CN113899319A - Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly - Google Patents
Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly Download PDFInfo
- Publication number
- CN113899319A CN113899319A CN202111148234.7A CN202111148234A CN113899319A CN 113899319 A CN113899319 A CN 113899319A CN 202111148234 A CN202111148234 A CN 202111148234A CN 113899319 A CN113899319 A CN 113899319A
- Authority
- CN
- China
- Prior art keywords
- fuel assembly
- plane
- point cloud
- cloud data
- measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a fuel assembly underwater bending deformation measurement verification device, which comprises: the measuring part is arranged on the connecting part and is used for measuring the fuel assembly; the rotating part is connected with the connecting part and controls the connecting part to rotate, so that the measuring part is driven to rotate; the lifting part is connected with the rotating part and controls the rotating part to lift, so that the measuring part is driven to lift. Meanwhile, the invention also provides a corresponding method, which comprises the steps of collecting three-dimensional reconstruction point cloud data of the fuel assembly through an upper group of measuring units and a lower group of measuring units; screening and fitting the point cloud data to obtain a fuel assembly reconstruction outer side point and a fitting plane of the reconstruction outer side point, and performing three-side intersection on the fitting plane to obtain an intersection result; and finishing the bending deformation measurement of the fuel assembly based on the intersection result. The invention has the advantages of strong anti-interference capability, high stability, high precision and high speed, can realize the real-time online measurement of the bending-torsion deformation of the fuel assembly, and has certain watertight performance.
Description
Technical Field
The invention belongs to the technical field of nuclear radiation safety and detection, and particularly relates to a fuel assembly underwater bending deformation measurement verification device, method, equipment and medium.
Background
Nuclear safety is the life line of nuclear power development, most commercial nuclear power plants at present adopt a pressurized water reactor with mature technology, good economic benefit and high safety and reliability, and the pressurized water reactor core is composed of fuel assemblies and other related equipment. The fuel assemblies are the most important parts in the reactor core, and the normal insertion of the fuel rods can be influenced when the assemblies are seriously deformed, so that the fuel rods are clamped, and the safe operation of the reactor is endangered. In order to avoid the danger of rod clamping, the deformation condition of the component needs to be periodically detected within a reasonable time interval, whether the deformation is within a safety range is judged according to the detection result, and a worker is reminded to replace the fuel component in time.
At present, the nuclear power station generally adopts an underwater camera mode to detect component deformation, and a monitoring screen is used for observing the deformation condition of the component outside through a camera device arranged around the component, so that the deformation of the component can only be roughly judged by naked eyes of people, the deformation condition cannot be quantitatively reflected by a model and accurate measurement data, photosensitive devices such as a CCD (charge coupled device) and the like used by a common camera device are particularly easy to damage in the special environment of a reactor, and the replacement of the camera device is quite frequent as can be known from the feedback of the nuclear power station.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a fuel assembly underwater bending deformation measurement verification device, a fuel assembly underwater bending deformation measurement verification method, electronic equipment and a fuel assembly underwater bending deformation measurement verification medium, which can quickly and accurately measure the bending deformation of a fuel assembly.
According to one aspect of the present invention, there is provided a fuel assembly underwater bending deformation measurement verification apparatus, comprising:
the connecting part is used for realizing integrated installation;
the measuring part is arranged on the connecting part and used for measuring the fuel assembly;
the rotating part is connected with the connecting part and controls the connecting part to rotate so as to drive the measuring part to rotate;
the lifting part is connected with the rotating part and controls the rotating part to lift, so that the measuring part is driven to lift;
the rotating part combines lift portion for measuring part goes up and down and rotates, realizes the all-round measurement of upper and lower, left and right side to fuel assembly.
The connecting part comprises a connecting rod;
the measuring part comprises two groups of same measuring units which are arranged up and down along the connecting rod; each group of measuring units comprises a camera module and a laser module; the camera module and the laser module are arranged on the connecting rod;
the rotating part comprises a rotating adjusting seat which is arranged at the top of the connecting rod and used for controlling the connecting rod to rotate;
the lifting part comprises a lifting adjusting seat which is arranged at the top of the rotating adjusting seat and controls the rotating adjusting seat to lift, so that the connecting rod is driven to lift.
Preferably, the camera module includes:
an industrial camera to capture an image;
a lens connected with an industrial camera;
the camera mounting plate is provided with an industrial camera connected with a lens;
a camera module housing enclosing the assembled industrial camera, lens and camera mounting plate therein; one end of the camera module shell, which is close to the lens, is provided with camera module window glass, and the other end is provided with a sealing plate;
the camera module window glass is fixedly sealed with the camera module shell, and light enters the camera from the glass window;
the sealing plate and the camera module shell are fixedly sealed through high-temperature-resistant waterproof glue;
the data line is fixedly sealed by high-temperature-resistant waterproof glue and then is externally connected with a power supply directly;
preferably, the laser module includes:
a laser for emitting laser light;
the laser mounting plate is internally provided with two lasers, and the distance between the two lasers is 30 mm;
the laser module window glass is fixedly sealed with the laser mounting plate; the laser is projected from the glass window.
