CN111462928B - Laser measurement method, system, equipment and medium for nuclear power station thermal sleeve flange abrasion - Google Patents
Laser measurement method, system, equipment and medium for nuclear power station thermal sleeve flange abrasion Download PDFInfo
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- CN111462928B CN111462928B CN202010158948.5A CN202010158948A CN111462928B CN 111462928 B CN111462928 B CN 111462928B CN 202010158948 A CN202010158948 A CN 202010158948A CN 111462928 B CN111462928 B CN 111462928B
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention relates to the technical field of reactors of million-kilowatt nuclear power stations, in particular to a laser measurement method, a laser measurement system, laser measurement equipment and a laser measurement medium for flange abrasion of a thermal sleeve of a nuclear power station. The method comprises the following steps: controlling the laser measuring device to move towards a hot sleeve in a reactor pressure vessel of the nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position; controlling a movable lifting mechanism to drive a laser to move to a first position and a second position respectively at a preset measuring position, and acquiring first coordinate information of the first position and second coordinate information of the second position measured by the laser; and determining the wear state between the hot sleeve flange and the pipe seat of the adapter penetrating piece according to the first coordinate information and the second coordinate information. The invention realizes the accurate measurement of the abrasion state between the hot sleeve flange and the adapter penetration piece in a high-dosage environment; the inspection of personnel in a high-dosage environment is avoided, the labor cost is saved, the inspection time is shortened, and the individual and collective dosage is reduced.
Description
Technical Field
The invention relates to the technical field of reactors of million-kilowatt nuclear power stations, in particular to a laser measurement method, a laser measurement system, laser measurement equipment and a laser measurement medium for flange abrasion of a thermal sleeve of a nuclear power station.
Background
The reactor pressure vessel is a core component of a million kilowatt pressurized water reactor nuclear power plant, and the internal components of the reactor pressure vessel, such as the heat jacket tube, the heat jacket tube flange, the adapter penetration, the control rod guide rod, etc., are all closely related to the reactor operation. At present, in the operation process of a reactor, a hot sleeve flange of a reactor pressure vessel may be abraded with an adapter penetration piece, and the hot sleeve flange is abraded, sunk and dropped under severe conditions, so that the jamming of a control rod guide rod is caused, and the normal shutdown of a nuclear power unit is influenced; and the location has high radioactivity so that the person cannot stay for a long time.
In the prior art, when the wear states of the hot sleeve flange and the adapter penetration piece are manually checked, the dosage rate inside the reactor pressure vessel top cover is generally 10msv/h (1ms is 1000usv), and the dosage allowed to be accepted by a single person every day is 800usv, so that the working time of each person every day is about 5 minutes according to the limit value; if the wear states of the hot sleeve flanges and the adapter penetration pieces are manually checked and preliminarily estimated, 10 persons are needed for completing the measurement work of 61 hot sleeves (one hot sleeve corresponds to one hot sleeve flange), the working time is 6 days, the collective dose reaches about 60msv, a large amount of manpower is consumed, and the checking time is long; meanwhile, the personnel dosage quickly reaches the limit value, so that other subsequent radioactive works cannot be carried out, and the optimization principle of radiation protection of the nuclear power station is not met.
Disclosure of Invention
The invention provides a laser measurement method, a system, equipment and a medium for measuring the abrasion of a hot sleeve flange of a nuclear power station, aiming at the problems of large dosage, excessive labor consumption and long inspection time in the manual inspection of the abrasion state of the hot sleeve flange and an adapter penetrating piece in the prior art.
A laser measurement method for the flange abrasion of a thermal sleeve of a nuclear power station comprises the following steps:
controlling a laser measuring device to move towards a hot sleeve in a reactor pressure vessel of a nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position; the laser measuring device comprises a movable lifting mechanism and a laser installed on the movable lifting mechanism; the nuclear power plant reactor pressure vessel comprises a control rod drive mechanism, a thermal sleeve flange, the thermal sleeve, an adapter penetration and a control rod drive rod; the adapter penetration piece comprises a tube socket arranged on the control rod driving mechanism, a tube body connected with the tube socket and an accommodating space penetrating through the tube body and extending to the tube socket, the hot sleeve flange is arranged at a position of the accommodating space corresponding to the tube socket, one end of the hot sleeve is connected with the hot sleeve flange, and the other end of the hot sleeve extends out of the accommodating space; one end of the control rod drive rod penetrates through the hot sleeve flange and is installed on the control rod drive mechanism, and the other end of the control rod drive rod penetrates through the hot sleeve and extends out;
controlling the mobile lifting mechanism to drive the laser to move to a first position and a second position respectively at the preset measuring position, and acquiring first coordinate information of the first position and second coordinate information of the second position measured by the laser; the first position is the lower edge of the sleeve at one end of the heat sleeve extending out of the accommodating space, and the second position is the lower edge of the penetrating piece at one end of the pipe body of the adapter penetrating piece far away from the pipe seat;
and determining the wear state between the hot sleeve flange and the pipe seat of the adapter penetrating piece according to the first coordinate information and the second coordinate information.
