CN110132975B - Method and device for detecting surface of cladding of nuclear fuel rod - Google Patents
Method and device for detecting surface of cladding of nuclear fuel rod Download PDFInfo
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- CN110132975B CN110132975B CN201910244006.6A CN201910244006A CN110132975B CN 110132975 B CN110132975 B CN 110132975B CN 201910244006 A CN201910244006 A CN 201910244006A CN 110132975 B CN110132975 B CN 110132975B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Abstract
The invention discloses a method and a device for detecting the surface of a nuclear fuel rod cladding, wherein the cladding is cylindrical. Wherein the method comprises the following steps: aiming at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors; and determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected. According to the embodiment of the invention, the nuclear fuel rod cladding surface defects are accurately and quickly detected.
Description
Technical Field
The embodiment of the invention relates to an object detection technology, in particular to a method and a device for detecting the cladding surface of a nuclear fuel rod.
Background
Nuclear fuel rods are the first safety barrier of a nuclear reactor and play a crucial role in preventing nuclear leaks. The damage of the nuclear fuel rod may be caused by the excessive surface defects of the cladding of the nuclear fuel rod, and the safe operation of the nuclear power plant reactor is directly influenced. Therefore, detection of nuclear fuel rod cladding surface defects is essential.
At present, the surface inspection method of the fuel rod is usually manual visual inspection, defects are found and then the depth of injury is measured by a microscope, and because people have certain subjectivity and limitation in defect judgment, partial serious defects can be detected to a certain extent, and some slight defects cannot be detected, so that missing detection is easy to occur; and in the manual detection, the judgment standard is difficult to control, so that the detection results of different people are inconsistent, the accuracy of the detection result is seriously influenced, and the detection efficiency is low.
In addition, ultrasonic and eddy current inspection techniques are also used to detect fuel rod defects, typically internal defects in cladding, and X-ray radiation is typically used to detect internal porosity, penetration, etc. of welds. The detection sensitivity of these techniques is not able to detect minute defects on the surface of the fuel rod and is affected by the direction.
Therefore, a method for detecting surface defects of nuclear fuel rods with high precision and high efficiency is also lacking.
Disclosure of Invention
The invention provides a method and a device for detecting the surface of a cladding of a nuclear fuel rod, which are used for realizing accurate and rapid detection of the surface of the cladding of the nuclear fuel rod.
In a first aspect, embodiments of the present invention provide a method for nuclear fuel rod cladding surface inspection, the cladding being cylindrical in shape and comprising:
aiming at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors;
and determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
In a second aspect, embodiments of the present invention also provide an apparatus for nuclear fuel rod cladding surface inspection, the cladding being cylindrical in shape, the apparatus comprising:
the 3D point cloud data acquisition module is used for acquiring 3D point cloud data of the surface of each group of cylindrical sections to be detected by adopting at least two image collectors aiming at least two groups of cylindrical sections to be detected corresponding to at least two lengths in the cylindrical body to be detected;
and the surface defect determining module is used for determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
The method comprises the steps of acquiring 3D point cloud data of the surface of each group of cylindrical sections to be detected by adopting at least two image collectors aiming at least two groups of cylindrical sections to be detected corresponding to at least two lengths in a cylindrical body to be detected; the method comprises the steps of determining the surface defects of each group of cylindrical sections to be detected based on depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected, detecting the surface defects of the cylindrical sections to be detected simultaneously by adopting a plurality of image collectors, improving the detection efficiency of the surface defects of the cylindrical sections, and accurately detecting the surface defects of the cladding of the nuclear fuel rod by acquiring the 3D point cloud data.
Drawings
FIG. 1 is a flow chart of a method for nuclear fuel rod cladding surface inspection provided in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a method for nuclear fuel rod cladding surface inspection provided in accordance with a second embodiment of the present invention;
FIG. 3 is a schematic diagram of the acquisition of 3D point cloud data of the cladding surface of a nuclear fuel rod to be detected according to the second embodiment of the invention;
FIG. 4 is a schematic diagram of the same defect stitching method provided in the second embodiment of the present invention;
FIG. 5 is a flow chart of a method for nuclear fuel rod cladding surface inspection provided in accordance with a third embodiment of the present invention;
FIG. 6 is a block diagram of an apparatus for nuclear fuel rod cladding surface inspection as provided in a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for detecting a surface of a nuclear fuel rod cladding according to an embodiment of the present invention, where the embodiment is applicable to detecting a surface defect of a nuclear fuel rod cladding, and the method may be performed by a device for detecting a surface of a nuclear fuel rod cladding, as shown in fig. 1, and specifically may include the following steps:
and 110, aiming at least two groups of to-be-detected cylindrical sections with corresponding lengths in the to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors.