The data line is connected with the power supply directly after being fixed and sealed by high-temperature resistant waterproof glue.
One said industrial camera and two said lasers form a double knife line laser triangulation. By adopting a double-knife-line laser triangulation principle, each group of measuring units integrates two lasers, two groups of measuring units integrates four lasers, and four-beam spot cloud data are obtained after three-dimensional reconstruction.
According to a second aspect of the present invention, there is provided a fuel assembly underwater bending deformation measurement verification method, comprising:
collecting two groups of three-dimensional reconstruction point cloud data of the fuel assembly through an upper group of measuring units and a lower group of measuring units;
screening and fitting the point cloud data to obtain a fuel assembly reconstruction outer side point and a fitting plane of the reconstruction outer side point, and performing three-side intersection on the fitting plane to obtain an intersection result;
and finishing the bending deformation measurement of the fuel assembly based on the intersection result.
Preferably, the two sets of three-dimensional reconstruction point cloud data of the fuel assembly are acquired through an upper set of measuring units and a lower set of measuring units, and the method comprises the following steps:
s101, performing multi-pose calibration on the upper and lower groups of measuring units in air and water, and identifying camera parameters;
s102, calibrating the light planes of the upper and lower groups of measuring units, and calculating the light plane parameters of the upper and lower groups of measuring units;
and S103, carrying out global calibration on the upper and lower groups of measuring units.
Preferably, the point cloud data is screened and fitted to obtain a fitting plane of the fuel assembly reconstruction outer side points and the reconstruction outer side points, and the fitting plane is subjected to three-side intersection to obtain an intersection result, including:
s201, selecting two beams of point cloud data obtained by three-dimensional reconstruction of a group of measuring units, splitting the two beams of point cloud data into four sections of point cloud data, namely upper left, lower left, upper right and lower right, according to four directions, and fitting by adopting a least square method principle to obtain four corresponding linear equations;
sequentially and respectively substituting four sections of point cloud data into the four linear equations, and judging whether the point is positioned on the outer side of the corresponding straight line or not through the positive and negative of the equations; screening to obtain point cloud data outside the four straight lines;
s202, setting a threshold value of the distance between adjacent points, and dividing the point cloud data on the outer side of the same straight line into a plurality of point cloud data of different elliptical arcs by comparing the distance between the adjacent points with the threshold value;
determining the farthest point of each elliptical arc from the outer side of the fitted straight line by comparing the distances from different outer side points of each elliptical arc to the fitted straight line;
s203, based on the principle of least square method, respectively fitting all outer farthest points of four segments of fitting straight lines into an upper plane, a lower plane, a left plane and a right plane according to the upper direction, the lower direction, the left direction and the right direction, performing intersection on the left plane, the right plane and a split plane of the upper plane and the lower plane (a middle plane between the upper plane and the lower plane) from three sides, and calculating corresponding edge points;
s204, splitting the two-beam point cloud data of the S201 into a left point cloud section and a right point cloud section according to a left direction and a right direction, respectively carrying out integral offset along the normal direction of a left plane and a right plane which are fitted in the S203, carrying out four-plane fitting on the offset point cloud data of the upper plane, the lower plane, the left plane and the right plane based on the least square method principle according to the S201-S203 method, carrying out three-plane intersection on the left plane, the right plane and the upper and lower plane, and calculating corresponding central points;
and S205, performing the same processing as the processing in S201-S204 on two beams of point cloud data obtained by three-dimensional reconstruction of another group of measuring units to obtain corresponding edge points and center points.
Preferably, the obtaining of the bending deformation amount of the fuel assembly according to the edge point and the central point comprises: the central point of the measuring unit is used as the origin of the bending deformation calculation coordinate system to construct a coordinate system, and the distances (BowX, BowY) between the central point of the measuring unit and the central point of the upper measuring unit are used as bending deformation values;
the angle (Twist) between the edge point and the center point vector of the following measurement unit and the edge point and the center point vector of the upper measurement unit is defined as a Twist distortion value, and the counterclockwise direction is defined as a positive direction.
According to a third aspect of the present invention, there is provided an electronic device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the above-mentioned fuel assembly underwater buckling deformation measurement verification method.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored therein at least one instruction, at least one program, code set, or set of instructions for being loaded by a processor and executing the above method for verifying underwater bending deformation measurement of a fuel assembly.
