CN106524948A - UO2 pellet perpendicularity detection system and detection method thereof - Google Patents

Abstract

The invention discloses a UO2 pellet perpendicularity detection system and a detection method thereof. The UO2 pellet perpendicularity detection system comprises an upper computer and a detection device, wherein the detection device comprises a base, a guide rail is arranged on the base, a sliding table is arranged on the guide rail, a stepping motor is installed on one end of the guide rail, and a pellet positioning device is arranged on the side surface of the sliding table; line type laser scanners are arranged on both sides of the guide rail; and the upper computer is connected with the stepping motor and the two line type laser scanners. The detection method of the UO2 pellet perpendicularity detection system comprises the steps of: 1) placing a UO2 pellet to be detected on the pellet positioning device; 2) conducting scanning detection on the end surfaces of the UO2 pellet to be detected synchronously by means of the two line type laser scanners; 3) and carrying out data processing by the upper computer via a data processing system, so as to obtain perpendicularity of the UO2 pellet. The UO2 pellet perpendicularity detection system and the detection method thereof can be used for detecting the UO2 pellet quickly, and can detect a plurality of the UO2 pellets simultaneously, thereby significantly improving the detection efficiency of the UO2 pellets.

Description

UO2Pellet system for detecting verticality and its detection method

Technical field

The present invention relates to Product checking technical field, more particularly to a kind of UO of column structure₂The end face of pellet and axle center The detecting system and its detection method of the perpendicularity of line.

Background technology

In the process of manufacture of nuclear fuel, UO₂The gap of (fuel) between pellet and cladding tubes is to affect nuclear fuel The key factor of pellet temperature.As fuel pellet is integrally in cylinder, its two ends has groove and makes both ends of the surface in a ring, fires The perpendicularity of material pellet end face and axial line directly affects the accuracy of the clearance measurement between fuel ball and cladding tubes, Therefore, in UO₂In the production process of pellet, perpendicularity accuracy detection is carried out to pellet particularly important.

Traditional detection method mainly has：Sleeve method, V-arrangement fulcrum bearing method, heart method of principal axes etc..To realize fuel pellet perpendicularity The detection of quick, high-precision automatic, at present using it is most be V-arrangement fulcrum bearing method, the detection means that the method is mainly adopted Including base, support, turntable, two-dimensional movement platform, tilting table, lifting platform, V-arrangement locating piece, trip bolt and pattern displacement Sensor；During measurement, first tested fuel ball is placed on lifting platform, is fixed using trip bolt and V-arrangement locating piece, When guaranteeing that tested pellet is turned round with turntable, the measurement head of grating displacement sensor is tested with certain stress contact pellet all the time Annular end face；Secondly, driving stepper motor turntable drives fuel pellet revolution, and in turning course, grating displacement sensor is not Stop by each measuring point relative to datum mark displacement incoming peripheral change-over circuit in the form of a voltage, reconvert into shift value, The maximum difference with least displacement value is the measured value of fuel pellet perpendicularity.

But for the lifting platform in detection means, the flatness and fuel ball and lifting platform table top of its table top itself The flatness of the end face of the one end for contacting, all can bring great error to measurement, so as to cause certainty of measurement relatively low；And And, in measurement process, one piece of fuel ball can only be measured every time so that measurement process is slower, and measurement efficiency is relatively low.

The content of the invention

For deficiencies of the prior art, it is an object of the invention to how solve UO in prior art₂Pellet Squareness measurement accuracy is low, a kind of low problem of measurement efficiency, there is provided UO₂Pellet system for detecting verticality and its detection side Method, can be quickly to UO₂Pellet detected, and while to multiple UO₂Pellet is detected, so as to greatly improve UO₂Pellet Detection efficiency.