Further, the determining a wear state between the hot sleeve flange and a socket of the adapter penetration based on the first coordinate information and the second coordinate information includes:
determining a first height difference between the first position and the second position according to the first coordinate information and the second coordinate information;
judging whether the difference value between the first height difference and a preset distance difference is larger than zero or not;
and when the difference value between the first height difference and the preset distance difference is larger than zero, determining that the hot sleeve is in a sunk state, and recording the wear state between the hot sleeve flange and the pipe seat of the adapter penetrating piece as worn.
Further, after determining that the thermal sleeve is in a sunk state, the method further comprises:
and judging whether the difference exceeds a preset warning value, when the difference exceeds the preset warning value, sending the difference exceeding the preset warning value to a preset receiving party, and prompting the receiving party that the degree of wear between the hot sleeve flange and the tube seat of the adapter penetration piece is high.
Further, after determining whether the difference between the first height difference and the preset distance difference is greater than zero, the method further includes:
and when the difference value between the first height difference and the preset distance difference is less than or equal to zero, determining that the hot sleeve is in a non-sinking state, and recording the wear state between the hot sleeve flange and the pipe seat of the adapter penetration piece as non-wear.
Further, the laser measuring device also comprises a video detection device;
control remove elevating system and drive the laser instrument removes respectively to primary importance and second place, acquires the first coordinate information of primary importance and the second coordinate information of second place that the laser instrument surveyed includes:
controlling the laser to horizontally emit laser, simultaneously controlling the mobile lifting mechanism to drive the laser to move, and recording position coordinates corresponding to the current first position as first coordinate information when the laser emitted by the laser is irradiated to the first position according to the video image acquired by the video detection device;
and controlling the mobile lifting mechanism to drive the laser to vertically lift, and recording position coordinates corresponding to the current second position as second coordinate information when the laser emitted by the laser is irradiated to the second position according to the video image acquired by the video detection device.
Further, the video detection device comprises a first camera mounted on the mobile lifting mechanism and a second camera mounted on the laser.
Further, the movable lifting mechanism comprises a carrying vehicle, a lifting platform arranged on the carrying vehicle and a telescopic arm arranged on the lifting platform; the laser is arranged at one end, far away from the lifting platform, of the telescopic arm; the carrier loader drives the lifting platform to move; the lifting platform can drive the telescopic arm and the laser to rotate and lift up and down; the telescopic arm can drive the laser to rotate and lift up and down.
Further, before the control laser measuring device moves to the hot sleeve in the reactor pressure vessel of the nuclear power plant with high radioactivity, the method further comprises the following steps:
controlling the laser measuring device to move towards a simulation body until the distance between the laser measuring device and the simulation body is smaller than a preset distance threshold;
controlling the movable lifting mechanism to drive the laser to move to a first test point and a second test point on the simulator respectively, and acquiring a first test coordinate of the first test point and a second test coordinate of the second test point, which are measured by the laser;
and determining the inspection precision and the running state information of the laser measuring device according to the first test coordinate and the second test coordinate.
Further, the determining the inspection accuracy and the operating state information of the laser measuring device according to the first test coordinate and the second test coordinate includes:
determining a second height difference between the first test point and the second test point according to the first test coordinate and the second test coordinate;
and when the difference value between the second height difference and the preset simulation height difference is within a preset precision range, determining that the inspection precision and the running state of the laser measuring device are normal.
A laser measurement system for flange abrasion of a thermal sleeve of a nuclear power station comprises a laser measurement device and a control module in communication connection with the laser measurement device; the laser measuring device comprises a movable lifting mechanism and a laser installed on the movable lifting mechanism; the nuclear power plant reactor pressure vessel comprises a control rod drive mechanism, a thermal sleeve flange, the thermal sleeve, an adapter penetration and a control rod drive rod; the adapter penetration piece comprises a tube seat arranged on the control rod drive mechanism, a tube body connected with the tube seat and an accommodating space penetrating through the tube body and extending to the tube seat, the hot sleeve flange is arranged at the position of the accommodating space corresponding to the tube seat, one end of the hot sleeve is connected with the hot sleeve flange, and the other end of the hot sleeve extends out of the accommodating space; one end of the control rod drive rod penetrates through the hot sleeve flange and is installed on the control rod drive mechanism, and the other end of the control rod drive rod penetrates through the hot sleeve and extends out; the control module includes:
the movement control module is used for controlling the laser measuring device to move towards a hot sleeve in a reactor pressure vessel of the nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position;
the measuring module is used for controlling the mobile lifting mechanism to drive the laser to move to a first position and a second position respectively at the preset measuring position, and acquiring first coordinate information of the first position and second coordinate information of the second position measured by the laser; the first position is the lower edge of the sleeve at one end of the heat sleeve extending out of the accommodating space, and the second position is the lower edge of the penetrating piece at one end of the pipe body of the adapter penetrating piece far away from the pipe seat;
and the state determining module is used for determining the abrasion state between the hot sleeve flange and the pipe seat of the adapter penetrating piece according to the first coordinate information and the second coordinate information.
Computer equipment comprises a memory, a processor and computer readable instructions stored in the memory and executable on the processor, wherein the processor executes the computer readable instructions to realize the laser measurement method for the flange wear of the thermal sleeve of the nuclear power plant.
