CN106814074B - A kind of cladding nuclear fuels surface defects detection system and method - Google Patents
A kind of cladding nuclear fuels surface defects detection system and method Download PDFInfo
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- 238000005253 cladding Methods 0.000 title claims abstract description 73
- 230000007547 defect Effects 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 title claims abstract description 62
- 239000003758 nuclear fuel Substances 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 239000011159 matrix material Substances 0.000 claims description 57
- 238000003466 welding Methods 0.000 claims description 25
- 238000005070 sampling Methods 0.000 claims description 19
- 239000013598 vector Substances 0.000 claims description 18
- 238000012937 correction Methods 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 2
- 230000002950 deficient Effects 0.000 abstract 1
- 239000008188 pellet Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- 229910001093 Zr alloy Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
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- 238000010891 electric arc Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a kind of cladding nuclear fuels surface defects detection system and methods, the system includes detection device, the detection device includes pedestal and bracket, the side of the bracket is equipped with rotating mechanism, the rotating mechanism includes swivel becket and driving device, and the shaft center line of the swivel becket is horizontally disposed；It is additionally provided with support base on the pedestal, all has v-depression on the bracket and the support base；Laser type line array sensor is installed, the Laser emission of the laser type line array sensor, which is rectified, is arranged involucrum to be detected on the inside of the swivel becket；It further include the host computer for controlling the driving device and for acquiring and handling the laser type line array sensor detection data.The advantages that system and method for the present invention have the efficient detection that can be sought unity of standard in a manner of machine vision to its surface defect, quickly accurately judge whether there is defect and defective locations, size, and discrimination is high.
Description
Technical Field
The invention relates to the technical field of product detection, in particular to a nuclear fuel cladding surface defect detection system and a nuclear fuel cladding surface defect detection method.
Background
The nuclear fuel cladding is a sealed enclosure for the nuclear fuel and is also the second safety barrier of a nuclear power plant. The cladding is made of zirconium alloy through multiple times of smelting and forging, and then cutting and polishing. The end part of the cladding can form an obvious welding seam through electric arc melting, and the problems that the welding thickness is not uniform, the welding stress remains, the material texture becomes brittle after high temperature action and the like easily occur in the common welding process. Under the action of severe working conditions, the defects are possibly worsened to cause accidents. The welding seam is the weakest link of the cladding pipe, and the detection of the welding seam of the nuclear fuel cladding is very necessary.
The detection method adopted at present is a manual visual detection method, namely, a skilled operator holds the nuclear fuel pellet cladding by hand, looks at the welding seam area of the cladding visually, rotates the cladding manually for a circle, observes the welding condition and judges whether the product is qualified or not through experience.
The conventional detection method depends on the experience and proficiency of workers, detection standards are not unified, and the accuracy and the detection efficiency cannot be guaranteed due to the fact that manual detection is uncertain.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a nuclear fuel cladding surface defect detection system and method which can rapidly detect the nuclear fuel pellet cladding surface defect, have higher detection precision and are beneficial to greatly improving the detection efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the nuclear fuel cladding surface defect detection system is characterized by comprising a detection device, wherein the detection device comprises a base and a support vertically arranged on the base, an annular rotating mechanism is arranged on one side of the support, the rotating mechanism comprises a rotating ring and a driving device, the rotating ring is rotatably arranged on the inner side of the rotating ring, the driving device is used for driving the rotating ring to rotate, and the rotating axis of the rotating ring is arranged along the horizontal direction; the base is further provided with a supporting seat, the supporting seat is positioned on one side of the support, which is far away from the rotating mechanism, and in the direction of the rotating axis of the rotating ring, the support and the supporting seat are respectively provided with a V-shaped groove which is arranged in a penetrating manner along the direction of the rotating axis of the rotating ring, so that when the to-be-detected cladding is supported in the V-shaped grooves of the support and the supporting seat, the axis of the to-be-detected cladding is coincided with the rotating axis of the rotating ring; a laser linear array sensor is arranged on the inner side of the rotating ring, and a laser emitting end of the laser linear array sensor is arranged opposite to the shells to be detected supported on the support and the supporting seat along the radial direction, so that a line laser emitted by the laser linear array sensor can pass through the rotating axis of the rotating ring in a superposed manner; the laser linear array sensor detection device further comprises an upper computer used for controlling the driving device and used for collecting and processing the detection data of the laser linear array sensor.
