CN105737748A - Fuel pellet boundary dimension and apparent defect detection device and method - Google Patents
Fuel pellet boundary dimension and apparent defect detection device and method Download PDFInfo
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- CN105737748A CN105737748A CN201610095122.2A CN201610095122A CN105737748A CN 105737748 A CN105737748 A CN 105737748A CN 201610095122 A CN201610095122 A CN 201610095122A CN 105737748 A CN105737748 A CN 105737748A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
- G01N2021/8874—Taking dimensions of defect into account
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
- G01N2021/889—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques providing a bare video image, i.e. without visual measurement aids
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Abstract
The present invention relates to a fuel pellet boundary dimension and apparent defect detection device and method. The detection device comprises a mechanical device and two sets of image acquisition devices which are arranged inside a glove box and an image processing system arranged outside the glove box, and measures the diameter and the surface integrity of a fuel pellet automatically via the automatic ranking, feeding, transporting, rotating and discharging operations. The two sets of visual light image acquisition devices acquire the parameters of a cylindrical surface and two end faces of the fuel pellet respectively, and send the acquired complete cylindrical surface and end face images to the image processing system when the fuel pellet arrives at the detection positions orderly, and the image processing system analyzes, processes and determines the results automatically to sort the good and bad materials. The detection method comprises processing the boundary dimension images, the side surface images and the end face images. The detection device and method of the present invention can substitute for the manpower to finish the diameter and appearance integrity inspection of the fuel pellet automatically, and does not lose and cause the new damage during the inspection process.
Description
Technical field
The invention belongs to material detection field, be specifically related to detection equipment and the method for a kind of fuel pellet overall dimensions and open defect, be mainly used in the detection to mox fuel pellet.
Background technology
Mox fuel pellet is with UO2Powder and PuO2Powder is raw material, by the ceramic body of mechanical mixture, compacting and sintering, is widely used in as nuclear fuel in presurized water reactor and fast reactor.The oversize meeting of fuel pellet causes cannot tubulature, the existence of the defect of undersized and outward appearance can because causing fuel rod clad to be heated inequality, cause that clad failure causes the generation of nuclear accident, Just because of this, before tubulature, have to prove that the integrity of each its overall dimensions of mox fuel pellet and outward appearance meets design requirement, and all pellets are carried out diameter inspection and 100% open defect inspection, to guarantee smooth tubulature and reactor operation safe operation.
The nuclear fuel element in domestic nuclear fuel field, for the UO of low enrichment2Pellet, its radiation level is relatively low, and internal radiation harm is less, and what adopt at present is the mode of hand inspection.Hypertoxicity due to the intense radiation of MOX pellet and Pu element, need the on-line automatic diameter completing mox fuel pellet of a kind of special equipment and outward appearance 100% integrity checking, and equipment is required to be necessarily mounted at use in glove box, guarantee that pellet is not lost in detection process simultaneously, do not cause new breakage because detecting activity, be beneficial to maintenance simultaneously and safeguard.
It is currently based on the measurement technology of the image recognition of visible ray, in Nuclear Fuel Element Production Line but without application precedent, product size and defect is carried out high precision quantitative measurement in other industry also without carrying out simultaneously.
Summary of the invention
In order to solve problems of the prior art, the present invention provides the detection equipment of a kind of fuel pellet overall dimensions and open defect, substitute and manually realize fuel pellet is automatically performed the integrity checking of diameter and outward appearance, and do not lose in checking process and cause new breakage.
For reaching object above, the technical solution used in the present invention is: provide the detection equipment of a kind of fuel pellet overall dimensions and open defect, overlapping image collecting devices including the machinery being arranged in glove box and two and be arranged on the image processing system outside glove box, described machinery includes autofeed and collator, automatic charging device, automatic transferring, upset and rotary apparatus and positioner；Described autofeed and collator are for giving automatic charging device by this fuel pellet；Automatic charging device reception cartridge rises afterwards soon and this fuel pellet is flowed to automatic transferring；Automatic transferring moves horizontally and by this fuel pellet conveying, turning and rotary apparatus after receiving fuel pellet；Upset and rotary apparatus receive and rotate according to certain angle after fuel pellet, and a set of image collecting device is to the overall dimensions of swirling fuel pellet and lateral surface collection；After image collecting device completes collection, fuel pellet is flowed to automatic transferring by upset and rotary apparatus again, automatic transferring continues to move horizontally and fuel pellet is flowed to positioner, positioner receives the fuel pellet after gathering and by this fuel pellet radially location, and the fuel pellet both ends of the surface located are carried out image acquisition by another set of image collecting device；The images of two set image acquisition device are all transferred to image processing system, and this image processing system is for image procossing, and determines fuel pellet whether existing defects.
