CN105118535B - Nuclear fuel assembly repairs detecting and controlling system - Google Patents

Abstract

Detecting and controlling system is repaired the invention discloses a kind of nuclear fuel assembly, for detecting whether nuclear fuel assembly is damaged and repairing the monitoring in damaged nuclear fuel assembly work, including video detecting device and supervising device, video image in the video detecting device acquisition monitoring work, the supervising device respectively with video detecting device, pulling force sensor (nuclear fuel rod is pulled and pushed on instrument) is connected with draw wire encoder (on new fuel elevator), it can control the video image that the video detecting device acts and shows video detecting device collection, pulling force data and altitude information the monitoring nuclear fuel rod detected by pulling force sensor (nuclear fuel rod is pulled and pushed on instrument) and draw wire encoder (on new fuel elevator) pulls and pushes the work of instrument and new fuel elevator, operating personnel are reminded in failure, so that operating personnel can complete whole monitoring work by supervising device, it is simple to operate, good operation safety and remediation efficiency height.

Description

Nuclear fuel assembly repairs detecting and controlling system

Technical field

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

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 Involucrum accommodates nuclear fuel rod, fuel is kept apart with cooling agent, and contain fission gas.It prevents radioactive particle from escaping First of barrier.In normal operation, nuclear fuel rod due to thermal expansion, densification, swelling, crack and release fission gas all Fuel can deformation fracture is likely to cause, causes primary circuit coolant activity raising, therefore need to enter nuclear fuel assembly The necessary detection of row, nuclear fuel rod damaged in nuclear fuel assembly is changed when nuclear fuel assembly is damaged in time.

The step of detection is with changing nuclear fuel rod in nuclear fuel assembly includes：(1) nuclear fuel assembly sobs suction detection, for examining Survey whether nuclear fuel assembly has radionuclide release, so as to judge whether nuclear fuel rod is damaged；(2) nuclear fuel assembly video is examined Survey, observe each face of nuclear fuel assembly, judge the deformation extent of nuclear fuel assembly and the state of appearance of nuclear fuel assembly screen work, Component internal whether have it is different stay thing, outer layer nuclear fuel rod whether have it is damaged, the surface appearance such as scratch, to determine whether that rod is changed in progress Operation；(3) the damaged rod position monitor of nuclear fuel assembly, when needing to change nuclear fuel rod, using ultrasonic monitor device to core All nuclear fuel rods of fuel assembly are monitored one by one, to be accurately positioned to damaged nuclear fuel rod；(4) by breakage Nuclear fuel assembly, which is put on new fuel elevator, the horn mouth of the new fuel elevator, is provided with some guiding, positioners To fix nuclear fuel assembly and be easy to nuclear fuel rod to pull and push the nuclear fuel rod that instrument stretches into and captures breakage；(5) base in dismounting, Nuclear fuel rod guider is installed at horn mouth；(6) Fig. 2 is referred to, pulling and pushing instrument 300 using nuclear fuel rod clamps nuclear fuel rod 501 upper base, remote control new fuel elevator action, so that the nuclear fuel rod pulls and pushes instrument 300 and fires damaged core Charge bar 501 takes out from nuclear fuel assembly 500 and is put into temporary storage container 103；(7) instrument 300 is pulled and pushed by nuclear fuel rod By in the corresponding grid of damaged nuclear fuel rod 501 in new nuclear fuel rod insertion nuclear fuel assembly 500；(8) upper base is installed Return on nuclear fuel assembly 500.

In step (2), with reference to Fig. 1, operating personnel need that detected nuclear fuel assembly 500 is hung 600 and be hung in by auxiliary The corresponding detection zone of Spent Fuel Pool, spentnuclear fuel water is fixed on by the shooting main body 21 of video detecting device by fixed seat 22 The edge in pond, the relative position for being detected nuclear fuel assembly 500 is stretched into Spent Fuel Pool by suspension rod 23, uses shooting main body 21 shoot a surface of nuclear fuel assembly, and rotate nuclear fuel assembly to detect each surface to be measured of nuclear fuel assembly.Wherein, , it is necessary to which the operational control panel regulation first passed through on video detecting device is taken the photograph when operating personnel carry out nuclear fuel assembly video detection As the brightness of the luffing angle of camera in main body 21, level angle, focal length, visual field and illuminating lamp, controlled after regulating auxiliary While hanging 600 and vertically moved with certain speed, the video image that the display screen of viewing video detecting device show is logical Cross video image and judge whether nuclear fuel assembly is damaged, deformation.

In step (6)-(7), for prevent due to misoperation cause nuclear fuel rod bending, deformation etc. the problems such as, it is necessary to The action of remote control new fuel elevator monitors core combustion to pull and push on the control panel of new fuel elevator while nuclear fuel rod The Renewal process of charge bar：Operating personnel need to continue on the operational control panel regulation video detecting device of video detecting device The luffing angle of middle video camera, so that the video camera of shooting main body 21 is directed at the position of horn mouth 402 of new fuel elevator 400, The video image that nuclear fuel rod is changed is monitored by the display screen of video detecting device in real time, passes through new fuel elevator 400 Control panel monitors the data of the draw wire encoder of new fuel elevator 400 to judge the adjustable height of new fuel elevator 400, The pulling force sensor monitoring in instrument 300 is pulled and pushed by nuclear fuel rod and pulls and pushes the size of power taking human as judging whether failure.Work as behaviour When being lacked experience as personnel or reacting unhappy, not only very likely occur erroneous judgement, nuclear fuel is controlled in new fuel elevator Rod pull and push instrument clamping nuclear fuel rod 501 reach the lower end of nuclear fuel assembly 500 or depart from 500 upper end of nuclear fuel assembly when not The action of new fuel elevator 400 can be stopped in time, so that the damage of nuclear fuel assembly is caused, and in Renewal process failure Shi Buneng reacts in time, influences remediation efficiency.

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

The content of the invention

Detecting and controlling system is repaired it is an object of the invention to provide a kind of easy to operate, safe nuclear fuel assembly.

To achieve these goals, detecting and controlling system is repaired the invention provides a kind of nuclear fuel assembly, for core combustion Expect component video detection work and repair the monitoring work of damaged nuclear fuel assembly, it includes supervising device and video detection dress Put, the video detecting device gathers video image；The supervising device include processing module, and respectively with the processing mould Block connected image capture module, data acquisition module, Operation display module, memory module and alarm module, described image are adopted Collect the video image that module obtains the processing video detecting device collection；The data acquisition module is with being installed on nuclear fuel rod The pulling force sensor pulled and pushed on instrument is connected with the draw wire encoder being installed on new fuel elevator, and obtains the pulling force biography The pulling force data of sensor and the altitude information of draw wire encoder；The Operation display module receives the control command of outside input simultaneously Display data, the control command includes shooting control command and video monitoring order；The processing module includes control process Unit and alarm control unit, the control command and image that the control process unit receives the Operation display module output are adopted Collect the video image of module output, and according to the shooting control command control video detecting device action, according to the video Monitor command controls the Operation display module to show the video image, and controls the memory module to store the video figure Picture；The alarm control unit judges whether the pulling force data exceedes default pulling force threshold values and exceed in the pulling force data pre- If generating failure alarm signal during pulling force threshold values, judge the altitude information whether be more than or equal to high spacing threshold values or less than etc. Full level alarm signal is exported in lower bound position threshold values, and when the altitude information is more than or equal to high spacing threshold values, in the height Data are less than or equal to export low alarm signal during the threshold values of lower bound position；The alarm module is according to the failure alarm signal, height Position alarm signal and low alarm signal send corresponding alarm.

