CN111750782A - Underwater non-contact measurement system and method for nuclear power station fuel assembly grid width - Google Patents
Underwater non-contact measurement system and method for nuclear power station fuel assembly grid width Download PDFInfo
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- CN111750782A CN111750782A CN201910248028.XA CN201910248028A CN111750782A CN 111750782 A CN111750782 A CN 111750782A CN 201910248028 A CN201910248028 A CN 201910248028A CN 111750782 A CN111750782 A CN 111750782A
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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
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
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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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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to an underwater non-contact measuring system and method for the width of a nuclear power station fuel assembly grid, which are used for measuring the distance between two opposite grid sides to be measured of an assembly positioning grid on a fuel assembly. The measuring method is carried out by adopting the measuring system. The measuring system and the measuring method can quickly measure the distance between the side surfaces of the two grillworks to be measured of the assembly positioning grillwork in a non-contact manner, and the measuring efficiency is high.
Description
Technical Field
The invention relates to the field of nuclear power, in particular to an underwater non-contact measurement system and method for the width of a nuclear power station fuel assembly grid.
Background
The assembly spacer grids of the fuel assembly in the nuclear power plant are used for clamping the fuel rods, and the assembly spacer grids are irradiated to be loosened and transversely increased due to the environmental influence of high temperature, high pressure and strong radiation during operation, and the widths of the assembly spacer grids are changed. The fuel rods are easy to loosen due to the width change of the assembly positioning grid, so that the abrasion of the fuel rods is aggravated, and potential risks are brought to the safe operation of the nuclear power station. At present, most of the measurement methods of the width of the component spacer grid are contact measurement, for example, an LVDT displacement sensor is adopted to contact the opposite surfaces of the component spacer grid, and the width change relative quantity of the component spacer grid is obtained in a point contact mode through the LVDT sensor. The contact measurement needs to contact the assembly positioning grillwork, so the whole set of device is complex and the measurement efficiency is low; the contact measurement is generally point contact, and the obtained data of the assembly positioning grid is limited, so that the width change of the assembly positioning grid cannot be completely reflected. The existing method for measuring the width of the component spacer grid in a non-contact mode, such as ultrasonic measurement, is complex in device calibration and greatly influenced by environmental temperature change, acquired data are limited by the number of ultrasonic sensors and cannot completely reflect the width change of the component spacer grid, and the method does not have the real-time online measurement capability during the refueling of a nuclear power station.
Disclosure of Invention
In view of the above drawbacks of the prior art, the present invention provides an underwater non-contact measurement system and method for measuring the width of a nuclear power plant fuel assembly grid, which can perform real-time non-contact measurement on the width of the assembly spacer grid underwater, and has high measurement accuracy and good safety.
In order to achieve the above object, the present invention provides an underwater non-contact measurement system for measuring the width of a nuclear power plant fuel assembly grid, which is used for measuring the distance between two opposite sides of the grid to be measured of the assembly spacer grid on the fuel assembly, and comprises two waterproof main line structured light meters and an upper processor connected with the two main line structured light meters, wherein the upper processor is provided with a control module and a collection processing module, the two main line structured light meters are respectively arranged at the sides of the two sides of the grid to be measured, the main line structured light meters comprise an anti-radiation camera and a laser, a laser emitting point of the laser can emit a laser plane, and the laser plane can form an intersecting light ray on the side of the grid to be measured.
Further, the laser comprises a plurality of laser emission points, and laser planes emitted by the plurality of laser emission points are all parallel.
Further, the radiation-resistant camera and the laser are integrally packaged in the waterproof radiation-resistant protective shell.
Further, the device further comprises an underwater observer, wherein the underwater observer is used for observing the position of the intersected ray on the side surface of the grillwork to be detected.
Furthermore, the assembly spacer grid is a quadrilateral frame, the grid side of the two grid sides to be detected connected to the assembly spacer grid is a middle grid side, and the laser planes emitted by the lasers of the two main line structured light measuring instruments can form intersecting rays on the same middle grid side.