A computer readable storage medium storing computer readable instructions which, when executed by a processor, implement the above-mentioned laser measurement method for measuring the flange wear of a thermal sleeve of a nuclear power plant.
The laser measuring method, the system, the equipment and the medium for measuring the flange abrasion of the nuclear power station hot sleeve provided by the invention can remotely control the laser measuring device to move towards the hot sleeve in the reactor pressure vessel of the nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position; then, the mobile lifting mechanism is controlled to drive the laser to move to a first position and a second position respectively at the preset measuring position, and first coordinate information of the first position and second coordinate information of the second position measured by the laser are obtained; determining a wear state between the hot sleeve flange and a tube seat of the adapter penetration piece according to the first coordinate information and the second coordinate information; the wear state between the hot sleeve flange and the adapter penetration piece can be accurately measured under the high-dose environment through remote control without manual measurement, and the blank of the existing inspection technology is made up; meanwhile, the invention avoids personnel from entering the high-dose environment inside the top cover of the reactor pressure vessel of the nuclear power station for inspection, and the personnel can accord with the optimization principle of radiation protection of the nuclear power station only by remotely acquiring data without entering the bottom of the top cover; in addition, the labor cost is greatly saved, the inspection time is shortened (the inspection window is reduced from 6 days to 2 days in the actual use process, the inspection efficiency is greatly improved), the individual and collective dosage is reduced (the collective dosage of personnel is reduced from 60msv to 3msv), and the invention can be continuously used in the overhaul of the nuclear power station and is greatly benefited.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of a nuclear power plant reactor pressure vessel according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a portion of a nuclear power plant reactor pressure vessel in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a laser measurement device for performing laser measurement on a reactor pressure vessel of a nuclear power plant according to an embodiment of the invention;
FIG. 4 is another schematic diagram of a laser measurement device for performing laser measurements of a nuclear power plant reactor pressure vessel in accordance with an embodiment of the present invention;
FIG. 5 is a schematic block diagram of a laser measurement system for measuring the flange wear of a thermal sleeve of a nuclear power plant according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a computer device in an embodiment of the invention.
Description of reference numerals:
1. a reactor pressure vessel; 11. a control rod drive mechanism; 12. a hot sleeve flange; 13. a thermal sleeve; 131. a first position; 14. an adapter penetration; 141. a tube holder; 142. a tube body; 143. a second position; 15. a control rod drive rod; 2. a laser measuring device; 21. a mobile lifting mechanism; 211. a carrier loader; 212. a lifting platform; 213. a telescopic arm; 22. a laser; 3. a video detection device; 31. a first camera; 32. and a second camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The laser measurement method for the flange abrasion of the thermal sleeve of the nuclear power station, disclosed by the invention, comprises the following steps as shown in figures 1 to 4:
controlling the laser measuring device 2 to move towards a thermal sleeve 13 (preferably, the thermal sleeve 13 refers to a detected object of the laser measurement, the detected object is 61 control rod drive mechanism thermal sleeves 13 on a top cover of the reactor pressure vessel 1, and the 61 control rod drive mechanism thermal sleeves 13 are uniformly distributed on a plurality of concentric circles) in the reactor pressure vessel 1 of the nuclear power plant with high radioactivity until the laser measuring device 2 moves to a preset measuring position; understandably, the preset measuring position can be set according to the requirement, for example, the preset measuring position is set to be a position with the distance between the preset measuring position and the thermal sleeve 13 to be measured within a preset distance range, and the preset measuring position is required to ensure that the laser measuring process can be smoothly performed.
As shown in fig. 3 and 4, the laser measuring device 2 includes a moving lifting mechanism 21 and a laser 22 mounted on the moving lifting mechanism 21; as shown in fig. 1 and 2, the nuclear power plant reactor pressure vessel 1 includes a control rod drive mechanism 11, a thermal thimble flange 12, the thermal thimble 13, an adapter penetration 14, and a control rod drive rod 15; the adapter penetration 14 comprises a tube base 141 mounted on the control rod drive mechanism 11, a tube body 142 connected with the tube base 141, and an accommodating space passing through the tube body 142 and extending to the tube base 141, the thermal sleeve flange 12 is mounted at a position corresponding to the tube base 141, one end of the thermal sleeve 13 is connected with the thermal sleeve flange 12, and the other end of the thermal sleeve extends out of the accommodating space; one end of the control rod drive rod 15 is mounted on the control rod drive mechanism 11 through the hot box flange 12 and the other end extends through the hot box 13. The reactor pressure vessel 1 is understandably a core component of a pressurized water reactor nuclear power plant, and the heat sleeve 13 inside the reactor pressure vessel can guide the control rod driving rod 15 to move up and down. At present, in the operation process of a reactor, the hot sleeve flange 12 and a tube seat 141 of an adapter penetration piece 14 are abraded, and under severe conditions, the hot sleeve flange 12 is abraded, sunk and dropped off, so that a control rod guide rod is jammed, and normal shutdown of a unit is influenced; it is therefore necessary to detect the state of wear between the hot sleeve flange 12 in this position and the socket 141 of the adapter penetration 14; due to the high radioactivity at the position, in the present invention, the laser measuring device 2 is remotely controlled to move towards the hot sleeve 13 in the reactor pressure vessel 1 of the nuclear power plant with high radioactivity until the laser measuring device 2 moves to the preset measuring position, so as to facilitate the subsequent remote accurate measurement of the wear state between the hot sleeve flange 12 and the adapter penetration piece 14 through the laser measuring device 2 in a high dose environment.