Compared with the prior art, the invention has the following beneficial effects:
the device and the method for measuring and verifying the underwater bending-torsional deformation of the fuel assembly have the advantages of strong anti-interference capability, high stability, high precision and high speed, can realize the real-time online measurement of the bending-torsional deformation of the fuel assembly, and have certain watertight performance.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of an underwater bending deformation measurement and verification device for a fuel assembly according to an embodiment of the present invention;
FIG. 2 is a front view of a fuel assembly underwater bending deformation measurement verification device according to an embodiment of the present invention;
FIG. 3 is a left side view of the structure of the underwater torsional deformation measurement and verification device for the fuel assembly according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a camera module of the underwater bending deformation measurement and verification device for a fuel assembly according to a preferred embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a laser module of the fuel assembly underwater bending deformation measurement verification device according to a preferred embodiment of the present invention;
FIG. 6 is a data processing flow chart of a fuel assembly underwater bending deformation measurement verification method in accordance with a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of a transmission chain of a coordinate system of a fuel assembly underwater bending deformation measurement verification method according to a preferred embodiment of the present invention;
fig. 8 is a schematic diagram of fuel assembly bending calculation according to a fuel assembly underwater bending deformation measurement verification method in a preferred embodiment of the present invention.
In the figure: 1 is a lifting adjusting seat, 2 is a rotating adjusting seat, 3 is a camera module, 31 is a camera module shell, 32 is a camera module fixing plate, 33 is an industrial camera, 34 is a lens, 35 is a sealing plate, 36 is a camera mounting plate, 37 is camera module window glass, 4 is a laser module, 41 is a laser module fixing plate, 42 is a laser, 43 is laser module window glass, 44 is a laser mounting plate, and 5 is a connecting rod.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The working environment and the characteristics of the nuclear fuel assembly determine that the deformation condition can be measured only by selecting a non-contact measuring method. The non-contact measurement can measure objects with special working environment or surface scars, and is widely applied to production detection. Based on the above, the embodiment of the invention provides a device and a method for measuring and verifying the bending and twisting deformation of a fuel assembly underwater, which can realize real-time online measurement of the bending and twisting deformation of the fuel assembly by adopting non-contact measurement.
Specifically, the present invention provides an embodiment, namely, a fuel assembly underwater bending deformation measurement verification apparatus, including: connecting portion, measurement portion, rotating part and lift portion, wherein: the connecting part has an integrated installation function; the measuring part is arranged on the connecting part and used for measuring the fuel assembly; the rotating part is connected with the connecting part and controls the connecting part to rotate so as to drive the measuring part to rotate; the lifting part is connected with the rotating part and controls the rotating part to lift, so that the measuring part is driven to lift; the rotating part combines lift portion for measuring part goes up and down and rotates, realizes the all-round measurement in upper and lower, left and right sides to fuel assembly.
Referring to fig. 1, 2 and 3, as a preferred embodiment, the connecting portion includes a connecting rod 5. The measuring part comprises two groups of same measuring units which are arranged up and down along the connecting rod 5, and the distance between the two groups of measuring units is 500 mm; wherein, every group measuring unit includes a camera module 3 and a laser module 4, and camera module 3 and laser module 4 install on connecting rod 5. The rotating part comprises a rotating adjusting seat 2 which is fixed on the top of the connecting rod 5 and controls the connecting rod 5 to rotate; the lift portion sets up in 2 tops of rotatory adjustment seat including lift adjustment seat 1, sets up, and 2 lifts of rotatory adjustment seat of control to control connecting rod 5 goes up and down. As shown in fig. 1, the camera modules 3 and the laser modules 4 of the two sets of measuring units are fixed to the connecting rod 5 through the camera module fixing plate 32 and the laser module fixing plate 41, respectively, and a certain included angle and distance are maintained between the camera modules 3 and the laser modules 4. The lifting connecting rod 5 of the lifting adjusting seat 1 and the rotatable connecting rod 5 of the rotation adjusting seat 2 are matched for use, so that the camera module 3 and the laser module 4 on the connecting rod 5 can be lifted and rotated, and the fuel assembly can be detected in all directions.
Specifically, the connecting rod 5 in this embodiment is a rod member vertically placed, and may be an 8080 aluminum alloy profile, with a total length of 1500 mm. Of course, in other embodiments, other lengths may be made using other materials.
Specifically, the camera module 3 and the laser module 4 in this embodiment form an angle of 27 ° and are spaced apart by 300 mm. Of course, in other embodiments, other angles and spacings may be used.