The auxiliary line structured light measuring instrument is connected with an upper processor, the side faces of the grids to be measured on the assembly positioning grid in succession are middle grid side faces, and laser planes emitted by lasers of the auxiliary line structured light measuring instrument can form intersecting rays on the side faces of the middle grids.
The measuring head bracket is movably arranged on the base, the horizontal driving mechanism is used for driving the supporting frame to move on the base, the vertical driving mechanism is used for driving the measuring head bracket to move up and down relative to the base, and the two main line structured light measuring instruments are arranged on the measuring head bracket.
Furthermore, the horizontal driving mechanism comprises a first lead screw structure and a second lead screw structure which are installed on the base, a first lead screw of the first lead screw structure is perpendicular to a second lead screw of the second lead screw structure, the supporting frame is installed on a second lead screw nut of the second lead screw structure, and the second lead screw structure is fixed with the first lead screw nut of the first lead screw structure and moves along with the first lead screw nut.
Furthermore, the vertical driving mechanism comprises a third screw structure, a third screw of the third screw structure is fixed with the support frame and perpendicular to the base, and the measuring head bracket is mounted on a third screw nut of the third screw structure.
The invention also provides an underwater non-contact measurement method for the grid width of the fuel assembly of the nuclear power station, which is carried out by adopting the measurement system and comprises the following steps:
s1, grabbing the fuel assembly to a station to be tested under water by using an operation tool; adjusting the position relation between the measuring system and the component positioning grillwork to enable the two main line structured light measuring instruments to be respectively positioned on the side surfaces of the two opposite grillworks to be measured;
s2, starting the two main line structured light measuring instruments, controlling the laser to emit a laser plane through a control module of the upper processor, and forming intersecting light rays on the side face of the grillwork to be measured by the laser plane; the control module controls the anti-radiation camera to shoot light spots on the intersecting light rays and transmits light spot information to the upper processor, the collecting and processing module of the upper processor calculates and obtains relative distance information between the light spots and the main line structured light measuring instrument through a linear laser triangulation method, and surface point position cloud data of the side face of the grillwork to be measured are established by utilizing the relative distance information of the light spots;
and S3, the collecting and processing module determines the distance between the two grillwork sides to be detected through the cloud data of the point positions of the two grillwork sides to be detected.
As described above, the measurement system and the measurement method according to the present invention have the following advantageous effects:
by arranging two waterproof main line structured light measuring instruments and an upper processor, when the detection device is used, the two main line structured light measuring instruments are respectively positioned on the side surfaces of the two grillworks to be detected, a control module of the upper processor is used for controlling lasers of the two main line structured light measuring instruments to emit laser planes, the laser planes form intersecting rays on the side surfaces of the grillworks to be detected, and a collection processing module is used for calculating relative distance information between light spots on the intersecting rays and the main line structured light measuring instruments through a linear laser triangulation method, so that the position information of the side surfaces of the grillworks to be detected is obtained; and calculating the distance between the side surfaces of the two grillworks to be tested by utilizing the collecting and processing module according to the position information of the side surfaces of the two grillworks to be tested and the relative distance between the two main line structured light measuring instruments. By adopting the measuring system and the measuring method, the distance between the two opposite side surfaces of the framework to be measured of the assembly positioning framework can be rapidly measured in a non-contact manner underwater, the width change between the two side surfaces of the framework to be measured can be reflected in time, and the measuring accuracy is high compared with a single-point measuring mode.
Drawings
Fig. 1 is a schematic structural diagram of a measurement system of the present invention.
Fig. 2 is a schematic diagram of the operation of the measuring system of the present invention.
Description of the element reference numerals
01 main line structured light measuring instrument
011 radiation-resistant camera
012 laser
013 laser plane
02 upper processor
03 gauge head bracket
031 slider
04 support frame
041 slide guide rod
05 base
06 first lead screw structure
061 first screw rod
07 second lead screw structure
071 second screw rod
08 third lead screw structure
081 third screw rod
082 third lead screw nut
09 rotating electric machine
10 underwater observer
11 operating tool
12-assembly positioning grid
121 side of grillwork to be tested
13 fuel assembly
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, proportions, and dimensions shown in the drawings and described herein are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims, but rather by the claims. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be regarded as the scope of the present invention without substantial changes in the technical contents.