In order to solve above-mentioned technical problem, the technical solution used in the present invention is such：A kind of UO₂Pellet perpendicularity is examined Examining system, including host computer and detection means, it is characterised in that：The detection means includes rectangular seat, the edge on base Its length direction is provided with a guide rail, coordinates and be provided with a slide unit on guide rail, and the upper side of the slide unit is plane；In one end of guide rail One stepper motor is installed, the output shaft of the stepper motor is connected with a screw mandrel, the screw mandrel is located above guide rail, and its length side To consistent with the length direction of guide rail, the slide unit to should screw mandrel be provided with the screw through slide unit, and pass through the screw and silk Bar is combined together, and slide unit can be driven to move along the length direction of screw mandrel by stepper motor；

A pellet positioner is provided with slide unit upper side, the pellet positioner includes support base and compresses support, institute State support base to be fixedly connected with slide unit, its length direction is consistent with the length direction of slide unit, on support base along its length Several V-arrangement locating slots through positioning seat both sides are provided with, the length direction of the locating slot is hung down with the length direction of support base Directly；The compression support includes two columns and a compressor arm, wherein, two columns are installed on slide unit, and are located at support base respectively Two ends, one end of the compressor arm is hinged with a wherein root post, is provided with a stopper slot, works as compression above another root post When the free end of bar is turned to above the column, can enter in the stopper slot；An alignment pin is provided with stopper slot side, in pressure The opposite side of tight bar and stopper slot, to should alignment pin be provided with location hole, after compressor arm enters stopper slot, can be by this calmly Position pin is positioned to compressor arm；On compressor arm, each locating slot of correspondence is respectively equipped with an elastic compression post, the hold-down column from Through compressor arm under up to, its top is threadedly coupled with compressor arm, and bottom is stretched in locating slot；

The correspondence position of the both sides in the middle part of the guide rail is respectively equipped with one-line laser scanner, the wire type laser scanner Laser head can be just right with locating slot, the laser beam place plane which sends is perpendicular, and disconnected with V-type locating slot Face is vertical；

The host computer is connected with stepper motor Jing after driver, the data output end of twin wire laser scanner simultaneously with Host computer is connected.

Further, the gathering sill through its two ends, the downside of the slide unit are provided with the guide rail along its length Face, to should gathering sill be provided with matched slide block.

Further, the hold-down column includes sleeve pipe and compression leg, and the upper end of described sleeve pipe is enclosed construction, and in sleeve pipe Outer wall is provided with screw thread；The upper end of the compression leg is stretched in sleeve pipe from the lower end of sleeve pipe, in the upper end of compression leg and the upper end of sleeve pipe Between be provided with a spring, the two ends of the spring are fixedly connected with sleeve pipe and compression leg respectively.

A kind of above-mentioned UO₂The detection method of pellet system for detecting verticality, it is characterised in that：Comprise the steps：

1) by several UO to be measured₂Pellet is positioned on the support base of pellet positioner, and will be to be measured by compressing support UO₂Pellet is fixed；

2) rotated by PC control stepper motor, drive pellet positioner to sweep from wire type laser with the speed for setting The side for retouching device moves to opposite side；In pellet positioner moving process, twin wire laser scanner is synchronous to UO to be measured₂ The end face of pellet is scanned detection, and the data for detecting are sent to host computer；

3), after host computer receives the data of twin wire laser scanner collection, carried out at data by data handling system Reason, obtains UO to be measured₂The end face of pellet and the perpendicularity of axial line.

Further, step 3) in, data handling procedure is as follows：

After a, data handling system start, the data of twin wire laser scanner collection are input into data handling system；

B, judge be input into data block whether bias：If data block is biased, database is biased, wherein, The database is the UO to be measured of wire type laser scanner collection₂The data acquisition system of one end face of pellet, the data acquisition system is One two-dimentional data matrix；

C, the data in data block are carried out successively Hough transformation remove Independent Point process and 3 δ principles remove stray data Point is processed；

D, to UO to be measured₂The axial line of pellet carries out adaptive calibration；

E, Bezier fitting is carried out to data；

It is f, last, the perpendicularity between the end face and axial line of UO2 pellets to be measured is conversed according to Bezier.

Compared with prior art, the invention has the advantages that：

1st, it is easy to detect, quick, and multiple UO2 pellets can be disposably detected, so as to greatly improve detection efficiency.

2nd, measurement data is less by ectocine, so as to substantially reduce the measure error brought in measurement process, improves and surveys The amount degree of accuracy.

3rd, in perpendicularity solution process, the process to data is more preferable, so as to the perpendicularity degree of accuracy for making to obtain is higher.

Description of the drawings

Fig. 1 is the side view of detection means of the present invention.

Fig. 2 is the top view of detection means of the present invention.

Structural representations of the Fig. 3 for pellet positioner.

Fig. 4 is scanning theory figure.

Process charts of the Fig. 5 for data handling system.

Fig. 6 is 3 δ handling principle figures.

Fig. 7 is matched curve figure.

In figure：1 base, 2 guide rails, 3 slide units, 4 stepper motors, 5 pellet positioners, 51 support bases, 52 columns, 53 compressor arms, 54 elastic compression posts, 6 wire type laser scanners, 7 UO to be measured₂Pellet.

Specific embodiment

Below in conjunction with drawings and Examples, the invention will be further described.

Embodiment：Referring to Fig. 1 Fig. 4, a kind of UO₂Pellet system for detecting verticality, including host computer and detection means, institute Stating detection means includes rectangular seat 1, is provided with a guide rail 2 on base 1 along its length, coordinates and be provided with guide rail 2 One slide unit 3, the upper side of the slide unit 3 is plane；When being embodied as, be provided with the guide rail 2 along its length through its two The gathering sill at end, the downside of the slide unit 3, to should gathering sill be provided with matched slide block, so, the slip of slide unit 3 Distance range is bigger, is affected less by guide rail 2.One stepper motor 4 is installed in one end of guide rail 2, the stepper motor 4 it is defeated Shaft is connected with a screw mandrel；The screw mandrel is located above guide rail 2, and its length direction is consistent with the length direction of guide rail 2.The cunning Platform 3 pairs should screw mandrel be provided with the screw through slide unit 3, and be combined together by the screw and screw mandrel, by 4 energy of stepper motor Slide unit 3 is enough driven to move along the length direction of screw mandrel.

A pellet positioner 5 is provided with 3 upper side of slide unit, the pellet positioner 5 includes support base 51 and compress propping up Frame.The support base 51 is fixedly connected with slide unit 3, and its length direction is consistent with the length direction of slide unit 3, the edge on support base 51 Its length direction is provided with several V-arrangement locating slots through positioning seat both sides, length direction and the support base 51 of the locating slot Length direction it is vertical.The compression support includes two columns 52 and a compressor arm 53, wherein, two columns 52 are installed on slide unit 3 On, and respectively positioned at the two ends of support base 51；One end of the compressor arm 53 is hinged with a wherein root post 52, vertical at another A stopper slot is provided with above post 52, when the free end of compressor arm 53 turns to 52 top of column, the stopper slot can be entered It is interior；An alignment pin is provided with stopper slot side, in compressor arm 53 and the opposite side of stopper slot, to should alignment pin be provided with positioning Hole, after compressor arm 53 enters stopper slot, can be positioned to compressor arm 53 by the alignment pin.It is on compressor arm 53, right Each locating slot is answered to be respectively equipped with an elastic compression post 54, the hold-down column passes through compressor arm 53, its top and compression from top to bottom Bar 53 is threadedly coupled, and bottom is stretched in locating slot；Wherein, the hold-down column includes sleeve pipe and compression leg, and the upper end of described sleeve pipe is Enclosed construction, and screw thread is provided with the outer wall of sleeve pipe；The upper end of the compression leg is stretched in sleeve pipe from the lower end of sleeve pipe, in compression leg Upper end and the upper end of sleeve pipe between be provided with a spring, the two ends of the spring are fixedly connected with sleeve pipe and compression leg respectively.

The correspondence position of the both sides in the middle part of the guide rail 2 is respectively equipped with one-line laser scanner 6, the wire type laser scanning The laser head of device 6 can be just right with locating slot, the laser beam place plane which sends be perpendicular, and with V-type locating slot Cross section perpendicular.

The host computer is connected with stepper motor 4 Jing after driver, and the data output end of twin wire laser scanner 6 is simultaneously It is connected with host computer.

It is referring to Fig. 5, a kind of to be based on above-mentioned UO₂The detection method of pellet system for detecting verticality, comprises the steps：

1) by several UO to be measured₂Pellet 7 is positioned on the support base 51 of pellet positioner 5, and will by compressing support UO to be measured₂Pellet 7 is fixed.

2) rotated by PC control stepper motor 4, the speed for driving pellet positioner 5 to set is from wire type laser The side of scanner 6 moves to opposite side；In 5 moving process of pellet positioner, twin wire laser scanner 6 is synchronous to be treated Survey UO₂The end face of pellet 7 is scanned detection, and the data for detecting are sent to host computer.

3), after host computer receives the data of twin wire laser scanner collection, carried out at data by data handling system Reason, obtains UO to be measured₂The end face of pellet 7 and the perpendicularity of axial line.

Step 3) in, data handling procedure is as follows：

After a, data handling system start, the data of twin wire laser scanner collection are input into data handling system.

B, judge be input into data block whether bias：If data block is biased, data block is biased, wherein, The database is the UO to be measured of wire type laser scanner collection₂The data acquisition system of one end face of pellet, the data acquisition system is (transverse and longitudinal coordinate is respectively UO to one two-dimentional data matrix₂Pellet end face data are in X-direction and the corresponding index value of Y-direction).

During bias treatment, because end face data (useful data, referred to as data block) (include in whole data Useful data and hash) in the range of, so the average longitudinal direction for asking for end face data (data block) first indexesThen it is true It is fixedIn whole longitudinal direction index range (Y_min,Y_max) position, the inclined of data block can be judged according to relation therebetween Put situation.That is, ifThen under data block partially (lower section of the data block in all data areas)； IfIn data block partially (top of the data block in all data areas)；According to above-mentioned biasing feelings Condition, biases to data block, final to ensure

C, the data in data block are carried out successively Hough transformation remove Independent Point process and 3 δ principles remove stray data Point is processed.

During Hough transformation removes Independent Point：

In x-y space, for point (x₀,y₀), y must be met through this straight line put₀=k*x₀+ b, wherein k are straight lines Slope, b is the intercept of straight line；

Above formula can be melted into b=y₀-k*x₀, regard as with-x₀For slope, with y₀For intercept, in spatially of k-b Linear equation (k, b are variable).

It can be seen that, k-b straight lines spatially represent all straight lines of the x-y space through specified point, and x-y space On specified point of the particular line then by k-b spatially represent.

To each data point in data block, straight line is drawn in k-b spaces；In the intersection point of each straight line, we " ballot " method (vote) is taken, that is, is added up；In other words, if n bar straight lines meet at a bit, the value of the point is n；Traversal k- B spaces, search out the point (namely local maxima n values) of existing local maximum (extreme value), and the coordinate (k, b) of these points is exactly to count According to the slope and intercept of the straight line being likely to occur in block；According to Hough transformation, can be in the hope of three local maxima n values, each n Value correspondence straight line.

End face number is reduced further according to three straight lines (left chamfering straight line, end face straight line and right chamfering straight line) obtained According to scope (x_left, x_right), so as to find out the data of annular end face.

3 δ principles are removed in stray data point process：

Referring to Fig. 6, to the data point in the scope (x_left, x_right) of determination, with the method for mathematical statistics, carry out The rejecting of the miscellaneous point of end face.3 δ principles, i.e., 3 standard deviation principles are carried out to the corresponding data point of (x_left, x_right) scope Normal distribution statistical, and its standard deviation and mean value are calculated, remove the data beyond (u-3 δ, u+3 δ) (wherein u is mean value) It is miscellaneous, it is further ensured that the reliability of data.

D, to UO to be measured₂The axial line of pellet carries out adaptively correcting：

Although detecting system tentatively ensure that UO to be measured₂Axial line " vertical " after pellet placement is in the laser of two sensorses Head；But no absolute vertical presence, i.e., UO to be measured₂The axial line of pellet and the angle of laser head are (or smaller slightly larger than 90 degree In 90 degree), the angular deviation can be added in last perpendicularity.

Above-mentioned angular deviation is caused by the assembly precision superposition of the machining accuracy and sensor of V-groove, the angular deviation band The next data for affecting to export from sensor be reflected, and this also gives and we provides a kind of inclined think of in searching axis Road：Pushed away by sensing data is counter.

Therefore, we are in the UO to be measured for having reduced₂In end face data z (x, y) of pellet, x, z and y, z groups are taken respectively Into two two-dimensional matrixs (x, z) and (y, z), be utilized respectively least square method, just (x, z) and (y, z) is calculated axis or so, Tilted upward degree；Wherein, z is sensing data, and x, y are its 2-d index；Using the inclined degree for obtaining in turn to core Block end face data compensate (2-d index with reference to each data is completed).

E, Bezier fitting is carried out to data；

Due to UO₂The end face of pellet in a ring, therefore, Jing above-mentioned steps process after data in an approximate anchor ring On, in Bezier fit procedure, approximate anchor ring is removed with a circle, circle is divided into into 4 quarter circular arcs, to each Quarter circular arc goes to approach with the fitting of three rank Beziers.

The quarter circular arc of first quartile is solved first：

P (t)=A* (60-t) * 3+B*3 (60-t) * 2t+C*3 (60-t) * 2t+D*3t, (t belongs to [0,60])；Wherein A, B, C and D be four control points, respectively A (0,60), B (h, 60), C (60, h) and D (60,0)；(60 is radius of circle, is one Plant specific embodiment)

P (30)=A*27000+B*81000+C*81000+D*27000 (P (30) expression t take value when 30)；

Substitute into four control point A (0,60), B (h, 60), C (60, h) and D (60, the coordinate points of P (30) 0), can be solved：

x²+y²=(6480000+81000h)²+(6480000+81000h)²=60²；

Solve h：H=-79.99947622；Finally give：

The quarter circular arc of first quartile is completed from this；The second quadrant, third quadrant and fourth quadrant are solved in the same manner Quarter circular arc.

The circular arc of four quadrants is stitched together and has become a complete circle, to approximate anchor ring.As it was previously stated, Annular end face data are data block, and the circular corresponding z values for carrying out Bezier fitting and being formed are calculating perpendicularity institute With.

It is f, last, UO to be measured is conversed according to Bezier₂Perpendicularity between the end face and axial line of pellet.

Referring to Fig. 7, in error theory, perpendicularity can be represented with the scope between two dotted lines (size), it is meant that The distance between two dotted lines are less, and perpendicularity is better, and in figure, real vertical line is axis, and lower broken line is the measurement end of sensor Face, upper broken line are the face (for the upper limit of pellet end face fluctuation) parallel with sensor measuring surface, and solid line is pellet end face The curve of cyclical fluctuations.

So end face can be scaled the flatness of end face relative to the perpendicularity of axis, that is, shellfish is matched using three ranks Curve that your curve matching is completed (fitting be z values both direction index value x and y) maximum difference (max on Z axis (z)-min (z)), in other words perpendicularity is equal to three ranks match Bell curve and is fitted maximum difference of the curve for completing on Z axis.

Finally it should be noted that above example is only to illustrate technical scheme rather than restriction technologies side Case, it will be understood by those within the art that, those are modified to technical scheme or equivalent, and Without departing from the objective and scope of the technical program, all should cover in the middle of scope of the presently claimed invention.

Claims (5)

1. a kind of UO₂Pellet system for detecting verticality, including host computer and detection means, it is characterised in that：The detection means bag Include rectangular seat, be provided with a guide rail on base along its length, coordinate on guide rail and be provided with a slide unit, the slide unit it is upper Side is plane；One stepper motor is installed in one end of guide rail, the output shaft of the stepper motor is connected with a screw mandrel, the screw mandrel Above guide rail, and its length direction is consistent with the length direction of guide rail, the slide unit to should screw mandrel be provided with through slide unit Screw, and be combined together by the screw and screw mandrel, slide unit can be driven along the length direction of screw mandrel by stepper motor It is mobile；

A pellet positioner is provided with slide unit upper side, the pellet positioner includes support base and compresses support, described Support seat is fixedly connected with slide unit, and its length direction is consistent with the length direction of slide unit, is arranged on support base along its length There are several V-arrangement locating slots through positioning seat both sides, the length direction of the locating slot is vertical with the length direction of support base；Institute Stating compression support includes two columns and a compressor arm, wherein, two columns are installed on slide unit, and respectively positioned at the two of support base End, one end of the compressor arm are hinged with a wherein root post, are provided with a stopper slot, when compressor arm above another root post When free end is turned to above the column, can enter in the stopper slot；An alignment pin is provided with stopper slot side, in compressor arm And the opposite side of stopper slot, to should alignment pin be provided with location hole, when compressor arm enter stopper slot after, the alignment pin can be passed through Compressor arm is positioned；On compressor arm, each locating slot of correspondence is respectively equipped with an elastic compression post, and the hold-down column is from up to Under through compressor arm, its top is threadedly coupled with compressor arm, and bottom is stretched in locating slot；

The correspondence position of the both sides in the middle part of the guide rail is respectively equipped with one-line laser scanner, and the wire type laser scanner swashs Shaven head can be just right with locating slot, and the laser beam place plane which sends is perpendicular, and hangs down with the section of V-type locating slot Directly；

The host computer is connected with stepper motor Jing after driver, the data output end of twin wire laser scanner simultaneously with it is upper Machine is connected.

2. UO according to claim 1₂Pellet system for detecting verticality, it is characterised in that：It is square along its length on the guide rail To the gathering sill being provided with through its two ends, the downside of the slide unit, to should gathering sill be provided with matched slide block.

3. UO according to claim 1₂Pellet system for detecting verticality, it is characterised in that：The hold-down column include sleeve pipe and Compression leg, the upper end of described sleeve pipe is enclosed construction, and on the outer wall of sleeve pipe is provided with screw thread；The upper end of the compression leg is from sleeve pipe Lower end is stretched in sleeve pipe, is provided with a spring between the upper end of compression leg and the upper end of sleeve pipe, the two ends of the spring respectively with sleeve pipe It is fixedly connected with compression leg.

4. a kind of UO as claimed in claim 1₂The detection method of pellet system for detecting verticality, it is characterised in that：Including as follows Step：

1）By several UO to be measured₂Pellet is positioned on the support base of pellet positioner, and by compressing support by UO to be measured₂Core Block is fixed；

2）Rotated by PC control stepper motor, the speed for driving pellet positioner to set is from wire type laser scanner Side move to opposite side；In pellet positioner moving process, twin wire laser scanner is synchronous to UO to be measured₂Pellet End face be scanned detection, and the data for detecting are sent to into host computer；

3）After host computer receives the data of twin wire laser scanner collection, data processing is carried out by data handling system, Obtain UO to be measured₂The end face of pellet and the perpendicularity of axial line.

5. a kind of UO as claimed in claim 4₂The detection method of pellet system for detecting verticality, it is characterised in that：Step 3） In, data handling procedure is as follows：

After a, data handling system start, the data of twin wire laser scanner collection are input into data handling system；

B, judge be input into data block whether bias：If data block is biased, database is biased, wherein, it is described Database is the UO to be measured of wire type laser scanner collection₂The data acquisition system of one end face of pellet, the data acquisition system are one The data matrix of two dimension；

C, the data in data block are carried out successively Hough transformation remove Independent Point process and 3 δ principles remove stray data point at Reason；

D, to UO to be measured₂The axial line of pellet carries out adaptive calibration；

E, Bezier fitting is carried out to data；

It is f, last, UO to be measured is conversed according to Bezier₂Perpendicularity between the end face and axial line of pellet.