By adopting the structure, the to-be-detected cladding can be supported in a horizontal position through the V-shaped grooves on the support and the supporting seat, the welding part of the to-be-detected cladding is positioned in the range of the line laser emitted by the laser linear array sensor, the line laser emitted by the laser emitting end of the laser linear array sensor is projected onto the outer circular surface of the to-be-detected cladding, the image acquisition end of the laser linear array sensor takes a picture of the line laser projected onto the outer circular surface of the to-be-detected cladding from another angle for sampling, and after image data is processed, the depth of each point on the position of the line laser in the radial direction can be obtained and sent to an upper computer. The upper computer can control the driving device to drive the rotating ring to rotate at a set speed, so that the laser linear array sensor can completely sample the welding part of the to-be-detected cladding along the circumferential direction, and the upper computer can obtain depth data of all sampling points on the welding part of the to-be-detected cladding, so that the depression of a welding line can be judged according to the depth data. The detection device adopts the high-precision laser linear array sensor for detection, has low requirements on experience and proficiency of workers in the detection process, can adopt unified detection standards, can quickly detect the surface defects of the nuclear fuel pellet cladding, has high detection precision, and is favorable for greatly improving the detection efficiency.
Furthermore, drive arrangement includes servo motor and reduction gear set, the swivel becket is close to reduction gear set's one end is the gear ring, reduction gear set's input with servo motor links to each other, the output with the gear ring meshes mutually.
By adopting the structure, the rotating ring can be ensured to keep rotating at a constant speed through the servo motor, the shaking of the rotating ring is avoided, and the detection precision is favorably improved. The rotating speed of the rotating ring is reduced by adopting the reduction gear set, so that data can be acquired as much as possible under the fixed scanning frequency of the laser linear array sensor.
Furthermore, the balls are arranged on two sides of the V-shaped groove of the supporting seat, so that the to-be-detected cladding erected on the V-shaped groove of the supporting seat can slide along the axial direction.
In this way, guiding the enclosure into a designated detection area may be facilitated.
Further, the height of the supporting seat can be adjusted.
Furthermore, four rubber bases with adjustable heights are arranged at the bottom of the base.
Thus, the base can be leveled by adjusting the height of the rubber base.
A nuclear fuel cladding surface defect detection method is characterized by comprising the following steps:
s1, obtaining the nuclear fuel cladding surface defect detection system; supporting the to-be-detected cladding in the V-shaped grooves of the support and the supporting seat, and enabling the welding part of the to-be-detected cladding to be located in an area opposite to a laser emitting end of the laser linear array sensor;
s2, driving the rotating ring to rotate for a circle at a set speed through the upper computer control driving device, enabling the laser linear array sensor arranged on the inner side of the rotating ring to rotate along with the rotating ring in the circumferential direction of the to-be-detected cladding, completing scanning detection of the outer circular surface of the welding part of the to-be-detected cladding, and obtaining a two-dimensional data matrix of the depth of each sampling point on the outer circular surface of the welding part in the radial direction, wherein the depth data in the row direction in the two-dimensional data matrix correspond to the sampling points in the circumferential direction of the to-be-detected cladding, and the depth data in the column direction correspond to the sampling points in the axial;
s3, after receiving data detected by the laser linear array sensor, the upper computer processes the data, and intercepts a maximum effective data matrix A (a1, a2, … …, am) of n rows and m columns, wherein a1, a2 and … … am are column vectors and respectively contain effective data obtained by triggering and sampling of the laser linear array sensor every time;
s4, eccentricity correction of sample data: a straight line fitting is performed for each of the above column vectors a1, a2, … … am using a least squares method, that is,
yx＝bx+a
wherein,
and the correction angle is theta, and then a matrix rotation transformation formula is adopted:
x'＝xcosθ-yxsinθ
yx'＝xsinθ+yxcosθ
obtaining a new matrix A' after eccentric correction;
wherein y isxFor the value of the xth element in each column vector a1, a2, … … am, ordered from top to bottom, x is 1 to n,is the average of the rank numbers of all elements in the corresponding column vector,is the average of all element values in the corresponding column vector; a is the intercept of the fitted linear equation, and b is the slope of the fitted linear equation; y isx' is yxThe corresponding element values in the new matrix a' after eccentricity correction;
s6, defect position extraction: dividing the corrected data matrix into a plurality of data blocks of C x C, replacing the position of each data block with the mean value of each data block to obtain a new data matrix B, performing threshold segmentation on the matrix B to extract a defect position data matrix, and restoring data in the defect position data matrix into the original data blocks of C x C to obtain a defect position matrix C;
s7, judging defects; each element in the defect position matrix C is the depth value of the sampling point corresponding to the defect position on the surface of the cladding, graduation is selected according to the distribution of the depth value to be taken as interval statistics of the depth value, the mode interval of the element is determined, and the median at is taken, wherein the at represents the total quality of the defect part;
will matrixThe vector interval of each column in (1) is differenced to obtain a matrix:
and performing threshold segmentation on the matrix D and counting the matrix D as N, wherein N represents the extreme quality of the defect part, comparing the total quality at and the extreme quality N with set thresholds q1 and q2 respectively, judging the matrix D as qualified when at is less than or equal to q1 and N is less than or equal to q2, and otherwise, judging the matrix D as unqualified.