As shown in fig. 1 and 2, the present invention provides an underwater non-contact measurement system for measuring the distance between two opposite grid sides 121 to be measured of a fuel assembly grid 12 on a fuel assembly 13, the measurement system comprising two waterproof main line structure light meters 01 and an upper processor 02 connected to both the main line structure light meters 01, the upper processor 02 having a control module and a collection processing module, the two main line structure light meters 01 being respectively arranged at the sides of the two grid sides 121 to be measured, the main line structure light meters 01 each comprising an anti-radiation camera 011 and a laser 012, a laser emitting point of the laser 012 being capable of emitting a laser plane 013, and the laser plane 013 being capable of forming an intersecting light ray on the grid side 121 to be measured. Specifically, the grid side 121 corresponds to the main line structured light measuring instrument 01 located at the side thereof, and the main line structured light measuring instrument 01 may adopt the same design form as that of the existing instrument for measuring by using the linear laser triangulation method, so as to measure the position information of the corresponding grid side 121 with respect to the main line structured light measuring instrument 01. The upper processor 02 may be a computer, and the upper processor 02 is connected to both the anti-radiation camera 011 and the laser 012 of the main line structured light measuring instrument 01 to control the anti-radiation camera 011 and the laser 012.
The working principle of the measuring system of the invention is as follows: when the nuclear power station spent fuel pool radiation-proof device is used, the fuel assembly 11 and the measuring system are both positioned in a spent fuel pool of a nuclear power station, the position relation between the measuring system and the assembly positioning grillwork 12 is adjusted, the two main line structured light measuring instruments 01 are respectively positioned on the side surfaces of the two grillwork side surfaces 121 to be measured, and the radiation-proof camera 011 and the laser 012 are both positioned towards the grillwork side surfaces 121 to be measured. For convenience of description, the two main line structured light measuring instruments 01 are respectively marked as a main line structured light measuring instrument a and a main line structured light measuring instrument B, and the two to-be-measured grillwork side surfaces 121 corresponding to the main line structured light measuring instrument a and the main line structured light measuring instrument B are respectively marked as a to-be-measured grillwork side surface a and a to-be-measured grillwork side surface B; starting the two main line structured light measuring instruments 01, and controlling the lasers 012 of the two main line structured light measuring instruments 01 to emit conical and thin laser planes 013 by using a control module of the upper processor 02, wherein the laser planes 013 emitted by the main line structured light measuring instruments A form intersecting rays on the side surface A of the grillwork to be tested, and preferably, both ends of the intersecting rays on the side surface A of the grillwork to be tested extend to the edge of the side surface A of the grillwork to be tested; the control module controls an anti-radiation camera 011 of a main line structured light measuring instrument A to acquire light spots on intersecting light rays on the side surface A of the grillwork to be measured and transmits light spot information to an upper processor 02, a collecting and processing module of the upper processor 02 calculates and obtains relative distance information between the light spots on the side surface A of the grillwork to be measured and the main line structured light measuring instrument A through a linear laser triangulation method, namely the relative distance between a face point on the side surface A of the grillwork to be measured and the main line structured light measuring instrument A, face point position cloud data of the side surface A of the grillwork to be measured is established through the relative distance information of all the light spots on the side surface A of the grillwork to be measured, and the face point position cloud data of the side surface A of the grillwork to be measured can represent the position; similarly, the main line structured light measuring instrument B measures the side face B of the trellis to be measured in the same manner, and obtains the cloud data of the surface point position of the side face B of the trellis to be measured. And then, calculating to obtain the distance between the side surface A of the grillwork to be measured and the side surface B of the grillwork to be measured by utilizing the collection processing module through the face point position cloud data of the side surface A of the grillwork to be measured, the face point position cloud data of the side surface B of the grillwork to be measured and the relative distance (the distance is artificially set) between the main line structured light measuring instrument A and the main line structured light measuring instrument A.