At the preset measurement position, controlling the movable lifting mechanism 21 to drive the laser 22 to move to the first position 131 and the second position 143 respectively, and acquiring first coordinate information of the first position 131 and second coordinate information of the second position 143, which are measured by the laser 22; the first position 131 is a lower edge of the thermal sleeve 13 at one end extending out of the accommodating space, and the second position 143 is a lower edge of the adapter penetration piece 14 at one end of the tube body 142 away from the tube seat 141; in this step, as shown in fig. 3, the laser 22 may be controlled to emit laser light horizontally, and the horizontally emitted laser light is moved to be aligned with the first position 131, so as to indicate that the position of the laser 22 is flush with the first position 131, and the coordinates of the first position 131 corresponding to the first position 131 at this time are recorded; the laser 22 is then moved up to be level with the second location 143 in fig. 4, and the coordinates of the second location 143 are measured and recorded in the same manner. Understandably, in another embodiment, the measurement order of the coordinates of the first position 131 and the coordinates of the second position 143 can also be exchanged.
Determining a wear state between the hot box flange 12 and the socket 141 of the adapter penetration 14 based on the first coordinate information and the second coordinate information. Specifically, the determining the wear state between the hot sleeve flange 12 and the socket 141 of the adapter penetration 14 according to the first coordinate information and the second coordinate information includes: determining a first height difference between the first position 131 and the second position 143 from the first coordinate information and the second coordinate information; judging whether the difference value between the first height difference and a preset distance difference is larger than zero or not; when the difference between the first height difference and a predetermined distance difference (the predetermined distance difference is a distance difference between the first position 131 and the second position 143 when the thermal sleeve 13 sinks) is greater than zero, it is determined that the thermal sleeve 13 is in a sunk state, and the wear state between the thermal sleeve flange 12 and the stem 141 of the adapter penetration 14 is recorded as worn. That is, in this embodiment, a first height difference is first determined, and it is then determined whether the wear between the hot sleeve flange 12 and the socket 141 of the adapter through-piece 14 has occurred based on the first height difference. Understandably, since the position of the adapter penetration 14 is unchanged, if wear occurs between the hot sleeve flange 12 and the socket 141 of said adapter penetration 14, at this time, the hot sleeve flange 12 sinks, at which time the hot sleeve 13 connected to the hot sleeve flange 12 sinks, therefore, the distance between the lower edge (first position 131) of the sleeve at the end of the measuring thermal sleeve 13 extending out of the accommodating space and the lower edge (second position 143) of the penetrating member at the end of the pipe body 142 of the adapter penetrating member 14 far from the pipe seat 141 is not equal to the value of the preset distance difference before the wear does not occur (a certain measuring error can be allowed to occur, and therefore, in the last step, it is also possible to determine whether the difference between the first height difference and the preset distance difference is larger than the absolute value of the preset measuring error), it is possible to determine whether the hot box flange 12 and the socket 141 of the adapter penetration 14 are worn.
The embodiment of the invention can realize the accurate measurement of the abrasion state between the hot sleeve flange 12 and the adapter penetration piece 14 under the high-dosage environment through remote control without manual measurement, and makes up the blank of the prior inspection technology; meanwhile, the invention avoids personnel from entering the interior of the top cover of the reactor pressure vessel 1 of the nuclear power station to check in a high-dose environment, and the personnel only need to remotely acquire data to accord with the optimization principle of radiation protection of the nuclear power station without entering the bottom of the top cover; in addition, the labor cost is greatly saved, the inspection time is shortened (the inspection window is reduced from 6 days to 2 days in the actual use process, the inspection efficiency is greatly improved), the individual and collective dosage is reduced (the collective dosage of personnel is reduced from 60msv to 3msv), and the invention can be continuously used in the nuclear power station overhaul, thereby greatly benefiting. The invention can accurately measure the sinking conditions of all 61 hot sleeves 13 through integral measurement, and can maintain and replace the hot sleeves 13 with serious abrasion in advance, thereby avoiding the abnormal shutdown of the unit caused by the abrasion and falling off of the hot sleeves 13 and influencing the nuclear safety. Meanwhile, a large amount of manual inspection work is omitted, the inspection period is saved by about 4 days, and meanwhile, from the radiation protection perspective, the collective radiation dose of about 57mSv is reduced by single overhaul inspection; at present, the invention is successfully applied to the field of overhaul of nuclear power stations, and has good application effect.
In an embodiment, after determining that the thermal sleeve 13 is in the sunk state, the method further includes:
and judging whether the difference exceeds a preset warning value or not, and when the difference exceeds the preset warning value, sending the difference exceeding the preset warning value to a preset receiving party and prompting the receiving party that the wear degree between the hot sleeve flange 12 and the tube seat 141 of the adapter penetration piece 14 is high.
That is, in this embodiment, it is possible to detect whether the thermal sleeve flange 12 and the socket 141 of the adapter penetration member 14 are worn, and also provide accurate data for tracking inspection or maintenance replacement according to the accurately measured specific sinking distance (i.e., the difference) of the thermal sleeve 13, that is, when the difference exceeds a preset warning value (which may be set according to requirements, for example, a sinking height at which the thermal sleeve 13 needs to be maintained and replaced), the difference exceeding the preset warning value is sent to a preset receiver, so that the receiver can perform tracking inspection or maintenance replacement.
In an embodiment, after determining whether a difference between the first height difference and a preset distance difference is greater than zero, the method further includes:
when the difference between the first height difference and the preset distance difference is less than or equal to zero, it is determined that the thermal sleeve 13 is in an unwrinkled state, and the worn state between the thermal sleeve flange 12 and the socket 141 of the adapter penetration 14 is recorded as unworn. That is, when the difference between the first height difference and the predetermined distance difference is less than or equal to zero, it indicates that the thermal sleeve 13 does not sink, and at this time, it is considered that the wear between the thermal sleeve flange 12 and the socket 141 of the adapter penetration member 14 has not occurred.
In an embodiment, the laser measuring device 2 further comprises a video detection device 3;
the controlling the moving and lifting mechanism 21 to drive the laser 22 to move to the first position 131 and the second position 143, respectively, and acquiring the first coordinate information of the first position 131 and the second coordinate information of the second position 143, which are measured by the laser 22, includes:
controlling the laser 22 to horizontally emit laser, controlling the movable lifting mechanism 21 to drive the laser 22 to move, and recording a position coordinate corresponding to the current first position 131 as first coordinate information when determining that the laser emitted by the laser 22 irradiates the first position 131 through a video image acquired by the video detection device 3;
and controlling the movable lifting mechanism 21 to drive the laser 22 to vertically lift, and recording the position coordinate corresponding to the current second position 143 as second coordinate information when determining that the laser emitted by the laser 22 irradiates the second position 143 through the video image acquired by the video detection device 3.
That is, in this embodiment, the alignment of the laser 22 with the first position 131 or the second position 143 is remotely determined by the video image recorded by the video detection apparatus 3, and in the process, the alignment of the laser 22 with the first position 131 or the second position 143 can be determined by determining that the laser beam horizontally emitted irradiates the first position 131 or the second position 143 by using an image recognition technology. The use of the video detection device 3 to remotely determine the first and second locations 131, 143 eliminates the need for manual measurement, reducing the risk of personnel receiving high doses of radiation.
In one embodiment, the video detection device 3 includes a first camera 31 mounted on the moving elevator mechanism 21 and a second camera 32 mounted on the laser 22. That is, the first camera 31 is driven to move (including rotation, translation and the like) and lift by moving the lifting mechanism 21, and the second camera 32 is installed on the laser 22, and since the laser 22 is driven to move (including rotation, translation and the like) and lift by moving the lifting mechanism 21, the second camera 32 moves along with the laser, and then the video image of the state and position of the laser emitted by the laser 22 can be obtained; the first camera 31 may monitor the movement and the elevation of the movable elevating mechanism 21, and may also assist in monitoring the state of the laser 22. It should be understood that, in the present invention, the number of the cameras and the installation positions thereof included in the video detection apparatus 3 are not limited to those described in this embodiment, but two or more cameras may be provided according to the requirement, or different cameras may be installed at other positions, as long as the functions of guiding, monitoring and recording the laser measurement process and the movement process of the moving lifting mechanism can be achieved.
In one embodiment, the movable lifting mechanism 21 includes a carrier vehicle 211, a lifting platform 212 mounted on the carrier vehicle 211, and a telescopic arm 213 mounted on the lifting platform 212; the laser 22 is installed at one end of the telescopic arm 213 far away from the lifting platform 212; the carrier vehicle 211 drives the lifting table 212 to move; the lifting platform 212 can drive the telescopic arm 213 and the laser 22 to rotate and lift up and down; the telescopic arm 213 can drive the laser 22 to rotate and lift up and down.
The method includes the steps that a laser 22 is carried on a carrier vehicle 211 which is remotely controlled to perform remote measurement, meanwhile, the carrier vehicle 211 is also carried with the laser 22, a lifting table 212 and a telescopic arm 213 (understandably, a video monitoring device is also arranged on the carrier vehicle 211 and is used for observing the position of an emission point of the laser 22, and the like), understandably, in an embodiment, the laser 22 is controlled to horizontally emit laser, the movable lifting mechanism 21 is controlled to drive the laser 22 to move, when the first position 131 is determined to be irradiated by the laser emitted by the laser 22 through a video image obtained by the video detection device 3, the position coordinate corresponding to the current first position 131 is recorded as first coordinate information, specifically:
controlling the laser 22 to horizontally emit laser, controlling the lifting platform 212 and the telescopic arm 213 to drive the laser 22 to move, when it is determined that the laser emitted by the laser 22 irradiates the first position 131 through the video image acquired by the second camera 32, firstly fixing the lower end of the telescopic arm 213 connected with the lifting platform 212 (at this time, the lifting platform 212 does not need to lift up and down, and the carrying vehicle 211 can move or does not move), and automatically recording the first telescopic length corresponding to the first position 131 on the telescopic arm 213 at this time.