By adopting the method, a certain deflection angle exists between the cladding to be detected and the laser linear array sensor due to the production process of the detection device of the nuclear fuel cladding surface defect detection system, and the data processing in the step S2 can be adopted to carry out eccentric correction on the data, thereby being beneficial to improving the detection precision.
Further, before the step S6, a step S5 is further included, where: and (3 delta) performing normal distribution statistics on data points in a determined range (x _ left, x _ right) by adopting a 3 delta principle, calculating standard deviation and average value of the data points, and removing data outliers except for (u-3 delta, u +3 delta) (wherein u is the average value).
The nuclear fuel pellet cladding is made of metal materials, so that natural light is inevitably irradiated on the cladding surface to form reflected light in the detection process, and the detection result is influenced.
In conclusion, the system and the method have the advantages that the surface defects can be efficiently detected in a unified standard in a machine vision mode, whether the defects exist, the positions and the sizes of the defects can be rapidly and accurately judged, the recognition rate is high, various uncertainties in a manual visual inspection method are effectively avoided, and the like.
Drawings
Fig. 1 is a schematic structural diagram of a detection device.
FIG. 2 is a schematic view of the detection process of the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the specific implementation: as shown in fig. 1, a nuclear fuel cladding surface defect detecting system comprises a detecting device, wherein the detecting device comprises a base 1 and a bracket 2 vertically arranged on the base 1, one side of the bracket 2 is provided with a ring-shaped rotating mechanism 3, the rotating mechanism 3 comprises a rotating ring which is rotatably arranged at the inner side and a driving device for driving the rotating ring to rotate, and the rotating axis of the rotating ring is arranged along the horizontal direction; the base 1 is further provided with a supporting seat 4, the supporting seat 4 is positioned on one side of the support 2, which is far away from the rotating mechanism 3, and in the direction of the rotating axis of the rotating ring, the support 2 and the supporting seat 4 are both provided with V-shaped grooves which are arranged in a penetrating manner along the direction of the rotating axis of the rotating ring, so that when the to-be-detected cladding is supported in the V-shaped grooves of the support 2 and the supporting seat 4, the axis of the to-be-detected cladding is coincided with the rotating axis of the rotating ring; a laser linear array sensor 5 is arranged on the inner side of the rotating ring, and a laser emitting end of the laser linear array sensor 5 is arranged opposite to the to-be-detected cladding supported on the support 2 and the support seat 4 along the radial direction, so that a line laser emitted by the laser emitting end can pass through the rotating axis of the rotating ring in a coincided manner, namely, an emitting plane formed by the line laser emitted by the laser emitting end along the emitting direction is coincided with the rotating axis of the rotating ring; the laser linear array sensor device further comprises an upper computer which is used for controlling the driving device and is used for collecting and processing the detection data of the laser linear array sensor 5. The driving device comprises a servo motor and a reduction gear set, wherein one end of the rotating ring close to the reduction gear set is a gear ring, the input end of the reduction gear set is connected with the servo motor, and the output end of the reduction gear set is meshed with the gear ring. Both sides of the V-shaped groove of the supporting seat 4 are provided with balls, so that the to-be-detected cladding erected on the V-shaped groove of the supporting seat 4 can slide along the axial direction. The height of the support seat 4 is adjustable. The bottom of the base 1 is provided with four rubber bases with adjustable heights. The top of the bracket is also provided with a balancer used for guiding the power line of the sensor when the rotating ring rotates so as to prevent the sensor from winding.