The measuring system provided by the invention is suitable for a nuclear power station high-radiation underwater environment, can quickly measure the distance between two opposite grid sides 121 to be measured of the assembly positioning grid 12 in a non-contact manner, namely can measure the width of the assembly positioning grid 12, and can reflect the width change between the two grid sides 121 to be measured in time. And position data of a plurality of surface points on the side surface 121 of the grillwork to be measured can be obtained during measurement, and compared with a single-point measurement mode, the measurement accuracy is high.
As a preferable design, in this embodiment, the laser 012 includes a plurality of laser emitting points, and the laser planes 013 emitted by the laser emitting points are all parallel, so that a plurality of parallel intersecting light rays can be formed on the side 121 of the grid to be tested. The light spots on all the intersecting light rays are acquired by the anti-radiation camera 011, and the light spot information is transmitted to the upper processor 02, so that the position data of the surface points distributed at each position of the side surface 121 of the grillwork to be measured can be obtained, the three-dimensional characteristic information of the side surface 121 of the grillwork to be measured can be obtained, the position information of the side surface 121 of the grillwork to be measured can be reflected more comprehensively, and the measurement accuracy is effectively improved. The number of the laser planes 013 emitted by the lasers 012 and the distance between the laser planes 013 can be set according to the actual measurement precision requirement, the smaller the distance between the laser planes 013, the denser the distribution of the intersecting rays, and the higher the measurement precision, and preferably, the intersecting rays are arranged to the edge of the side 121 of the grid to be measured in the direction perpendicular to the intersecting rays, that is, the intersecting rays are substantially distributed on the side 121 of the grid to be measured.
As a preferable design, the anti-irradiation camera 011 and the anti-irradiation camera 011 of the main line structured light measuring instrument 01 in the present invention are integrally packaged together with the laser 012 in a waterproof radiation-proof protective case. Therefore, the measurement system can be ensured to stably and reliably measure in the underwater environment of the nuclear power station. When the measuring system of the invention is used for measuring the width of the component positioning grid 12 under the water of the nuclear power station, because radiation and the underwater environment have certain influence on the measuring work of the main line structured light measuring instrument 01, when the collecting and processing module of the upper processor 02 calculates the relative distance between the light spot and the main line structured light measuring instrument 01 by the linear laser triangulation method, necessary data correction is needed according to specific conditions, so that the influence of the high radiation underwater environment on the measuring result is eliminated, and the measuring accuracy is improved.
As a preferable design, as shown in fig. 1, in this embodiment, the measurement system further includes an underwater observer 10, the underwater observer 10 is used for observing the position of the intersecting light on the side 121 of the grid to be measured, the underwater observer 10 may be an underwater television, and when the measurement system is used for performing underwater measurement, the underwater observer 10 is used for observing the position of the intersecting light on the side 121 of the grid to be measured, so as to adjust the relative position between the main line structured light measuring instrument 01 and the side 121 of the grid to be measured, so as to achieve a good measurement position, and thus the measurement is more accurate and reliable.
When the assembly spacer grid 12 is a quadrilateral frame, the grid sides of two grid sides 121 to be measured on the assembly spacer grid 12 are middle grid sides, that is, the grid sides 121 to be measured are two opposite grid sides, and any one of the other two grid sides can form a middle grid side, in this case, preferably, two main line structured light detectors 01 are both arranged near the intersecting edge of the grid sides 121 to be measured and the middle grid sides, and the laser plane 013 emitted by the two main line structured light detectors 01 can form an intersecting light on the same middle grid side while forming an intersecting light on the corresponding grid side 121 to be measured, so that the position information of the middle grid side can be measured by the two main line structured light detectors 01, and the position information of the middle grid side can be used as an auxiliary reference to determine whether there is a problem in the measured position information of the two grid sides 121 to be measured, thereby improving the accuracy of the measurement.