Further, described autofeed and collator include vibrating disk and are arranged on vibrating disk circular vibration device, and the top of circular vibration device is provided with spirality channel, and the outlet of described spirality channel arranges delivery chute, and the lower end of described delivery chute is provided with vibrating mass.
Further, described automatic charging device includes the grooved mechanism that can lift, described grooved mechanism top is provided with flat-bottom slot, and side has more than the fuel pellet diameter groove less than delivery chute width from top down, and described grooved mechanism exports corresponding with the delivery chute in autofeed and collator.
Further, described automatic transferring include can the transshipment acitivity that moves of position, four, upper and lower, left and right, the two ends of described transshipment acitivity and middle part are provided with the jaw of opening and closing.
Further, described upset and rotary apparatus include can the switching mechanism that upper and lower two positions overturn back and forth and switching mechanism join can rotate under the drive being incorporated in switching mechanism rotary apparatus, be arranged on inside rotary apparatus can the first clamping device of opening and closing left and right, the medial surface of the first clamping device is provided with the telescopic thimble for fixed fuel pellet；Described positioner includes the second clamping device and is arranged on the elevating mechanism of lower end of the second clamping device.
Further, described two set image collecting devices include high-resolution three cameras, and one of them camera has been used for fuel pellet overall dimensions and lateral surface image acquisition, and two other camera has been used for fuel pellet end face image acquisition.
The present invention also provides for the detection method of a kind of fuel pellet overall dimensions and open defect, comprises the steps:
1) utilize autofeed and collator to complete feed, utilize automatic charging device to complete feeding, utilize automatic transferring to complete transhipment, utilize upset and rotary apparatus to complete fuel pellet rotation；Positioner is utilized to complete the radial direction location of fuel pellet；
2) utilize two set image collecting devices respectively to the overall dimensions of fuel pellet and lateral surface collection；
3) utilize another set of image collecting device to fuel pellet end face collection；
4) by two overlap image acquisition device to image be respectively transmitted to image processing system；
5) image processing system is to image procossing, and distinguishes fuel pellet quality.
Further, in step 5) in, described image procossing includes the process to overall dimensions, and its step is as follows:
1) contours extract, Boundary Recognition；
2) up-and-down boundary average is subtracted each other and is obtained image block external diameter pixel；
3) external diameter that image block is obtained is averaged again；
4) pellet diameter is calculated by pixel and standard sample size relationship.
Further, in step 5) in, described image procossing includes the process of external side image, and its step is as follows:
1) to image block identification；
2) spliced image is end-to-end process；
3) obtain target component, namely angle, width, length, radian；
4) disconnect target to connect；
5) defect classification；
6) defective judgement.
Further, in step 5) in, described image procossing includes the process to end face image, comprises the steps:
1) internal diameter elliptic region gray scale thresholding is obtained；
2) internal diameter elliptical center and radius and external diameter elliptical center and radius are obtained；
3) internal diameter ellipse is filled；
4) external diameter elliptical center and semidiameter correction；
5) sensitizing range is obtained；
6) Target Segmentation；Angle on target, length, width parameter extract；
7) crackle and defect recognition.
The Advantageous Effects of the present invention is in that:
(1) present invention passes through the collection to fuel pellet image and analyzing and processing, achieves fuel pellet diameter in conjunction with a set of full-automatic conveying device and open defect 100% is measured automatically, it is ensured that the safety of tubulature and reactor operation smoothly；
(2) the detection speed of fuel pellet of the present invention is 5/min, and the certainty of measurement of pellet diameter is 0.01mm (pixel), and can provide defect type and measure conclusion；
(3) method is simple, reliable.
Accompanying drawing explanation
Fig. 1 is the structural representation of detecting device of the present invention；
Fig. 2 is the structural representation of fuel pellet；
Fig. 3 is the structural representation of autofeed and collator in Fig. 1；
Fig. 4 is the structural representation of automatic charging device in Fig. 1；
Fig. 5 is the structural representation of automatic transferring in Fig. 1；
Fig. 6 is the structural representation of upset and rotary apparatus in Fig. 1；
Fig. 7 is the structural representation of positioner in Fig. 1
Fig. 8 is external diameter process chart；
Fig. 9 is lateral surface process chart；
Figure 10 is end face processing flow chart.
