CN111696691B - Method and device for inspecting matching surface between bottom of protection tube assembly and nuclear fuel assembly - Google Patents
Method and device for inspecting matching surface between bottom of protection tube assembly and nuclear fuel assembly Download PDFInfo
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- CN111696691B CN111696691B CN202010452039.2A CN202010452039A CN111696691B CN 111696691 B CN111696691 B CN 111696691B CN 202010452039 A CN202010452039 A CN 202010452039A CN 111696691 B CN111696691 B CN 111696691B
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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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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- 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
Abstract
The invention relates to the technical field of nuclear power station equipment maintenance engineering, in particular to a method and a device for inspecting the matching surface between the bottom of a protection tube component and a nuclear fuel component. The inspection method of the invention comprises the following steps: arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well; placing an automatic inspection device into an inspection well, remotely controlling the automatic inspection device to submerge below a protection tube assembly, and adjusting and positioning a depth direction coordinate; and remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, taking the preset position as an inspection starting point, and acquiring images according to a preset scanning path until the images cover the matching surface of the bottom of the whole protection tube assembly and the nuclear fuel assembly, thereby completing the inspection. The device comprises: rings, inspection shaft, surveillance camera head, and automatic checkout device. The invention improves the inspection efficiency and reduces the time occupied by the inspection on the lifting rings of the reactor factory building.
Description
Technical Field
The invention relates to the technical field of nuclear power station equipment maintenance engineering, in particular to a method and a device for inspecting the matching surface of the bottom of a protection tube component and a nuclear fuel component.
Background
The protection tube component of the VVER-1000 nuclear power unit is a welded metal cylinder and is key equipment for ensuring the accurate positioning and isolation of the head of the nuclear fuel component on the height and the plane and placing the control rod component. The protection tube component has the characteristics of high manufacturing technology standard, high difficulty and the like, and the replacement difficulty is high. After the reactor is operated, the protective tube assembly bears neutron irradiation for a long time, has high radioactivity and high pollution, and is difficult and long in time when being checked in service, so that the operation is more prone to be carried out by using auxiliary tools.
During the period of material changing and overhaul, the matching surface between the bottom of a reactor protection tube assembly and a nuclear fuel assembly of a VVER-1000 nuclear power unit needs to be inspected visually, and the inspection is usually completed by adopting a swing arm type mechanical inspection device with a camera. The swing arm type mechanical inspection device with the camera is installed in an inspection well at a specific position, scanning stepping is achieved by driving the camera to move along the radial direction of the bottom of a protection pipe assembly and the matching surface of a nuclear fuel assembly, a circumferential slow rotation is carried out by lifting the protection pipe assembly by means of a reactor plant ring crane to form an annular scanning path, the structural schematic diagram of the inspection device is shown in figure 1, and the inspection device comprises a lifting ring (1), a cross beam (2), a protection pipe assembly transportation platform (3), a guide rail (4), an inspection device (5), an inspection well (6), a protection pipe assembly (7) and a camera (8). The video inspection time window for the matching surface between the bottom of the protection tube assembly and the nuclear fuel assembly belongs to a secondary critical path during shutdown overhaul, the inspection method can complete the scanning of the whole matching surface by rotating the protection tube assembly for many times, and the inspection efficiency is low; in addition, the method occupies long circular hanging time of a reactor factory building.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the device for inspecting the matching surface between the bottom of the protection tube assembly and the nuclear fuel assembly are provided, so that the inspection efficiency is improved, and the time for inspecting the hanging ring of the reactor workshop is shortened.
The invention provides a method for inspecting a matching surface of a bottom of a protection tube assembly and a nuclear fuel assembly, which comprises the following steps:
step S1: arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well;
step S2: placing an automatic inspection device into an inspection well, remotely controlling the automatic inspection device to submerge below a protection tube assembly, and adjusting and positioning a depth direction coordinate;
step S3: and remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, taking the preset position as an inspection starting point, and acquiring images according to a preset scanning path until the images cover the matching surface of the bottom of the whole protection tube assembly and the nuclear fuel assembly, thereby completing the inspection.
Preferably, the automatic inspection device comprises an automatic floating assembly and an inspection camera.