The 3D point cloud data refers to a set of vectors in a three-dimensional coordinate system. These vectors are usually expressed in terms of X, Y, Z three-dimensional coordinates and are generally used primarily to represent the shape of the external surface of an object. Furthermore, the point cloud data may represent RGB color, gray value, depth, segmentation result, etc. of one point in addition to the geometric position information represented by (X, Y, Z).
The cylindrical section is a partial cylindrical section which is on the measured cylinder and is high in view width of the image collector, at least two image collectors are adopted to obtain 3D point cloud data of the surfaces of at least two groups of cylindrical sections to be measured in the process of one-time scanning, and the 3D point cloud data corresponding to each cylindrical section can be unfolded into a plane which is long in the circumference of the bottom surface of the cylindrical section.
And 120, determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
Wherein, the depth information is a coordinate value of Z in three-dimensional coordinates in the 3D point cloud data.
Graying the 3D point cloud data of the surface of each group of cylindrical sections to be detected to obtain a corresponding gray image, wherein the value of the depth information in the 3D point cloud data corresponds to the gray value in the gray image. Specifically, the maximum value and the minimum value are found from the depth information, the maximum value and the minimum value are subtracted, the difference value is used as the original depth data and is mapped to the corresponding gray level, and for example, the maximum value may be mapped to the gray level 65535, and the minimum value may be mapped to the gray level 0. Further, in order to improve the accuracy of defect detection, image enhancement and preprocessing are performed on the generated gray-scale image to eliminate the noise of invalid points. And according to the gray level difference of each point on the gray level image, carrying out edge detection on the gray level image, and extracting the defect edge to obtain the cylindrical surface defect, wherein the cylindrical surface defect comprises the depth information and the position information of each defect. The depth data are normalized to form a gray level image, and the gray level difference defect area between the pixel points is utilized, so that the calculation is simple and convenient, and the realization is easy.
According to the technical scheme of the embodiment, at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder are adopted, and at least two image collectors are adopted to obtain 3D point cloud data of the surface of each group of to-be-detected cylindrical sections; the method comprises the steps of determining the surface defects of each group of cylindrical sections to be detected based on depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected, detecting the cylinders to be detected simultaneously by adopting a plurality of image collectors, improving the detection efficiency of the surface defects of the cylinders, and realizing accurate detection of the surface of the nuclear fuel rod cladding by acquiring the 3D point cloud data.
On the basis of the technical scheme, after the surface defects of each group of cylindrical sections to be detected are determined, whether the obtained surface defects are qualified or not is further judged according to the acceptable degree of the surface defects under the actual condition, specifically, the depth information of each defect in the cylindrical surface to be detected is compared with a preset depth information standard value, if the depth information of the defect is greater than the preset depth information standard value, the defect is judged to be an unacceptable defect, otherwise, if the depth information of the defect is less than the preset depth information standard value, the position information in the 3D point cloud data of the cylindrical surface to be detected is obtained, the width accumulation is carried out on the defects of the same section according to the position information, the width value obtained by accumulation is compared with the preset width standard value, and if the width value obtained by accumulation is greater than the preset width standard value, the defect is judged to be an unacceptable defect, on the contrary, if the width value obtained by accumulation is smaller than the preset width standard value, the defect is judged to be an acceptable defect, and the defect condition of the surface of the nuclear fuel rod cladding is comprehensively judged from two aspects of the depth and the width of the defect.
Example two
Fig. 2 is a flowchart of a method for nuclear fuel rod cladding surface inspection according to a second embodiment of the present invention, which, based on the above embodiments, further includes, after determining surface defects of each set of cylindrical segments to be inspected based on depth information in the 3D point cloud data of the surface of each set of cylindrical segments to be inspected: and splicing the defects on the surface of each group of cylindrical sections to be detected based on the position information of the defects on the surface of each group of cylindrical sections to be detected to obtain the overall defect information of the surface of the cylindrical section to be detected. And for at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in the to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by using at least two image collectors to further refine. As shown in fig. 2, the specific method may include:
and step 210, controlling the cylinder to be detected to rotate in the direction of the axis by taking the axis of the cylinder to be detected as a rotating axis for each group of cylinder sections to be detected.