Fig. 4 is a schematic structural diagram of a camera module of the underwater bending deformation measurement and verification device for a fuel assembly according to a preferred embodiment of the present invention. In this embodiment, the camera module includes: a camera module housing 31, an industrial camera 33, a lens 34, a sealing plate 35, a camera mounting plate 36, and a camera module window glass 37, wherein: the industrial camera 33 is used for acquiring images; the lens 34 is connected with the industrial camera 33; the camera mounting plate 36 is used for mounting the industrial camera 33 after the lens 34 is connected; the assembled industrial camera 33, the lens 34 and the camera mounting plate 36 are enclosed in the camera module housing 31, and one end of the camera module housing 31 close to the lens 34 is a camera module window glass 37, and the other end is a sealing plate 35. Camera module window glass 37, closing plate 35 all use high temperature resistant waterproof glue to realize fixed sealing with camera module shell 31, and the data line is external directly continuous with the power through high temperature resistant waterproof glue after fixed sealing.
Fig. 5 is a schematic structural diagram of a laser module of the fuel assembly underwater bending deformation measurement verification device according to a preferred embodiment of the invention. In this embodiment, the laser module includes: a laser 42, a laser module window glass 43, and a laser mounting plate 44, the laser 42 being for emitting laser light; the laser mounting plate 44 internally mounts two lasers 42. It can be seen that 2 lasers 42 are arranged on the laser mounting plate 44, the laser module window glass 43 is fixedly sealed through high-temperature-resistant waterproof glue, and the data line is externally connected with the power supply directly after being fixedly sealed through the high-temperature-resistant waterproof glue. The fuel assembly non-contact type measuring mode based on laser scanning measurement has the advantages of strong anti-interference capability, high stability, high precision and high speed, does not need other additional lighting facilities, and can scan and measure the accurate value of the profile of the fuel assembly.
Specifically, the two lasers 42 in this embodiment are spaced 30mm apart. Of course, in other embodiments, other spacings may be employed.
Based on the preferred embodiment, the fuel assembly underwater bending-twisting deformation measurement verification device in the embodiment is placed on the upper plane of a fuel well in a hoisting mode, then the fuel assembly is hoisted to enter a measurement area, the surfaces of a plurality of fuel rods of the fuel assembly are ensured to be projected by line laser by adjusting the lifting adjusting seat 1 and the rotating adjusting seat 2, then the measurement unit is controlled by a computer to obtain images, and subsequent calculation is carried out by the computer.
In another embodiment of the invention, a fuel assembly underwater bending deformation measurement verification method is further provided, and the method is carried out by using the fuel assembly underwater bending deformation measurement verification device in any one of the figures 1-5. Specifically, the verification method comprises the following steps: collecting two groups of three-dimensional reconstruction point cloud data of the fuel assembly through an upper group of measuring units and a lower group of measuring units; screening the point cloud data to obtain fuel assembly reconstruction outer side points, performing plane fitting on the fuel assembly reconstruction outer side points, and performing three-surface intersection on the fitting plane; and obtaining the bending and twisting deformation of the fuel assembly according to the intersection result.
FIG. 6 is a flow chart of data processing of a fuel assembly underwater bending deformation measurement verification method according to a preferred embodiment of the present invention. As shown in fig. 6, in the preferred embodiment, the method for measuring and verifying the underwater bending deformation of the fuel assembly includes the following steps:
s1, reconstructing three-dimensional data based on the camera calibration result to obtain point cloud data;
s2, fitting four straight lines of upper left, lower left, upper right and lower right based on the point cloud data obtained in the S1, and defining the outer side direction of the straight line;
s3, solving the farthest point of each elliptical arc on each straight line from the outer side of the straight line based on the four straight lines obtained in S2;
s4, fitting the outer farthest point obtained based on S3 to four planes, namely an upper plane, a lower plane, a left plane and a right plane;
s5, intersecting the four planes fitted in the S4, and calculating edge points and center points;
and S6, performing coordinate normalization based on the edge points and the center points obtained in the step S5, and calculating the deformation of the fuel rod.
Specifically, in step S1, reconstructing the three-dimensional data based on the camera calibration result to obtain point cloud data includes:
s101, performing multi-pose calibration on the upper and lower groups of measuring units in air and water, and identifying camera parameters;
s102, calibrating the light planes of the upper and lower groups of measuring units, and calculating the light plane parameters of the upper and lower groups of measuring units;
and S103, carrying out global calibration on the upper and lower groups of measuring units.
After the calibration of the camera is completed, the hardware equipment is started, and the three-dimensional reconstruction point cloud data of the fuel assembly is acquired.
In an embodiment, in order to better realize camera calibration, in S101, the upper and lower two sets of measurement units are calibrated in multiple postures in air and water, camera parameters are identified, and calibration is preferably performed in air by using a calibration principle based on Zhang Yongyou. Specifically, the method comprises the following steps:
in the air, a lens three-order distortion model is adopted to respectively carry out multi-pose calibration on the upper and lower groups of measuring units, a plurality of pictures with different visual angles are collected, a Levenberg-Marquardt algorithm is utilized to solve a nonlinear model for calibrating the camera, and camera parameters are identified and solved according to a homography matrix.