Compared with prior art, nuclear fuel assembly of the present invention repairs detecting and controlling system and detects whether nuclear fuel assembly is damaged The monitoring of the damaged nuclear fuel assembly work of monitoring and reparation of work is integrated, and core combustion can be not only monitored on Operation display module The rod that changes of charge bar works, and can also detect whether nuclear fuel assembly is damaged, and issue an order to control by Operation display module The action of video detecting device, it is simple to operate, save manpower, you can core combustion is completed on a terminal (Operation display module) Expect component detection work and damaged nuclear fuel assembly repair.On the other hand, alarm module of the present invention is also in pulling force number According to beyond default pulling force threshold values alarm, operating personnel's failure is reminded in time, and security is good, passes through full level alarm signal and low level Alarm signal reminds operating personnel's nuclear fuel rod whether to pull and push the nuclear fuel rod captured on instrument completely into new fuel elevator Interior nuclear fuel assembly is interior or departs from nuclear fuel assembly, to monitor the specific station that nuclear fuel rod pulls and pushes instrument, relative to tradition Judge that nuclear fuel rod pulls and pushes the position of instrument, good operation safety by the height of video image or new fuel elevator in production And remediation efficiency is high.

Wherein, the draw wire encoder is the encoder of the motor of new fuel elevator, the pulling force sensor inspection Survey nuclear fuel rod and pull and push the sensor that instrument pulls and pushes power.

It is preferred that the default pulling force threshold values includes the first default pulling force threshold values and the second default pulling force threshold values, described the One default pulling force threshold values is less than the second default pulling force threshold values, and the alarm control unit is preset in the pulling force data beyond first Pulling force threshold values and pre-alarm signal is sent during less than the second default pulling force threshold values, in the pulling force data beyond the second default pulling force Real alarm signal is sent during threshold values, the alarm module sends light warning according to the pre-alarm signal, according to the real report Alert signal sends sound and light alarm.The program sends lamp using two sections of alarms when pulling force data is beyond the first default pulling force threshold values Light alarm, reminds the possibility of operating personnel's failure to occur, and send acousto-optic report when pulling force data exceeds the second preset value in advance It is alert, the generation of operating personnel's failure is reminded in time, and good operation safety can shift to an earlier date the generation of trouble saving.

It is preferred that the processing module also includes chart monitoring unit, the control process unit controls the storage mould Block stores the pulling force data and altitude information, and the chart monitoring unit is drawn according to the pulling force data and altitude information generation Power changes chart and height change chart；The control command includes chart monitor command, and the control process unit is according to institute Stating chart monitor command controls the Operation display module to show the tension variations chart and height change chart.Operating personnel Historical data can be understood by tension variations chart and height change chart, be easy to the analyzing failure cause in failure, and can lead to Cross chart and get information about pulling force data and altitude information.

It is preferred that the processing module also includes 2 D animation simulation unit, the 2 D animation simulation unit is obtained more Change the 2-D data of nuclear fuel rod work relevant device and change rod emulated interface according to 2-D data generation, according to the height Degrees of data changes rod emulated interface described in updating, and the 2-D data includes including two of relevant device in replacing nuclear fuel rod work The two-dimensional structure data of dimension module structural information and the relative position of two dimensional model for including relevant device in replacing nuclear fuel rod work The two-dimensional position data of relation information is put, relevant device is pulled and pushed including nuclear fuel rod in the damaged nuclear fuel assembly work of the reparation Instrument, new fuel elevator and nuclear fuel assembly, the nuclear fuel assembly include nuclear fuel assembly main body and nuclear fuel to be replaced Rod；The control command includes animation monitor command, and the control process unit is described according to animation monitor command control Operation display module changes rod emulated interface described in showing.The program causes operating personnel intuitively clear by changing rod emulated interface Understanding nuclear fuel rod pull and push the particular location of instrument, be easy to the control of new fuel elevator.Wherein, damaged nuclear fuel group is repaired Relevant device includes the loudspeaker of Spent Fuel Pool two dimensional model, new fuel elevator two dimensional model and new fuel elevator in part work Mouth two dimensional model, nuclear fuel assembly two dimensional model and the nuclear fuel rod two dimensional model, the nuclear fuel rod that are replaced pull and push instrument two Dimension module and temporary storage container two dimensional model.

It is preferred that the Operation display module shows the pulling force data and altitude information in real time.The program causes this to send out It is bright that the image/video of video detecting device can be shown in Operation display module or pulling force number is shown while changing rod emulated interface According to and altitude information.

It is preferred that the Operation display module also shows the operation interface of the Operation display module in real time.

It is preferred that the control command includes print command, the processing module is connected with printer and beaten according to described The print order control printer printing current display picture of display module.

Wherein, the shooting control command includes illumination adjustments order, luffing angle regulating command, level angle regulation life Order and camera control commands, illumination adjustments order described in the control process unit reception processing, luffing angle regulating command, Level angle regulating command and camera control commands are delivered to video detecting device, and the video detecting device, which includes shooting, to be led Body, the shooting main body stretches into Spent Fuel Pool and including video camera, illuminating lamp and two-dimentional motor, and the video camera is installed on two Tie up on motor and gather video image, the illuminating lamp is installed on video camera or two-dimentional motor, the two-dimentional motor foundation is bowed Elevation angle degree regulating command adjusts the luffing angle of video camera, and the level angle of video camera is adjusted according to level angle regulating command, The brightness of the illuminating lamp is adjusted according to brightness regulation order, the video camera is focused according to the camera control commands And the aperture of the diaphragm.