Then, the moving lifting mechanism 21 is controlled to drive the laser 22 to vertically lift, and when it is determined through the video image acquired by the video detection device 3 that the laser emitted by the laser 22 irradiates on the second position 143, the position coordinate corresponding to the current second position 143 is recorded as second coordinate information, specifically:
and controlling the telescopic arm 213 to drive the laser 22 to vertically lift, and automatically recording a second telescopic length corresponding to the second position 143 at the moment on the telescopic arm 213 when the laser emitted by the laser 22 is irradiated on the second position 143 according to the video image acquired by the second camera 32. The difference in length between the second telescopic length and the first telescopic length can then be recorded as the first height difference, i.e. in this embodiment the measurement of the sinking distance of the thermal pipe 13 is performed by recording the lifting distance of the inspection telescopic arm 213.
In an embodiment, before the controlling laser measuring device 2 moves to the thermal sleeve 13 in the reactor pressure vessel 1 of the nuclear power plant with high radioactivity, the method further includes:
controlling the laser measuring device 2 to move towards a simulation body until the distance between the laser measuring device 2 and the simulation body is smaller than a preset distance threshold; understandably, the preset distance threshold may be set according to the requirement, as long as the preset distance threshold is set according to the scheme of whether the thermal sleeve 13 in the reactor pressure vessel 1 of the nuclear power plant sinks or not. The simulator is an object to be inspected for simulation inspection before actual laser measurement, and is preferably similar to an object to be inspected for laser measurement in the reactor pressure vessel 1 of the nuclear power plant of the present invention, so that simulation inspection can be performed on the simulator before actual inspection.
Controlling the movable lifting mechanism 21 to drive the laser 22 to move to a first test point and a second test point on the simulation body respectively, and acquiring a first test coordinate of the first test point and a second test coordinate of the second test point, which are measured by the laser 22; that is, the first test point and the second test point also refer to two test points on the phantom corresponding to the first position 131 and the second position 143, respectively.
And determining the inspection precision and the running state information of the laser measuring device 2 according to the first test coordinate and the second test coordinate. The inspection precision of the invention is +/-2 mm, the simulation inspection is carried out on a simulation body before the formal inspection, and the invention aims to: on one hand, the whole set of measuring system is confirmed to operate normally; another aspect is to verify the accuracy of the measurements taken by the system.
In an embodiment, the determining the inspection accuracy and the operating state information of the laser measuring device 2 according to the first test coordinate and the second test coordinate includes:
determining a second height difference between the first test point and the second test point according to the first test coordinate and the second test coordinate;
and when the difference value between the second height difference and the preset simulation height difference is within a preset precision range, determining that the detection precision and the running state of the laser measuring device 2 are normal. The preset simulation height difference refers to the height difference between the first test point and the second test point. According to the invention, the whole set of measuring system can be determined to normally operate and whether the detection precision of the measuring and checking system is qualified or not can be verified according to the difference value between the second height difference and the preset simulation height difference.
In an embodiment, as shown in fig. 5, a laser measurement system for measuring the wear of a thermal sleeve flange of a nuclear power plant is provided, and the laser measurement system for measuring the wear of the thermal sleeve flange of the nuclear power plant corresponds to the laser measurement method for measuring the wear of the thermal sleeve flange of the nuclear power plant in the above embodiment one to one.
The laser measuring system for the flange abrasion of the thermal sleeve of the nuclear power station comprises a laser measuring device 2 and a control module 100 which is in communication connection with the laser measuring device 2; the laser measuring device 2 comprises a movable lifting mechanism 21 and a laser 22 arranged on the movable lifting mechanism 21; the reactor pressure vessel 1 of the nuclear power station comprises a control rod drive mechanism 11, a thermal sleeve flange 12, a thermal sleeve 13, an adapter penetration piece 14 and a control rod drive rod 15; the adapter penetration 14 comprises a tube base 141 mounted on the control rod drive mechanism 11, a tube body 142 connected with the tube base 141, and an accommodating space passing through the tube body 142 and extending to the tube base 141, the thermal sleeve flange 12 is mounted at a position corresponding to the tube base 141, one end of the thermal sleeve 13 is connected with the thermal sleeve flange 12, and the other end of the thermal sleeve extends out of the accommodating space; one end of the control rod drive rod 15 passes through the thermal sleeve flange 12 and is mounted on the control rod drive mechanism 11, and the other end passes through the thermal sleeve 13 and extends out; the control module 100 includes:
the movement control module 110 is used for controlling the laser measuring device 2 to move towards the thermal sleeve 13 in the reactor pressure vessel 1 of the nuclear power station with high radioactivity until the laser measuring device 2 moves to a preset measuring position;
the measuring module 120 is configured to control the moving lifting mechanism 21 to drive the laser 22 to move to the first position 131 and the second position 143, respectively, at the preset measuring position, and obtain first coordinate information of the first position 131 and second coordinate information of the second position 143, which are measured by the laser 22; the first position 131 is a lower edge of the sleeve at one end of the thermal sleeve 13 extending out of the accommodating space, and the second position 143 is a lower edge of the penetrating member at one end of the tube body 142 of the adapter penetrating member 14 far away from the tube seat 141;
a state determination module 130 configured to determine a wear state between the hot box flange 12 and the tube seat 141 of the adapter penetration 14 according to the first coordinate information and the second coordinate information.