Under water, based on the mathematical expression of an underwater multi-medium refraction model shown as the following formula, the influence of the glass thickness is ignored, and the Levenberg-Marquardt algorithm is utilized to solve the external parameters such as a camera rotation matrix and a translation matrix.
Where k is a coefficient factor, [ u v ]]Is the pixel coordinate of the pixel coordinate system, [ s ]x sy]Is the number of pixels in unit distance of the image coordinate system, [ u ]0 v0]Is the coordinate of the origin of the image coordinate system in the pixel coordinate system, nwaterIs the refractive index of water, nairIs the refractive index of air, n0＝nwater/nairF is the camera focal length, [ x ]u yu]Are the coordinates of the image coordinate system,
d is the distance from the optical center of the camera to the glass medium, R represents the rotation transformation matrix from the world coordinate system to the camera coordinate system, T represents the translation transformation matrix from the world coordinate system to the camera coordinate system, [ x ]w yw zw]Is the three-dimensional coordinates of the world coordinate system.
According to the embodiment, the internal reference calibration precision can be ensured by adopting the Zhangyingyou calibration principle in the air, so that a premise is provided for the accuracy of a subsequent camera calibration working result.
The embodiment can ensure the external reference calibration precision by adopting the underwater multi-medium refraction model, thereby providing guarantee for the accuracy of the subsequent camera reconstruction working result.
In another embodiment, in order to better implement global calibration, in S103, the global calibration for the upper and lower sets of measurement units may be implemented by the following method:
global calibration is performed on the upper and lower 2 sets of measurement units, as shown in fig. 7, the coordinate system of the upper processing block is { U }, the coordinate system of the lower processing block is { D }, the coordinate system of the industrial camera of the upper measurement unit is { US }, and the coordinate system of the industrial camera of the lower measurement unit is { DS }. Establishing the pose conversion of the coordinate system { D } of the lower processing block in the coordinate system { DS } of the lower measuring unit industrial camera based on the coordinate system transmission chain relation of the following mathematical expressionMatrix array
Pose transformation matrix of upper processing block coordinate system { U } in lower processing block coordinate system { D }
Pose transformation matrix of upper measuring unit industrial camera coordinate system { US } on upper processing block coordinate system { U }
Then, a pose transformation matrix of the upper measuring unit industrial camera coordinate system { US } under the lower measuring unit industrial camera coordinate system { DS } is calculated
According to the embodiment, the global calibration is carried out by adopting the method, the accuracy of the data of the 2 subsequent groups of measurement units can be further ensured, and the guarantee is provided for better realizing the measurement verification of the underwater bending-torsion deformation of the fuel assembly.
After the calibration of the camera is completed, point cloud data are obtained through three-dimensional reconstruction, and then S2 is executed to fit four straight lines of upper left, lower left, upper right and lower right, and the outer side direction of the straight line is defined. Specifically, in an embodiment, two beams of point cloud data obtained by three-dimensional reconstruction of a group of measuring units are selected, the two beams of point cloud data are split into four segments of point cloud data, namely, upper left, lower left, upper right and lower right, according to four directions, namely, upper left, lower left, upper right and lower right, and four corresponding linear equations are obtained by fitting according to a least square method principle; and sequentially and respectively substituting the four sections of point cloud data into the four linear equations, judging whether the point is positioned on the outer side of the corresponding straight line through the positive and negative of the equations, and screening to obtain the point cloud data on the outer sides of the four straight lines.
On the basis of the above embodiment, S3 is executed to solve the farthest point of each elliptical arc from the outside of each straight line, and the following method can be adopted: setting a threshold value of the distance between adjacent points, sorting point cloud data on the outer side of the same straight line, sequentially comparing the distances between the adjacent points, if the distance between the two points is smaller than the threshold value, considering that the two adjacent points belong to the same elliptical arc, and if the distance between the two points is larger than the threshold value, considering that the two adjacent points belong to different elliptical arcs, so that the point cloud data on the outer side of the same straight line is split into point cloud data of a plurality of different elliptical arcs, and determining the farthest point of each elliptical arc from the outer side of the fitting straight line by comparing the distance from the different outer side points of each elliptical arc to the fitting straight line. Namely, the outer side of each fitting straight line is provided with a plurality of sections of elliptical arcs, and a plurality of outer farthest points are correspondingly obtained.
Based on the above embodiment, in S4, the upper, lower, left, and right planes are fitted based on the outer farthest points, that is, based on the principle of least squares, all the outer farthest points of the four segments of fitted straight lines are fitted to the upper, lower, left, and right planes respectively according to the upper, lower, left, and right directions.