It is preferred that the nuclear fuel assembly, which repairs detecting and controlling system, also includes distance calibration equipment, the distance calibration Equipment sets the distance calibration that at least two actual ranges are determined in the shooting area of the video detecting device；The processing module Also include dimension measuring unit, the control command includes defectoscopy order and dimensional measurement signal, the dimensional measurement list Member receives the defectoscopy order when the Operation display module shows video image, is connect according to the defectoscopy order The dimensional measurement signal is received, the measured zone on the video image is determined according to the dimensional measurement signal, and in video The calibration point for the distance calibration that two actual ranges are determined on image, obtains the actual demarcation distance between calibration point described in two Lb, calculates the image calibration in the video image between calibration point described in two apart from Np, institute in video image described in calculating two The image deflects size Nc of measured zone is stated, according to the actual demarcation apart from Lb, image calibration apart from Np and image deflects chi Very little Nc is calculated and is stored the actual defects size Lc of the measured zone.In the program, the present invention can not only pass through video figure , can also be by determining that two actual ranges are true in video image as the state of appearance and surface appearance of observation nuclear fuel assembly Fixed calibration point, measured zone in video image is calculated by the image calibration distance and actual demarcation distance of two calibration points Actual size, the degree whether nuclear fuel assembly deforms and deform is judged by the actual defects size Lc of measured zone, Judge that precision is high.

Specifically, the distance calibration equipment includes laser calibration equipment, and the laser calibration equipment includes two laser source, The measured surface of lasing light emitter described in two to the nuclear fuel assembly sends distance and determined and two parallel laser spots, the distance mark The distance determination and two parallel laser spots for being set to directive nuclear fuel assembly are set with the shooting area in the video detecting device The distance calibration of two actual ranges determination is put, the dimension measuring unit extracts laser spots described in two in the video image Spot center is to obtain calibration point described in two.The program regard the laser spots of two parallel laser source directive nuclear fuel assemblies as distance Demarcation, is easy to the determination to calibration point in video image, by the hot spot that laser spots described in two are extracted in the video image Measurement accuracy has been effectively ensured to obtain calibration point described in two in center.It is of course also possible to by other means come determine distance mark It is fixed, a demarcation card is for example set, it is ensured that the measured surface of the demarcation card and the nuclear fuel assembly be arranged in parallel, the chi Very little measuring unit determines two calibration points according to the actual range known image region on demarcation card.

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

Specifically, the dimension measuring unit also calculate in the laser calibration equipment lasing light emitter described in two respectively with it is described Laser distance L1, L2 of nuclear fuel assembly, the actual defects size Lc is corrected according to described laser distance L1, L2.

Specifically, the dimension measuring unit calculates the actual chi of each pixel on video image according to formula D=Lb/Np Very little D, the actual defects size Lc is calculated according to formula Lc=Nc*D.

It is preferred that the video detecting device includes shooting main body, the shooting main body includes two-dimentional motor and is installed on Video camera on two-dimentional motor, the two-dimentional motor adjusts the luffing angle of video camera according to luffing angle regulating command, described Processing module also includes tracing and monitoring unit, and the control command includes tracing and monitoring order, the tracing and monitoring unit foundation Tracing and monitoring order starts and sets the trace point of video camera, obtains the encoder information of the draw wire encoder of new fuel elevator And the bell-mouthed altitude information of the new fuel elevator is calculated according to the encoder information, record the trace point correspondence Altitude information H0 and video camera shooting angle θ 0, obtain new fuel elevator horn mouth and video camera between level away from From L, the bell-mouthed altitude information H1 of the new fuel elevator is obtained in real time, according to the altitude information H0, shooting angle θ 0th, horizontal range L and altitude information H1 calculates the shooting angle θ 1 of video camera and generates luffing angle regulating command, and will be described Luffing angle regulating command is sent to the two-dimentional motor.In the program, the present invention can pull and push instrument in monitoring nuclear fuel rod When changing nuclear fuel rod, start-up trace monitoring unit, and horn mouth is set to trace point, the encoder according to new fuel elevator Information calculates the shooting angle θ 1 of video camera to generate angle control command, and the video camera is adjusted according to the angle control command Luffing angle so that the shooting direction of the video camera is directed at horn mouth automatically, adjust described take the photograph manually without operating personnel The luffing angle of camera, it is simple to operate, detect safe.

Specifically, the tracing and monitoring unit is set the shooting area of current camera according to the tracing and monitoring order For trace point, and according to the trace point of video camera described in shooting control command real-time update.The program is specially：The shooting control System order includes luffing angle regulating command, and the control process unit receives and handles the luffing angle regulating command and incite somebody to action The luffing angle regulating command is delivered to the two-dimentional motor, and the two-dimentional motor is adjusted according to the luffing angle regulating command The luffing angle of video camera is saved, the luffing angle after the tracing and monitoring unit is also adjusted according to the video camera updates tracking Point.

Specifically, the tracing and monitoring unit calculates trace point and shooting according to the horizontal range L and shooting angle θ 0 Vertical range D0 between horizontal plane where machine；The bell-mouthed altitude information H1 of new fuel elevator is obtained in real time, according to institute State altitude information H0, vertical range D0 and altitude information H1 calculates hanging down between real-time trace point and video camera place horizontal plane Directly apart from D1；The shooting angle θ 1 of video camera of video detecting device is calculated according to the horizontal range L and vertical range D1 simultaneously Generate angle control command.

Specifically, the shooting angle of the video camera is the shooting direction and level of the video camera of the video detecting device The angle in direction, now, D0=H0, D1=H1.The tracing and monitoring unit obtains the video camera of the video detecting device Shooting angle, the horizontal range L is corrected according to the shooting angle and altitude information.

Brief description of the drawings

Fig. 1 is the schematic diagram of nuclear fuel assembly video detection.

Fig. 2 is the schematic diagram for 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 of the present invention for changing rod emulated interface.

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 that angle control command is calculated in damaged nuclear fuel assembly monitoring.

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

Embodiment

To describe the technology contents of the present invention in detail, feature, the objects and the effects being constructed, below in conjunction with embodiment And coordinate accompanying drawing to be explained in detail.

Referring to figs. 1 to Fig. 3, detecting and controlling system 100 is repaired the invention discloses a kind of nuclear fuel assembly, for nuclear fuel Component video detects and repaired the monitoring work of damaged nuclear fuel assembly, including video detecting device 101 and supervising device 102, the whether damaged work of the acquisition testing nuclear fuel assembly of video detecting device 101 and the damaged nuclear fuel assembly of reparation work Video image.The supervising device 102 by receiving and showing the video image VS that the video detecting device 101 is gathered, Worked with the rod that changes for carrying out nuclear fuel assembly video detection and monitor in real time nuclear fuel rod, the supervising device 102 also receives simultaneously The control command of outside input is handled, the control command includes shooting control command ST and video monitoring order, the monitoring Device 102 is acted more accurately to monitor nuclear fuel rod more according to the shooting control command ST control video detecting devices 101 The video for changing or detecting.The supervising device 102 is installed on nuclear fuel rod by monitoring and pulls and pushes pull sensing on instrument 300 The altitude information of the pulling force data of device 301 and the draw wire encoder 401 being installed on new fuel elevator 400, judges nuclear fuel Whether rod pulls and pushes the nuclear fuel rod 501 of the clamping of instrument 300 completely into nuclear fuel assembly 500 or departing from nuclear fuel assembly 500, to monitor the specific station that nuclear fuel rod pulls and pushes instrument 300.Wherein, the draw wire encoder 401 is new fuel elevator The encoder of 400 motor, the detection of pulling force sensor 301 nuclear fuel rod pulls and pushes the sensor that instrument 300 pulls and pushes power.

It is the structural representation of the shooting main body 21 of video detecting device 101 of the present invention with reference to Fig. 4 and Fig. 5, it is described Imaging main body 21 includes video camera 211, illuminating lamp 212 and two-dimentional motor 213, and the video camera 211 is installed on two-dimentional motor 213 Go up and gather video image VS, the illuminating lamp 212 is installed on video camera 211, the two-dimentional motor 213 is according to shooting control ST is ordered to adjust the shooting angle of the video camera 211 and the brightness of illuminating lamp 212.Wherein, with reference to Fig. 2, the shooting main body 211 are installed in the equipment in the edge of Spent Fuel Pool or Spent Fuel Pool by fixed seat 22, and are stretched by suspension rod 23 Enter the video image under collection Spent Fuel Pool in Spent Fuel Pool.Certainly, the illuminating lamp 212 can also be installed on two-dimentional horse Up on 213.

Wherein, with reference to Fig. 6, in the present embodiment, the supervising device 102 is respectively provided at two different terminals of authority On (manual control box and engineering machine), operating personnel can be controlled by manual control box in working site, by engineering machine long-range It is controlled, is the structured flowchart that supervising device 102 of the present invention and video detecting device 101 are connected with reference to Fig. 6, it is described Supervising device 102 will image control command ST and be delivered in shooting main body 21, and the supervising device 102 is also received, handled, showing Show, store that the video image VS, the shooting control command ST of the collection of video camera 21 include 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 Fig. 4 and Fig. 5, the two-dimentional motor 213 includes housing, is installed on the housing and rotates in the horizontal direction Or be slidably connected horizontal moving body (not shown), be installed in the horizontal moving body and vertically rotate connection Pitching body (not shown) and two-dimentional motor main control mechanism.With reference to Fig. 6, the two-dimentional motor control mechanism includes two-dimentional horse Up to master controller 41, illuminating lamp driving circuit 42, pitching motor drive circuit 43, horizontal motor drive circuit 44, pitching motor 45 and horizontal motor 46, the two-dimentional motor master controller 41 receives the luffing angle regulating command, level angle regulation life Order and brightness regulation order, illuminating lamp driving circuit 42 control the illuminating lamp 212 to work according to the brightness regulation order, institute State pitching motor drive circuit 43 controls the pitching motor 45 to work according to the luffing angle regulating command, the pitching electricity Machine 45 is installed in the pitching body and drives vertical direction of the pitching body along the horizontal moving body to move, the level Motor 46 be installed on it is described move horizontally in vivo and drive horizontal direction of the horizontal moving body along the housing to move, it is described Video camera 211 is installed on the pitching body, and the illuminating lamp 212 is fixed with the video camera 211.The two-dimentional motor master control Camera control commands ST1 is also delivered in video camera 211 by device 41 processed, and the video camera 211 is according to the camera control Order ST1 is focused and the aperture of the diaphragm.

With reference to Fig. 3, the supervising device 102 includes processing module 13, and is respectively connected with the processing module 13 Image capture module 11, data acquisition module 12, Operation display module 14, memory module 15 and alarm module 16, described image Acquisition module 11 obtains the video image that the processing video detecting device 101 is gathered；The data acquisition module 12 is with installing The pulling force sensor 301 on instrument 300 and the phase of draw wire encoder 401 being installed on new fuel elevator are pulled and pushed in nuclear fuel rod Connect, and obtain the pulling force data of the pulling force sensor 301 and the altitude information of draw wire encoder 401；The operation shows mould Block 14 receives the control command and display data of outside input, and the control command includes shooting control command and video monitoring life Order；The processing module 13 includes control process unit 32 and alarm control unit 31, and the control process unit 32 receives institute The video image that the control command and image capture module 11 of the output of Operation display module 14 are exported is stated, and according to the shooting control System order control video detecting device 101 is acted, and controls the Operation display module 14 to show according to the video monitoring order The video image, and control the memory module 15 to store the video image；The alarm control unit 31 judges described Whether pulling force data and altitude information exceed predetermined threshold value, and other when the pulling force data and altitude information exceed predetermined threshold value Corresponding alarm signal is exported, the alarm module 16 sends corresponding alarm according to the alarm signal and sends corresponding alarm.

Wherein, the alarm control unit 31 is connected to receive the pulling force data and height with the data acquisition module 12 Degrees of data, judges whether the pulling force data exceedes default pulling force threshold values and when the pulling force data exceedes default pulling force threshold values Failure alarm signal is generated, judges whether the altitude information is more than or equal to high spacing threshold values or less than or equal to low limit valve Value, and full level alarm signal is exported when the altitude information is more than or equal to high spacing threshold values, be less than in the altitude information etc. Low alarm signal is exported when the threshold values of lower bound position；The alarm module 16 is believed according to the failure alarm signal, full level alarm Number and low alarm signal send corresponding alarm.

Preferably, the default pulling force threshold values includes the first default pulling force threshold values and the second default pulling force threshold values, and described the One default pulling force threshold values is less than the second default pulling force threshold values, and the alarm control unit 31 is pre- beyond first in the pulling force data If pulling force threshold values and sending pre-alarm signal during less than the second default pulling force threshold values, default drawn beyond second in the pulling force data Real alarm signal is sent during power threshold values, the alarm module 16 sends light warning according to the pre-alarm signal, according to described Real alarm signal sends sound and light alarm.The program is sent out using two sections of alarms when pulling force data is beyond the first default pulling force threshold values Go out light warning, remind the possibility of operating personnel's failure to occur in advance, and sound is sent when pulling force data exceeds the second preset value Light alarm, reminds the generation of operating personnel's failure in time, and good operation safety can shift to an earlier date the generation of trouble saving.

With reference to Fig. 7 to Fig. 9,141 points of the display interface of the Operation display module 14 is operation circle of operation display interface Face viewing area (left and right sides of operation display interface) and the main viewing area (centre of operation display interface) of display data, it is described There is the button on several buttons, clicking operation interface can carry out parameter setting, control video detecting device in operation interface 101 shooting main body 21 acts or switched the corresponding monitoring interface of display.

Preferably, the Operation display module 14 shows the pulling force data and altitude information in real time.With reference to Fig. 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.Should Scheme causes the present invention to show the image/video of video detecting device 101 in Operation display module 14 or change rod emulated interface Pulling force data and altitude information are shown while 50.

