CN113899319B - Device, method, equipment and medium for measurement and verification of underwater bending and torsional deformation of fuel assembly - Google Patents

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

Device, method, equipment and medium for measurement and verification of underwater bending and torsional deformation of fuel assembly

technical field

The invention belongs to the technical field of nuclear radiation safety and detection, in particular to a device, method, equipment and medium for measuring and verifying underwater bending and torsional deformation of a fuel assembly.

Background technique

Nuclear safety is the lifeline of nuclear power development. At present, most commercial nuclear power plants use pressurized water reactors with relatively mature technology, good economic benefits, and high safety and reliability. The core of pressurized water reactors is composed of fuel assemblies and other related equipment. Among them, the fuel assembly is the most important part in the core. When the assembly is seriously deformed, it will affect the normal insertion of the fuel rods, resulting in the sticking of the fuel rods and endangering the safe operation of the reactor. In order to avoid the danger of sticking rods, it is necessary to regularly check the deformation of the components within a reasonable time interval, and to assess whether the deformation is within a safe range through the detection results, and remind the staff to replace the fuel components in time.

At present, nuclear power plants generally use underwater cameras to detect the deformation of components. Through the camera devices installed around the components, the deformation of the components can be observed on the monitor screen outside. This method can only roughly judge the deformation of the components with the naked eye. The deformation cannot be quantitatively reflected by the model and accurate measurement data, and the CCD and other photosensitive devices used in general camera devices are particularly vulnerable to damage in the special environment of the reactor. It can be seen from the feedback of the nuclear power plant that the Replacements are fairly frequent.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a verification device, method, electronic device and medium for measuring and verifying the bending and torsional deformation of a fuel assembly, which can quickly and accurately measure the bending and torsional deformation of the fuel assembly.

According to one aspect of the present invention, a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly is provided, comprising:

a connecting part, the connecting part is used to realize integrated installation;

a measuring part, the measuring part is mounted on the connecting part and is used to measure the fuel assembly;

a rotating part, the rotating part is connected with the connecting part, and the rotating part controls the connecting part to rotate, thereby driving the measuring part to realize the rotation;

a lifting part, the lifting part is connected with the rotating part, and controls the rotating part to lift and lower, thereby driving the measuring part to achieve lifting;

The rotating part is combined with the lifting part, so that the measuring part is lifted and rotated, so as to realize the omnidirectional measurement of the fuel assembly up, down, left and right.

the connecting portion includes a connecting rod;

The measuring part includes two sets of identical measuring units, the two sets of measuring units are arranged up and down along the connecting rod; each set of measuring units includes a camera module and a laser module; the camera module and the laser module are installed in the on the connecting rod;

The rotating part includes a rotating adjustment seat, which is installed on the top of the connecting rod and controls the rotation of the connecting rod;

The lifting part includes a lifting adjusting seat, which is installed on the top of the rotating adjusting seat, and controls the lifting and lowering of the rotating adjusting seat, thereby driving the connecting rod to rise and fall.

Preferably, the camera module includes:

an industrial camera for capturing images;

a lens, which is connected to the industrial camera;

a camera mounting plate, on which an industrial camera connected with a lens is mounted;

a camera module housing, the camera module housing wraps the assembled industrial camera, lens and camera mounting plate inside; one end of the camera module housing close to the lens is the camera module window glass, and the other end is a sealing plate;

a camera module window glass, the camera module window glass is fixed and sealed with the camera module housing, and light enters the camera from the glass window;

a sealing plate, the sealing plate and the camera module shell are fixed and sealed by high temperature resistant waterproof glue;

The data cable is fixed and sealed with high temperature resistant waterproof glue, and then the external connection is directly connected to the power supply;

Preferably, the laser module includes:

a laser for emitting laser light;

Laser mounting plate, two lasers are installed inside the laser mounting plate, and the distance between the two lasers is 30mm;

A laser module window glass, the laser module window glass is fixed and sealed with the laser mounting plate; the laser light is projected from the glass window.

The data cable is fixed and sealed with high temperature resistant waterproof glue, and then the external connection is directly connected to the power supply.

One of the industrial cameras and two of the lasers constitute a double-knife line laser triangulation. Using the principle of double-knife line laser triangulation, each group of measurement units integrates two lasers, and the two groups of measurement units integrate four lasers. After three-dimensional reconstruction, four beams of point cloud data are obtained.

According to a second aspect of the present invention, a method for measuring and verifying underwater bending and torsional deformation of a fuel assembly is provided, comprising:

Two sets of 3D reconstructed point cloud data of the fuel assembly are collected through the upper and lower sets of measurement units;

Screening and fitting processing is performed on the point cloud data to obtain the reconstructed outer point of the fuel assembly and the fitting plane of the reconstructed outer point, and the fitting plane is intersected on three sides to obtain the intersection result;

Based on the intersection results, the bending-torsional deformation measurement of the fuel assembly is completed.

Preferably, the two sets of three-dimensional reconstruction point cloud data of the fuel assembly are collected by the upper and lower sets of measurement units, including:

S101, performing multi-attitude calibration on the upper and lower two groups of measurement units in air and water, and identifying camera parameters;

S102, performing light plane calibration on the upper and lower two groups of measuring units, and calculating the light plane parameters of the upper and lower two groups of measuring units;

S103, perform global calibration on the upper and lower two groups of measurement units.

Preferably, the point cloud data is screened and fitted to obtain the reconstructed outer point of the fuel assembly and the fitting plane of the reconstructed outer point, and the fitting plane is intersected on three sides to obtain the intersection result, including:

S201, select two sets of point cloud data obtained by three-dimensional reconstruction of a measuring unit, and divide the above two point clouds into four points of upper left, lower left, upper right and lower right according to four directions: upper left, lower left, upper right and lower right Cloud data, and adopt the principle of least squares to fit the corresponding four straight line equations;

Substitute the four segments of point cloud data into the four straight line equations in turn, and judge whether the point is located outside the corresponding straight line through the positive or negative of the equation; filter and obtain the 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 outside the same straight line into point cloud data of multiple different elliptical arcs by comparing the distance between two adjacent points and the magnitude relationship of the threshold value;

By comparing the distances from different outer points of each elliptic arc to the fitted straight line, determine the outermost point of each elliptic arc from the fitted straight line;

S203, based on the principle of the least squares method, fit all the outermost points of the four-segment fitted straight line into four planes of up, down, left and right according to the four directions of up, down, left and right respectively, and the left The plane, the right plane, and the upper and lower planes are divided into the middle plane (the middle plane between the upper plane and the lower plane) for three-sided intersection, and the corresponding edge points are calculated;

S204, split the point cloud data of the two beams of S201 into left and right segments according to the left and right directions, and perform an overall offset along the normal directions of the left plane and the right plane fitted by S203, respectively, to align the offsets. The shifted point cloud data, according to the S201-S203 method, based on the principle of least squares, fit four planes of upper, lower, left, and right, and divide the left plane, right plane, and upper and lower planes into three planes for intersection, and calculate the corresponding center point;

In S205, the two beams of point cloud data obtained by the three-dimensional reconstruction of another group of measurement units are processed in the same manner as in S201-S204 to obtain corresponding edge points and center points.

Preferably, the obtaining of the bending and torsional deformation of the fuel assembly according to the edge points and the center point includes: the center point of the above measurement unit is the origin of the bending and torsional deformation calculation coordinate system to construct a coordinate system, and the center point of the following measurement unit is compared to The distance (BowX, BowY) of the center point of the upper measurement unit is used as the bending deformation value;

The angle (Twist) between the edge point and center point vector of the following measurement unit compared with the edge point and center point vector of the upper measurement unit is used as the distortion value, and the counterclockwise direction is defined as the positive direction.

According to a third aspect of the present invention, there is provided an electronic device, the electronic device includes a processor and a memory, the memory stores at least one instruction, at least a piece of program, code set or instruction set, the at least one instruction . The at least one piece of program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned method for measuring and verifying the underwater bending and torsional deformation of a fuel assembly.

According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one instruction, at least one piece of program, code set or instruction set, the at least one instruction, the at least one piece of program . The code set or instruction set is loaded by the processor and executes the above-mentioned method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly.

Compared with the prior art, the present invention has the following beneficial effects:

The above-mentioned device and method for measuring and verifying the bending and torsional deformation of the fuel assembly of the present invention have the advantages of strong anti-interference ability, high stability, high precision and high speed, and can realize the real-time online measurement of the bending and torsional deformation of the fuel assembly. Water tightness.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

1 is a schematic structural diagram of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to an embodiment of the present invention;

2 is a front view of the structure of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to an embodiment of the present invention;

FIG. 3 is a left side view of the structure of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to an embodiment of the present invention;

4 is a schematic structural diagram of a camera module of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present invention;

5 is a schematic structural diagram of a laser module of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present invention;

6 is a data processing flow chart of a method for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present invention;

7 is a schematic diagram of a coordinate system transmission chain of a method for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present invention;

FIG. 8 is a schematic diagram of the bending and torsion calculation of the fuel assembly of the method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly according to a preferred embodiment of the present invention.

In the figure: 1 is the lift adjustment seat, 2 is the rotation adjustment seat, 3 is the camera module, 31 is the camera module housing, 32 is the camera module fixing plate, 33 is the industrial camera, 34 is the lens, 35 is the sealing plate, 36 is the camera The mounting plate, 37 is the camera module window glass, 4 is the laser module, 41 is the laser module fixing plate, 42 is the laser, 43 is the laser module window glass, 44 is the laser mounting plate, and 5 is the connecting rod.

Detailed ways

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

The working environment and its own characteristics of nuclear fuel assemblies determine that only non-contact measurement methods can be selected for the measurement of their deformation. Non-contact measurement can measure objects with special working environment or surface scratches, and is widely used in production testing. Based on this, the embodiments of the present invention provide a device and method for measuring and verifying the bending and twisting deformation of a fuel assembly under water, 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, an underwater bending and torsional deformation measurement and verification device of a fuel assembly, comprising: a connecting part, a measuring part, a rotating part and a lifting part, wherein: the connecting part has an integrated installation function; the measuring part is installed in the connecting part. The rotating part is connected with the connecting part, which controls the connecting part to rotate, thereby driving the measuring part to rotate; the lifting part is connected with the rotating part, and controls the rotating part to move up and down, thereby driving the measuring part Realize lifting; the rotating part is combined with the lifting part, so that the measuring part can be lifted and rotated, so as to realize the omnidirectional measurement of the fuel assembly up, down, left and right.

Referring to FIG. 1 , FIG. 2 and FIG. 3 , as a preferred embodiment, the connecting portion includes a connecting rod 5 . The measuring part includes two sets of identical measuring units, the two sets of measuring units are arranged up and down along the connecting rod 5, and the distance between the two sets of measuring units is 500mm; wherein, each set of measuring units includes a camera module 3 and a laser module 4, the camera module 3 and the The laser module 4 is mounted on the connecting rod 5 . The rotating part includes a rotating adjustment seat 2, which is fixed on the top of the connecting rod 5 and controls the rotation of the connecting rod 5; . As shown in FIG. 1 , the camera module 3 and the laser module 4 of the two groups of measurement units are respectively fixed to the connecting rod 5 through the camera module fixing plate 32 and the laser module fixing plate 41 , and the camera module 3 and the laser module 4 maintain a certain distance between them. Angle and distance. The lifting adjustment base 1 can lift the connecting rod 5, and the rotating adjustment base 2 can rotate the connecting rod 5. The combination of the two can ensure 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 lifted and rotated. , down, left and right omnidirectional detection.

Specifically, the connecting rod 5 in this embodiment is a vertically placed rod, which can be an 8080 aluminum alloy profile with a total length of 1500 mm. Of course, in other embodiments, other materials can also be used to make other lengths.

Specifically, the angle between the camera module 3 and the laser module 4 in this embodiment is 27°, and the distance is 300mm. Of course, in other embodiments, other included angles and spacings may also be used.

Referring to FIG. 4 , it is a schematic structural diagram of a camera module of a device for measuring and verifying underwater bending and torsional deformation of 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 capturing images; The camera 33 is connected; the camera mounting plate 36 is used to install the industrial camera 33 after connecting the lens 34; One end close to the lens 34 is the camera module window glass 37 , and the other end is the sealing plate 35 . The camera module window glass 37 and the sealing plate 35 are fixed and sealed with the camera module housing 31 by using high temperature-resistant waterproof glue.

Referring to FIG. 5 , it is a schematic structural diagram of a laser module of a device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present 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 is used for emitting laser light; the laser mounting plate 44 is internally mounted with two lasers 42 . It can be seen that the two lasers 42 are placed on the laser mounting plate 44, the laser module window glass 43 is fixed and sealed by high temperature resistant waterproof glue, the data cable is fixed and sealed by high temperature resistant waterproof glue, and then the external connection is directly connected to the power supply. The non-contact measurement method of fuel assembly based on laser scanning measurement has the advantages of strong anti-interference ability, high stability, high precision and fast speed. It does not require additional lighting facilities, and can scan and measure the precise value of the outline of the fuel assembly.

Specifically, the distance between the two lasers 42 in this embodiment is 30 mm. Of course, in other embodiments, other spacings may also be used.

Based on the above preferred embodiment, the device for measuring and verifying the underwater bending and torsional deformation of the fuel assembly in the embodiment is placed on the upper plane of the fuel well by hoisting, and then the fuel assembly is hoisted into the measurement area. 2. Ensure that the line laser projects the surface of multiple fuel rods of the fuel assembly, and then controls the measurement unit through the computer for image acquisition and subsequent calculation through the computer.

In another embodiment of the present invention, a method for measuring and verifying underwater bending and torsional deformation of a fuel assembly is also provided. Specifically, the verification method includes: collecting two sets of three-dimensional reconstructed point cloud data of the fuel assembly through the upper and lower two sets of measurement units; screening the point cloud data to obtain the reconstructed outer point of the fuel assembly, and reconstructing the outer point based on the fuel assembly Plane fitting is performed, and three-sided intersection is performed based on the fitted plane; the bending and torsional deformation of the fuel assembly is obtained according to the result of the intersection.

6 is a data processing flow chart of a method for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to a preferred embodiment of the present invention. As shown in FIG. 6 , in this preferred embodiment, the method for measuring and verifying the underwater bending and torsional deformation of a fuel assembly includes the following steps:

S1, based on the camera calibration result, reconstruct the 3D data to obtain point cloud data;

S2, based on the point cloud data obtained in S1, fit four straight lines of upper left, lower left, upper right and lower right, and define the outer direction of the line;

S3, based on the four straight lines obtained by S2, solve the point where each ellipse arc on each straight line is farthest from the outside of the straight line;

S4, fit four planes of upper, lower, left and right based on the outer farthest point obtained in S3;

S5, find the intersection of the four planes fitted by S4, and calculate the edge point and the center point;

S6, based on the edge point and the center point obtained in S5, perform coordinate normalization, and calculate the fuel rod deformation.

Specifically, in the above S1, based on the camera calibration result, the three-dimensional data is reconstructed to obtain point cloud data, including:

S101, performing multi-attitude calibration on the upper and lower two groups of measurement units in air and water, and identifying camera parameters;

S102, performing light plane calibration on the upper and lower two groups of measuring units, and calculating the light plane parameters of the upper and lower two groups of measuring units;

S103, perform global calibration on the upper and lower two groups of measurement units.

After the camera calibration is completed in this embodiment, the hardware device is started, and the three-dimensional reconstructed point cloud data of the fuel assembly is acquired.

In one embodiment, in order to better realize the camera calibration, in S101, the upper and lower two groups of measurement units are calibrated in air and water with multiple attitudes, and the camera parameters are identified, preferably in the air, and the calibration based on Zhang Zhengyou's calibration principle is used for calibration. specific:

In the air, the lens third-order distortion model is used to perform multi-attitude calibration for the upper and lower two groups of measurement units respectively, and multiple pictures from different perspectives are collected, and the Levenberg-Marquardt algorithm is used to solve the nonlinear model of the calibration camera. Matrix identification solves the camera intrinsic parameters.

Under water, based on the mathematical expression of the underwater multi-media refraction model as shown in the following formula, ignoring the influence of glass thickness, the Levenberg-Marquardt algorithm is used to solve the external parameters such as the rotation matrix and translation matrix of the camera.

d是相机光心到玻璃介质距离，R表示世界坐标系到相机坐标系的旋转变换矩阵，T表示世界坐标系到相机坐标系的平移变换矩阵，[x_w y_w z_w]是世界坐标系的三维坐标。where k is the coefficient factor, [uv] is the pixel coordinate of the pixel coordinate system, [s _x s _y ] is the number of pixels per unit distance of the image coordinate system, and [u ₀ v ₀ ] is the origin of the image coordinate system in the pixel coordinate system where n _water is the refractive index of water, n _air is the refractive index of air, n ₀ =n _water /n _air , f is the focal length of the camera, [x _u y _u ] is the coordinate of the image coordinate system,

d is the distance from the camera optical center 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 y _w z _w ] is the world coordinate system three-dimensional coordinates.

In this embodiment, by using Zhang Zhengyou's calibration principle in the air, the internal parameter calibration accuracy can be ensured, thereby providing a prerequisite for the accuracy of the subsequent camera calibration results.

In this embodiment, the underwater multi-medium refraction model is adopted to ensure the calibration accuracy of external parameters, thereby providing a guarantee for the accuracy of subsequent camera reconstruction results.

In another embodiment, in order to better realize the global calibration, in S103, the global calibration of the upper and lower two groups of measurement units may preferably be realized by the following method:

上加工块坐标系{U}在下加工块坐标系{D}的位姿转换矩阵

上测量单元工业相机坐标系{US}在上加工块坐标系{U}的位姿转换矩阵

继而计算出上测量单元工业相机坐标系{US}在下测量单元工业相机坐标系{DS}下的位姿转换矩阵

The upper and lower two groups of measurement units are globally calibrated. As shown in Figure 7, the coordinate system of the upper processing block is {U}, the coordinate system of the lower processing block is {D}, and the industrial camera coordinate system of the upper measurement unit is {US}. The coordinate system of the industrial camera of the lower measuring unit is {DS}. Based on the coordinate system transfer chain relationship of the following mathematical expressions, the pose transformation matrix of the coordinate system {D} of the lower processing block coordinate system {D} of the lower measuring unit industrial camera coordinate system {DS} is established

The pose transformation matrix of the upper processing block coordinate system {U} and the lower processing block coordinate system {D}

The pose transformation matrix of the upper measurement unit industrial camera coordinate system {US} and the upper processing block coordinate system {U}

Then calculate the pose transformation matrix of the upper measurement unit industrial camera coordinate system {US} under the lower measurement unit industrial camera coordinate system {DS}

In this embodiment, by using the above method for global calibration, the accuracy of the data of the subsequent two sets of measurement units can be further ensured, and a guarantee is provided for better realization of the measurement and verification of the underwater bending and torsional deformation of the fuel assembly.

After the camera calibration is completed, the point cloud data is obtained through 3D reconstruction, and then S2 is performed to fit four straight lines: upper left, lower left, upper right, and lower right, and define the outer direction of the line. Specifically, in an embodiment, a set of two beams of point cloud data obtained by three-dimensional reconstruction of a measuring unit is selected, and the above two beams of point clouds are divided into upper left, lower left, The upper right and lower right four segments of point cloud data, and the principle of least squares are used to fit the corresponding four straight line equations; the four segments of point cloud data are substituted into the four straight line equations in turn, and the positive and negative of the equations are used to determine whether the point is It is located outside the corresponding straight line, and the point cloud data outside the four straight lines is obtained by filtering.

On the basis of the above-mentioned embodiment, perform S3 to solve the point where each segment of elliptic arc on each straight line is farthest from the outside of the straight line. After sorting the cloud data, compare the distance between adjacent points in order. If the distance between two points is less than the threshold, it is considered that the two adjacent points belong to the same elliptical arc. If the distance between the two points is greater than the threshold, it is considered that the two Adjacent points belong to different elliptical arcs, so the point cloud data outside the same line is divided into point cloud data of multiple different elliptical arcs, and each ellipse is determined by comparing the distances from different outer points of each elliptical arc to the fitted line. The arc is the farthest point outside the fitted line. That is to say, there are multiple elliptical arcs on the outer side of each fitted straight line, and then multiple outermost points are correspondingly obtained.

On the basis of the above embodiment, in S4, four planes of upper, lower, left and right are fitted based on the outermost points, that is, based on the principle of least squares, all outermost points of the four-segment fitted straight line are fitted according to the above , down, left, and right four directions are fitted into four planes, up, down, left, and right, respectively.

Specifically, S5 fits the plane to find the intersection, and calculates the edge point and the center point, including:

The left plane, right plane, and upper and lower planes in S4 are divided into middle planes for three-sided intersection, and the corresponding edge points are calculated;

Split the point cloud data of the two beams of S2 into the left and right segments according to the left and right directions, and perform an overall offset along the normal directions of the left and right planes fitted by S4. The width/thickness of the fuel assembly half, offset 100mm in this embodiment. For the offset point cloud data, according to the S2-S4 method, based on the principle of the least squares method, the upper, lower, left and right planes are fitted, and the left plane, the right plane, and the upper and lower planes are divided into three planes. , calculate the corresponding center point.

FIG. 8 is a schematic diagram of the bending and torsion calculation of the fuel assembly of the method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly according to a preferred embodiment of the present invention. As shown in Figure 8, in S6, the coordinates are normalized to calculate the deformation of the fuel rod, and the following method can be used: the center point of the above measurement unit is the origin of the bending and torsional deformation calculation coordinate system to construct a coordinate system, and the center point of the following measurement unit is compared with The distance (BowX, BowY) of the center point of the upper measurement unit is used as the bending deformation value. The angle (Twist) between the edge point and center point vector of the following measurement unit compared with the edge point and center point vector of the upper measurement unit is used as the distortion value, and the counterclockwise direction is defined as the positive direction. Thus, the bending and torsional deformation of the fuel assembly is obtained, and the device and the above method can be used to measure the underwater bending and torsional deformation of the fuel assembly for multiple times to verify the reliability and practicability of the device and the above method.

Based on the same concept as the above method, another embodiment of the present invention further provides an electronic device, the electronic device includes a processor and a memory, and the memory stores at least one instruction, at least a program, a code set or an instruction set, at least one The instructions, at least one piece of program, code set or instruction set are loaded and executed by the processor to implement the method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly in any one of the above embodiments.

Based on the same concept as the above method, another embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores at least one instruction, at least one segment of program, code set or instruction set, at least one instruction, at least one segment of The program, code set or instruction set is loaded by the processor and executes the method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly in any one of the above embodiments.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various variations or modifications within the scope of the claims, which do not affect the essential content of the present invention. The above-mentioned preferred features can be used in any combination as long as they do not conflict with each other.

Claims (8)