In figure:
1-fuel pellet 2-autofeed and collator 3-automatic charging device
4-automatic transferring 5-upset and rotary apparatus 6,7,8-photographing unit
9-positioner 10-good stock sorting unit 11-switch board
12-computer system 21-circular vibration device 22-vibrating disk
23-delivery chute 24-vibrating mass 25-grooved mechanism
26-transshipment acitivity 27,28,29-jaw 30-the first clamping device
31-switching mechanism 32-rotating mechanism 33-drive motor
34-elevating mechanism 35-the second clamping device
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, the detection equipment of a kind of fuel pellet overall dimensions of the present invention and open defect, it include being arranged in glove box for transport, rotate and position fuel pellet machinery and for the overall dimensions and open defect that gather fuel pellet two image collecting devices and be arranged on glove box outward for two image acquisition device to the image processing system that processes of image.Machinery includes autofeed and collator 2, automatic charging device 3, automatic transferring 4 and upset and rotary apparatus 5, positioner 9 and good stock sorting unit 10.
As in figure 2 it is shown, typical mox fuel pellet 1 is cylinder, cylindrical center leaves centre bore for retaining fission gas, diameter general 4mm-8mm, length 6mm-12mm.
As shown in Figure 3, autofeed and collator 1 include vibrating disk 22 and are arranged on vibrating disk 22 circular vibration device 21, the top of circular vibration device 21 is provided with spirality channel, and the outlet of spirality channel arranges delivery chute 23, and the lower end of this delivery chute 23 is provided with vibrating mass 24.Spirality channel angle upwards is less than 20 degree, and delivery chute 23 is downward-sloping from initiating terminal to end and angle of inclination is less than 5 degree.Delivery chute two ends are provided with photoelectric sensor, control beginning or the stopping of feed and ordering action.Adopt autofeed and collator 1 can reduce manual intervention harm exposed to radiation.
As shown in Figure 4, automatic charging device includes the grooved mechanism 25 that can lift, grooved mechanism 25 top is provided with flat-bottom slot, and grooved mechanism 25 side has more than the fuel pellet diameter groove less than delivery chute 23 width from top down, and this groove ensure that the detection of different length pellet.This automatic charging device can move up and down, and completes splicing and feeding one by one according to control signal, and induction apparatus can guarantee that execution vertical motion when fuel pellet 1 puts in place simultaneously.
As shown in Figure 5, automatic transferring 4 includes can the transshipment acitivity 26 that moves of position, four, upper and lower, left and right, being arranged side by side three on transshipment acitivity 26 can the jaw 27,28,29 of opening and closing, successively fuel pellet can be transported to amount position, two sides from automatic charging device, carry out diameter dimension, side surface and end surface measurement respectively, side surface adopts a camera, and end face adopts two cameras.Transporter jaw width is less than fuel pellet length, jaw 27,28,29 and clamping device 30 coordinative role, it is ensured that fuel pellet will not fall and lose in detection transmittance process.
As shown in Figure 6, upset and rotary apparatus 5 include can the switching mechanism 31 that upper and lower two positions overturn back and forth and switching mechanism 31 join can rotate under the drive being incorporated in switching mechanism 31 rotary apparatus 32, being arranged on inside rotary apparatus 32 can the first clamping device 30 of opening and closing left and right, the medial surface of the first clamping device 30 is provided with the telescopic thimble for fixed fuel pellet, it is possible to firmly clamped by fuel pellet.Switching mechanism 31 is driven by drive motor 33, rotary apparatus 32 drives the first clamping device 30 to rotate according to the speed set and angle under the driving of drive motor 33, complete fuel pellet from automatic transferring 4 splicing and feeding by these actions, and make fuel pellet rotate.
As it is shown in fig. 7, positioner 9 includes the second clamping device 35 for clamping fuel pellet and is arranged on the second clamping device lower end elevating mechanism 34 for driving clamping device to lift.Positioner 9 can rise and fall, opening and closing left and right.When reaching this position by these action adjustable fuel pellets, center is constant, improves end surface measurement precision.First clamping device 30 and the second clamping device 35 make fuel pellet enough be accurately positioned at measurement potential energy, it is ensured that the repeatability of measurement and certainty of measurement.
Good stock sorting unit 10: including two blanking channels, blanking channel can move back and forth, sends into the fuel pellet on jaw 29 in corresponding material box.