Preferably, with reference to Fig. 3 and Fig. 9, the processing module 13 also includes chart monitoring unit 34, the control process list The control of member 32 memory module 15 stores the pulling force data and altitude information, and the chart monitoring unit 34 is drawn according to described Force data and altitude information generation tension variations chart and height change chart；The control command includes chart monitor command, The control process unit 32 controls the Operation display module 14 to show the tension variations according to the chart monitor command Chart and height change chart.Operating personnel can understand historical data by tension variations chart and height change chart, be easy to The analyzing failure cause in failure, and pulling force data and altitude information can be got information about by chart.Wherein, chart monitoring life Make and press the signal exported after video switching push buttons of the Fig. 7 into Fig. 9 for operating personnel, when operating personnel press video switching by After button, video image VS and tension variations chart/height change that the main changeable display video detecting device 101 in viewing area is gathered Interface (as shown in Figure 9) where chart.

Preferably, with reference to Fig. 3, the 2 D animation simulation unit 35, which is obtained, changes the two of nuclear fuel rod work relevant device Dimension data simultaneously changes rod emulated interface 50 (as shown in Figure 8) according to 2-D data generation, and the 2-D data is included comprising more Change nuclear fuel rod work in relevant device two dimensional model structural information two-dimensional structure data and comprising change nuclear fuel rod work The two-dimensional position data of the two dimensional model relative position relation information of relevant device in work, phase in the replacing nuclear fuel rod work Close equipment and pull and push instrument, new fuel elevator and nuclear fuel assembly including nuclear fuel rod, the nuclear fuel assembly 500 fires including core Expect module body and nuclear fuel rod to be replaced 501, the display module 17 according to the animation monitor command show described in change rod Emulated interface 50.The program make it that operating personnel can intuitively being apparent from nuclear fuel rod pulls and pushes work by changing rod emulated interface 50 The particular location of tool, is easy to the control of new fuel elevator.Wherein, two-dimensional structure data are the nuclear fuel rod works established in advance Make the two dimensional model of relevant device.Wherein, animation monitor command is to be exported after operating personnel press animation the Show Button in Fig. 7 Signal, when operating personnel press the button, main viewing area, which can be shown, changes rod emulated interface 50.

With reference to Fig. 8, the two-dimensional structure data pull and push instrument two dimensional model 51, new fuel elevator two including nuclear fuel rod Dimension module 52, nuclear fuel assembly body, two-dimensional model 53, the structure of nuclear fuel rod two dimensional model 54 to be replaced, the two-dimensional position Data include new fuel elevator two dimensional model 52, nuclear fuel assembly body, two-dimensional model 53, nuclear fuel rod and pull and push instrument two dimension The position of model 51 and nuclear fuel rod two dimensional model 54 to be replaced in rod emulated interface 50 is changed.

Preferably, relevant device also includes Spent Fuel Pool in the replacing nuclear fuel rod work, in order to more intuitively The Renewal process of nuclear fuel rod is monitored, with reference to Fig. 3, the two-dimensional structure data also include Spent Fuel Pool two dimensional model 55, institute Stating two-dimensional position data includes new fuel elevator two dimensional model 52, two dimensional model 53, the nuclear fuel rod of nuclear fuel assembly main body Pull and push the position of instrument two dimensional model 51, nuclear fuel rod two dimensional model 54 to be replaced in Spent Fuel Pool two dimensional model 55. In the present embodiment, the two-dimensional structure data also include the two dimensional model 56 of temporary storage.

Wherein, the 2 D animation simulation unit 35 obtains the two-dimensional structure data prestored and the two dimension prestored Position data, rod emulated interface is changed according to the two-dimensional structure data prestored and the two-dimensional position data prestored generation 50.Certainly, the 2 D animation simulation unit 35 can also obtain the two-dimensional structure data prestored and the portion prestored Divide two-dimensional position data, by obtaining the altitude information of current new fuel elevator 400, according to the part Two-dimensional Position prestored Data are put and current altitude information synthesis two-dimensional position data, according to the two-dimensional structure data and synthesis prestored Rod emulated interface 50 is changed in two-dimensional position data generation.

Wherein, the 2 D animation simulation unit 35 updates the step of changing rod emulated interface 50 according to the altitude information and had Body includes：According to the high number of degrees that new fuel elevator two dimensional model 52 in rod emulated interface 50 is changed described in altitude information calculating Value, is lifted according to fresh fuel in rod emulated interface 50 is changed described in the height number regulation of the new fuel elevator two dimensional model 52 The height of machine two dimensional model 52 and nuclear fuel assembly body, two-dimensional model 54, described rod emulated interface 50 is changed to update.Specifically, The height number of the new fuel elevator two dimensional model 52 can be the longitudinal coordinate numerical value changed in rod emulated interface 50, Can also be that new fuel elevator two dimensional model 52 pulls and pushes the distance between instrument two dimensional model 51 numerical value with nuclear fuel rod, due to Relative position between nuclear fuel assembly body, two-dimensional model 53 and new fuel elevator two dimensional model 52 is constant, therefore can be by new The position of fuel elevator two dimensional model 52 determines the position of new fuel elevator two dimensional model 52, therefore can be by changing rod picture The understanding nuclear fuel rod of face 50 pulls and pushes the position relationship between instrument two dimensional model 51 and new fuel elevator two dimensional model 52, core combustion Expect the position relationship between module body two dimensional model 53 and nuclear fuel rod two dimensional model 54 to be replaced, nuclear fuel rod two to be replaced The horn mouth two dimensional model 521 of dimension module 54 and new fuel elevator two dimensional model 52 and new fuel elevator two dimensional model 52 Between position relationship.

Wherein, the control command includes print command, and the processing module 13 is connected with printer and beaten according to described The print order control printer printing current display picture of display module, after the printing at operating personnel's push interface, can print Go out the picture of main viewing area or whole display interface 141.

Preferably, the nuclear fuel assembly, which repairs detecting and controlling system 100, also includes distance calibration equipment, the distance mark Locking equipment sets the distance calibration that at least two actual ranges are determined in the shooting area of the video detecting device 101；The place Managing module 13 also includes dimension measuring unit 33, and the control command includes defectoscopy order and dimensional measurement signal, described Control process unit 32 controls the display defect measure interface of Operation display module 14 according to the defectoscopy order, described Video image is shown on defectoscopy interface and points out user to input dimensional measurement signal, the dimension measuring unit 33 is received The dimensional measurement signal of outside input, and the measured zone on the video image is determined according to the dimensional measurement signal, The calibration point for the distance calibration that two actual ranges are determined on video image, obtains the actual demarcation between calibration point described in two Apart from Lb, the image calibration in the video image between calibration point described in two is calculated apart from Np, video image described in two is calculated The image deflects size Nc of the interior measured zone, lacks according to the actual demarcation apart from Lb, image calibration apart from Np and image Fall into size Nc to calculate and store the actual defects size Lc of the measured zone, and control the Operation display module 14 to show institute State actual defects size Lc.Compared with prior art, the present invention can not only observe the outer of nuclear fuel assembly by video image Sight situation and surface appearance, can also pass through two by determining the calibration point that two actual ranges are determined in video image The image calibration distance and reality of calibration point demarcate distance to calculate the actual size of measured zone in video image, pass through measurement The actual defects size Lc in region judges the degree whether nuclear fuel assembly deforms and deform, and judges that precision is high.Wherein, exist In the work of nuclear fuel assembly video detection, main viewing area shows video image, now " grabbing on operating personnel's clicking operation interface Take photo current to measure " button when (as shown in Figure 7 to 9), the operation generation defectoscopy order of display interface 141 is main Viewing area display defect measure interface, now operating personnel are by operating the operation part of display interface 141 to input dimensional measurement Signal is to choose a measured zone, and dimension measuring unit 33 calculates actual defects size Lc, and operation display interface 141 shows reality Border flaw size Lc.

Specifically, with reference to Fig. 5, the distance calibration equipment includes laser calibration equipment 214, the laser calibration equipment 214 include two laser source, and the measured surface of lasing light emitter described in two to the nuclear fuel assembly 501 sends distance and determined and parallel Two laser spots in the shooting area of the video detecting device to set the distance calibration that two actual ranges are determined, the size is surveyed Amount unit 33 extracts the spot center of laser spots described in two to obtain calibration point described in two in the video image.The program will Two laser spots of two parallel laser source directive nuclear fuel assemblies are easy in video image to calibration point really as distance calibration Fixed, the spot center by extracting laser spots described in two in the video image is effectively ensured with obtaining calibration point described in two Measurement accuracy.

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

Specifically, the dimension measuring unit 33 calculates the reality of each pixel on video image according to formula D=Lb/Np Dimension D, the actual defects size Lc is calculated according to formula Lc=Nc*D.

Certainly, with reference to Figure 13, different from such scheme, in another embodiment, the distance calibration equipment includes demarcation Card 215, the demarcation card is arranged in the shooting area of shooting main body and be arranged in parallel with the measured surface of the fuel assembly, And there is the distance calibration that at least two actual ranges are determined on the demarcation card 215, the command signal includes demarcation order letter Number, demarcation card region of the dimension measuring unit 33 according to the demarcation command signal in the video image determines two marks Fixed point.Wherein, 215 rectangular card to be made up of several chequered with black and white square areas of the demarcation card.During work, people is detected Member is by manipulating the image for including demarcation card 215 in screen observation video image, video image, and operating personnel are by manipulating screen input The calibration point that corresponding demarcation command signal is determined with two distances in the selected demarcation card 215 on manipulation screen.

With reference to Fig. 1, Fig. 3 and Fig. 6, description is repaired detecting and controlling system 100 using nuclear fuel assembly of the present invention and carried out The method of nuclear fuel assembly video detection：(a) 600 crawl nuclear fuel assemblies 500 are hung and by core using auxiliary in Spent Fuel Pool The appropriate location that fuel assembly 500 is hung in the Spent Fuel Pool；(b) shooting main body 21 is fixed on the spentnuclear fuel water Predeterminated position in pond, so that the video area of the shooting main body 21 is more than the horizontal stroke that the nuclear fuel assembly 500 is detected face To distance；(c) each detection faces and nuclear fuel of nuclear fuel assembly 500 described in the threshold marker from the nuclear fuel assembly 500 Rod；(d) position of the nuclear fuel assembly 500 is adjusted so that a certain detection faces of the nuclear fuel assembly 500 are taken the photograph described in The camera lens of camera 211；In the step (d), testing staff inputs corresponding shooting control command ST in operation interface, to control The two-dimentional motor 213 of control is acted while video camera 211 and illuminating lamp 212 processed are opened, and two-dimentional motor 213 drives video camera 211 Position and shooting angle regulation are carried out, so that a certain detection faces of the controller core fuel assembly 500 are towards the video camera 211 camera lens.Now, the collection of video camera 211 video image, processing module 13 is controlled while handling, store the video image Operation display module 14 processed shows the video image, and testing staff observes nuclear fuel assembly 500 by Operation display module 14 Video image and open dimensional measurement detection procedure (" crawl photo current measure " button on clicking operation interface, Operation display module 14 generates defectoscopy order, main viewing area display defect measure interface), operating personnel are shown by operating The operation part input dimensional measurement signal (choosing measured zone on the video images) of module 14, dimension measuring unit 33 is determined Two calibration points that actual range is determined in video image, obtain the actual demarcation between calibration point described in two apart from Lb, calculate institute The image calibration in video image between calibration point described in two is stated apart from Np, the measured zone in the video image is calculated Image deflects size Nc, calculates and deposits apart from Np and image deflects size Nc apart from Lb, image calibration according to the actual demarcation Store up the actual defects size Lc of the measured zone.Testing staff judges nuclear fuel assembly 500 according to actual defects size Lc It is whether faulty, and the position of the nuclear fuel assembly is adjusted so that next detection faces of the nuclear fuel assembly are taken the photograph described in The camera lens of camera 211, and repeat above-mentioned dimensional measurement detection procedure to detect the situation of the detection faces of nuclear fuel assembly 500 to sentence Disconnected nuclear fuel assembly 500 whether failure, until completing the detection of each detection faces of nuclear fuel assembly 500.

Preferably, with reference to Fig. 3 and Figure 10, the processing module 13 also includes tracing and monitoring unit 36, the control command Including tracing and monitoring order, the tracing and monitoring unit 36 starts according to tracing and monitoring order and sets the tracking of video camera 211 Point, obtain it is initial when new fuel elevator 400 draw wire encoder 401 encoder information and according to the encoder information meter The altitude information of the horn mouth 402 of the new fuel elevator 400 is calculated, the corresponding altitude information H0 of the trace point is recorded and takes the photograph The shooting angle θ 0 (as shown in figure 11) of camera 211；Between the horn mouth 402 and video camera 211 that obtain new fuel elevator 400 Horizontal range L, with reference to Figure 12, the altitude information H1 of the horn mouth 402 of new fuel elevator 400 is obtained in real time, according to described Altitude information H0, shooting angle θ 0, horizontal range L and real-time altitude information H1 calculate the video camera of video detecting device 101 211 shooting angle θ 1 simultaneously generates luffing angle regulating command, and the luffing angle regulating command is sent to the two dimension In motor 213, shown two-dimentional motor 213 controls the video camera of the shooting main body 21 according to the luffing angle regulating command 211 shooting direction is directed at the horn mouth 402 of current new fuel elevator 400.With reference to Figure 10, the present invention is in monitoring nuclear fuel When rod pulls and pushes the replacing nuclear fuel rod 501 of instrument 300, horn mouth 402 is set to trace point.