Preferably, the automatic floating assembly is of a frame-type shuttle-type structure, and the inspection camera is an XRAD-PTZ type radiation-resistant camera which is arranged longitudinally.
Preferably, before the step S1, the method further includes:
selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device;
and debugging the automatic inspection device.
Preferably, the step S2 specifically includes:
s2-1, selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device; debugging the automatic inspection device;
step S2-2: placing an automatic inspection device into an inspection well;
step S2-3: carrying out initial calibration on a detection camera of the automatic detection device;
step S2-4: and remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the coordinates in the depth direction.
Preferably, the step S3 specifically includes:
step S3-1: remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, and calibrating an initial position;
step S3-2: taking the preset position as an inspection starting point, acquiring images according to a preset scanning path,
if the record is displayed, stopping for at least 10 seconds, and continuing scanning;
if the recordable display is not found, checking result records;
and finishing the inspection until the image covers the matching surface of the bottom of the whole protection pipe assembly and the fuel assembly.
Preferably, in step S3, after the image covers the bottom of the protection tube assembly and the mating surface of the fuel assembly, the method further includes:
under the assistance of the monitoring camera, remotely controlling the automatic inspection device to withdraw from the inspection well;
finishing calibration of a checking camera of the automatic checking device;
and taking out the automatic inspection device and finishing the inspection.
Preferably, the preset scanning path is in a shape of a Chinese character 'gong' or is scanned line by line.
Compared with the prior art, the method for inspecting the matching surface of the bottom of the protection pipe assembly and the nuclear fuel assembly comprises the following steps:
step S1: arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well;
step S2: placing an automatic inspection device into an inspection well, remotely controlling the automatic inspection device to submerge below a protection tube assembly, and adjusting and positioning a depth direction coordinate;
step S3: and remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, taking the preset position as an inspection starting point, and acquiring images according to a preset scanning path until the images cover the matching surface of the bottom of the whole protection tube assembly and the nuclear fuel assembly, thereby completing the inspection.
The invention provides an inspection device for a matching surface of a bottom of a protection pipe assembly and a nuclear fuel assembly, which comprises: a hanging ring, an inspection well, a monitoring camera and an automatic inspection device,
the monitoring camera is arranged at the bottom of the inspection well;
a guide rail is arranged on the side wall of the inspection well; the automatic inspection device enters the inspection well along the guide rail;
the hanging ring is arranged on the upper portion of the inspection well and used for hanging a protection pipe assembly to be inspected.
Preferably, the automatic inspection device comprises an automatic floating assembly and an inspection camera.
In the present invention, the mating surface of the bottom of the protection tube assembly with the nuclear fuel assembly is inspected by an automatic inspection device. In the inspection process, the protection pipe assembly does not need to rotate, the automatic inspection device is controlled remotely to move, the scanning of the whole matching surface can be completed, the inspection device is simplified, and the inspection efficiency is improved. Moreover, the automatic inspection device has high moving speed, and the inspection efficiency can be improved. In addition, the inspection method does not need to use a lifting ring because the protection tube component is not rotated any more, does not occupy a key path of overhaul time, and is more favorable for optimizing the overhaul period of nuclear power unit refueling overhaul.
Drawings
FIG. 1 is a schematic structural view of devices involved in the process of inspecting the mating surfaces of the bottom of a protective tube assembly and a nuclear fuel assembly according to the prior art;
FIG. 2 is a flowchart illustrating the steps of a method for inspecting the mating surface of the bottom of the protective tube assembly with the nuclear fuel assembly according to the present invention;
FIG. 3 is a schematic view showing the structure of each apparatus involved in the process of inspecting the mating surfaces of the bottom of the protective tube assembly and the nuclear fuel assembly according to the present invention;
FIG. 4 is a flowchart of the inspection method disclosed in example 1;
FIG. 5 is a schematic view of a scanned path;
the illustration notes:
1 is rings, 2 is the crossbeam, and 3 is protection tube subassembly transport platform, and 4 are the guide rail, and 5 are inspection device, and 6 are the inspection shaft, and 7 are protection tube subassembly, and 8 are the camera, and 9 are surveillance camera head, and 10 are automatic inspection device, 11 are the stock, and 12 are "bow" style of calligraphy scanning route.