The present invention is controlled by switch board 11: switch board 11 includes a PCL controller, a liquid crystal display touch screen and some control components and parts, is used for receiving induction apparatus signal and carries out communication with computer, controls the everything of above-mentioned machinery.These models controlling system can choose at random.This switch board makes all of action be automatically performed in order by drive motor or cylinder.
Image processing system of the present invention adopts computer system 12: include video frequency collection card and image processing program, for receiving and process the pellet picture that image capturing system gathers, carry out communication with control system, automatically provide diameter, centre bore, the measurement data of height, defective data are become reconciled stock conclusion.Computer system completes the process of image and sending of action command, starts until the good stock of fuel pellet has sorted from fuel pellet sequence, and all of action executing controls by controlling system.One computer system completes all of image procossing and result judgement.
Two set image collecting devices include high-resolution three cameras and are arranged on the LED balance light source of photographing unit photographic head front end, three cameras are arranged on three platforms with regulatory function, one of them camera is for outside dimension and lateral surface collection, two other camera is separately positioned on the both sides of positioner 9, has been used for fuel pellet end face collection.
Six mechanical modules of the present invention, are fixed on two base plates, are flexibly connected between two base plates, reduce because device vibrates the impact measured.
The automatic transport process of fuel pellet of the present invention is as follows:
(1) circular vibration device 21 put into by the fuel pellet 1 of batch, vibrating disk 22 drives circular vibration device 21 to make the mode that fuel pellet advances along the arrangement of vibrating disk 22 edge by spiral upper body enter delivery chute 23, and linear vibrator 24 drives delivery chute 23 to make fuel pellet 1 enter grooved mechanism 25 (as shown in Figure 4 the position of fuel pellet 1).Delivery chute 23 is provided with two induction apparatuss at front and back position, can control the duty of vibrating disk 22 and linear vibrator 24 respectively, makes material conveying start or stop；
(2) grooved mechanism 25 lifting and delivery chute 23 misplace, and a fuel pellet 1 is raised the upper material level of entrance by dislocation；
(3) transshipment acitivity 26 declines, and jaw 27 Guan Bi clamps the fuel pellet 1 being positioned in grooved mechanism 25, transshipment acitivity 26 rise move into place to the right after decline, grooved mechanism 25 declines and continues from delivery chute 23 splicing.
(4) first clamping device 30 Guan Bis clamp fuel pellet 1, jaw 27 opens, transshipment acitivity 26 rises and moves to the left to position, switching mechanism 31 upset is to upper, driving mechanism 33 drives rotary apparatus 32 to rotate six times, and (side image collection carries out simultaneously, image is sent into computer system and carries out side surface image procossing), switching mechanism 31 upset is to the next, transshipment acitivity 26 declines, jaw 27 closes from grooved mechanism 25 splicing, jaw 28 closes from the first clamping device 30 splicing, and the first clamping device 30 opens.
(5) transshipment acitivity 26 rising right side declines after moving into place, and elevating mechanism 34 rises, and second accommodates mechanism 35 closes (fuel pellet 1 positions), and jaw 28 opens.The action simultaneously carried out: grooved mechanism 25 declines and continues from delivery chute 23 splicing；First clamping device 30 closes from jaw 27 splicing, and jaw 27 opens, and switching mechanism 31 upset is to upper, and driving mechanism 33 drives rotary apparatus 32 to rotate six times (the side image collection of second pellet and process).
(6) transshipment acitivity 26 rising moves to the left to position decline, jaw 27 is from grooved mechanism 25 splicing, switching mechanism 31 upset is to the next, jaw 28 closes from the first clamping device 30 splicing, first clamping device 30 opens, jaw 29 closes and accommodates mechanism 35 splicing from second, second accommodates mechanism 35 opens, elevating mechanism 34 declines, image (is sent into computer system simultaneously and is carried out end face image procossing, now the measurement conclusion of fuel pellet 1 has been sent instructions by computer to control system) by end face image acquisition.
(7) transshipment acitivity 26 rises and moves into place decline to the right, and good stock sorting unit 10 swings to relevant position according to good stock instruction and connects jaw 29 blanking, continues the next one and measures circulation.
The present invention also provides for the detection method of a kind of fuel pellet overall dimensions and open defect: comprise the steps:
1) utilize autofeed and collator to complete feed, utilize automatic charging device to complete feeding, utilize automatic transferring to complete transhipment, utilize upset and rotary apparatus to complete fuel pellet rotation；Positioner is utilized to complete the radial direction location of fuel pellet；
2) utilize two set image collecting devices respectively to the overall dimensions of fuel pellet and lateral surface collection；
3) utilize another set of image collecting device to fuel pellet end face collection；
4) by two overlap image acquisition device to image be respectively transmitted to image processing system；
5) image processing system is to image procossing, and distinguishes fuel pellet quality.
