operation display module, memory module and the alarm module that are connected with described processing module respectively, described image capture module obtains the video image that the described video detecting device of process gathers; Described data acquisition module be installed on the pulling force sensor that nuclear fuel rod pulls and pushes on instrument and be connected with the draw wire encoder be installed on new fuel elevator, and obtain the pulling force data of described pulling force sensor and the altitude information of draw wire encoder; Described Operation display module receives the control command of outside input and shows data, and described control command comprises shooting control command and video monitoring order; Described processing module comprises controlled processing unit and alarm control unit, described controlled processing unit accepts the control command of described Operation display module output and the video image of image capture module output, and control video detecting device action according to described shooting control command, control described Operation display module according to described video monitoring order and show described video image, and control described memory module and store described video image; Described alarm control unit judges whether described pulling force data exceedes default pulling force threshold values and generate failure alarm signal when described pulling force data exceedes default pulling force threshold values, judge whether described altitude information is more than or equal to high spacing threshold values or is less than or equal to low spacing threshold values, and export full level alarm signal when described altitude information is more than or equal to high spacing threshold values, export low alarm signal when described altitude information is less than or equal to low spacing threshold values; Described alarm module sends corresponding warning according to described failure alarm signal, full level alarm signal and low alarm signal.

Compared with prior art, nuclear fuel assembly of the present invention repairs the whether damaged monitoring worked of detecting and controlling system detection nuclear fuel assembly and the monitoring of repairing damaged nuclear fuel assembly work is integrated, that not only can monitor nuclear fuel rod on Operation display module changes rod work, nuclear fuel assembly can also be detected whether damaged, and issue an order by Operation display module the action controlling video detecting device, simple to operate, save manpower, nuclear fuel assembly testing and damaged nuclear fuel assembly repair can be completed on a terminal (Operation display module).On the other hand, alarm module of the present invention also exceeds pre-set threshold value alarm in pulling force data, timely prompting operating personnel fault, security is good, remind operating personnel's nuclear fuel rod to pull and push the nuclear fuel rod that instrument captures by full level alarm signal and low alarm signal whether to enter in new fuel elevator in nuclear fuel assembly completely or depart from nuclear fuel assembly, to monitor the concrete station that nuclear fuel rod pulls and pushes instrument, judge that nuclear fuel rod pulls and pushes the position of instrument relative in traditional mode of production by the height of video image or new fuel elevator, good operation safety and remediation efficiency is high.

Wherein, described draw wire encoder is the scrambler of the drive motor of new fuel elevator, and described pulling force sensor detects nuclear fuel rod and pulls and pushes the sensor that instrument pulls and pushes power.

Preferably, described default pulling force threshold values comprises first and presets pulling force threshold values and the second default pulling force threshold values, described first presets pulling force threshold values is less than the second default pulling force threshold values, described alarm control unit sends pre-alarm signal when described pulling force data exceeds the first pre-set threshold value and is less than the second pre-set threshold value, real alerting signal is sent when described pulling force data exceeds the second pre-set threshold value, described alarm module sends light warning according to described pre-alarm signal, sends sound and light alarm according to described real alerting signal.The program adopts two sections of warnings, light warning is sent when pulling force data exceeds the first pre-set threshold value, remind may occurring of operating personnel's fault in advance, and send sound and light alarm when pulling force data exceeds the second preset value, the generation of timely prompting operating personnel fault, good operation safety, can shift to an earlier date trouble-saving generation.

Preferably, described processing module also comprises chart monitoring unit, described control treatment module controls described memory module and stores described pulling force data and altitude information, and described chart monitoring unit generates tension variations chart and height change chart according to described pulling force data and altitude information; Described control command comprises chart monitor command, and described controlled processing unit controls described Operation display module according to described chart monitor command and shows described tension variations chart and height change chart.Operating personnel understand historical data by tension variations chart and height change chart, are convenient to the analyzing failure cause when fault, and get information about pulling force data and altitude information by chart.

Preferably, described processing module also comprises 2 D animation simulation unit, described 2 D animation simulation unit obtains the 2-D data of replacing nuclear fuel rod work relevant device and changes excellent emulated interface according to described 2-D data generation, excellent emulated interface is changed described in upgrading according to described altitude information, described two-dimensional structure data comprise the two-dimensional structure data comprising the two dimensional model structural information changing relevant device in nuclear fuel rod work and the two-dimensional position data comprising the two dimensional model relative position relation information changing relevant device in nuclear fuel rod work, in the damaged nuclear fuel assembly work of described reparation, relevant device comprises nuclear fuel rod and pulls and pushes instrument, new fuel elevator and nuclear fuel assembly, described nuclear fuel assembly comprises nuclear fuel assembly main body and nuclear fuel rod to be replaced, described control command comprises animation monitor command, and described controlled processing unit controls to change excellent emulated interface described in the display of described Operation display module according to described animation monitor command.The program makes operating personnel intuitively clearly understand the particular location that nuclear fuel rod pulls and pushes instrument by changing excellent emulated interface, is convenient to the control of new fuel elevator.Wherein, repair that relevant device in damaged nuclear fuel assembly work comprises the hydraucone two dimensional model of Spent Fuel Pool two dimensional model, new fuel elevator two dimensional model and new fuel elevator, nuclear fuel assembly two dimensional model and the nuclear fuel rod two dimensional model be replaced, nuclear fuel rod pulls and pushes instrument two dimensional model and temporary storage container two dimensional model.

Preferably, described Operation display module shows described pulling force data and altitude information in real time.The program makes the present invention at the image/video of Operation display module display video pick-up unit or can show pulling force data and altitude information while changing excellent emulated interface.

Preferably, described Operation display module also shows the operation interface of described Operation display module in real time.

Preferably, described control command comprises print command, and described processing module is connected with printer and controls printer according to described print command and prints the current display frame of display module.