Specifically, the step of fitting the planes for intersection by S5 and calculating the edge points and the center point comprises the following steps:
performing intersection of three surfaces on the left plane, the right plane and the upper and lower plane median planes in the S4, and calculating corresponding edge points;
the two pieces of point cloud data of S2 are split according to the left and right directions, and the two pieces of point cloud are shifted by half the width/thickness of the fuel assembly along the normal directions of the left and right planes fitted in S4, respectively, which is shifted by 100mm in this embodiment. And fitting four planes of an upper plane, a lower plane, a left plane and a right plane according to the point cloud data after the deviation and based on the principle of a least square method according to the method of S2-S4, intersecting three planes of a left plane, a right plane and a median plane of the upper plane and the lower plane, and calculating a corresponding central point.
Fig. 8 is a schematic diagram of fuel assembly bending calculation according to a fuel assembly underwater bending deformation measurement verification method in a preferred embodiment of the present invention. As shown in fig. 8, in S6, the coordinates are normalized to calculate the deformation of the fuel rod, and the following method can be used: the central point of the measuring unit is used as the origin of the bending deformation calculation coordinate system to construct a coordinate system, and the distances (BowX, BowY) between the central point of the measuring unit and the central point of the upper measuring unit are used as bending deformation values. The angle (Twist) between the edge point and the center point vector of the following measurement unit and the edge point and the center point vector of the upper measurement unit is defined as a Twist distortion value, and the counterclockwise direction is defined as a positive direction. Therefore, the bending and twisting deformation condition of the fuel assembly is obtained, and the device and the method can be used for carrying out multiple times of underwater bending and twisting deformation measurement on the fuel assembly subsequently so as to verify the reliability and the practicability of the device and the method.
Based on the same concept as the method, in another embodiment, the invention further provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or a set of instructions, and the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the fuel assembly underwater bending deformation measurement verification method in any one of the embodiments.
Based on the same concept as the method, another embodiment of the invention further provides a computer-readable storage medium having at least one instruction, at least one program, code set, or set of instructions stored therein, the at least one instruction, the at least one program, the code set, or the set of instructions being loaded by a processor and executing the fuel assembly underwater bending deformation measurement verification method in any one of the above embodiments.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The above-described preferred features may be used in any combination without conflict with each other.
Claims (10)
1. The utility model provides a fuel assembly is bending under water and is twisted deformation and measure verifying attachment which characterized in that includes:
the connecting part is used for realizing integrated installation;
the measuring part is arranged on the connecting part and used for measuring the fuel assembly;
the rotating part is connected with the connecting part and controls the connecting part to rotate, so that the measuring part is driven to rotate;
the lifting part is connected with the rotating part and controls the rotating part to lift, so that the measuring part is driven to lift;
the rotating part combines lift portion makes measuring unit goes up and down and rotates, realizes the all-round measurement of fuel assembly upper and lower, left and right.
2. The fuel assembly underwater torsion deformation measurement verification device according to claim 1,
the connecting part comprises a connecting rod;
the measuring part comprises two groups of same measuring units which are arranged up and down along the connecting rod; each group of measuring units comprises a camera module and a laser module; the camera module and the laser module are arranged on the connecting rod;
the rotating part comprises a rotating adjusting seat which is arranged at the top of the connecting rod and used for controlling the connecting rod to rotate;
the lifting part comprises a lifting adjusting seat which is arranged at the top of the rotating adjusting seat and controls the rotating adjusting seat to lift, so that the connecting rod is driven to lift.
3. The fuel assembly underwater warp measurement validation device of claim 2, wherein the camera module includes:
an industrial camera to capture an image;
a lens connected with an industrial camera;
the camera mounting plate is provided with an industrial camera connected with a lens;
a camera module housing enclosing the assembled industrial camera, lens and camera mounting plate therein; one end of the camera module shell, which is close to the lens, is provided with camera module window glass, and the other end is provided with a sealing plate;
the camera module window glass is fixedly sealed with the camera module shell, and light enters the camera from the glass window;
the sealing plate and the camera module shell are fixedly sealed through high-temperature-resistant waterproof glue;
the laser module includes:
a laser for emitting laser light;
the laser mounting plate is internally provided with two lasers;
the laser module window glass is fixedly sealed with the laser installation plate, and laser is projected from the glass window;
one said industrial camera and two said lasers form a double knife line laser triangulation.
4. The fuel assembly underwater buckling deformation measurement verification device according to claim 3, comprising: the data line of camera module and laser module all links to each other with the power is direct through high temperature resistant waterproof glue external after fixed sealed.