As a preferred design, the measuring system of the present invention may further include a secondary line structured light meter having the same structure as the primary line structured light meter 01, the secondary line structured light meter may be one or more, the secondary line structured light meter is connected to the upper processor 02, the grid side of two grid sides 121 to be measured on the module spacer grid 12 is a middle grid side, the middle grid side may be one or more, for example, when the module spacer grid 12 is a quadrilateral grid, the grid side 121 to be measured is two opposite grid sides thereof, one of the other two grid sides may constitute a middle grid side, and for example, when the module spacer grid 12 is a hexagonal grid, the measuring system has six grid sides, the grid side 121 to be measured is two opposite grid sides thereof, two adjacent sides connecting the two grid sides 121 to be measured constitute two middle grid sides, the secondary structured light measuring devices can now be used for measurement with two secondary structured light measuring devices, i.e. one secondary structured light measuring device on each side of the intermediate compartment. The auxiliary line structured light measuring instrument is arranged on the side face of the middle lattice frame, the laser planes emitted by the laser of the auxiliary line structured light measuring instrument form intersecting light rays on the side face of the middle lattice frame, so that the position information of the side face of the middle lattice frame can be measured by the auxiliary line structured light measuring instrument, and whether the measured position information of the two lattice frame sides 121 to be measured has a problem or not can be determined by taking the position information of the side face of the middle lattice frame as an auxiliary reference, so that the measuring accuracy is improved. In addition, a secondary line structured light meter may be disposed on a side of the side 121 of the grid to be measured to verify the measurement result of the primary line structured light meter 01.
As a preferable design, in the present embodiment, as shown in fig. 1 and fig. 2, the measurement system further includes a base 05, a support frame 04 movably mounted on the base 05, a probe carriage 03 movably mounted on the support frame 04, a horizontal driving mechanism driving the support frame 04 to move on the base 05, and a vertical driving mechanism driving the probe carriage 03 to move up and down with respect to the base 05, and both the main line structured light meters 01 are mounted on the probe carriage 03. Specifically, the waterproof and radiation-proof protective casing of the main line structured light measuring instrument 01 is fixed to the probe bracket 03, and the underwater scope 10 is mounted on the probe bracket 03 by means of bolting, so that the underwater scope 10 can move together with the main line structured light measuring instrument 01. When the measuring system is used, the position between the main line structured light measuring instrument 01 and the side face 121 of the grillwork to be measured of the side face 121 of the grillwork to be measured can be conveniently and quickly adjusted through the horizontal driving mechanism and the vertical driving mechanism. In this embodiment, the supporting frame 04 includes a sliding guide rod 041 perpendicular to the base 05, a sliding block 031 is fixedly disposed on the measuring head bracket 03, and when the measuring head bracket 03 moves up and down relative to the base 05, the sliding block 031 slides along the sliding guide rod 041, so that the movement stability of the measuring head bracket 03 is improved. Furthermore, the position between the two main line structured light meters 01 can also be adjusted, thereby increasing the application range of the measuring system.
As a preferable design, both the horizontal driving mechanism and the vertical driving mechanism may adopt screw rod structures, specifically, in this embodiment, as shown in fig. 1 and fig. 2, the horizontal driving mechanism includes a first screw rod structure 06 and a second screw rod structure 07 which are installed on the base 05, a first screw rod 061 of the first screw rod structure 06 is perpendicular to a second screw rod 071 of the second screw rod structure 07, and both the first screw rod 061 and the second screw rod 071 are parallel to the base 05, the support frame 04 is installed on a second screw rod nut of the second screw rod structure 07, so that by rotating the second screw rod 071, the second screw rod nut can be driven to drive the support frame 04 to move along the second screw rod 071, the second screw rod structure 07 is fixed to the first screw rod nut of the first screw rod structure 06 and moves along with the first screw rod nut, so that by rotating the first screw rod 061, the second screw rod structure 07 can be driven to move along the first screw rod 071, thereby driving the supporting frame 04 to move along the direction of the first lead screw 061. The vertical driving mechanism includes a third screw rod structure 08, a third screw rod 081 of the third screw rod structure 08 is fixed with the support frame 04 and is perpendicular to the base 05, specifically, in this embodiment, the lower end of the third screw rod 081 and the support frame 04 are both fixedly mounted on the second screw rod nut, and the measuring head bracket 03 is fixedly connected to a third screw rod nut 082 of the third screw rod structure 08, so that the measuring head bracket 03 can be driven to move up and down along the third screw rod 081 by rotating the third screw rod 081. The first lead screw 061, the second lead screw 071 and the third lead screw 081 can be driven to rotate by a rotating motor 09. Of course, in other embodiments, the horizontal driving mechanism and the vertical driving mechanism may have other structures, and may be driven manually or pneumatically.