For specific definition of the laser measurement system for measuring the flange wear of the thermal sleeve of the nuclear power plant, reference may be made to the definition of the laser measurement method for measuring the flange wear of the thermal sleeve of the nuclear power plant, and details are not repeated here. All or part of each module in the laser measurement system for the flange wear of the thermal sleeve of the nuclear power station can be realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer readable instructions, and a database. The internal memory provides an environment for the operating system and execution of computer-readable instructions in the non-volatile storage medium. The computer readable instructions, when executed by a processor, implement a nuclear power plant thermal casing flange wear laser measurement method.
In one embodiment, a computer device is provided, which includes a memory, a processor and computer readable instructions stored on the memory and executable on the processor, wherein the processor executes the computer readable instructions to implement the laser measurement method for measuring the flange wear of the thermal sleeve of the nuclear power plant.
In one embodiment, a computer readable storage medium is provided, having computer readable instructions stored thereon, which when executed by a processor, implement the above-described nuclear power plant thermal sleeve flange wear laser measurement method.
It will be understood by those of ordinary skill in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware associated with computer readable instructions, which can be stored in a non-volatile computer readable storage medium, and when executed, can include processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), Direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit or module is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to requirements, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (11)
1. A laser measurement method for flange abrasion of a hot sleeve of a nuclear power station is characterized by comprising the following steps:
controlling a laser measuring device to move towards a hot sleeve in a reactor pressure vessel of a nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position; the laser measuring device comprises a movable lifting mechanism and a laser installed on the movable lifting mechanism; the nuclear power plant reactor pressure vessel comprises a control rod drive mechanism, a thermal sleeve flange, the thermal sleeve, an adapter penetration and a control rod drive rod; the adapter penetration piece comprises a tube socket arranged on the control rod driving mechanism, a tube body connected with the tube socket and an accommodating space penetrating through the tube body and extending to the tube socket, the hot sleeve flange is arranged at a position of the accommodating space corresponding to the tube socket, one end of the hot sleeve is connected with the hot sleeve flange, and the other end of the hot sleeve extends out of the accommodating space; one end of the control rod drive rod penetrates through the hot sleeve flange and is installed on the control rod drive mechanism, and the other end of the control rod drive rod penetrates through the hot sleeve and extends out;
controlling the mobile lifting mechanism to drive the laser to move to a first position and a second position respectively at the preset measuring position, and acquiring first coordinate information of the first position and second coordinate information of the second position measured by the laser; the first position is the lower edge of the sleeve at one end of the heat sleeve extending out of the accommodating space, and the second position is the lower edge of the penetrating piece at one end of the pipe body of the adapter penetrating piece far away from the pipe seat;
determining a wear state between the hot sleeve flange and a tube seat of the adapter penetration piece according to the first coordinate information and the second coordinate information;
said determining a wear state between said hot box flange and a socket of said adapter penetration based on said first coordinate information and said second coordinate information comprises:
determining a first height difference between the first position and the second position according to the first coordinate information and the second coordinate information;
judging whether the difference value between the first height difference and a preset distance difference is larger than zero or not;
and when the difference value between the first height difference and the preset distance difference is larger than zero, determining that the hot sleeve is in a sunk state, and recording the wear state between the hot sleeve flange and the pipe seat of the adapter penetrating piece as worn.
2. The laser measurement method for nuclear power plant thermal sleeve flange wear according to claim 1, wherein after determining that the thermal sleeve is in a submerged state, the method further comprises:
and judging whether the difference exceeds a preset warning value, when the difference exceeds the preset warning value, sending the difference exceeding the preset warning value to a preset receiving party, and prompting the receiving party that the degree of wear between the hot sleeve flange and the tube seat of the adapter penetration piece is high.
3. The laser measuring method for the flange abrasion of the thermal sleeve of the nuclear power plant as recited in claim 1, wherein after determining whether the difference between the first height difference and the preset distance difference is greater than zero, the method further comprises:
and when the difference value between the first height difference and the preset distance difference is less than or equal to zero, determining that the hot sleeve is in a non-sinking state, and recording the wear state between the hot sleeve flange and the pipe seat of the adapter penetration piece as non-wear.
4. The laser measurement method for the flange wear of the thermal sleeve of the nuclear power plant as claimed in claim 1, wherein the laser measurement device further comprises a video detection device;
the control remove elevating system drives the laser instrument removes respectively to primary importance and second position, acquires the first coordinate information of primary importance and the second coordinate information of second position that the laser instrument surveyed, includes:
controlling the laser to horizontally emit laser, simultaneously controlling the mobile lifting mechanism to drive the laser to move, and recording position coordinates corresponding to the current first position as first coordinate information when the laser emitted by the laser is irradiated to the first position according to the video image acquired by the video detection device;
and controlling the mobile lifting mechanism to drive the laser to vertically lift, and recording position coordinates corresponding to the current second position as second coordinate information when the laser emitted by the laser irradiates the second position is determined through the video image acquired by the video detection device.
5. The laser measurement method for the flange wear of the thermal sleeve of the nuclear power plant as claimed in claim 4, wherein the video detection device comprises a first camera mounted on the moving lifting mechanism and a second camera mounted on the laser.
6. The laser measurement method for the wear of the flange of the thermal sleeve of the nuclear power plant as recited in claim 1, wherein the movable lifting mechanism comprises a carrier vehicle, a lifting platform mounted on the carrier vehicle, and a telescopic arm mounted on the lifting platform; the laser is arranged at one end, far away from the lifting platform, of the telescopic arm; the carrier loader drives the lifting platform to move; the lifting platform can drive the telescopic arm and the laser to rotate and lift up and down; the telescopic arm can drive the laser to rotate and lift up and down.
7. The laser measurement method for nuclear power plant thermal sleeve flange wear according to claim 1, wherein before the control laser measurement device moves to the thermal sleeve in the reactor pressure vessel of the nuclear power plant with high radioactivity, the method further comprises:
controlling the laser measuring device to move towards a simulation body until the distance between the laser measuring device and the simulation body is smaller than a preset distance threshold;
controlling the movable lifting mechanism to drive the laser to move to a first test point and a second test point on the simulation body respectively, and acquiring a first test coordinate of the first test point and a second test coordinate of the second test point measured by the laser;
and determining the inspection precision and the running state information of the laser measuring device according to the first test coordinate and the second test coordinate.
8. The laser measurement method for flange wear of a nuclear power plant thermal sleeve according to claim 7, wherein the determining of the inspection accuracy and the operational state information of the laser measurement device according to the first test coordinate and the second test coordinate comprises:
determining a second height difference between the first test point and the second test point according to the first test coordinate and the second test coordinate;
and when the difference value between the second height difference and the preset simulation height difference is within a preset precision range, determining that the detection precision and the running state of the laser measuring device are normal.
9. A laser measurement system for flange abrasion of a thermal sleeve of a nuclear power station is characterized by comprising a laser measurement device and a control module in communication connection with the laser measurement device; the laser measuring device comprises a movable lifting mechanism and a laser installed on the movable lifting mechanism; the nuclear power plant reactor pressure vessel comprises a control rod drive mechanism, a thermal sleeve flange, the thermal sleeve, an adapter penetration and a control rod drive rod; the adapter penetration piece comprises a tube seat arranged on the control rod drive mechanism, a tube body connected with the tube seat and an accommodating space penetrating through the tube body and extending to the tube seat, the hot sleeve flange is arranged at the position of the accommodating space corresponding to the tube seat, one end of the hot sleeve is connected with the hot sleeve flange, and the other end of the hot sleeve extends out of the accommodating space; one end of the control rod drive rod penetrates through the hot sleeve flange and is installed on the control rod drive mechanism, and the other end of the control rod drive rod penetrates through the hot sleeve and extends out; the control module includes:
the movement control module is used for controlling the laser measuring device to move towards a hot sleeve in a reactor pressure vessel of the nuclear power station with high radioactivity until the laser measuring device moves to a preset measuring position;
the measuring module is used for controlling the mobile lifting mechanism to drive the laser to move to a first position and a second position respectively at the preset measuring position, and acquiring first coordinate information of the first position and second coordinate information of the second position measured by the laser; the first position is the lower edge of the sleeve at one end of the heat sleeve extending out of the accommodating space, and the second position is the lower edge of the penetrating piece at one end of the pipe body of the adapter penetrating piece far away from the pipe seat;
the state determining module is used for determining the abrasion state between the hot sleeve flange and the pipe seat of the adapter penetrating piece according to the first coordinate information and the second coordinate information; the determining a wear state between the hot sleeve flange and a socket of the adapter penetration based on the first coordinate information and the second coordinate information comprises: determining a first height difference between the first position and the second position according to the first coordinate information and the second coordinate information; judging whether the difference value between the first height difference and a preset distance difference is larger than zero or not; and when the difference value between the first height difference and the preset distance difference is larger than zero, determining that the thermal sleeve is in a sunk state, and recording the wear state between the thermal sleeve flange and the pipe seat of the adapter penetrating piece as worn.
10. Computer equipment comprising a memory, a processor and computer readable instructions stored in the memory and executable on the processor, characterized in that the processor, when executing the computer readable instructions, implements the nuclear power plant thermal casing flange wear laser measurement method according to any one of claims 1 to 8.
11. A computer readable storage medium storing computer readable instructions, wherein the computer readable instructions, when executed by a processor, implement the laser measurement method for the flange wear of the thermal sleeve of the nuclear power plant according to any one of claims 1 to 8.
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