Wherein, described shooting control command comprises illumination adjustments order, luffing angle regulating command, level angle regulating command and camera control commands, described controlled processing unit receives the described illumination adjustments order of process, luffing angle regulating command, level angle regulating command and camera control commands are delivered to video detecting device, described video detecting device comprises shooting main body, described shooting main body stretches into Spent Fuel Pool and comprises video camera, illuminating lamp and two-dimentional motor, described video camera to be installed on two-dimentional motor and to gather video image, described illuminating lamp is installed on video camera or two-dimentional motor, described two-dimentional motor regulates the luffing angle of video camera according to luffing angle regulating command, the level angle of video camera is regulated according to level angle regulating command, the brightness of described illuminating lamp is regulated according to brightness regulation order, described video camera is focused and the aperture of the diaphragm according to described camera control commands.

Preferably, described nuclear fuel assembly is repaired detecting and controlling system and is also comprised distance calibration equipment, the distance calibration that described distance calibration equipment is determined at shooting area setting at least two actual ranges of described video detecting device, described processing unit also comprises dimension measuring unit, described control command comprises defectoscopy order and dimensional measurement signal, described dimension measuring unit receives described defectoscopy order when described Operation display module display video image, described dimensional measurement signal is received according to described defectoscopy order, the measured zone on described video image is determined according to described dimensional measurement signal, and the calibration point of described distance calibration determined of two actual ranges on the video images, obtain the actual demarcation distance Lb between calibration point described in two, calculate the image calibration distance Np in described video image described in two between calibration point, calculate the image deflects size Nc of described measured zone in video image described in two, distance Lb is demarcated according to described reality, image calibration distance Np and image deflects size Nc calculates and stores the actual defects size Lc of described measured zone.In the program, the present invention not only can observe state of appearance and the surface appearance of nuclear fuel assembly by video image, can also by determining the calibration point that two actual ranges are determined in video image, the physical size of measured zone in video image is calculated by the image calibration Distance geometry of two calibration points actual demarcation distance, judge by the actual defects size Lc of measured zone the degree whether nuclear fuel assembly is out of shape and is out of shape, judge that precision is high.

Particularly, described distance calibration equipment comprises laser calibration equipment, described laser calibration equipment comprises two laser source, lasing light emitter described in two sends distance to the measured face of described nuclear fuel assembly and determines and two parallel laser spots, described distance calibration is that the distance of directive nuclear fuel assembly is determined and the distance calibration determined to arrange two actual ranges at the shooting area of described video detecting device of two parallel laser spots, and described dimension measuring unit extracts the spot center of laser spots described in two to obtain calibration point described in two in described video image.The program using the laser spots of two parallel laser source directive nuclear fuel assemblies as distance calibration, be convenient to the determination to calibration point in video image, by extracting the spot center of laser spots described in two to obtain calibration point described in two in described video image, effectively ensure that measuring accuracy.Certainly, also distance calibration can be determined by other means, such as arrange one and demarcate card, guarantee that described card of demarcating be arranged in parallel with the measured face of described nuclear fuel assembly, described dimension measuring unit determines two calibration points according to the actual range known image region demarcated on card.

Particularly, described dimension measuring unit extracts the spot center of laser spots described in two according to grey scale centre of gravity method, and the Gaussian distribution center of comparable more accurate location spot, determines the position of spot center, reduces the error that hot spot intensity profile asymmetry causes.

Particularly, described dimension measuring unit also calculate lasing light emitter described in two in described laser calibration equipment respectively with laser distance L1, L2 of described nuclear fuel assembly, correct described actual defects size Lc according to described laser distance L1, L2.

Particularly, described dimension measuring unit calculates the physical size D of each pixel on video image according to formula D=Lb/Np, calculates described actual defects size Lc according to formula Lc=Nc*D.

Preferably, described video detecting device comprises shooting main body, described shooting main body comprises two-dimentional motor and is installed on the video camera on two-dimentional motor, described two-dimentional motor regulates the luffing angle of video camera according to luffing angle regulating command, described processing module also comprises tracing and monitoring unit, described control command comprises tracing and monitoring order, described tracing and monitoring unit starts according to tracing and monitoring order and arranges the trace point of video camera, obtain the encoder information of the draw wire encoder of new fuel elevator and calculate the bell-mouthed altitude information of described new fuel elevator according to described encoder information, record the shooting angle θ 0 of altitude information H0 corresponding to described trace point and video camera, obtain the horizontal range L between the hydraucone of new fuel elevator and video camera, the bell-mouthed altitude information H1 of new fuel elevator described in Real-time Obtaining, according to described altitude information H0, shooting angle θ 0, horizontal range L and altitude information H1 calculates the shooting angle θ 1 of video camera and generates luffing angle regulating command, and described luffing angle regulating command is sent in described two-dimentional motor.In the program, the present invention can when monitoring nuclear fuel rod and pulling and pushing tool changing nuclear fuel rod, start tracing and monitoring unit, and hydraucone is set to trace point, encoder information according to new fuel elevator calculates the shooting angle θ 1 of video camera to generate Angle ambiguity order, the luffing angle of described video camera is regulated according to this Angle ambiguity order, to make the shooting direction auto-alignment hydraucone of described video camera, without the need to the luffing angle of video camera described in operating personnel's manual adjustments, simple to operate, detect security is high.

Particularly, the shooting area of current camera is set to trace point according to described tracing and monitoring order by described tracing and monitoring unit, and the trace point of video camera described in foundation shooting control command real-time update.The program is specially: described shooting control command comprises luffing angle regulating command, described controlled processing unit receives and processes described luffing angle regulating command and described luffing angle regulating command is delivered to described two-dimentional motor, described two-dimentional motor regulates the luffing angle of video camera according to described luffing angle regulating command, the luffing angle renewal trace point after described tracing and monitoring unit also regulates according to described video camera.

Particularly, described tracing and monitoring unit calculates vertical range D0 between trace point and video camera place surface level according to described horizontal range L and shooting angle θ 0; The bell-mouthed altitude information H1 of Real-time Obtaining new fuel elevator, calculates the vertical range D1 between real-time trace point and video camera place surface level according to described altitude information H0, vertical range D0 and altitude information H1; Calculate the shooting angle θ 1 of the video camera of video detecting device according to described horizontal range L and vertical range D1 and generate Angle ambiguity order.

Particularly, described shooting angle is the shooting direction of the video camera of described video detecting device and the angle of horizontal direction, now, and D0=H0, D1=H1.Described tracing and monitoring unit obtains the shooting angle of the video camera of described video detecting device, corrects described horizontal range L according to described shooting angle and altitude information.

Accompanying drawing explanation

Fig. 1 is the schematic diagram that nuclear fuel assembly video detects.

Fig. 2 is the schematic diagram repairing damaged nuclear fuel assembly.

Fig. 3 is the structured flowchart that nuclear fuel assembly of the present invention repairs detecting and controlling system.

Fig. 4 is the part-structure schematic diagram of video detecting device of the present invention.

Fig. 5 is the structural representation of shooting main body of the present invention.

Fig. 6 is the connection diagram of video detecting device of the present invention and supervising device.

Fig. 7 is the display interface of Operation display module of the present invention.

Fig. 8 is the schematic diagram changing excellent emulated interface of the present invention.

Fig. 9 is the schematic diagram of tension variations chart of the present invention and height change chart.

Figure 10 is the process schematic that the present invention repairs damaged nuclear fuel assembly.

Figure 11 to Figure 12 is that the present invention repairs the schematic diagram calculating Angle ambiguity order in the monitoring of damaged nuclear fuel assembly.

Figure 13 is the structural representation demarcating card of the present invention.

Embodiment

By describing technology contents of the present invention, structural attitude in detail, realized object and effect, accompanying drawing is coordinated to be explained in detail below in conjunction with embodiment.

Referring to figs. 1 to Fig. 3, the invention discloses a kind of nuclear fuel assembly and repair detecting and controlling system 100, detect for nuclear fuel assembly video and repair the monitoring work of damaged nuclear fuel assembly, comprise video detecting device 101 and supervising device 102, the whether damaged video image working and repair damaged nuclear fuel assembly work of described video detecting device 101 acquisition testing nuclear fuel assembly.Described supervising device 102 by accept and show described video detecting device 101 gather video image VS, work with the rod that changes carrying out the detection of nuclear fuel assembly video and real-time monitoring nuclear fuel rod, described supervising device 102 also accepts and processes the control command of outside input, described control command comprises shooting control command ST and video monitoring order, and described supervising device 102 controls video detecting device 101 action with the video monitoring nuclear fuel rod replacing more accurately or detect according to described shooting control command ST.Described supervising device 102 is installed on nuclear fuel rod by monitoring and pulls and pushes the pulling force data of the pulling force sensor 301 on instrument 300 and be installed on the altitude information of the draw wire encoder 401 on new fuel elevator 400, judge that nuclear fuel rod pulls and pushes the nuclear fuel rod 501 that instrument 300 clamps and whether enters in nuclear fuel assembly 500 completely or depart from nuclear fuel assembly 500, to monitor the concrete station that nuclear fuel rod pulls and pushes instrument 300.Wherein, described draw wire encoder 401 is the scrambler of the drive motor of new fuel elevator 400, and described pulling force sensor 301 detects nuclear fuel rod and pulls and pushes the sensor that instrument 300 pulls and pushes power.

With reference to figure 4 and Fig. 5, for the structural representation of the shooting main body 21 of video detecting device 101 of the present invention, described shooting main body 21 comprises video camera 211, illuminating lamp 212 and two-dimentional motor 213, described video camera 211 to be installed on two-dimentional motor 213 and to gather video image VS, described illuminating lamp 212 is installed on video camera 211, and described two-dimentional motor 213 regulates the shooting angle of described video camera 211 and the brightness of illuminating lamp 212 according to shooting control command ST.Wherein, with reference to figure 2, described shooting main body 211 is installed on the equipment in the edge of Spent Fuel Pool or Spent Fuel Pool by holder 22, and is stretched in Spent Fuel Pool the video image gathered under Spent Fuel Pool by suspension rod 23.Certainly, described illuminating lamp 212 also can be installed on two-dimentional motor 213.

Wherein, with reference to figure 6, in the present embodiment, described supervising device 102 is located in the different terminal (manual control box and engineering machine) of two authorities respectively, operating personnel can be controlled in working site by manual control box, controlled long-range by engineering machine, with reference to figure 6, for the structured flowchart that supervising device 102 of the present invention is connected with video detecting device 101, shooting control command ST is delivered in shooting main body 21 by described supervising device 102, described supervising device 102 also receives, process, display, store the video image VS that described video camera 21 gathers, described shooting control command ST comprises camera control commands ST1 (such as zoom signal, aperture signal), luffing angle regulating command ST3, level angle regulating command ST4 and brightness regulation order ST2.

With reference to figure 4 and Fig. 5, described two-dimentional motor 213 comprises housing, be installed on described housing and rotate in the horizontal direction or be slidably connected horizontal moving body (not shown), be installed in described horizontal moving body and the pitching body (not shown) be vertically rotationally connected and two-dimentional motor main control mechanism.With reference to figure 6, described two-dimentional motor control mechanism comprises two-dimentional motor master controller 41, illuminating lamp driving circuit 42, pitching motor driving circuit 43, horizontal motor driving circuit 44, pitching motor 45 and horizontal motor 46, described two-dimentional motor master controller 41 receives described luffing angle regulating command, level angle regulating command and brightness regulation order, illuminating lamp driving circuit 42 controls described illuminating lamp 212 according to described brightness regulation order and works, described pitching motor driving circuit 43 controls described pitching motor 45 according to described luffing angle regulating command and works, described pitching motor 45 to be installed in described pitching body and to drive described pitching body to move along the vertical direction of described horizontal moving body, described horizontal motor 46 to be installed in described horizontal moving body and to drive described horizontal moving body to move along the horizontal direction of described housing, described video camera 211 is installed on described pitching body, described illuminating lamp 212 is fixed with described video camera 211.Camera control commands ST1 is also delivered in video camera 211 by described two-dimentional motor master controller 41, and described video camera 211 is focused and the aperture of the diaphragm according to described camera control commands ST1.

With reference to figure 3, described supervising device 102 comprises processing module 13, and the image capture module 11, data acquisition module 12, Operation display module 14, memory module 15 and the alarm module 16 that are connected with described processing module 13 respectively, described image capture module 11 obtains the video image that the described video detecting device 101 of process gathers; Described data acquisition module 12 be installed on the pulling force sensor 301 that nuclear fuel rod pulls and pushes on instrument 300 and be connected with the draw wire encoder 401 be installed on new fuel elevator, and obtain the pulling force data of described pulling force sensor 301 and the altitude information of draw wire encoder 401; Described Operation display module 14 receives the control command of outside input and shows data, and described control command comprises shooting control command and video monitoring order; Described processing module 13 comprises controlled processing unit 32 and alarm control unit 31, described controlled processing unit 32 accepts the control command of described Operation display module 14 output and the video image of image capture module 11 output, and control video detecting device 101 action according to described shooting control command, control described Operation display module 14 according to described video monitoring order and show described video image, and control described memory module 15 and store described video image; Described alarm control unit 31 judges whether described pulling force data and altitude information exceed predetermined threshold value, and not exporting corresponding alerting signal when described pulling force data and altitude information exceed predetermined threshold value, described alarm module 16 sends corresponding warning according to described alerting signal and sends corresponding warning.

Wherein, described alarm control unit 31 is connected to accept described pulling force data and altitude information with described data acquisition module 12, judge whether described pulling force data exceedes default pulling force threshold values and generate failure alarm signal when described pulling force data exceedes default pulling force threshold values, judge whether described altitude information is more than or equal to high spacing threshold values or is less than or equal to low spacing threshold values, and export full level alarm signal when described altitude information is more than or equal to high spacing threshold values, export low alarm signal when described altitude information is less than or equal to low spacing threshold values; Described alarm module 16 sends corresponding warning according to described failure alarm signal, full level alarm signal and low alarm signal.

Preferably, described default pulling force threshold values comprises first and presets pulling force threshold values and the second default pulling force threshold values, described first presets pulling force threshold values is less than the second default pulling force threshold values, described alarm control unit 31 sends pre-alarm signal when described pulling force data exceeds the first pre-set threshold value and is less than the second pre-set threshold value, real alerting signal is sent when described pulling force data exceeds the second pre-set threshold value, described alarm module 16 sends light warning according to described pre-alarm signal, sends sound and light alarm according to described real alerting signal.The program adopts two sections of warnings, light warning is sent when pulling force data exceeds the first pre-set threshold value, remind may occurring of operating personnel's fault in advance, and send sound and light alarm when pulling force data exceeds the second preset value, the generation of timely prompting operating personnel fault, good operation safety, can shift to an earlier date trouble-saving generation.

With reference to figure 7 to Fig. 9, the display interface 141 of described Operation display module 14 is divided into the operation interface viewing area (left and right sides of operation display interface) of operation display interface and the main viewing area (centre of operation display interface) of display data, described operation interface has several button, and the button on clicking operation interface can carry out optimum configurations, controls shooting main body 21 action of video detecting device 101 or switch the corresponding monitoring interface of display.

Preferably, described Operation display module 14 is the described pulling force data of display and altitude information in real time.With reference to figure 7 to Fig. 9, shown Operation display module 14 shows pulling force data and altitude information above the operation interface viewing area on the right side of main viewing area.The program makes the present invention at the image/video of Operation display module 14 display video pick-up unit 101 or can show pulling force data and altitude information while changing excellent emulated interface 50.

Preferably, with reference to figure 3 and Fig. 9, described processing module 13 also comprises chart monitoring unit 34, described control treatment module 32 controls described memory module 15 and stores described pulling force data and altitude information, and described chart monitoring unit 34 generates tension variations chart and height change chart according to described pulling force data and altitude information; Described control command comprises chart monitor command, and described controlled processing unit 32 controls described Operation display module 14 according to described chart monitor command and shows described tension variations chart and height change chart.Operating personnel understand historical data by tension variations chart and height change chart, are convenient to the analyzing failure cause when fault, and get information about pulling force data and altitude information by chart.Wherein, chart monitor command is the signal exported after operating personnel press in Fig. 7 to Fig. 9 video switching push button, after operating personnel press video switching push button, the video image VS that the changeable display video pick-up unit 101 in main viewing area gathers and tension variations chart/interface, height change chart place (as shown in Figure 9).

Preferably, with reference to figure 3, described 2 D animation simulation unit 35 obtains the 2-D data of replacing nuclear fuel rod work relevant device and changes excellent emulated interface 50 (as shown in Figure 8) according to described 2-D data generation, described two-dimensional structure data comprise the two-dimensional structure data comprising the two dimensional model structural information changing relevant device in nuclear fuel rod work and the two-dimensional position data comprising the two dimensional model relative position relation information changing relevant device in nuclear fuel rod work, in the work of described replacing nuclear fuel rod, relevant device comprises nuclear fuel rod and pulls and pushes instrument, new fuel elevator and nuclear fuel assembly, described nuclear fuel assembly 500 comprises nuclear fuel assembly main body and nuclear fuel rod to be replaced 501, described display module 17 changes excellent emulated interface 50 described in described animation monitor command display.The program makes operating personnel, and by changing, excellent emulated interface 50 is directly perceived clearly understands the particular location that nuclear fuel rod pulls and pushes instrument, is convenient to the control of new fuel elevator.Wherein, two-dimensional structure data are the two dimensional models of the nuclear fuel rod work relevant device established in advance.Wherein, animation monitor command is the signal exported after operating personnel press in Fig. 7 animation the Show Button, and when operating personnel press this button, main viewing area can show changes excellent emulated interface 50.

With reference to figure 8, described two-dimensional structure data comprise the structure that nuclear fuel rod pulls and pushes instrument two dimensional model 51, new fuel elevator two dimensional model 52, nuclear fuel assembly main body two dimensional model 53, nuclear fuel rod two dimensional model 54 to be replaced, and described two-dimensional position data comprises new fuel elevator two dimensional model 52, nuclear fuel assembly main body two dimensional model 53, nuclear fuel rod pulls and pushes instrument two dimensional model 51 and nuclear fuel rod two dimensional model 54 to be replaced is changing the position in excellent emulated interface 50.

Preferably, in the work of described replacing nuclear fuel rod, relevant device also comprises Spent Fuel Pool, in order to monitor the Renewal process of nuclear fuel rod more intuitively, with reference to figure 3, described two-dimensional structure data also comprise Spent Fuel Pool two dimensional model 55, and described two-dimensional position data comprises new fuel elevator two dimensional model 52, the two dimensional model 53 of nuclear fuel assembly main body, nuclear fuel rod pull and push instrument two dimensional model 51, the position of nuclear fuel rod two dimensional model 54 in Spent Fuel Pool two dimensional model 55 to be replaced.In the present embodiment, described two-dimensional structure data also comprise the two dimensional model 56 of temporary storage.

Wherein, described 2 D animation simulation unit 35 obtains the two-dimensional structure data prestored and the two-dimensional position data prestored, and generates change excellent emulated interface 50 according to the two-dimensional structure data prestored and the two-dimensional position data prestored.Certainly, described 2 D animation simulation unit 35 also can obtain the two-dimensional structure data prestored and the part two-dimensional position data prestored, by obtaining the altitude information of current new fuel elevator 400, according to the part two-dimensional position data prestored and current described altitude information synthesis two-dimensional position data, excellent emulated interface 50 is changed in the two-dimensional position data generation according to the two-dimensional structure data prestored and synthesis.

Wherein, described 2 D animation simulation unit 35 upgrades the step of changing excellent emulated interface 50 according to described altitude information and specifically comprises: the height number changing new fuel elevator two dimensional model 52 in excellent emulated interface 50 described in calculating according to described altitude information, change the height of new fuel elevator two dimensional model 52 and nuclear fuel assembly main body two dimensional model 54 in excellent emulated interface 50 described in regulating according to the height number of described new fuel elevator two dimensional model 52, described in upgrading, change excellent emulated interface 50.Particularly, the height number of described new fuel elevator two dimensional model 52 can be the longitudinal coordinate numerical value changed in excellent emulated interface 50, also can be the distance values that new fuel elevator two dimensional model 52 and nuclear fuel rod pull and push between instrument two dimensional model 51, because the relative position between nuclear fuel assembly main body two dimensional model 53 and new fuel elevator two dimensional model 52 is constant, therefore the position of new fuel elevator two dimensional model 52 is determined by the position of new fuel elevator two dimensional model 52, therefore understand nuclear fuel rod pull and push position relationship between instrument two dimensional model 51 and new fuel elevator two dimensional model 52 by changing excellent emulated interface 50, position relationship between nuclear fuel assembly main body two dimensional model 53 and nuclear fuel rod two dimensional model 54 to be replaced, position relationship between nuclear fuel rod two dimensional model 54 to be replaced and the hydraucone two dimensional model 521 of new fuel elevator two dimensional model 52 and new fuel elevator two dimensional model 52.

Wherein, described control command comprises print command, described processing module 13 is connected with printer and controls printer according to described print command and prints the current display frame of display module, after the printing at operating personnel's push interface, printable go out the picture of main viewing area or whole display interface 141.

Preferably, described nuclear fuel assembly is repaired detecting and controlling system 100 and is also comprised distance calibration equipment, the distance calibration that described distance calibration equipment is determined at shooting area setting at least two actual ranges of described video detecting device 101, described processing module 13 also comprises dimension measuring unit 33, described control command comprises defectoscopy order and dimensional measurement signal, described controlled processing unit 32 controls described Operation display module 14 display defect according to described defectoscopy order and measures interface, described defectoscopy interface shows video image and points out user to input dimensional measurement signal, described dimension measuring unit 33 receives the dimensional measurement signal of outside input, and the measured zone on described video image is determined according to described dimensional measurement signal, the calibration point of described distance calibration determined of two actual ranges on the video images, obtain the actual demarcation distance Lb between calibration point described in two, calculate the image calibration distance Np in described video image described in two between calibration point, calculate the image deflects size Nc of described measured zone in video image described in two, distance Lb is demarcated according to described reality, image calibration distance Np and image deflects size Nc calculates and stores the actual defects size Lc of described measured zone, and control described Operation display module 14 and show described actual defects size Lc.Compared with prior art, the present invention not only can observe state of appearance and the surface appearance of nuclear fuel assembly by video image, can also by determining the calibration point that two actual ranges are determined in video image, the physical size of measured zone in video image is calculated by the image calibration Distance geometry of two calibration points actual demarcation distance, judge by the actual defects size Lc of measured zone the degree whether nuclear fuel assembly is out of shape and is out of shape, judge that precision is high.Wherein, in the testing of nuclear fuel assembly video, main viewing area display video image, during " capture photo current measure " button now on operating personnel's clicking operation interface (as shown in Figure 7 to 9), operation display interface 141 generates defectoscopy order, main viewing area display defect measures interface, now operating personnel input dimensional measurement signal to choose a measured zone by the operation part of operation display interface 141, dimension measuring unit 33 calculates actual defects size Lc, and operation display interface 141 shows actual defects size Lc.

Particularly, with reference to figure 5, described distance calibration equipment comprises laser calibration equipment 214, described laser calibration equipment 214 comprises two laser source, lasing light emitter described in two sends distance and determines and the distance calibration determined to arrange two actual ranges at the shooting area of described video detecting device of two parallel laser spots to the measured face of described nuclear fuel assembly 501, described dimension measuring unit 33 extracts the spot center of laser spots described in two to obtain calibration point described in two in described video image.The program using two laser spots of two parallel laser source directive nuclear fuel assemblies as distance calibration, be convenient to the determination to calibration point in video image, by extracting the spot center of laser spots described in two to obtain calibration point described in two in described video image, effectively ensure that measuring accuracy.

Wherein, described dimension measuring unit 33 extracts the spot center of laser spots described in two according to grey scale centre of gravity method, and the Gaussian distribution center of comparable more accurate location spot, determines the position of spot center, reduces the error that hot spot intensity profile asymmetry causes.Particularly, described dimension measuring unit 33 also calculate lasing light emitter described in two in described laser calibration equipment respectively with laser distance L1, L2 of described nuclear fuel assembly, correct described actual defects size Lc according to described laser distance L1, L2.

Particularly, described dimension measuring unit 33 calculates the physical size D of each pixel on video image according to formula D=Lb/Np, calculates described actual defects size Lc according to formula Lc=Nc*D.

Certainly, with reference to Figure 13, be different from such scheme, in another embodiment, described distance calibration equipment comprises demarcates card 215, described demarcate card be arranged at shooting main body shooting area in and be arranged in parallel with the measured face of described fuel assembly, and described demarcation card 215 has the distance calibration that at least two actual ranges determine, described command signal comprises demarcation command signal, and described dimension measuring unit 33 determines two calibration points according to the demarcation card region of described demarcation command signal in described video image.Wherein, described demarcation card 215 is the rectangular card be made up of several chequered with black and white square area.During work, testing staff, by manipulation screen observation video image, comprises the image demarcating card 215 in video image, and operating personnel demarcate with selected on manipulation screen the calibration point that in card 215, two distances are determined by the corresponding command signal of demarcating of manipulation screen input.

With reference to figure 1, Fig. 3 and Fig. 6, use nuclear fuel assembly of the present invention to repair method that detecting and controlling system 100 carries out the detection of nuclear fuel assembly video is described: (a) to utilize in Spent Fuel Pool auxiliary hangs 600 crawl nuclear fuel assemblies 500 and nuclear fuel assembly 500 is hung on the appropriate location in described Spent Fuel Pool; B shooting main body 21 is fixed on the predeterminated position in described Spent Fuel Pool by (), be greater than to make the video area of described shooting main body 21 lateral separation that described nuclear fuel assembly 500 is detected face; C () is from each detection faces of nuclear fuel assembly 500 described in the threshold marker of described nuclear fuel assembly 500 and nuclear fuel rod; D () adjusts the position of described nuclear fuel assembly 500 to make a certain detection faces of described nuclear fuel assembly 500 towards the camera lens of described video camera 211; In described step (d), testing staff inputs corresponding shooting control command ST on operation interface, to control to control the action of two-dimentional motor 213 while video camera 211 and illuminating lamp 212 are opened, two dimension motor 213 drives video camera 211 to carry out position and shooting angle regulates, to make a certain detection faces of described controller core fuel assembly 500 towards the camera lens of described video camera 211.Now, video camera 211 gathers video image, processing module 13 processes, while storing described video image, control operation display module 14 shows described video image, testing staff is by the video image of Operation display module 14 observing nuclear fuel assembly 500 and open dimensional measurement detection procedure (" capturing photo current to measure " button on clicking operation interface, Operation display module 14 generates defectoscopy order, main viewing area display defect measures interface), operating personnel are by operation part input dimensional measurement signal (choosing measured zone on the video images) of Operation display module 14, dimension measuring unit 33 determines two calibration points that in video image, actual range is determined, obtain the actual demarcation distance Lb between calibration point described in two, calculate the image calibration distance Np in described video image described in two between calibration point, calculate the image deflects size Nc of described measured zone in described video image, distance Lb is demarcated according to described reality, image calibration distance Np and image deflects size Nc calculates and stores the actual defects size Lc of described measured zone.Whether what testing staff judged nuclear fuel assembly 500 according to actual defects size Lc has fault, and the position adjusting described nuclear fuel assembly is to make next detection faces of described nuclear fuel assembly towards the camera lens of described video camera 211, and repeat above-mentioned dimensional measurement detection procedure with the situation detecting this detection faces of nuclear fuel assembly 500 to judge nuclear fuel assembly 500 whether fault, until complete the detection of described each detection faces of nuclear fuel assembly 500.

Preferably, with reference to figure 3 and Figure 10, described processing module 13 also comprises tracing and monitoring unit 36, described control command comprises tracing and monitoring order, described tracing and monitoring unit 36 starts according to tracing and monitoring order and arranges the trace point of video camera 211, when obtaining initial the draw wire encoder 401 of new fuel elevator 400 encoder information and calculate the altitude information of the hydraucone 402 of described new fuel elevator 400 according to described encoder information, record the shooting angle θ 0 (as shown in figure 11) of altitude information H0 corresponding to described trace point and video camera 211, obtain the horizontal range L between the hydraucone 402 of new fuel elevator 400 and video camera 211, with reference to Figure 12, the altitude information H1 of the hydraucone 402 of Real-time Obtaining new fuel elevator 400, according to described altitude information H0, shooting angle θ 0, horizontal range L and real-time altitude information H1 calculates the shooting angle θ 1 of the video camera 211 of video detecting device 101 and generates luffing angle regulating command, and described luffing angle regulating command is sent in described two-dimentional motor 213, shown two-dimentional motor 213 controls the video camera 211 of described shooting main body 21 shooting direction according to described luffing angle regulating command aims at the hydraucone 402 of current new fuel elevator 400.With reference to Figure 10, the present invention monitor nuclear fuel rod pull and push instrument 300 change nuclear fuel rod 501 time, hydraucone 402 is set to trace point.

The operation steps arranging the trace point of video camera 211 is, operating personnel input shooting control command to regulate the focal length of video camera 211 and the brightness of the aperture of the diaphragm, camera watch region and flashlamp 212 of shooting main body 21 on operation interface, regulate the corresponding button of rear click to input tracing and monitoring order, described tracing and monitoring unit 36 enters tracing and monitoring state after the order of reception tracing and monitoring, the shooting direction of current camera 211 is set to the trace point of video camera 211 by tracing and monitoring unit 36, and starts tracing and monitoring.Wherein, if operating personnel input shooting control command in tracing and monitoring state, shooting main body 21 will regulate the shooting angle of video camera 211 according to this shooting control command, tracing and monitoring unit 36 also can upgrade trace point according to this shooting control command.

Particularly, vertical range D0 when described tracing and monitoring unit 36 calculates initial position according to described horizontal range L and shooting angle θ 0 between trace point and video camera place surface level; The hydraucone 402 altitude information H1 of Real-time Obtaining new fuel elevator 400, calculates the vertical range D1 between real-time trace point and video camera place surface level according to first described altitude information H0, vertical range D0 and real-time altitude information H1; Calculate the shooting angle θ 1 of the video camera of video detecting device 101 according to described horizontal range L and vertical range D1 and generate Angle ambiguity order.

Wherein, with reference to Figure 10, in the present embodiment, described shooting angle is the shooting direction of video camera 211 and the angle theta of horizontal direction of described video detecting device 101.Particularly, described tracing and monitoring unit 36 obtains the shooting angle of the video camera 211 of described video detecting device 101, corrects described horizontal range L according to described shooting angle and altitude information.

Referring to figs. 1 to Fig. 4, the process using nuclear fuel assembly of the present invention to repair the damaged nuclear fuel assembly work of detecting and controlling system 100 monitoring reparation is described: shooting main body 21 is fixed on the predeterminated position in described Spent Fuel Pool by (1) operating personnel, on operation interface, input shooting control command is to regulate focal length and the aperture of the diaphragm of the video camera 211 of shooting main body 21, the brightness of camera watch region and flashlamp 212, regulate the corresponding button of rear click to input tracing and monitoring order, described tracing and monitoring unit 36 enters tracing and monitoring state after the order of reception tracing and monitoring, the shooting direction of current camera 211 is set to the trace point of video camera 211 by tracing and monitoring unit 36, and start tracing and monitoring, video camera 211 starts the video image at hydraucone 402 place of continuous collecting new fuel elevator 400, now operating personnel can click video switching push button on display interface 141 to observe video image.(2) operating personnel pull and push the position of instrument 300 relative to the hydraucone 402 of new fuel elevator 400 from display interface 141 (clicking animation the Show Button to understand by changing excellent emulated interface 50 or to be understood by altitude information) the current nuclear fuel rod of understanding, so that input corresponding control command to do corresponding lifting action to control new fuel elevator 400 on new fuel elevator 400, make nuclear fuel rod pull and push instrument 300 nuclear fuel rod 501 of damage is extracted out from nuclear fuel assembly 500 or new nuclear fuel rod 501 is inserted nuclear fuel assembly, operating personnel now can click animation the Show Button to get information about by changing excellent emulated interface 50 position that nuclear fuel rod pulls and pushes the nuclear fuel rod 501 that instrument 300 captures, to input the control command of relevant control new fuel elevator 400 in time, when the nuclear fuel rod 501 captured will enter in nuclear fuel assembly 500 or when will depart from nuclear fuel assembly 500 completely completely, alarm module 16 sends low alarm or full level alarm to remind operating personnel in advance, operating personnel are assigned control new fuel elevator 400 of ceasing and desisting order in time and are stopped action, when nuclear fuel rod pull and push instrument 300 capture nuclear fuel rod 501 bend or other faults time (described pulling force data exceedes default pulling force threshold values), described alarm control unit generates failure alarm signal, alarm module 16 sends fault alarm, operating personnel can stop new fuel elevator 400 action in time, and click twice video switching push button, main viewing area can switch to tension variations chart/interface, height change chart place (as shown in Figure 9), so that operating personnel or maintenance personal understand concrete fault to fix a breakdown targetedly.Wherein, in whole monitor procedure, operating personnel can click primary video switching push button, with the video image VS making main viewing area switch the collection of display video pick-up unit 101, now, under the control of tracing and monitoring unit 36, the shooting picture of video camera 211 is hydraucone 402 position of described new fuel elevator 400, the shooting direction of video camera 211 is regulated without the need to operating personnel, the real-time repair process of nuclear fuel assembly can be understood, operating personnel are avoided to need the rear direction adjusting video camera 211 of new fuel elevator 400 of first stopping, whole reparation process can not be interrupted.

Compared with prior art, nuclear fuel assembly of the present invention is repaired detecting and controlling system 100 and is integrated the monitoring detecting the whether damaged work of nuclear fuel assembly and the monitoring of repairing damaged nuclear fuel assembly work, that not only monitors nuclear fuel rod changes rod work, nuclear fuel assembly can also be detected whether damaged, and issue an order by Operation display module 14 action controlling video detecting device 101, simple to operate, save manpower.On the other hand, alarm module 16 of the present invention also exceeds pre-set threshold value alarm in pulling force data, timely prompting operating personnel fault, security is good, remind operating personnel's nuclear fuel rod to pull and push instrument by full level alarm signal and low alarm signal whether to enter in new fuel elevator in nuclear fuel assembly completely or depart from nuclear fuel assembly, to monitor the concrete station that nuclear fuel rod pulls and pushes instrument, judge that nuclear fuel rod pulls and pushes the position of instrument relative in traditional mode of production by the height of video image or new fuel elevator, good operation safety and remediation efficiency is high.Again on the one hand, the present invention can at the hydraucone 402 repairing tracing and monitoring new fuel elevator 400 in damaged nuclear fuel assembly work, and without the need to the shooting direction of operating personnel's manual adjustments shooting main body 21, simple to operate, detect security is high.Again on the one hand, the present invention repairs the progress of damaged nuclear fuel assembly work by the observation of 2 D animation image, prevents operating personnel due to overtired and maloperation that is that cause.Again on the one hand, the present invention, when the system failure, can also consult tension variations chart and height change chart understanding historical data, be convenient to analyzing failure cause, and get information about pulling force data and altitude information by chart.

Above disclosedly be only the preferred embodiments of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalent variations that the present patent application the scope of the claims is done, still belong to the scope that the present invention is contained.

Claims (12)

1. a nuclear fuel assembly repairs detecting and controlling system, for the testing of nuclear fuel assembly video and the monitoring work of repairing damaged nuclear fuel assembly, it is characterized in that, comprise supervising device and video detecting device, described video detecting device gathers video image; Described supervising device comprises processing module, and the image capture module, data acquisition module, Operation display module, memory module and the alarm module that are connected with described processing module respectively, described image capture module obtains the video image that the described video detecting device of process gathers; Described data acquisition module be installed on the pulling force sensor that nuclear fuel rod pulls and pushes on instrument and be connected with the draw wire encoder be installed on new fuel elevator, and obtain the pulling force data of described pulling force sensor and the altitude information of draw wire encoder; Described Operation display module receives the control command of outside input and shows data, and described control command comprises shooting control command and video monitoring order; Described processing module comprises controlled processing unit and alarm control unit, described controlled processing unit accepts described control command and video image, and control video detecting device action according to described shooting control command, control described Operation display module according to described video monitoring order and show described video image, control described memory module and store described video image; Described alarm control unit judges whether described pulling force data exceedes default pulling force threshold values and generate failure alarm signal when described pulling force data exceedes default pulling force threshold values, judge whether described altitude information is more than or equal to high spacing threshold values or is less than or equal to low spacing threshold values, and export full level alarm signal when described altitude information is more than or equal to high spacing threshold values, export low alarm signal when described altitude information is less than or equal to low spacing threshold values; Described alarm module sends corresponding warning according to described failure alarm signal, full level alarm signal and low alarm signal.
2. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterized in that, described default pulling force threshold values comprises first and presets pulling force threshold values and the second default pulling force threshold values, described first presets pulling force threshold values is less than the second default pulling force threshold values, described alarm control unit sends pre-alarm signal when described pulling force data exceeds the first pre-set threshold value and is less than the second pre-set threshold value, real alerting signal is sent when described pulling force data exceeds the second pre-set threshold value, described alarm module sends light warning according to described pre-alarm signal, sound and light alarm is sent according to described real alerting signal.
3. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterized in that, described processing module also comprises chart monitoring unit, described control treatment module controls described memory module and stores described pulling force data and altitude information, and described chart monitoring unit generates tension variations chart and height change chart according to described pulling force data and altitude information; Described control command comprises chart monitor command, and described controlled processing unit controls described Operation display module according to described chart monitor command and shows described tension variations chart and height change chart.
4. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterized in that, described processing module also comprises 2 D animation simulation unit, described 2 D animation simulation unit obtains the 2-D data of replacing nuclear fuel rod work relevant device and changes excellent emulated interface according to described 2-D data generation, excellent emulated interface is changed described in upgrading according to described altitude information, described two-dimensional structure data comprise the two-dimensional structure data comprising the two dimensional model structural information changing relevant device in nuclear fuel rod work and the two-dimensional position data comprising the two dimensional model relative position relation information changing relevant device in nuclear fuel rod work, in the damaged nuclear fuel assembly work of described reparation, relevant device comprises nuclear fuel rod and pulls and pushes instrument, new fuel elevator and nuclear fuel assembly, described nuclear fuel assembly comprises nuclear fuel assembly main body and nuclear fuel rod to be replaced, described control command comprises animation monitor command, and described controlled processing unit controls to change excellent emulated interface described in the display of described Operation display module according to described animation monitor command.
5. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, and it is characterized in that, described controlled processing unit controls described Operation display module and shows described pulling force data and altitude information in real time.
6. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterized in that, described shooting control command comprises illumination adjustments order, luffing angle regulating command, level angle regulating command and camera control commands, described controlled processing unit receives the described illumination adjustments order of process, luffing angle regulating command, level angle regulating command and camera control commands are also delivered to video detecting device, described video detecting device comprises shooting main body, described shooting main body stretches into Spent Fuel Pool and comprises video camera, illuminating lamp and two-dimentional motor, described video camera to be installed on two-dimentional motor and to gather video image, described illuminating lamp is installed on video camera or two-dimentional motor, described two-dimentional motor regulates the luffing angle of video camera according to luffing angle regulating command, the level angle of video camera is regulated according to level angle regulating command, the brightness of described illuminating lamp is regulated according to brightness regulation order, described video camera is focused and the aperture of the diaphragm according to described camera control commands.
7. nuclear fuel assembly as claimed in claim 6 repairs detecting and controlling system, it is characterized in that, also comprises distance calibration equipment, the distance calibration that described distance calibration equipment is determined at shooting area setting at least two actual ranges of described video detecting device, described processing unit also comprises dimension measuring unit, described control command comprises defectoscopy order and dimensional measurement signal, described dimension measuring unit receives described defectoscopy order when described Operation display module display video image, described dimensional measurement signal is received according to described defectoscopy order, the measured zone on described video image is determined according to described dimensional measurement signal, and determine the calibration point of the described distance calibration that two actual ranges are determined on the video images, obtain the actual demarcation distance Lb between calibration point described in two, calculate the image calibration distance Np in described video image described in two between calibration point, calculate the image deflects size Nc of described measured zone in video image described in two, distance Lb is demarcated according to described reality, image calibration distance Np and image deflects size Nc calculates and stores the actual defects size Lc of described measured zone.
8. nuclear fuel assembly as claimed in claim 7 repairs detecting and controlling system, it is characterized in that, described distance calibration equipment comprises laser calibration equipment, described laser calibration equipment comprises two laser source, lasing light emitter described in two sends distance and determines and the distance calibration determined to arrange two actual ranges at the shooting area of described video detecting device of two parallel laser spots to the measured face of described nuclear fuel assembly, described dimension measuring unit extracts the spot center of laser spots described in two to obtain calibration point described in two in described video image.
9. nuclear fuel assembly as claimed in claim 7 repairs detecting and controlling system, it is characterized in that, described dimension measuring unit also calculate lasing light emitter described in two in described laser calibration equipment respectively with laser distance L1, L2 of described nuclear fuel assembly, correct described actual defects size Lc according to described laser distance L1, L2.
10. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterized in that, described video detecting device comprises shooting main body, described shooting main body comprises two-dimentional motor and is installed on the video camera on two-dimentional motor, described two-dimentional motor regulates the luffing angle of video camera according to luffing angle regulating command, described processing module also comprises tracing and monitoring unit, described control command comprises tracing and monitoring order, described tracing and monitoring unit starts according to tracing and monitoring order and arranges the trace point of video camera, obtain the encoder information of the draw wire encoder of new fuel elevator and calculate the bell-mouthed altitude information of described new fuel elevator according to described encoder information, record the shooting angle θ 0 of altitude information H0 corresponding to described trace point and video camera, obtain the horizontal range L between the hydraucone of new fuel elevator and video camera, the bell-mouthed altitude information H1 of new fuel elevator described in Real-time Obtaining, calculate the shooting angle θ 1 of video camera according to described altitude information H0, shooting angle θ 0, horizontal range L and altitude information H1 and generate luffing angle regulating command, and described luffing angle regulating command is sent in described two-dimentional motor.
11. nuclear fuel assemblies as claimed in claim 10 repair detecting and controlling system, it is characterized in that, the shooting area of current camera is set to trace point according to described tracing and monitoring order by described tracing and monitoring unit, and the trace point of video camera described in foundation shooting control command real-time update.
12. nuclear fuel assemblies as claimed in claim 10 repair detecting and controlling system, it is characterized in that, described shooting angle θ is the shooting direction of the video camera of described video detecting device and the angle of horizontal direction, and described tracing and monitoring unit corrects described horizontal range L according to described shooting angle θ 1 and altitude information H1.
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