The invention also provides an underwater non-contact measurement method for the grid width of a fuel assembly of a nuclear power station, which is carried out by adopting the measurement system to measure the distance between two opposite grid sides 121 to be measured of the assembly spacer grid 12 on the fuel assembly 13, and as shown in fig. 2, the method comprises the following steps:
s1, grabbing the fuel assembly 13 to a to-be-tested station under water by using the operation tool 11; adjusting the position relationship between the measuring system and the component positioning grillwork 12, so that the two main line structured light measuring instruments 01 are respectively positioned on the sides of two opposite grillwork sides 121 to be measured;
s2, starting the two main line structured light measuring instruments 01, controlling a laser 012 to emit a laser plane 013 through a control module of the upper processor 02, and forming intersected rays on the side 121 of the to-be-measured grillwork by the laser plane 013; the control module controls the anti-radiation camera 011 to obtain light spots on the intersected light rays and transmit light spot information to the upper processor 02, the collecting and processing module of the upper processor 02 obtains the relative distance information between the light spots and the main line structured light measuring instrument 01 through calculation of a linear laser triangulation method, and the face point position cloud data of the side face 121 of the grillwork to be measured are established by utilizing the relative distance information of the light spots;
and S3, the collection processing module determines the distance between the two trellis sides 121 to be detected according to the cloud data of the point positions of the two trellis sides 121 to be detected.
By adopting the measuring system in the embodiment, the width of the measuring component spacer grid 12 can be measured in the underwater environment of the nuclear power station, so that the effect of monitoring the change of the component spacer grid 12 can be achieved, the component spacer grid 12 is a quadrilateral grid, and the measuring method at the moment is as follows:
for convenience of description, the two main line structured light measuring instruments 01 are respectively denoted as a main line structured light measuring instrument a and a main line structured light measuring instrument B, the two to-be-measured lattice side surfaces 121 corresponding to the main line structured light measuring instrument a and the main line structured light measuring instrument B are respectively denoted as a to-be-measured lattice side surface a and a to-be-measured lattice side surface B, and the other two opposite lattice side surfaces are respectively denoted as a middle lattice side surface a and a middle lattice side surface B.
The step of S1 is specifically: installing a base 05 of the measuring system on an empty storage grid of the spent fuel pool through a positioning pin, and grabbing a fuel assembly 13 to a station to be measured by using an operating tool 11 as shown in a reference figure 2; the position relationship between the measuring system and the component spacer grid 12 is adjusted so that the two main line structured light meters 01 are respectively located at the two grid sides 121 to be measured, i.e. the main line structured light meter a is located at the side of the grid side a to be measured, and the main line structured light meter B is located at the side of the grid side B to be measured.