Detailed Description
For a further understanding of the invention, embodiments of the invention are described below in conjunction with the examples, but it should be understood that these descriptions are included merely to further illustrate features and advantages of the invention, and are not intended to limit the invention.
The implementation of the invention discloses a method for inspecting the matching surface of the bottom of a protection tube assembly and a nuclear fuel assembly, which comprises the following steps, wherein the steps are as shown in a flow chart in figure 2:
step S1: arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well;
step S2: placing an automatic inspection device into an inspection well, remotely controlling the automatic inspection device to submerge below a protection tube assembly, and adjusting and positioning a depth direction coordinate;
step S3: and remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, taking the preset position as an inspection starting point, and acquiring images according to a preset scanning path until the images cover the matching surface of the bottom of the whole protection tube assembly and the nuclear fuel assembly, thereby completing the inspection.
In view of the structural characteristics of the inspection well, the inspection device has certain limitation when being used for inspecting the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly. The structural schematic diagram of each device involved in the process of checking the matching surfaces of the bottom of the protection pipe assembly and the nuclear fuel assembly is shown in fig. 3.
The inspection method of the mating surface of the bottom of the protective tube assembly and the nuclear fuel assembly is further described in detail according to the following steps:
step S1: and arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well.
The monitoring camera can acquire images at the bottom of the inspection well and is used for observing the position of the automatic inspection device and monitoring the running state of the automatic inspection device.
The automated inspection device preferably includes an automated floatation assembly and an inspection camera. The automatic floating device can move underwater, and the structure and the size of the automatic floating device meet the requirements of an inspection environment.
Preferably, the automatic floating assembly is of a frame-type shuttle-type structure, and the inspection camera is an XRAD-PTZ type radiation-resistant camera which is arranged longitudinally.
Preferably, the assembly and commissioning of the inspection device may precede this step. The method specifically comprises the following steps:
selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device;
and debugging the automatic inspection device.
Step S2: and placing the automatic inspection device into an inspection well, remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the coordinates in the depth direction.
When the steps of assembling and debugging the automatic inspection apparatus are not provided before step S1, the steps may be performed in step S2. Preferably, the step S2 specifically includes:
s2-1, selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device; debugging the automatic inspection device;
step S2-2: placing an automatic inspection device into an inspection well;
step S2-3: carrying out initial calibration on a detection camera of the automatic detection device; preferably, a resolution calibration board can be adopted to perform initial calibration on the inspection camera;
step S2-4: and remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the coordinates in the depth direction.
Step S3: and remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, taking the preset position as an inspection starting point, and acquiring images according to a preset scanning path until the images cover the matching surface of the bottom of the whole protection tube assembly and the nuclear fuel assembly, thereby completing the inspection.
Preferably, the step S3 specifically includes:
step S3-1: remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, and calibrating an initial position;
step S3-2: taking the preset position as an inspection starting point, acquiring images according to a preset scanning path,
if the record is displayed, stopping for at least 10 seconds, and continuing scanning;
if the recordable display is not found, checking result records;
and finishing the inspection until the image covers the matching surface of the bottom of the whole protection pipe assembly and the fuel assembly.
The preset scanning path is preferably in a shape of a Chinese character 'gong' or is scanned line by line. Wherein, the efficiency of scanning the path by the Chinese character 'bow' is the highest.
After the image acquisition is completed, preferably, in step S3, after the image covers the entire bottom of the protection tube assembly and the mating surface of the fuel assembly, the method further includes:
under the assistance of the monitoring camera, remotely controlling the automatic inspection device to withdraw from the inspection well;
finishing calibration of a checking camera of the automatic checking device;
and taking out the automatic inspection device and finishing the inspection.
The invention also discloses an inspection device for the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, which comprises: a lifting ring (1), an inspection well (6), a monitoring camera (9) and an automatic inspection device (10),
the monitoring camera (9) is arranged at the bottom of the inspection well (6);
a guide rail (4) is arranged on the side wall of the inspection well; the automatic inspection device (10) enters the inspection shaft along the guide rail (4);
the lifting ring (1) is arranged at the upper part of the inspection well (6) and used for suspending a protection pipe assembly (7) to be inspected.
Preferably, the automatic inspection device comprises an automatic floating assembly and an inspection camera.
Preferably, the device also comprises a cross beam (2) and a protection pipe assembly transportation platform (3).
Preferably, one end of the guide rail is further provided with a long rod (11) to facilitate the entry of the automatic inspection device into the guide rail.
The invention combines the automatic inspection device, finishes the inspection under the condition that the protection tube assembly does not need to rotate, simplifies the inspection step of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, and improves the inspection efficiency. The experimental effect shows that the inspection time of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly is shortened by over 80 percent, the limitation that the original inspection method needs to occupy a reactor hanging ring is eliminated, and the inspection period of nuclear power unit refueling overhaul is favorably optimized.
For further understanding of the present invention, the method for inspecting the mating surface of the bottom of the protection tube assembly and the nuclear fuel assembly provided by the present invention is described in detail with reference to the following examples, and the scope of the present invention is not limited by the following examples.
Example 1
An inspection apparatus for protecting a mating surface of a tube assembly bottom and a nuclear fuel assembly, comprising: the inspection well comprises a lifting ring (1), an inspection well (6), a monitoring camera (9) and an automatic inspection device (10), wherein the monitoring camera (9) is arranged at the bottom of the inspection well (6);
a guide rail (4) is arranged on the side wall of the inspection well; the automatic inspection device (10) enters the inspection shaft along the guide rail (4);
the lifting ring (1) is arranged at the upper part of the inspection well (6) and used for suspending a protection pipe assembly (7) to be inspected.
Example 2
The flowchart of the inspection method of the present embodiment is specifically shown in fig. 4.
(1) The automatic floating assembly with the frame-type shuttle-type structure is adopted, the size of the automatic floating assembly is 572 mm multiplied by 400 mm multiplied by 565 mm, an XRAD-PTZ type irradiation-resistant camera is selected as the inspection camera, and longitudinal arrangement is adopted; and assembling the automatic floating assembly and the inspection camera to form the automatic inspection device.
(2) And debugging the automatic inspection device.
(3) And arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well.
(4) Placing an automatic inspection device into an inspection well;
(5) and carrying out initial calibration on the inspection camera of the automatic inspection device by adopting a resolution calibration plate.
(6) And remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the coordinates in the depth direction.
(7) And remotely controlling the automatic inspection device to move, and finding a specific mark such as a steel seal mark 'III' on the matching surface of the bottom of the protection pipe assembly and the fuel assembly through an inspection camera to calibrate the initial position.
(8) And adjusting the focal length to obtain a clear and complete video image by taking the initial position as an inspection starting point, and starting to acquire the image according to a preset scanning path. The automatic inspection device scans and steps along a bow-shaped path, and the scanning path diagram is specifically shown in FIG. 5;
if the record is displayed, stopping for at least 10 seconds, and continuing scanning; during the pause, the automatic inspection device can perform display analysis and measurement.
If the recordable display is not found, checking result records;
until the image covers the bottom of the whole protection pipe assembly and the matching surface of the fuel assembly.
(9) Remotely controlling the automatic inspection device to exit from the inspection well at the monitoring camera;
(10) finishing calibration of a checking camera of the automatic checking device;
(11) and taking out the automatic inspection device and finishing the inspection.
By adopting the method, the video inspection is carried out on the matching surface between the bottom of the protection tube component and the nuclear fuel component in the first refueling overhaul of the No. 4 unit in nuclear power second phase of Tianwan, the inspection is completed under the condition that the protection tube component does not need to rotate, the inspection efficiency is greatly improved, and the inspection time is shortened by 80 percent compared with the existing inspection method.
Example 3
(1) And arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well.
(2) The automatic floating assembly with the frame-type shuttle-type structure is adopted, the size of the automatic floating assembly is 572 mm multiplied by 400 mm multiplied by 565 mm, an XRAD-PTZ type irradiation-resistant camera is selected as the inspection camera, and longitudinal arrangement is adopted;
and assembling the automatic floating assembly and the inspection camera to form the automatic inspection device.
(3) And debugging the automatic inspection device.
(4) Placing an automatic inspection device into an inspection well;
(5) and carrying out initial calibration on the inspection camera of the automatic inspection device by adopting a resolution calibration plate.
(6) And remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the coordinates in the depth direction.
(7) And remotely controlling the automatic inspection device to move, and finding a specific mark such as a steel seal mark 'III' on the matching surface of the bottom of the protection pipe assembly and the fuel assembly through an inspection camera to calibrate the initial position.
(8) And adjusting the focal length to obtain a clear and complete video image by taking the initial position as an inspection starting point, and starting to acquire the image according to a preset scanning path. The automated inspection device scans and steps along a "bow" shaped path,
if the record is displayed, stopping for at least 10 seconds, and continuing scanning; during the pause, the automatic inspection device can perform display analysis and measurement.
If the recordable display is not found, checking result records;
until the image covers the bottom of the whole protection pipe assembly and the matching surface of the fuel assembly.
(9) Remotely controlling the automatic inspection device to exit from the inspection well at the monitoring camera;
(10) finishing calibration of a checking camera of the automatic checking device;
(11) and taking out the automatic inspection device and finishing the inspection.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A method for inspecting the matching surface of the bottom of a protection tube assembly and a nuclear fuel assembly is characterized by comprising the following steps:
step S1: arranging a monitoring camera at the bottom of the inspection well to obtain an image of the bottom of the inspection well;
s2-1, selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device; debugging the automatic inspection device;
step S2-2: placing an automatic inspection device into an inspection well;
step S2-3: carrying out initial calibration on a detection camera of the automatic detection device;
step S2-4: remotely controlling the automatic inspection device to submerge below the protection tube assembly, and adjusting and positioning the depth direction coordinate;
step S3-1: remotely controlling the automatic inspection device to move to a preset position of the matching surface of the bottom of the protection tube assembly and the nuclear fuel assembly, and calibrating an initial position;
step S3-2: taking the preset position as an inspection starting point, acquiring images according to a preset scanning path,
if the record is displayed, stopping for at least 10 seconds, and continuing scanning;
if the recordable display is not found, checking result records;
the inspection is finished until the image covers the matching surface of the bottom of the whole protection tube assembly and the fuel assembly;
under the assistance of the monitoring camera, remotely controlling the automatic inspection device to withdraw from the inspection well;
finishing calibration of a checking camera of the automatic checking device;
and taking out the automatic inspection device and finishing the inspection.
2. The inspection method of claim 1, wherein the automated inspection device comprises an automated float assembly and an inspection camera.
3. The inspection method of claim 2, wherein said robotic floatation assembly has a frame-shuttle type configuration and said inspection camera is an XRAD-PTZ type radiation tolerant camera, in a longitudinal arrangement.
4. The inspection method according to claim 2, wherein before step S1, the method further comprises:
selecting an automatic floating assembly and an inspection camera, and assembling to form an automatic inspection device;
and debugging the automatic inspection device.
5. The inspection method according to claim 1, wherein the preset scanning path is in a shape of a "bow" or is scanned line by line.
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| JPH11190793A (en) * | 1997-12-26 | 1999-07-13 | Mitsubishi Heavy Ind Ltd | External appearance inspection device of irradiated reactor fuel assembly |
| JP4316919B2 (en) * | 2003-04-17 | 2009-08-19 | 日立Ｇｅニュークリア・エナジー株式会社 | In-furnace inspection device |
| CN203931519U (en) * | 2014-06-13 | 2014-11-05 | 中核核电运行管理有限公司 | S Nuclear Plant fast video check system |
| CN105225707B (en) * | 2014-07-03 | 2017-08-25 | 中核武汉核电运行技术股份有限公司 | A kind of nuclear power station float assembly with sucker under water |
| CN105810264A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Vector control underwater planktonic video inspection device |
| CN104932518A (en) * | 2015-05-15 | 2015-09-23 | 厦门大学 | Underwater robot sea search system |
| CN110942836A (en) * | 2019-12-30 | 2020-03-31 | 福建福清核电有限公司 | Instrument of pressurized water reactor nuclear power plant reactor core checking |
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