5. A fuel assembly underwater bending-torsional deformation measurement verification method is characterized by comprising the following steps:
collecting three-dimensional reconstruction point cloud data of the fuel assembly through an upper group of measuring units and a lower group of measuring units;
screening and fitting the point cloud data to obtain a fuel assembly reconstruction outer side point and a fitting plane of the reconstruction outer side point, and performing three-side intersection on the fitting plane to obtain an intersection result;
and finishing the bending deformation measurement of the fuel assembly based on the intersection result.
6. The fuel assembly underwater bending deformation measurement verification method according to claim 5, wherein the acquisition of three-dimensional reconstruction point cloud data of the fuel assembly through an upper set of measurement units and a lower set of measurement units comprises:
s101, performing multi-pose calibration on the upper and lower groups of measuring units in air and water, and identifying camera parameters;
s102, calibrating the light planes of the upper and lower groups of measuring units, and calculating the light plane parameters of the upper and lower groups of measuring units;
and S103, carrying out global calibration on the upper and lower groups of measuring units.
7. The fuel assembly underwater torsion deformation measurement verification method according to claim 5, wherein the point cloud data is subjected to screening fitting to obtain a fuel assembly reconstructed outer side point and a fitting plane of the reconstructed outer side point, and the fitting plane is subjected to three-side intersection to obtain an intersection result, and the method comprises the following steps of:
s201, selecting two beams of point cloud data obtained by three-dimensional reconstruction of a group of measuring units, splitting the two beams of point cloud data into four sections of point cloud data, namely upper left, lower left, upper right and lower right, according to four directions, and fitting by adopting a least square method principle to obtain four corresponding linear equations;
sequentially and respectively substituting the four sections of point cloud data into the four linear equations, and judging whether the point is positioned on the outer side of the corresponding straight line through the positive and negative of the equations; screening to obtain point cloud data outside the four straight lines;
s202, setting a threshold value of the distance between adjacent points, and dividing the point cloud data on the outer side of the same straight line into a plurality of point cloud data of different elliptical arcs by comparing the distance between the adjacent points with the threshold value;
determining the farthest point of each elliptical arc from the outer side of the fitted straight line by comparing the distances from different outer side points of each elliptical arc to the fitted straight line;
s203, based on the principle of least square method, respectively fitting all outer farthest points of the four segments of fitting straight lines into an upper plane, a lower plane, a left plane and a right plane according to the upper direction, the lower direction, the left direction and the right direction, intersecting the left plane, the right plane and the upper plane and the lower plane into a median plane, and calculating corresponding edge points;
s204, splitting the two-beam point cloud data of the S201 into a left point cloud section and a right point cloud section according to a left direction and a right direction, respectively carrying out integral offset along the normal direction of a left plane and a right plane fitted in the S203, carrying out four-plane fitting on the offset point cloud data according to the S201-S203 method, carrying out three-plane intersection on the left plane, the right plane and an upper plane and a lower plane, and calculating corresponding central points;
and S205, performing the same processing as the processing in S201-S204 on two beams of point cloud data obtained by three-dimensional reconstruction of another group of measuring units to obtain corresponding edge points and center points.
8. The fuel assembly underwater bending deformation measurement verification method according to claim 5, wherein the performing the fuel assembly bending deformation measurement based on the intersection result comprises:
the central point of the measuring unit is used as the origin of the bending deformation calculation coordinate system to construct a coordinate system, and the distances (BowX, BowY) between the central point of the measuring unit and the central point of the upper measuring unit are used as bending deformation values;
the angle (Twist) between the edge point and the center point vector of the following measurement unit and the edge point and the center point vector of the upper measurement unit is defined as a Twist distortion value, and the counterclockwise direction is defined as a positive direction.
9. An electronic device comprising a processor and a memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the processor to implement the fuel assembly underwater buckling deformation measurement validation method of any of claims 5-8.
10. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded by a processor and which performs the fuel assembly subsea warp deformation measurement validation method of any one of claims 5-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148234.7A CN113899319B (en) | 2021-09-29 | 2021-09-29 | Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111148234.7A CN113899319B (en) | 2021-09-29 | 2021-09-29 | Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113899319A true CN113899319A (en) | 2022-01-07 |
| CN113899319B CN113899319B (en) | 2022-08-02 |
Family
ID=79189260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111148234.7A Active CN113899319B (en) | 2021-09-29 | 2021-09-29 | Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113899319B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440763A (en) * | 2020-11-05 | 2022-05-06 | 国核电站运行服务技术有限公司 | Fuel assembly on-line measuring device and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102980528A (en) * | 2012-11-21 | 2013-03-20 | 上海交通大学 | Calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters |
| US20130181983A1 (en) * | 2010-06-25 | 2013-07-18 | Kabushiki Kaisha Topcon | Point cloud data processing device, point cloud data processing system, point cloud data processing method, and point cloud data processing program |
| CN109506629A (en) * | 2018-10-24 | 2019-03-22 | 东华大学 | A kind of method of underwater nuclear fuel assembly detection device rotation center calibration |
| CN110763152A (en) * | 2019-10-09 | 2020-02-07 | 哈尔滨工程大学 | Underwater active rotation structure light three-dimensional vision measuring device and measuring method |
| CN111750782A (en) * | 2019-03-29 | 2020-10-09 | 国核电站运行服务技术有限公司 | Underwater non-contact measurement system and method for nuclear power station fuel assembly grid width |
| CN111750805A (en) * | 2020-07-06 | 2020-10-09 | 山东大学 | Three-dimensional measuring device and method based on binocular camera imaging and structured light technology |
| GB202020689D0 (en) * | 2019-12-25 | 2021-02-10 | Univ Hohai | 3-D imaging apparatus and method for dynamically and finely detecting small underwater objects |
-
2021
- 2021-09-29 CN CN202111148234.7A patent/CN113899319B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130181983A1 (en) * | 2010-06-25 | 2013-07-18 | Kabushiki Kaisha Topcon | Point cloud data processing device, point cloud data processing system, point cloud data processing method, and point cloud data processing program |
| CN102980528A (en) * | 2012-11-21 | 2013-03-20 | 上海交通大学 | Calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters |
| CN109506629A (en) * | 2018-10-24 | 2019-03-22 | 东华大学 | A kind of method of underwater nuclear fuel assembly detection device rotation center calibration |
| CN111750782A (en) * | 2019-03-29 | 2020-10-09 | 国核电站运行服务技术有限公司 | Underwater non-contact measurement system and method for nuclear power station fuel assembly grid width |
| CN110763152A (en) * | 2019-10-09 | 2020-02-07 | 哈尔滨工程大学 | Underwater active rotation structure light three-dimensional vision measuring device and measuring method |
| GB202020689D0 (en) * | 2019-12-25 | 2021-02-10 | Univ Hohai | 3-D imaging apparatus and method for dynamically and finely detecting small underwater objects |
| CN111750805A (en) * | 2020-07-06 | 2020-10-09 | 山东大学 | Three-dimensional measuring device and method based on binocular camera imaging and structured light technology |
Non-Patent Citations (1)
| Title |
|---|
| 曲学军等: "线结构光三维扫描测量中的多视数据对齐", 《塑性工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440763A (en) * | 2020-11-05 | 2022-05-06 | 国核电站运行服务技术有限公司 | Fuel assembly on-line measuring device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113899319B (en) | 2022-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108106801B (en) | Bridge and tunnel disease non-contact detection system and detection method | |
| CN108759714B (en) | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor | |
| US10776660B2 (en) | Method and apparatus for contrast enhanced photography of wind turbine blades | |
| US8085296B2 (en) | Method and apparatus for measuring an operating position in a remote inspection | |
| CN109458951B (en) | Heliostat surface shape field detection system and method | |
| CN109001224A (en) | Welding seam detection method and detection device | |
| CN106197312A (en) | A kind of settled date mirror surface-shaped rapid detection system and method thereof | |
| WO2018210072A1 (en) | Multi-view image recognition-based heliostat surface shape measurement system and method | |
| CN113267258B (en) | Infrared temperature measurement method, device, equipment, intelligent inspection robot and storage medium | |
| CN111608731B (en) | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof | |
| CN108759664B (en) | Nuclear fuel rod size detection method and system based on telecentric optics | |
| CN113899319B (en) | Underwater bending-torsion deformation measurement verification device, method, equipment and medium for fuel assembly | |
| Zhong et al. | Stereo-rectification and homography-transform-based stereo matching methods for stereo digital image correlation | |
| Chemisana et al. | Optical performance of solar reflective concentrators: A simple method for optical assessment | |
| CN115790450A (en) | Oil pipe coupling internal thread parameter detection system and method based on double plane mirrors | |
| CN204027528U (en) | A kind of vision inspection apparatus | |
| CN116105604B (en) | Steel pipe quality detection system and detection method | |
| Meiser et al. | Conversion of parabolic trough mirror shape results measured in different laboratory setups | |
| CN113654476B (en) | Irradiation-resistant underwater deformation vision measurement unit and measurement method | |
| CN209927416U (en) | Single-camera heliostat mirror surface shape quality detection system | |
| Xue et al. | Reparability measurement of vision sensor in active stereo visual system | |
| CN111964612B (en) | Drilling normal vector alignment method based on high-reflectivity imaging principle | |
| CN104613898B (en) | Detector, the measuring system and measuring method with the detector | |
| Meiser | Analysis of parabolic trough concentrator mirror shape accuracy in laboratory and collector | |
| CN112414316A (en) | Strain gauge sensitive grid size parameter measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |