CN117853574A - Automatic detection device and method for identification number of nuclear fuel assembly - Google Patents
Automatic detection device and method for identification number of nuclear fuel assembly Download PDFInfo
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- CN117853574A CN117853574A CN202311701908.0A CN202311701908A CN117853574A CN 117853574 A CN117853574 A CN 117853574A CN 202311701908 A CN202311701908 A CN 202311701908A CN 117853574 A CN117853574 A CN 117853574A
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- 239000003758 nuclear fuel Substances 0.000 title claims abstract description 220
- 238000001514 detection method Methods 0.000 title claims abstract description 118
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- 238000000429 assembly Methods 0.000 claims abstract description 13
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- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 6
- 239000002184 metal Substances 0.000 claims description 6
- 229910052751 metal Inorganic materials 0.000 claims description 6
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 239000000446 fuel Substances 0.000 claims description 3
- 238000010329 laser etching Methods 0.000 claims description 3
- 238000003701 mechanical milling Methods 0.000 claims description 3
- 229910052759 nickel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
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- 208000003464 asthenopia Diseases 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- 238000010330 laser marking Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The invention relates to an automatic detection device for an identification number of a nuclear fuel assembly, which comprises the following components: the mechanical device is used for mechanically positioning the nuclear fuel assembly, determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, and driving the detection device to move to a specified position; the detection device is arranged on the mechanical device and is used for acquiring the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud and sending the three-dimensional point cloud to the detection system; the detection system is used for receiving the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud information sent by the detection device, detecting the position and the geometric dimension of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, and detecting the content and the depth of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number three-dimensional point cloud information. The automatic detection device for the identification numbers of the nuclear fuel assemblies realizes the efficient and accurate automatic detection of the identification numbers on different planes of the nuclear fuel assemblies.
Description
Technical Field
The invention relates to the technical field of detection of identification numbers of nuclear fuel assemblies, in particular to an automatic detection device and method for identification numbers of nuclear fuel assemblies.
Background
All information of the nuclear fuel assembly from production to retirement is recorded in the nuclear fuel assembly identification number. At present, the identification number of the nuclear fuel assembly is inspected completely by manual inspection, and main inspection items are divided into two main categories: the first type is qualitative inspection of the appearance of the identification number of the nuclear fuel assembly, and mainly comprises the content, consistency, appearance defect and font type of the identification number of the nuclear fuel assembly; the second category is quantitative inspection of the size of the nuclear fuel assembly identification number, which consists essentially of the width, depth, height, word spacing and location of the nuclear fuel assembly identification number.
However, the manual detection is complex in operation, inconvenient in recording, low in speed and low in efficiency, and misjudgment and missed judgment are easily caused by visual fatigue. Moreover, a plurality of identification numbers may exist on the nuclear fuel assembly and are located on different planes such as the front face, the side face and the inclined side face, and detection requirements of the identification numbers at different positions of the nuclear fuel assembly are difficult to meet based on detection of the fixed-position camera.
In addition, since the identification numbers of the nuclear fuel assemblies are engraved on the surfaces of the nuclear fuel assemblies by a machine milling or laser marking material removal process, the identification numbers are not obviously distinguished from the base colors of the nuclear fuel assemblies. The traditional vision algorithm is that the etching depth information cannot be obtained by photographing through a 2D camera, and the etching characters cannot be identified when the distinction degree between the etching characters and the substrate is small. It is difficult for conventional visual algorithms to accurately identify the nuclear fuel assembly identification number.
Disclosure of Invention
The invention aims to provide an automatic detection device for a nuclear fuel assembly identification number, which solves the problems of complex operation, inconvenient recording, low speed and low efficiency in manual detection of the nuclear fuel assembly identification number, and easy occurrence of misjudgment and missed judgment caused by visual fatigue, realizes efficient and accurate automatic detection of the nuclear fuel assembly identification number, records the detected tube seat number and the corresponding assembly number thereof, and forms a corresponding database, thereby facilitating later inquiry and verification.
The invention also aims to provide an automatic detection device for the identification numbers of the nuclear fuel assemblies, which solves the problem that the identification numbers on different planes of the nuclear fuel assemblies cannot be detected in the detection of a fixed phase camera for the identification numbers of the nuclear fuel assemblies, and realizes the automatic detection of the identification numbers on the different planes of the nuclear fuel assemblies.