The step of S2 is specifically: referring to fig. 2, two main line structured light measuring instruments 01 are turned on, the lasers 012 of the two main line structured light measuring instruments 01 are controlled by the control module of the upper processor 02 to emit laser planes 013, the height of the operating tool 11 is adjusted so that the component spacer grids 12 to be measured are within the projection range of the lasers 012, the positions between the two main line structured light measuring instruments 01 and the grid side 121 to be measured are adjusted by the horizontal driving mechanism and the vertical driving mechanism, specifically, a plurality of parallel laser planes 013 emitted by the main line structured light measuring instrument a can simultaneously form intersecting rays on the grid side a to be measured and the middle grid side a, and the intersecting ray positions are observed by the underwater television, so that the intersecting rays can be uniformly distributed over the grid side a to be measured and the middle grid side a, and a plurality of parallel laser planes 013 emitted by the main line structured light measuring instrument B can simultaneously form intersecting rays on the grid side B to be measured and the middle grid side B, intersecting light rays can be uniformly distributed on the side surface B of the grillwork to be detected and the side surface B of the middle grillwork; the control module controls an anti-radiation camera 011 of the main line structured light measuring instrument A to obtain light spots on intersecting light rays on the side surface A of the grillwork to be measured and the side surface A of the middle grillwork and transmits light spot information to the upper processor 02, the collecting and processing module of the upper processor 02 calculates the relative distance between the light spots on the side surface A of the grillwork to be measured and the side surface A of the middle grillwork and the main line structured light measuring instrument A, namely the relative distance between a face point on the side surface A of the grillwork to be measured and a face point on the side surface A of the middle grillwork and the main line structured light measuring instrument A, obtains face point position cloud data of the side surface A of the grillwork to be measured and face point position cloud data of the side surface A of the middle grillwork through the relative distances of all the light spots on the side surface A of the grillwork to be measured and the side surface A of the middle grillwork, and, and obtaining the cloud data of the point positions of the side surface B of the lattice to be detected and the cloud data of the point positions of the side surface B of the intermediate lattice, and obtaining the three-dimensional characteristics of the four lattice sides of the assembly spacer lattice 12 according to the cloud data of the point positions of the side surface A of the lattice to be detected, the side surface A of the intermediate lattice, the side surface B of the lattice to be detected and the side surface B of the intermediate lattice.
The step of S3 is specifically: the collection processing module obtains the distance between the side surface A of the grillwork to be tested and the side surface B of the grillwork to be tested through the face point position cloud data of the side surface A of the grillwork to be tested, the face point position cloud data of the side surface B of the grillwork to be tested and the relative distance between the main line structured light measuring instrument A and the main line structured light measuring instrument B; likewise, the distance between the spacer side a and the spacer side B can be determined at the same time.
By adopting the measuring method, after the component positioning grids 12 and the measuring system are positioned, the width measurement of one component positioning grid 12 can be completed within 2s, and as the fuel component 13 is provided with the plurality of component positioning grids 12 along the up-down direction, as shown in fig. 2, after the measurement of one component positioning grid 12 is completed, the width measurement of the plurality of component positioning grids 12 can be completed without secondary clamping by only adjusting the two main line structured light measuring instruments 01 to reach the next component positioning grid 12 through the vertical driving mechanism, so that the adjustment is convenient and the detection efficiency is high. During working, if the measured data of the same station has large fluctuation, the measuring system can be calibrated at any time according to the requirement so as to ensure the accuracy of the measuring result. The measuring method can also be used for width measurement of equipment such as a spent pool maintenance basket in a nuclear power station in the same way.
As can be seen from the above, the measurement method using the measurement system in this embodiment can perform real-time non-contact measurement on the four grid sides of the component spacer grid 12 in the underwater environment of the nuclear power plant, so that the length and the width of the component spacer grid 12 (the distance between two opposite grid sides is taken as the length, and the distance between the other two opposite grid sides is taken as the width) can be measured in real time, and since the component spacer grid 12 is a rigid member, when the width of the component spacer grid 12 is measured, the length is changed accordingly, and vice versa. Therefore, the four grid sides of the assembly positioning grid 12 are simultaneously measured in real time, the size change conditions of the length and the width of the assembly positioning grid 12 can be reflected in real time, the looseness of fuel rods of the fuel assemblies 13 is avoided, and the operation risk of the nuclear power station is reduced. And the measured data is the cloud data of the surface point positions on the side surface of the framework, so that the change condition of the framework width can be more comprehensively reflected compared with the data obtained by single-point measurement. And the influence of the underwater environment and the high radiation environment on the measurement result can be effectively reduced.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An underwater non-contact measurement system for nuclear power plant fuel assembly grid width is used for measuring the distance between two opposite grid sides (121) to be measured of an assembly spacer grid (12) on a fuel assembly (13), and is characterized in that: the measuring system comprises two waterproof main line structured light measuring instruments (01) and an upper processor (02) connected with the two main line structured light measuring instruments (01), the upper processor (02) is provided with a control module and a collecting and processing module, the two main line structured light measuring instruments (01) are respectively arranged on the side surfaces of the two grillwork side surfaces (121) to be measured, each main line structured light measuring instrument (01) comprises an anti-radiation camera (011) and a laser (012), a laser emitting point of each laser (012) can emit a laser plane (013), and the laser planes (013) can form intersecting light rays on the grillwork side surfaces (121) to be measured.