Wherein, image processing techniques is as follows:
(1) collection of side surface image:
When arriving measurement position, side, mechanism 30 drives pellet 60 ° to rotate once, corotation turns six times, photographing unit 6 mechanism 32 often rotate once terminate after shooting picture one width, shooting picture six width altogether, it is 180 ° that every width picture covers the effective angle of pellet, and wherein mechanism 30 can guarantee that the right side of each pellet to be checked is fixed bit.
(2) process of side surface image:
The measurement of (a) diameter, as shown in Figure 8.
Above-mentioned six width pictures all carry out contours extract, average after calculating the pixel between each profile lower edges pixel of every width picture, and the size of according to standard sample-pixel relation calculates pellet diameter.
The image processing method of (b) surface defect, as shown in Figure 9.
First identifying the up-and-down boundary line of pellet in a two field picture of collection, calculate external diameter Pixel Dimensions, then start row plus the outside dimension of 1/5 as an image block on the basis on top boundary line, line height is the 1/2 of outside dimension.
Each image block is carried out respectively image segmentation (employing statistical method), obtains target two-value picture.
Two-value picture is end-to-end process, if first image block and last image block have target, and meets following 3 conditions: target line direction length or column direction length both are greater than 30 pixels；The target range top of first image block is within 10 row, bottom the target range of last image block within 10 row；The target bottom line left and right range pixel of the target top line of first image block and last image block within 10, then needs to carry out process of being end-to-end.Carry out adjusting end to end accordingly, solve, owing to starting rotation in the middle of target, to cause the phenomenon that target is cut.
Obtain the width of target, length.Width is looked in the normal direction of target radial, and certain comprises the number of pixels in the normal direction that pixel is maximum is exactly width number of pixels.Length number of pixels is the targeted peripheral border half around the number of pixels of a week.
Disconnection target connects.Each target is found out respectively and is gone up most, and under, 4 the most left, the rightest points, if these 4 limit distances of two targets are less than 5 (each pixels about 0.01 millimeter), then it is assumed that two targets can connect.This two targets relevant parameter is merged.
(3) collection of end view drawing picture:
When pellet arrives end surface measurement position, jaw 29 clamps pellet, makes pellet both ends of the surface be respectively in the field range of photographing unit 7,8, and the shooting left and right end view drawing of pellet is as a width respectively, and image is sent into computer system.This photographing unit is coaxial with light source and is perpendicular to the image acquisition mode of pellet end face, makes the gray scale of end view drawing picture become highly uniform and edge contour obvious, and blemish surface is bigger with the gray scale difference value on non-defective surface.
(4) processing method of end view drawing picture, as shown in Figure 10.
Arranging gray scale thresholding and obtain pellet centre bore profile and external periphery outline, the region between central aperture edge and outward flange may recognize that the profile of defect by gray scale thresholding, and according to given calculation, it is determined that its defect type and size.
The detecting device of the present invention and detection method are equally applicable to other cylinders piece test with center hole structure.
The fuel pellet overall dimensions of the present invention and the detection equipment of open defect and method are not limited to above-mentioned detailed description of the invention, and those skilled in the art draw other embodiment according to technical scheme, also belong to the technological innovation scope of the present invention.
Claims (10)
1. the detection equipment of a fuel pellet overall dimensions and open defect, overlap image collecting devices including the machinery being arranged in glove box and two and be arranged on the image processing system outside glove box, it is characterized in that: described machinery includes autofeed and collator (2), automatic charging device (3), automatic transferring (4), upset and rotary apparatus (5) and positioner (9)；Described autofeed and collator (2) are for giving automatic charging device (3) by this fuel pellet (1)；Automatic charging device (3) reception cartridge fast (1) rises afterwards and this fuel pellet (1) is flowed to automatic transferring (4)；Automatic transferring (4) moves horizontally and by this fuel pellet (1) conveying, turning and rotary apparatus (5) after receiving fuel pellet (1)；Upset and rotary apparatus (5) rotate according to certain angle after receiving fuel pellet (1), and a set of image collecting device is to the overall dimensions of swirling fuel pellet and lateral surface collection；After image collecting device completes collection, fuel pellet is flowed to automatic transferring (4) by upset and rotary apparatus (5) again, automatic transferring (4) continues to move horizontally and fuel pellet flows to positioner (9), positioner (9) receives the fuel pellet (1) after gathering and by this fuel pellet (1) radially location, and fuel pellet (1) both ends of the surface located are carried out image acquisition by another set of image collecting device；The images of two set image acquisition device are all transferred to image processing system, and this image processing system is for image procossing, and determines fuel pellet whether existing defects.