The invention further aims to provide an automatic detection device for the identification number of the nuclear fuel assembly, which solves the problem that the identification number of the nuclear fuel assembly with the base color lacking obvious distinction degree cannot be accurately identified by the traditional visual algorithm, and realizes the accurate identification of the identification number of the nuclear fuel assembly.
In order to achieve the above object, the present invention provides the following technical solutions:
an automatic nuclear fuel assembly identification number detection device comprising:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, and driving the detection device to move to a specified position;
the detection device is arranged on the mechanical device and is used for acquiring the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud and sending the three-dimensional point cloud to the detection system;
the detection system is used for receiving the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud information sent by the detection device, detecting the position and the geometric dimension of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, and detecting the content and the depth of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number three-dimensional point cloud information.
Further, the mechanical device comprises a support and an industrial robot mounted on the support; the detection device comprises a bracket arranged at the tail end of the industrial robot, a camera arranged on the bracket, a lens arranged on the camera, a light source arranged on the lens, and a 3D line laser measuring instrument arranged on the bracket.
Further, the detection device acquires the nuclear fuel assembly identification number area image and transmits the nuclear fuel assembly identification number area image to the detection system, and the detection device comprises the following steps:
the industrial robot performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot drives the tail end detection device to move to a designated position;
the lens of the camera collects the nuclear fuel assembly identification number area image under the light source and sends the nuclear fuel assembly identification number area image to the detection system.
Further, the detection system receives the nuclear fuel assembly identification number area image sent by the camera, detects the position and the geometric dimension of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, and comprises the following steps:
detecting a text region of the nuclear fuel assembly identification number region image through a text detection algorithm, and extracting pixel coordinates of the text region; the text region is rectangular, and the pixel coordinates of the text region are the pixel coordinates of four vertexes of the text region;
calculating an external parameter matrix of the camera according to the real-time pose of the industrial robot;
according to the external reference matrix of the camera, combining the internal reference matrix of the camera obtained by calibration, and calculating a projection matrix of the camera;
according to the projection matrix of the camera, combining with the plane gesture of the mechanically positioned nuclear fuel assembly identification number, calculating the positions of four vertexes of the text area on the plane of the nuclear fuel assembly identification number, so as to judge whether the position of the very fuel assembly identification number meets the inspection requirement or not, wherein the position accuracy is 0.01mm;
calculating the geometric dimension of the text region according to the pixel coordinates of the four vertexes of the text region; the geometry includes a height and a width; the geometric accuracy is 0.01mm.
Further, the detection device acquires a three-dimensional point cloud of the identification number of the nuclear fuel assembly and sends the three-dimensional point cloud to the detection system, and the detection device comprises the following steps:
the industrial robot performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot drives the tail end detection device to move to a designated position;
and the 3D line laser measuring instrument scans the surface of the identification number of the nuclear fuel assembly, acquires the three-dimensional point cloud information of the identification number of the nuclear fuel assembly and sends the three-dimensional point cloud information to the detection system.
The three-dimensional point cloud information is an image obtained after the 3D line laser measuring instrument scans the surface of the identification number of the nuclear fuel assembly, and each point in the image contains three kinds of information of X/Y/Z.
Further, the detection system receives the three-dimensional point cloud of the nuclear fuel assembly identification number sent by the 3D line laser measuring instrument, and detects the content and depth of the nuclear fuel assembly identification number according to the three-dimensional point cloud information of the nuclear fuel assembly identification number, and the detection system comprises the following steps:
detecting and extracting a plane of a three-dimensional point cloud of the identification number of the nuclear fuel assembly, and creating an XYZ coordinate system;
rotating the three-dimensional point cloud of the nuclear fuel assembly identification number so that the three-dimensional point cloud of the nuclear fuel assembly identification number is in an XY plane, wherein Z=0;
specified depth Z for mechanical milling or laser etching according to nuclear fuel assembly identification number r Setting a threshold Z θ ＝Z r /2；
Extracting all depths greater than Z in a three-dimensional point cloud of a nuclear fuel assembly identification number θ The three-dimensional points of the (2) are used as text points of the identification number of the nuclear fuel assembly, and the rest three-dimensional points are used as background points;
calculating the average depth of text points of all the nuclear fuel assembly identification numbers as the depth of the nuclear fuel assembly identification numbers, wherein the depth precision of the nuclear fuel assembly identification numbers is 0.005mm;
projecting text points of all the nuclear fuel assembly identification numbers to an XY plane to form plane projection of the nuclear fuel assembly identification numbers;
and identifying the content in the plane projection of the identification number of the nuclear fuel assembly through a text detection algorithm, and judging the consistency of the identification number of the nuclear fuel assembly.
Further, the support is formed by welding and processing a carbon steel plate, and the surface of the support is plated with nickel to prevent the support from rusting; the industrial robot is an industrial six-axis robot, realizes 6 degrees of freedom actions of tail end rotation, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation, and has high flexibility; the bracket is a stainless steel sheet metal part; the camera is a CCD industrial camera; the lens is a standard lens and is used for condensing light and imaging a target on a photosensitive element of the CCD industrial camera image sensor; the light source is a standard annular light source and is coaxially arranged with the lens, so that the shadow area of the lens is reduced, the image contrast is improved, and large-area fluorescent illumination is realized; the 3D line laser measuring instrument surface sheet metal is characterized in that laser is diffused into line laser through a cylindrical objective lens and then projected on the target surface to form diffuse reflection, so that reflected light is imaged on a CCD industrial camera image sensor, and the displacement and the shape of a target are measured by detecting the position and the shape change of the target image.
Further, the support is connected with the industrial robot through four groups of bolts; a locking gasket is arranged between the support and the industrial robot to prevent a bolt connecting the support and the industrial robot from loosening in vibration, so that the relative position of the industrial robot and the base is kept unchanged; the bracket is fixed at the tail end of the industrial robot through a screw; the camera is provided with an European standard C groove, and the lens is in threaded connection with the European standard C groove.
The invention also provides an automatic detection method for the identification number of the nuclear fuel assembly, which comprises the following steps:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, and determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, so as to drive the detection device to move to a specified position;
the detection device acquires a nuclear fuel assembly identification number area image and a nuclear fuel assembly identification number three-dimensional point cloud and sends the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud to the detection system;
the detection system receives the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud sent by the detection device, and detects the position, the geometric dimension, the content and the depth of the nuclear fuel assembly identification number.
The beneficial technical effects of the invention are as follows:
according to the automatic detection device and method for the identification number of the nuclear fuel assembly, the mechanical device mechanically positions the nuclear fuel assembly, and the plane area where the identification number of the nuclear fuel assembly is located is determined through model matching, so that the detection device is driven to move to a specified position; a 3D line laser measuring instrument in the detection device collects three-dimensional point cloud information of the identification number of the nuclear fuel assembly, and a camera in the detection device collects an area image of the identification number of the nuclear fuel assembly; the detection system detects the position and the geometric dimension of the nuclear fuel assembly identification number according to the regional image of the nuclear fuel assembly identification number, and detects the content and the depth of the nuclear fuel assembly identification number according to the three-dimensional point cloud information of the nuclear fuel assembly identification number. By combining the mechanical device, the detection device and the detection system, the high-efficiency, accurate and automatic detection of the content, the position, the geometric dimension and the depth of the identification numbers on different planes of the nuclear fuel assembly is realized,
drawings
FIG. 1 is a schematic diagram of a connection between a mechanical device and a detection device.
In the figure, a 1-support, a 2-industrial robot, a 3-support, a 4-camera, a 5-lens, a 6-light source and a 7-3D line laser measuring instrument are adopted.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the term "comprising" in the description of the present application and the claims and in the description of the figures above, as well as any variants thereof, is intended to cover a non-exclusive inclusion.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.
The embodiment provides an automatic detection device for identification numbers of nuclear fuel assemblies, which comprises the following components:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, and driving the detection device to move to a specified position;
the detection device is arranged on the mechanical device and is used for acquiring the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud and sending the three-dimensional point cloud to the detection system;
the detection system is used for receiving the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud information sent by the detection device, detecting the position and the geometric dimension of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, and detecting the content and the depth of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number three-dimensional point cloud information.
Referring to fig. 1, in the present embodiment, the mechanical device includes a stand 1, and an industrial robot 2 mounted on the stand 1; the detection device comprises a bracket 3 arranged at the tail end of the industrial robot 2, a camera 4 arranged on the bracket 3, a lens 5 arranged on the camera 4, a light source 6 arranged on the lens 5, and a 3D line laser measuring instrument 7 arranged on the bracket 3.
In this embodiment, the detection device acquires an area image of the identification number of the nuclear fuel assembly and transmits the image to the detection system, and includes the following steps:
the industrial robot 2 performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot 2 drives the tail end detection device to move to a designated position;
the lens 5 of the camera 4 captures an image of the nuclear fuel assembly identification number area under the light source 6 and transmits it to the detection system.
In this embodiment, the detection system receives the nuclear fuel assembly identification number area image sent by the camera 4, and detects the position and the geometry of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, including the following steps:
detecting a text region of the nuclear fuel assembly identification number region image through a text detection algorithm, and extracting pixel coordinates of the text region; the text region is rectangular, and the pixel coordinates of the text region are the pixel coordinates of four vertexes of the text region;
calculating an external parameter matrix of the camera 4 according to the real-time pose of the industrial robot 2;
according to the external reference matrix of the camera 4, combining the internal reference matrix of the camera 4 obtained by calibration to calculate a projection matrix of the camera 4;
according to the projection matrix of the camera 4, combining with the plane gesture of the mechanically positioned nuclear fuel assembly identification number, calculating the positions of four vertexes of the text area on the plane of the nuclear fuel assembly identification number, so as to judge whether the position of the very fuel assembly identification number meets the inspection requirement or not, wherein the position precision is 0.01mm;
calculating the geometric dimension of the text region according to the pixel coordinates of the four vertexes of the text region; the geometry includes a height and a width; the geometric accuracy is 0.01mm.
In this embodiment, the detection device acquires a three-dimensional point cloud of the identification number of the nuclear fuel assembly and sends the three-dimensional point cloud to the detection system, and the method includes the following steps:
the industrial robot 2 performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot 2 drives the tail end detection device to move to a designated position;
the 3D line laser measuring instrument 7 scans the surface of the identification number of the nuclear fuel assembly, acquires the three-dimensional point cloud information of the identification number of the nuclear fuel assembly and sends the three-dimensional point cloud information to the detection system.
The three-dimensional point cloud information is an image obtained after the 3D line laser measuring instrument 7 scans the surface of the identification number of the nuclear fuel assembly, and each point in the image contains three kinds of information of X/Y/Z.
In this embodiment, the detection system receives the nuclear fuel assembly identification number area image and the three-dimensional point cloud of the nuclear fuel assembly identification number sent by the 3D line laser measuring instrument 7, and detects the content and depth of the nuclear fuel assembly identification number according to the three-dimensional point cloud information of the nuclear fuel assembly identification number, including the following steps:
detecting and extracting a plane of a three-dimensional point cloud of the identification number of the nuclear fuel assembly, and creating an XYZ coordinate system;
rotating the three-dimensional point cloud of the nuclear fuel assembly identification number so that the three-dimensional point cloud of the nuclear fuel assembly identification number is in an XY plane, wherein Z=0;
setting a threshold Z according to a specified depth Zr of mechanical milling or laser etching processing of the identification number of the nuclear fuel assembly θ ＝Z r /2；
Extracting all depths greater than Z in a three-dimensional point cloud of a nuclear fuel assembly identification number θ The three-dimensional points of the (2) are used as text points of the identification number of the nuclear fuel assembly, and the rest three-dimensional points are used as background points;
calculating the average depth of text points of all the nuclear fuel assembly identification numbers as the depth of the nuclear fuel assembly identification numbers, wherein the depth precision of the nuclear fuel assembly identification numbers is 0.005mm;
projecting text points of all the nuclear fuel assembly identification numbers to an XY plane to form plane projection of the nuclear fuel assembly identification numbers;
and identifying the content in the plane projection of the identification number of the nuclear fuel assembly through a text detection algorithm, and judging the consistency of the identification number of the nuclear fuel assembly.
The text detection algorithm is an existing visual recognition algorithm, characters in the nuclear fuel assembly identification number area image are split into single fonts, then the single fonts are compared with characters in a font library to obtain characters corresponding to the fonts, and finally the characters corresponding to all the fonts are output in series, so that the identification of the characters in the nuclear fuel assembly identification number area image is realized.
In the embodiment, the support 1 is formed by welding and processing a carbon steel plate, and the surface is plated with nickel to prevent the support 1 from rusting; the industrial robot 2 is an industrial six-axis robot, realizes 6 degrees of freedom actions of terminal rotation, lower arm, upper arm, wrist rotation, wrist swing and wrist rotation, and has high flexibility; the bracket 3 is a stainless steel sheet metal part; the camera 4 is a CCD industrial camera; the lens 5 is a standard lens and is used for condensing light and imaging a target on a photosensitive element of the CCD industrial camera image sensor; the light source 6 is a standard annular light source and is coaxially arranged with the lens 5, so that the shadow area of the lens 5 is reduced, the image contrast is improved, and large-area fluorescent illumination is realized; the 3D line laser measuring instrument 7 is characterized in that a metal plate is arranged on the surface of the 3D line laser measuring instrument, laser is diffused into line laser through a cylindrical objective lens and then projected on the surface of a target to form diffuse reflection, reflected light is imaged on a CCD industrial camera image sensor, and the displacement and the shape of the target are measured by detecting the position and the shape change of the target image.
In the embodiment, the support 1 is connected with the industrial robot 2 through four groups of bolts; a locking gasket is arranged between the support 1 and the industrial robot 2 to prevent a bolt connecting the support 1 and the industrial robot 2 from loosening during vibration, so that the relative position of the industrial robot 2 and the base 1 is kept unchanged; the bracket 3 is fixed at the tail end of the industrial robot 2 through screws; the camera 4 is provided with an European standard C groove, and the lens 5 is in threaded connection with the European standard C groove.
The embodiment also provides an automatic detection method for the identification number of the nuclear fuel assembly, which comprises the following steps:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, and determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, so as to drive the detection device to move to a specified position;
the detection device acquires a nuclear fuel assembly identification number area image and a nuclear fuel assembly identification number three-dimensional point cloud and sends the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud to the detection system;
the detection system receives the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud sent by the detection device, and detects the position, the geometric dimension, the content and the depth of the nuclear fuel assembly identification number.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An automatic nuclear fuel assembly identification number detection device, comprising:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, and driving the detection device to move to a specified position;
the detection device is arranged on the mechanical device and is used for acquiring the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud and sending the three-dimensional point cloud to the detection system;
the detection system is used for receiving the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud information sent by the detection device, detecting the position and the geometric dimension of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number area image, and detecting the content and the depth of the nuclear fuel assembly identification number according to the nuclear fuel assembly identification number three-dimensional point cloud information.
2. The automatic nuclear fuel assembly identification number detection device according to claim 1, characterized in that the mechanical device comprises a support (1), and an industrial robot (2) mounted on the support (1); the detection device comprises a bracket (3) arranged at the tail end of the industrial robot (2), a camera (4) arranged on the bracket (3), a lens (5) arranged on the camera (4), a light source (6) arranged on the lens (5), and a 3D line laser measuring instrument (7) arranged on the bracket (3).
3. The automatic nuclear fuel assembly identification number detection apparatus of claim 2, wherein the detection apparatus acquires the nuclear fuel assembly identification number area image and transmits the detection system, comprising the steps of:
the industrial robot (2) performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot (2) drives the tail end detection device to move to a designated position;
a lens (5) of the camera (4) collects an area image of the identification number of the nuclear fuel assembly under a light source (6) and sends the area image to a detection system.
4. A nuclear fuel assembly identification number automatic detection apparatus according to claim 3, wherein the detection system receives a nuclear fuel assembly identification number area image transmitted from the camera (4), detects the position and geometry of the nuclear fuel assembly identification number based on the nuclear fuel assembly identification number area image, and comprises the steps of:
detecting a text region of the nuclear fuel assembly identification number region image through a text detection algorithm, and extracting pixel coordinates of the text region; the text region is rectangular, and the pixel coordinates of the text region are the pixel coordinates of four vertexes of the text region;
according to the real-time pose of the industrial robot (2), calculating an external parameter matrix of the camera (4);
according to the external reference matrix of the camera (4), combining the internal reference matrix of the camera (4) obtained by calibration to calculate a projection matrix of the camera (4);
according to the projection matrix of the camera (4), the positions of four vertexes of the text area on the plane of the identification number of the nuclear fuel assembly are calculated by combining with the plane gesture of the identification number of the mechanical positioning nuclear fuel assembly, so that whether the positions of the identification number of the very fuel assembly meet the inspection requirement is judged;
and calculating the geometric size of the text region according to the pixel coordinates of the four vertexes of the text region.
5. The nuclear fuel assembly identification number automatic detection device of claim 4, wherein the geometric dimensions include a height and a width.
6. The automatic nuclear fuel assembly identification number detection device according to claim 2, wherein the detection device acquires a three-dimensional point cloud of the nuclear fuel assembly identification number and transmits the three-dimensional point cloud to the detection system, comprising the steps of:
the industrial robot (2) performs mechanical positioning on the nuclear fuel assembly, and determines a plane area where the identification number of the nuclear fuel assembly is positioned through model matching;
the industrial robot (2) drives the tail end detection device to move to a designated position;
and the 3D line laser measuring instrument (7) scans the surface of the identification number of the nuclear fuel assembly, acquires the three-dimensional point cloud information of the identification number of the nuclear fuel assembly and sends the three-dimensional point cloud information to the detection system.
7. The automatic nuclear fuel assembly identification number detection device according to claim 6, wherein the detection system receives a three-dimensional point cloud of the nuclear fuel assembly identification number transmitted by the 3D line laser measuring instrument (7), detects the content and depth of the nuclear fuel assembly identification number according to the three-dimensional point cloud information of the nuclear fuel assembly identification number, and comprises the following steps:
detecting and extracting a plane of a three-dimensional point cloud of the identification number of the nuclear fuel assembly, and creating an XYZ coordinate system;
rotating the three-dimensional point cloud of the nuclear fuel assembly identification number so that the three-dimensional point cloud of the nuclear fuel assembly identification number is in an XY plane, wherein Z=0;
specified depth Z for mechanical milling or laser etching according to nuclear fuel assembly identification number r Setting a threshold Z θ ＝Z r /2；
Extracting all depths greater than Z in a three-dimensional point cloud of a nuclear fuel assembly identification number θ The three-dimensional points of the (2) are used as text points of the identification number of the nuclear fuel assembly, and the rest three-dimensional points are used as background points;
calculating the average depth of text points of all the nuclear fuel assembly identification numbers as the depth of the nuclear fuel assembly identification numbers;
projecting text points of all the nuclear fuel assembly identification numbers to an XY plane to form plane projection of the nuclear fuel assembly identification numbers;
and identifying the content in the plane projection of the identification number of the nuclear fuel assembly through a text detection algorithm, and judging the consistency of the identification number of the nuclear fuel assembly.
8. The automatic nuclear fuel assembly identification number detection device according to claim 2, wherein the support (1) is formed by welding a carbon steel plate, and the surface of the support is plated with nickel; the industrial robot (2) is an industrial six-axis robot; the bracket (3) is a stainless steel sheet metal part; the camera (4) is a CCD industrial camera; the lens (5) is a standard lens; the light source (6) is a standard annular light source and is coaxially arranged with the lens (5); and the surface of the 3D line laser measuring instrument (7) is provided with a metal plate.
9. The automatic nuclear fuel assembly identification number detection device according to claim 2, characterized in that the support (1) is connected with the industrial robot (2) by four sets of bolts; a locking gasket is arranged between the support (1) and the industrial robot (2); the bracket (3) is fixed at the tail end of the industrial robot (2) through a screw; the camera (4) is provided with an European standard C groove, and the lens (5) is in threaded connection in the European standard C groove.
10. An automatic detection method for identification numbers of nuclear fuel assemblies is characterized by comprising the following steps:
the mechanical device is used for mechanically positioning the nuclear fuel assembly, and determining the plane area where the identification number of the nuclear fuel assembly is positioned through model matching, so as to drive the detection device to move to a specified position;
the detection device acquires a nuclear fuel assembly identification number area image and a nuclear fuel assembly identification number three-dimensional point cloud and sends the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud to the detection system;
the detection system receives the nuclear fuel assembly identification number area image and the nuclear fuel assembly identification number three-dimensional point cloud sent by the detection device, and detects the position, the geometric dimension, the content and the depth of the nuclear fuel assembly identification number.
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| CN202311701908.0A CN117853574A (en) | 2023-12-11 | 2023-12-11 | Automatic detection device and method for identification number of nuclear fuel assembly |
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| CN202311701908.0A CN117853574A (en) | 2023-12-11 | 2023-12-11 | Automatic detection device and method for identification number of nuclear fuel assembly |
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| CN202311701908.0A Pending CN117853574A (en) | 2023-12-11 | 2023-12-11 | Automatic detection device and method for identification number of nuclear fuel assembly |
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| CN (1) | CN117853574A (en) |
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2023
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