By adopting the structure, the to-be-detected cladding can be supported in a horizontal position through the V-shaped grooves on the support and the supporting seat, the welding part of the to-be-detected cladding is positioned in the range of the line laser emitted by the laser linear array sensor, the line laser emitted by the laser emitting end of the laser linear array sensor is projected onto the outer circular surface of the to-be-detected cladding, the image acquisition end of the laser linear array sensor takes a picture of the line laser projected onto the outer circular surface of the to-be-detected cladding from another angle for sampling, and after image data is processed, the depth of each point on the position of the line laser in the radial direction can be obtained and sent to an upper computer. The upper computer can control the driving device to drive the rotating ring to rotate at a set speed, so that the laser linear array sensor can completely sample the welding part of the to-be-detected cladding along the circumferential direction, and the upper computer can obtain depth data of all sampling points on the welding part of the to-be-detected cladding, so that the depression of a welding line can be judged according to the depth data. The detection device adopts the high-precision laser linear array sensor for detection, has low requirements on experience and proficiency of workers in the detection process, can adopt unified detection standards, can quickly detect the surface defects of the nuclear fuel pellet cladding, has high detection precision, and is favorable for greatly improving the detection efficiency.
As shown in fig. 2, during detection, data is acquired through a sensor and input into an upper computer, then the data is subjected to eccentricity correction, a 3 δ principle is adopted to remove stray data points, then defect positions are further extracted, whether defects exist is judged, if defects exist, the defects are identified, whether the defects exist in an acceptable range is judged, and finally a detection result is output. The method comprises the following specific steps:
s1, obtaining the nuclear fuel cladding surface defect detection system; supporting the to-be-detected cladding in the V-shaped grooves of the support and the supporting seat, and enabling the welding part of the to-be-detected cladding to be located in an area opposite to a laser emitting end of the laser linear array sensor;
s2, driving the rotating ring to rotate for a circle at a set speed through the upper computer control driving device, enabling the laser linear array sensor arranged on the inner side of the rotating ring to rotate along with the rotating ring in the circumferential direction of the to-be-detected cladding, completing scanning detection of the outer circular surface of the welding part of the to-be-detected cladding, and obtaining a two-dimensional data matrix of the depth of each sampling point on the outer circular surface of the welding part in the radial direction, wherein the depth data in the row direction in the two-dimensional data matrix correspond to the sampling points in the circumferential direction of the to-be-detected cladding, and the depth data in the column direction correspond to the sampling points in the axial;
s3, after receiving data detected by the laser linear array sensor, the upper computer processes the data, and intercepts a maximum effective data matrix A (a1, a2, … …, am) of n rows and m columns, wherein a1, a2 and … … am are column vectors and respectively contain effective data obtained by triggering and sampling of the laser linear array sensor every time, and m and n are positive integers;
s4, eccentricity correction of sample data: a straight line fitting is performed for each of the above column vectors a1, a2, … … am using a least squares method, that is,
yx＝bx+a
wherein,
and the correction angle is theta, and then a matrix rotation transformation formula is adopted:
x'＝xcosθ-yxsinθ
yx'＝xsinθ+yxcosθ
obtaining a new matrix A' after eccentric correction; wherein y isxFor the value of the xth element in each column vector a1, a2, … … am, ordered from top to bottom, x is 1 to n,is the average of the rank numbers of all elements in the corresponding column vector,is the average of all element values in the corresponding column vector; a is the intercept of the fitted linear equation, and b is the slope of the fitted linear equation; y isx' is yxThe corresponding element values in the new matrix a' after eccentricity correction;
s5, removing stray data points: performing normal distribution statistics on data points in a determined range (x _ left, x _ right) by adopting a 3 delta principle, calculating a standard deviation and an average value of the data points, and removing data miscellaneous points except (u-3 delta, u +3 delta) (wherein u is the average value);
s6, defect position extraction: dividing the corrected data matrix into a plurality of data blocks of 3 x 3, replacing the position of each data block with the mean value of each data block to obtain a new data matrix B, performing threshold segmentation on the matrix B to extract a defect position data matrix, and restoring data in the defect position data matrix into the original data blocks of 3 x 3 to obtain a defect position matrix C;
s7, judging defects; each element in the defect position matrix C is the depth value of the sampling point corresponding to the defect position on the surface of the cladding, graduation is selected according to the distribution of the depth value to be taken as interval statistics of the depth value, the mode interval of the element is determined, and the median at is taken, wherein the at represents the total quality of the defect part;
will matrixMaking a difference at each column vector interval in the above steps, wherein K, P, K and P are positive integers, and obtaining a matrix:
and performing threshold segmentation on the matrix D and counting the matrix D as N, wherein N represents the extreme quality of the defect part, comparing the total quality at and the extreme quality N with set thresholds q1 and q2 respectively, judging the matrix D as qualified when at is less than or equal to q1 and N is less than or equal to q2, and otherwise, judging the matrix D as unqualified.