1. a fuel assembly underwater bending and torsional deformation measurement verification method, is characterized in that, comprises: Collect the 3D reconstruction point cloud data of the fuel assembly through the upper and lower two sets of measurement units; Perform screening and fitting processing on the point cloud data to obtain the reconstructed outer point of the fuel assembly and the fitting plane of the reconstructed outer point, and perform three-sided intersection on the fitted plane to obtain the intersection result, including: S201, selecting two bundles of point cloud data obtained by three-dimensional reconstruction of a set of measurement units, and splitting the two bundles of point cloud data into four parts: upper left, lower left, upper right, and lower right according to four directions: upper left, lower left, upper right, and lower right Segment point cloud data, and use the principle of least squares to fit the equations of the corresponding four fitted straight lines; Substitute the four segments of point cloud data into the equations of the four fitted straight lines respectively, and judge whether the point is located outside the corresponding fitted straight line by the positive and negative of the equations; screen and obtain the point cloud data outside the four fitted straight lines; S202, setting a threshold value of the distance between adjacent points, and dividing the point cloud data outside the same fitted straight line into a plurality of point clouds of different elliptical arcs by comparing the distance between two adjacent points and the magnitude relationship of the threshold value data; By comparing the distances from different outer points of each elliptical arc to the same fitted straight line, determine the farthest point of each elliptical arc from the outer side of the same fitted straight line; S203, based on the principle of the least squares method, fit all the outermost points of the four-segment fitted straight line into four planes of up, down, left and right according to the four directions of up, down, left and right respectively, and the left The plane, the right plane, and the upper and lower planes are divided into the middle plane for three-sided intersection, and the corresponding edge points are calculated; S204, split the point cloud data of the two beams of S201 according to the left and right directions, and split the left and right points of the point cloud data, and perform an overall offset along the normal directions of the left and right planes fitted in S203, respectively. For the offset point cloud data, according to the S201-S203 method, fit four planes of upper, lower, left and right, divide the left plane, right plane, and upper and lower planes into the middle plane to find the intersection of three planes, and calculate the corresponding center point; S205, the two beams of point cloud data obtained by the three-dimensional reconstruction of another group of measurement units are processed in the same way as in S201-S204 to obtain corresponding edge points and center points; Based on the intersection results, the bending-torsional deformation measurement of the fuel assembly is completed. 2. The method for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to claim 1, wherein the collection of three-dimensional reconstructed point cloud data of the fuel assembly through the upper and lower two groups of measurement units, comprising: S101, performing multi-attitude calibration on the upper and lower two groups of measurement units in air and water, and identifying camera parameters; S102, performing light plane calibration on the upper and lower two groups of measuring units, and calculating the light plane parameters of the upper and lower two groups of measuring units; S103, perform global calibration on the upper and lower two groups of measurement units. 3. The method for measuring and verifying the underwater bending and torsional deformation of a fuel assembly according to claim 1, wherein the measurement of the bending and torsional deformation of the fuel assembly is completed based on the intersection result, comprising: The center point of the above measurement unit is the origin of the bending and torsional deformation calculation coordinate system to construct the coordinate system, and the distance between the center point of the lower measurement unit and the center point of the upper measurement unit is used as the bending deformation value; The angle between the edge point and center point vector of the following measurement unit compared with the edge point and center point vector of the upper measurement unit is regarded as the distortion value, and the counterclockwise direction is defined as the positive direction. 4. A device for measuring and verifying underwater bending and torsional deformation of a fuel assembly, for carrying out the method according to any one of claims 1-3, characterized in that, comprising: a connecting part, the connecting part is used to realize integrated installation; a measuring part, the measuring part is mounted on the connecting part and is used to measure the fuel assembly; a rotating part, the rotating part is connected with the connecting part and controls it to rotate, so as to drive the measuring part to rotate; an elevating part, the elevating part is connected with the rotating part and controls it to elevate, thereby driving the measuring part to achieve elevating; The rotating part is combined with the lifting part, so that the measuring part is lifted and rotated, so as to realize the omnidirectional measurement of the fuel assembly up, down, left and right; the connecting portion includes a connecting rod; The measuring part includes two sets of identical measuring units, the two sets of measuring units are arranged up and down along the connecting rod; each set of measuring units includes a camera module and a laser module; the camera module and the laser module are installed in the on the connecting rod; The rotating part includes a rotating adjustment seat, which is installed on the top of the connecting rod and controls the rotation of the connecting rod; The lifting part includes a lifting adjusting seat, which is installed on the top of the rotating adjusting seat, and controls the lifting and lowering of the rotating adjusting seat, thereby driving the connecting rod to rise and fall. 5. The device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to claim 4, wherein the camera module comprises: an industrial camera for capturing images; a lens, which is connected to the industrial camera; a camera mounting plate, on which an industrial camera connected with a lens is mounted; a camera module housing, the camera module housing wraps the assembled industrial camera, lens and camera mounting plate inside; one end of the camera module housing close to the lens is the camera module window glass, and the other end is a sealing plate; a camera module window glass, the camera module window glass is fixed and sealed with the camera module housing, and light enters the camera from the glass window; a sealing plate, the sealing plate and the camera module shell are fixed and sealed by high temperature resistant waterproof glue; The laser module includes: a laser for emitting laser light; a laser mounting plate, wherein two lasers are installed inside the laser mounting plate; Laser module window glass, the laser module window glass is fixed and sealed with the laser mounting plate, and the laser is projected from the glass window; One of the industrial cameras and two of the lasers constitute a double-knife line laser triangulation. 6 . The device for measuring and verifying underwater bending and torsional deformation of a fuel assembly according to claim 5 , wherein: the data lines of the camera module and the laser module are fixed and sealed by high temperature resistant and waterproof glue, and then externally connected to the power supply directly. 7 . connected. 7. An electronic device, characterized in that the electronic device comprises a processor and a memory, and the memory stores at least one instruction, at least a section of program, code set or instruction set, the at least one instruction, the at least one A program, the code set or the instruction set is loaded and executed by the processor to implement the method for measuring and verifying the underwater bending and torsional deformation of a fuel assembly according to any one of claims 1-3. 8. A computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one piece of program, code set or instruction set, the at least one instruction, the at least one piece of program, the code The set or the instruction set is loaded by the processor and executes the method for measuring and verifying the underwater bending and torsional deformation of the fuel assembly according to any one of claims 1-3.

Images