The operating procedure for setting the trace point of video camera 211 is that operating personnel input shooting control life in operation interface The brightness of the focal length and the aperture of the diaphragm, camera watch region and flash lamp 212 of the video camera 211 to adjust shooting main body 21 is made, is adjusted Corresponding button is clicked on to input tracing and monitoring order after section is good, and the tracing and monitoring unit 36 is after tracing and monitoring order is received Into tracing and monitoring state, the shooting direction of current camera 211 is set to the tracking of video camera 211 by tracing and monitoring unit 36 Point, and start tracing and monitoring.Wherein, if operating personnel's input images control command in tracing and monitoring state, main body 21 is imaged The shooting angle of video camera 211 will be adjusted according to the shooting control command, tracing and monitoring unit 36 can also be controlled according to the shooting Order updates trace point.

Specifically, when the tracing and monitoring unit 36 calculates initial position according to the horizontal range L and shooting angle θ 0 Vertical range D0 between horizontal plane where trace point and video camera；The horn mouth 402 for obtaining new fuel elevator 400 in real time is high Degrees of data H1, according to first the altitude information H0, vertical range D0 and real-time altitude information H1 calculate real-time trace point with Vertical range D1 between horizontal plane where video camera；Video detection dress is calculated according to the horizontal range L and vertical range D1 Put the shooting angle θ 1 of 101 video camera and generate angle control command.

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

With reference to Fig. 1, Fig. 2 to Fig. 4, description is repaired the monitoring of detecting and controlling system 100 using nuclear fuel assembly of the present invention and repaired The process of damaged nuclear fuel assembly work：(1) shooting main body 21 is fixed on presetting in the Spent Fuel Pool by operating personnel Position, the focal length and the aperture of the diaphragm of the video camera 211 that shooting control command is inputted in operation interface to adjust shooting main body 21, The brightness of camera watch region and flash lamp 212, clicks on corresponding button to input tracing and monitoring order, the tracking after regulating Monitoring unit 36 enters tracing and monitoring state after tracing and monitoring order is received, and tracing and monitoring unit 36 is by current camera 211 Shooting direction be set to the trace point of video camera 211, and start tracing and monitoring, video camera 211 starts continuous collecting fresh fuel Video image at the horn mouth 402 of lift 400, now operating personnel can click on video switching push button in display interface To observe video image on 141.(2) operating personnel (click on animation the Show Button with by changing rod picture from display interface 141 Face 50 understands or understood by altitude information) on understand current nuclear fuel rod and pull and push instrument 300 relative to new fuel elevator The position of 400 horn mouth 402, in order to input corresponding control command on new fuel elevator 400 to control fresh fuel Lift 400 does corresponding lifting action, nuclear fuel rod is pulled and pushed instrument 300 by the nuclear fuel rod 501 of damage from nuclear fuel group Extracted out in part 500 or new nuclear fuel rod 501 inserted into nuclear fuel assembly, operating personnel can now click on animation the Show Button with The position that nuclear fuel rod pulls and pushes the nuclear fuel rod 501 that instrument 300 is captured is got information about by changing rod emulated interface 50, with timely The control command of the related control new fuel elevator 400 of input, when the nuclear fuel rod 501 of crawl will be completely into nuclear fuel In component 500 or when will completely disengage from nuclear fuel assembly 500, alarm module 16 send low alarm or full level alarm with Operating personnel are reminded in advance, and operating personnel are able to assign control new fuel elevator 400 stopping action of ceasing and desisting order in time, work as core The nuclear fuel rod 501 that fuel rod pulls and pushes the crawl of instrument 300 bends or (pulling force data exceedes default during other failures Pulling force threshold values), the alarm control unit generates failure alarm signal, and alarm module 16 sends fault alarm, and operating personnel can Stop new fuel elevator 400 in time to act, and click on video switching push button twice, main viewing area can switch to tension variations figure Interface (as shown in Figure 9) where table/height change chart, in order to operating personnel or the specific failure of maintenance personal's understanding with for Property is fixed a breakdown.Wherein, during whole monitoring, operating personnel can click on primary video switching push button, so that main aobvious Show that area's switching shows the video image VS that video detecting device 101 is gathered, now, under the control of tracing and monitoring unit 36, take the photograph The shooting picture of camera 211 is the position of horn mouth 402 of the new fuel elevator 400, and video camera is adjusted without operating personnel 211 shooting direction, you can understand the real-time repair process of nuclear fuel assembly, it is to avoid operating personnel need the fresh fuel liter that first stops The direction of video camera 211 is adjusted after drop machine 400, whole reparation process will not be interrupted.

Compared with prior art, nuclear fuel assembly of the present invention, which repairs the collection detection nuclear fuel assembly of detecting and controlling system 100, is The monitoring of the damaged nuclear fuel assembly work of monitoring and reparation of no damaged work is integrated, and not only monitor nuclear fuel rod changes rod work Make, can also detect whether nuclear fuel assembly is damaged, and issue an order to control video detection to fill by Operation display module 14 Put 101 action, it is simple to operate, save manpower.On the other hand, alarm module 16 of the present invention also exceeds in pulling force data Default pulling force threshold values alarm, reminds operating personnel's failure in time, and security is good, is believed by full level alarm signal and low alarm Operating personnel's nuclear fuel rod number is reminded whether to pull and push instrument completely into nuclear fuel assembly in new fuel elevator or departing from Nuclear fuel assembly, to monitor the specific station that nuclear fuel rod pulls and pushes instrument, relative to passing through video image or new in traditional mode of production The height of fuel elevator judges that nuclear fuel rod pulls and pushes the position of instrument, good operation safety and remediation efficiency height.Another further aspect, The horn mouth 402 of tracing and monitoring new fuel elevator 400 during the present invention can work repairing damaged nuclear fuel assembly, without behaviour Make the shooting direction that personnel adjust shooting main body 21 manually, it is simple to operate, detect safe.Another further aspect, the present invention can lead to The progress of damaged nuclear fuel assembly work is repaired in the observation for crossing 2 D animation image, prevents operating personnel from being made due to fatigue Into maloperation.Another further aspect, the present invention can also consult tension variations chart and height change chart in the system failure Historical data is solved, is easy to analyzing failure cause, and pulling force data and altitude information can be got information about by chart.

Above disclosed is only the preferred embodiments of the present invention, can not limit the right of the present invention with this certainly Scope, therefore the equivalent variations made according to scope of the present invention patent, still belong to the scope that the present invention is covered.

Claims (12)

1. a kind of nuclear fuel assembly repairs detecting and controlling system, damaged core is worked and repaired for nuclear fuel assembly video detection The monitoring work of fuel assembly, it is characterised in that including supervising device and video detecting device, the video detecting device collection Video image；The supervising device includes processing module, and image capture module, the number being connected respectively with the processing module According to acquisition module, Operation display module, memory module and alarm module, described image acquisition module obtains the processing video inspection Survey the video image of device collection；The data acquisition module and be installed on nuclear fuel rod pull and push pulling force sensor on instrument and The draw wire encoder being installed on new fuel elevator is connected, and obtains the pulling force data and bracing wire coding of the pulling force sensor The altitude information of device；The Operation display module receives the control command and display data, the control command bag of outside input Include shooting control command and video monitoring order；The processing module includes control process unit and alarm control unit, described Control process unit receives the control command and video image, and according to the shooting control command control video detecting device Action, controls the Operation display module to show the video image according to the video monitoring order, controls the storage mould Block stores the video image；The alarm control unit judges whether the pulling force data exceedes default pulling force threshold values and in institute State when pulling force data exceedes default pulling force threshold values and generate failure alarm signal, judge whether the altitude information is more than or equal to high limit Position threshold values exports full level alarm less than or equal to lower bound threshold values, and when the altitude information is more than or equal to high spacing threshold values Signal, low alarm signal is exported when the altitude information is less than or equal to lower bound position threshold values；The alarm module is according to described Failure alarm signal, full level alarm signal and low alarm signal send corresponding alarm.

2. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterised in that the default pulling force threshold values Including the first default pulling force threshold values and the second default pulling force threshold values, the described first default pulling force threshold values is less than the second default pulling force valve Value, the alarm control unit is when the pulling force data presets pulling force threshold values beyond first and presets pulling force threshold values less than second Pre-alarm signal is sent, real alarm signal, the alarm mould are sent when the pulling force data is beyond the second default pulling force threshold values Block sends light warning according to the pre-alarm signal, and sound and light alarm is sent according to the real alarm signal.

3. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterised in that the processing module is also wrapped Chart monitoring unit is included, the control process unit controls the memory module to store the pulling force data and altitude information, institute Chart monitoring unit is stated according to the pulling force data and altitude information generation tension variations chart and height change chart；The control System order includes chart monitor command, and the control process unit shows mould according to the chart monitor command control operation Block shows the tension variations chart and height change chart.

4. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterised in that the processing module is also wrapped 2 D animation simulation unit is included, the 2 D animation simulation unit obtains the 2-D data for changing nuclear fuel rod work relevant device And rod emulated interface is changed according to 2-D data generation, and rod emulated interface is changed according to described in altitude information renewal, it is described 2-D data include comprising change nuclear fuel rod work in relevant device two dimensional model structural information two-dimensional structure data and It is described to repair comprising the two-dimensional position data for changing the two dimensional model relative position relation information of relevant device in nuclear fuel rod work Relevant device pulls and pushes instrument, new fuel elevator and nuclear fuel assembly including nuclear fuel rod in multiple breakage nuclear fuel assembly work, The nuclear fuel assembly includes nuclear fuel assembly main body and nuclear fuel rod to be replaced；The control command includes animation and monitors life Order, the control process unit according to the animation monitor command control the Operation display module show described in change rod picture Face.

5. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterised in that the control process unit The Operation display module is controlled to show the 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 characterised in that the shooting control command Including illumination adjustments order, luffing angle regulating command, level angle regulating command and camera control commands, at the control Manage illumination adjustments order, luffing angle regulating command, level angle regulating command and camera control described in unit reception processing Order and be delivered to video detecting device, the video detecting device includes shooting main body, the shooting main body stretches into spentnuclear fuel Pond and including video camera, illuminating lamp and two-dimentional motor, the video camera is installed on two-dimentional motor and gathers video image, institute State illuminating lamp to be installed on video camera or two-dimentional motor, the two-dimentional motor is according to luffing angle regulating command regulation video camera Luffing angle, the level angle of video camera is adjusted according to level angle regulating command, according to the brightness regulation order regulation photograph The brightness of bright lamp, the video camera is focused and the aperture of the diaphragm according to the camera control commands.

7. nuclear fuel assembly as claimed in claim 6 repairs detecting and controlling system, it is characterised in that also set including distance calibration Standby, the distance calibration equipment sets the distance mark that at least two actual ranges are determined in the shooting area of the video detecting device It is fixed；The processing module also includes dimension measuring unit, and the control command includes defectoscopy order and dimensional measurement signal, The dimension measuring unit receives the defectoscopy order when the Operation display module shows video image, according to described Defectoscopy order receives the dimensional measurement signal, and the measurement on the video image is determined according to the dimensional measurement signal Region, and the calibration point for the distance calibration that two actual ranges are determined is determined on the video images, obtain calibration point described in two Between actual demarcation apart from Lb, calculate the image calibration in the video image between calibration point described in two apart from Np, calculate Described in two in video image the measured zone image deflects size Nc, according to the actual demarcation apart from Lb, image calibration The actual defects size Lc of the measured zone is calculated and stored apart from Np and image deflects size Nc.

8. nuclear fuel assembly as claimed in claim 7 repairs detecting and controlling system, it is characterised in that the distance calibration equipment Including laser calibration equipment, the laser calibration equipment includes two laser source, and lasing light emitter described in two is to the nuclear fuel assembly Measured surface sends distance determination and two parallel laser spots are with actual in the shooting area of video detecting device setting two The distance calibration that distance is determined, the dimension measuring unit extracts the spot center of laser spots described in two in the video image To obtain calibration point described in two.

9. nuclear fuel assembly as claimed in claim 8 repairs detecting and controlling system, it is characterised in that the dimension measuring unit Also calculate laser distance L1, the L2 of lasing light emitter described in two respectively with the nuclear fuel assembly, foundation in the laser calibration equipment Described laser distance L1, L2 correct the actual defects size Lc.

10. nuclear fuel assembly as claimed in claim 1 repairs detecting and controlling system, it is characterised in that the video detection dress Put including shooting main body, the shooting main body includes two-dimentional motor and the video camera being installed on two-dimentional motor, the two-dimentional horse Up to the luffing angle that video camera is adjusted according to luffing angle regulating command, the processing module also includes tracing and monitoring unit, institute Stating control command includes tracing and monitoring order, and the tracing and monitoring unit starts according to tracing and monitoring order and sets video camera Trace point, obtains the encoder information of the draw wire encoder of new fuel elevator and calculates described new according to the encoder information The bell-mouthed altitude information of fuel elevator, records the shooting angle of the corresponding altitude information H0 of the trace point and video camera θ0；Obtain new fuel elevator horn mouth and video camera between horizontal range L, obtain in real time the new fuel elevator it Bell-mouthed altitude information H1, calculates according to the altitude information H0, shooting angle θ 0, horizontal range L and altitude information H1 and takes the photograph The shooting angle θ 1 of camera simultaneously generates luffing angle regulating command, and the luffing angle regulating command is sent to the two dimension In motor.

11. nuclear fuel assembly as claimed in claim 10 repairs detecting and controlling system, it is characterised in that the tracing and monitoring list The shooting area of current camera is set to trace point by member according to the tracing and monitoring order, and real according to shooting control command The trace point of video camera described in Shi Gengxin.

12. nuclear fuel assembly as claimed in claim 10 repairs detecting and controlling system, it is characterised in that the bat of the video camera Take the photograph angle be the video detecting device video camera shooting direction and the angle of horizontal direction, the tracing and monitoring unit according to The horizontal range L is corrected according to the shooting angle and altitude information.