2. the detection equipment of a kind of fuel pellet overall dimensions as claimed in claim 1 and open defect, it is characterized in that: described autofeed and collator (2) include vibrating disk (22) and be arranged on the upper circular vibration device (21) of vibrating disk (22), the top of circular vibration device (21) is provided with spirality channel, the outlet of described spirality channel arranges delivery chute (23), and the lower end of described delivery chute (23) is provided with vibrating mass (24).
3. the detection equipment of a kind of fuel pellet overall dimensions as claimed in claim 2 and open defect, it is characterized in that: described automatic charging device includes the grooved mechanism (25) that can lift, described grooved mechanism (25) top is provided with flat-bottom slot, side has more than the fuel pellet diameter groove less than delivery chute (23) width from top down, and described grooved mechanism (25) exports corresponding with the delivery chute (23) in autofeed and collator (2).
4. the detection equipment of a kind of fuel pellet overall dimensions as claimed in claim 3 and open defect, it is characterized in that: described automatic transferring (4) include can the transshipment acitivity (26) that moves of position, four, upper and lower, left and right, the two ends of described transshipment acitivity (26) and middle part are provided with the jaw (27,28,29) of opening and closing.
5. the detection equipment of a kind of fuel pellet overall dimensions as claimed in claim 4 and open defect, it is characterized in that: described upset and rotary apparatus (5) include can the switching mechanism (31) that upper and lower two positions overturn back and forth and switching mechanism (31) join be incorporated in switching mechanism (31) drive lower can rotate rotary apparatus (32), be arranged on inside rotary apparatus (32) can first clamping device (30) of opening and closing left and right, the medial surface of the first clamping device (30) is provided with the telescopic thimble for fixed fuel pellet；Described positioner (9) includes the second clamping device (35) and is arranged on the elevating mechanism (34) of lower end of the second clamping device (35).
6. the detection equipment of a kind of fuel pellet overall dimensions as described in any one of claim 1-5 and open defect, it is characterized in that: described two set image collecting devices include high-resolution three cameras, one of them camera has been used for fuel pellet overall dimensions and lateral surface image acquisition, and two other camera has been used for fuel pellet end face image acquisition.
7. a detection method for fuel pellet overall dimensions and open defect, comprises the steps:
1) utilize autofeed and collator to complete feed, utilize automatic charging device to complete feeding, utilize automatic transferring to complete transhipment, utilize upset and rotary apparatus to complete fuel pellet rotation；Positioner is utilized to complete the radial direction location of fuel pellet；
2) utilize two set image collecting devices respectively to the overall dimensions of fuel pellet and lateral surface collection；
3) utilize another set of image collecting device to fuel pellet end face collection；
4) by two overlap image acquisition device to image be respectively transmitted to image processing system；
5) image processing system is to image procossing, and distinguishes fuel pellet quality.
8. the detection method of a kind of fuel pellet overall dimensions as claimed in claim 7 and open defect, is characterized in that: in step 5) in, described image procossing includes the process to overall dimensions, and its step is as follows:
1) contours extract, Boundary Recognition；
2) up-and-down boundary average is subtracted each other and is obtained image block external diameter pixel；
3) external diameter that image block is obtained is averaged again；
4) pellet diameter is calculated by pixel and standard sample size relationship.
9. the detection method of a kind of fuel pellet overall dimensions as claimed in claim 7 and open defect, is characterized in that: in step 5) in, described image procossing includes the process of external side image, and its step is as follows:
1) to image block identification；
2) spliced image is end-to-end process；
3) obtain target component, namely angle, width, length, radian；
4) disconnect target to connect；
5) defect classification；
6) defective judgement.
10. the detection method of a kind of fuel pellet overall dimensions as claimed in claim 7 and open defect, is characterized in that: in step 5) in, described image procossing includes the process to end face image, comprises the steps:
1) internal diameter elliptic region gray scale thresholding is obtained；
2) internal diameter elliptical center and radius and external diameter elliptical center and radius are obtained；
3) internal diameter ellipse is filled；
4) external diameter elliptical center and semidiameter correction；
5) sensitizing range is obtained；
6) Target Segmentation；Angle on target, length, width parameter extract；
7) crackle and defect recognition.
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