2. The measurement system of claim 1, wherein: the laser (012) comprises a plurality of laser emission points, and laser planes (013) emitted by the laser emission points are all parallel.
3. The measurement system of claim 1, wherein: the anti-radiation camera (011) and the laser (012) are integrally packaged in the waterproof anti-radiation protective shell.
4. The measurement system of claim 1, wherein: the device is characterized by further comprising an underwater observer (10), wherein the underwater observer (10) is used for observing the position of the intersected ray on the side surface (121) of the grillwork to be detected.
5. The measurement system of claim 1, wherein: the assembly positioning grillwork (12) is a quadrilateral framework, the grillwork side surface of two grillwork side surfaces (121) to be detected on the assembly positioning grillwork (12) is a middle grillwork side surface, and laser planes (013) emitted by lasers (012) of the two main line structured light measuring instruments (01) can form intersecting rays on the same middle grillwork side surface.
6. The measurement system of claim 1, wherein: the auxiliary line structured light measuring instrument is structurally the same as the main line structured light measuring instrument (01), the auxiliary line structured light measuring instrument is connected with an upper processor (02), the grid side surface of the assembly positioning grid (12) which is connected with two grid side surfaces (121) to be measured is a middle grid side surface, and laser planes emitted by lasers of the auxiliary line structured light measuring instrument can form intersecting light rays on the middle grid side surface.
7. The measurement system of claim 1, wherein: the measuring head bracket comprises a base (05), a supporting frame (04) movably arranged on the base (05), a measuring head bracket (03) movably arranged on the supporting frame (04), a horizontal driving mechanism for driving the supporting frame (04) to move on the base (05), and a vertical driving mechanism for driving the measuring head bracket (03) to move up and down relative to the base (05), wherein the two main line structure optical measuring instruments (01) are arranged on the measuring head bracket (03).
8. The measurement system of claim 7, wherein: the horizontal driving mechanism comprises a first lead screw structure (06) and a second lead screw structure (07) which are installed on a base (05), a first lead screw (061) of the first lead screw structure (06) is perpendicular to a second lead screw (071) of the second lead screw structure (07), a support frame (04) is installed on a second lead screw nut of the second lead screw structure (07), and the second lead screw structure (07) is fixed with the first lead screw nut of the first lead screw structure (06) and moves along with the first lead screw nut.
9. The measurement system of claim 7, wherein: the vertical driving mechanism comprises a third screw rod structure (08), a third screw rod (081) of the third screw rod structure (08) is fixed with the supporting frame (04) and is perpendicular to the base (05), and the measuring head bracket (03) is installed on a third screw rod nut (082)) of the third screw rod structure (08).
10. An underwater non-contact measurement method for the width of a nuclear power station fuel assembly grid is characterized by comprising the following steps: using the measurement system of claim 1, comprising the steps of:
s1, grabbing the fuel assembly (13) to a station to be tested, which is located underwater, by using the operation tool (11); adjusting the position relation between the measuring system and the assembly positioning grillwork (12) to enable the two main line structured light measuring instruments (01) to be respectively positioned on the sides of two opposite grillwork sides (121) to be measured;
s2, starting the two main line structured light measuring instruments (01), controlling a laser (012) to emit a laser plane (013) through a control module of an upper processor (02), and forming intersecting light rays on the side face (121) of the grillwork to be measured by the laser plane (013); the control module controls the anti-radiation camera (011) to shoot light spots on the crossed light rays and transmits light spot information to the upper processor (02), the collecting and processing module of the upper processor (02) calculates the relative distance information between the light spots and the main line structured light measuring instrument (01) through a linear laser triangulation method, and the face point position cloud data of the side face (121) of the grillwork to be measured is established by using the relative distance information of the light spots;
s3, the collection processing module determines the distance between the two trellis sides (121) to be detected according to the cloud data of the point positions of the two trellis sides (121) to be detected.
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