Among the above methods, the threshold division is a method of classifying data according to a magnitude relationship between the data and the threshold by setting one or more thresholds (threshold values), for example, there are 10 data (5.1, 8.0, 6.4, 2.3, -1.2, 4.7, 15.6, -7.6, 0.9, 3.3) in the array Q, data greater than 5.0 in the array Q is required to be screened to form a new array Q1, each data in the array Q is compared with the threshold r by setting the threshold r to be 5.0, when the data in Q is greater than 5.0, the array Q1 is stored, when the data is less than or equal to 5.0, the next data is compared by shifting one bit to the right, and the data in Q1 after the screening by the threshold division is finally obtained as (5.1, 8.0, 6.4, 15.6).
The above description is only exemplary of the present invention and should not be taken as limiting, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The nuclear fuel cladding surface defect detection system is characterized by comprising a detection device, wherein the detection device comprises a base (1) and a support (2) vertically arranged on the base (1), one side of the support (2) is provided with an annular rotating mechanism (3), the rotating mechanism (3) comprises a rotating ring which is positioned on the inner side and can be rotationally arranged, and a driving device for driving the rotating ring to rotate, and the rotating axis of the rotating ring is arranged along the horizontal direction; the base (1) is further provided with a supporting seat (4), the supporting seat (4) is located on one side, away from the rotating mechanism (3), of the support (2), and in the direction of the rotating axis of the rotating ring, the support (2) and the supporting seat (4) are respectively provided with a V-shaped groove which is arranged in a penetrating manner along the direction of the rotating axis of the rotating ring, so that when the to-be-detected cladding is supported in the V-shaped grooves of the support (2) and the supporting seat (4), the axis of the to-be-detected cladding coincides with the rotating axis of the rotating ring; a laser linear array sensor (5) is mounted on the inner side of the rotating ring, and a laser emitting end of the laser linear array sensor (5) is arranged opposite to a to-be-detected cladding supported on the support (2) and the supporting seat (4) along the radial direction, so that a line laser emitted by the laser emitting end can pass through a rotating axis of the rotating ring in a coincided manner; the laser linear array sensor system also comprises an upper computer which is used for controlling the driving device and is used for collecting and processing the detection data of the laser linear array sensor (5).
2. The nuclear fuel cladding surface defect detecting system of claim 1, wherein the driving means includes a servo motor and a reduction gear set, wherein one end of the rotating ring near the reduction gear set is a gear ring, an input end of the reduction gear set is connected with the servo motor, and an output end of the reduction gear set is engaged with the gear ring.
3. The nuclear fuel cladding surface defect detecting system of claim 1, wherein balls are provided on both sides of the V-shaped groove of the support base (4) so that the cladding to be detected, which is erected on the V-shaped groove of the support base (4), can slide in the axial direction.
4. The nuclear fuel cladding surface defect detection system of claim 1, wherein the height of the support base (4) is adjustable.
5. The nuclear fuel cladding surface defect detecting system of claim 1, characterized in that the bottom of the base (1) is provided with four height adjustable rubber bases.
6. A nuclear fuel cladding surface defect detection method is characterized by comprising the following steps:
s1, obtaining the nuclear fuel shell surface defect detection system as claimed in any one of claims 1-5; supporting the to-be-detected cladding in the V-shaped grooves of the support (2) and the support seat (4), so that the welding part of the to-be-detected cladding is positioned in an area opposite to the laser emitting end of the laser linear array sensor (5);
s2, driving the rotating ring to rotate for a circle at a set speed through the upper computer control driving device, enabling the laser linear array sensor arranged on the inner side of the rotating ring to rotate along with the rotating ring in the circumferential direction of the to-be-detected cladding, completing scanning detection of the outer circular surface of the welding part of the to-be-detected cladding, and obtaining a two-dimensional data matrix of the depth of each sampling point on the outer circular surface of the welding part in the radial direction, wherein the depth data in the row direction in the two-dimensional data matrix correspond to the sampling points in the circumferential direction of the to-be-detected cladding, and the depth data in the column direction correspond to the sampling points in the axial;
s3, after receiving data detected by the laser linear array sensor, the upper computer processes the data, and intercepts a maximum effective data matrix A (a1, a2, … …, am) of n rows and m columns, wherein a1, a2 and … … am are column vectors and respectively contain effective data obtained by triggering and sampling of the laser linear array sensor every time;
s4, eccentricity correction of sample data: a straight line fitting is performed for each of the above column vectors a1, a2, … … am using a least squares method, that is,
yx＝bx+a
wherein,
and the correction angle is theta, and then a matrix rotation transformation formula is adopted:
x'＝xcosθ-yxsinθ
yx'＝xsinθ+yxcosθ
obtaining a new matrix A' after eccentric correction; wherein y isxFor the value of the xth element in each column vector a1, a2, … … am, ordered from top to bottom, x is 1 to n,is the average of the rank numbers of all elements in the corresponding column vector,is the average of all element values in the corresponding column vector; a is the intercept of the fitted linear equation, and b is the slope of the fitted linear equation; y isx' is yxThe corresponding element values in the new matrix a' after eccentricity correction;
s6, defect position extraction: dividing the corrected data matrix into a plurality of data blocks of C x C, replacing the position of each data block with the mean value of each data block to obtain a new data matrix B, performing threshold segmentation on the matrix B to extract a defect position data matrix, and restoring data in the defect position data matrix into the original data blocks of C x C to obtain a defect position matrix C;
s7, judging defects; each element in the defect position matrix C is the depth value of the sampling point corresponding to the defect position on the surface of the cladding, graduation is selected according to the distribution of the depth value to be taken as interval statistics of the depth value, the mode interval of the element is determined, and the median at is taken, wherein the at represents the total quality of the defect part;
will matrixMaking a difference at each column vector interval in the above steps, wherein K, P, K and P are positive integers, and obtaining a matrix:
and performing threshold segmentation on the matrix D and counting the matrix D as N, wherein N represents the extreme quality of the defect part, comparing the total quality at and the extreme quality N with set thresholds q1 and q2 respectively, judging the matrix D as qualified when at is less than or equal to q1 and N is less than or equal to q2, and otherwise, judging the matrix D as unqualified.
7. The method of detecting defects on the surface of a nuclear fuel package according to claim 6, wherein before the step S6, the method further comprises a step S5 of removing stray data points: and (3 delta) performing normal distribution statistics on data points in a determined range (x _ left, x _ right) by adopting a 3 delta principle, calculating a standard deviation and an average value of the data points, and removing data outliers except for (u-3 delta, u +3 delta), wherein u is the average value.
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| CN108161308B (en) * | 2018-01-10 | 2024-03-12 | 深圳市金洲精工科技股份有限公司 | Alignment device and alignment method for preventing welding material from being reversed |
| CN108333185B (en) * | 2018-03-30 | 2023-06-02 | 西华大学 | Real-time detection sensor for quality of outer surface of high-pressure hydrogen storage fuel tank |
| CN110421013A (en) * | 2019-09-10 | 2019-11-08 | 力行优图智能科技(苏州)有限公司 | A kind of rotary scanning type steel coil end-face defect detecting system |
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