Referring to fig. 3, fig. 3 is a schematic view illustrating the acquisition of 3D point cloud data on the cladding surface of the nuclear fuel rod to be detected according to the second embodiment of the present invention, in which 31 is a cylinder to be detected, 32 is a group of image collectors, and 33 is a clamping and rotating structure. Illustratively, 4 groups of laser cameras are used as the image collector 32, the laser cameras are placed on one side of the surface of the cylinder 31 to be detected at equal intervals according to a certain distance, each laser camera corresponds to the same detection visual field width, the detection visual field width corresponds to the height of the cylinder section detected each time, in the single detection process, the clamping and rotating structure 33 controls the cylinder 31 to be detected to rotate at least one circle in the direction of the axis line by taking the axis line as the rotating axis.
And step 220, controlling at least two image collectors to obtain the 3D point cloud data of the surface of the set of cylindrical sections to be detected.
Illustratively, if the image collectors are four laser cameras, 3D point cloud data of four cylindrical sections can be acquired in the process of rotational scanning at each time, wherein the number of the image collectors is not specifically limited, and according to actual conditions, 3D point cloud data of a cylindrical surface to be detected is acquired by setting a plurality of groups of image collectors and simultaneously rotating, so that the detection efficiency of defects on the cylindrical surface is greatly improved.
And step 230, controlling the cylinder to be measured to adjust the moving step length according to the preset length so as to obtain each group of cylinder sections to be measured.
Furthermore, after the single rotation scanning is finished, the cylinder to be detected is controlled to move along the axis direction according to the set step length, the length of each movement is smaller than the scanning view width of the single image collector, the scanning area is expanded to the whole cylinder surface through rotating and moving the object to be detected for multiple times, and the defects of the cylinder surface are comprehensively and quickly detected.
And 240, determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
And 250, splicing the defects on the surface of each group of cylindrical sections to be detected based on the position information of the defects on the surface of each group of cylindrical sections to be detected to obtain the overall defect information of the surface of the cylindrical section to be detected.
Specifically, after the surface defects of each group of cylindrical sections to be measured are determined, the defects containing the same position information are spliced according to the position information of the surface defects of each group of cylindrical sections to be measured, so as to obtain the overall defect information of the cylindrical surface to be measured, for example, referring to fig. 4, wherein 41 is a first image of a first scan, 42 is a first image of a second scan, 43 is a defect in the first image of the first scan, 44 is a defect of the first image of the second scan, and 45 is an overlapping portion of the two defects. If the adjacent boundaries of the first image 41 scanned for the first time and the first image 42 scanned for the second time contain the same defect information, that is, the defect 43 and the defect 44 belong to the same defect, the same defect is merged according to the intersection position of the defect and the edge, and the method merges the same defect according to the physical position of the defect, that is, the whole jigsaw puzzle is avoided, and the real-time performance of data processing is also increased. Further, after the whole defect information of the cylindrical surface is acquired, binarization processing is carried out on the gray-scale image containing the defect information, and corresponding defect position and shape information are displayed.
According to the technical scheme of the embodiment, the cylinder to be detected is controlled to rotate in the direction of the axis by taking the axis of the cylinder to be detected as a rotating shaft for each group of cylinder sections to be detected; and controlling at least two image collectors to obtain the 3D point cloud data of the surface of the cylindrical section to be detected, controlling the object to be detected to adjust the moving step length by a preset length, and obtaining the 3D point cloud data of the cylindrical surface by utilizing the mode that a plurality of groups of image collectors rotate and move simultaneously, so that the detection efficiency of the surface of the nuclear fuel rod cladding is greatly improved.
EXAMPLE III
Fig. 5 is a flowchart for detecting the cladding surface of a nuclear fuel rod according to a third embodiment of the present invention, where on the basis of the third embodiment of the present invention, after the step of splicing the defects on the surface of each group of cylindrical sections to be detected to obtain the overall defect information on the surface of the cylindrical section to be detected based on the position information of the defects on the surface of each group of cylindrical sections to be detected, the present embodiment further includes: determining at least two defect elements from each defect according to the number of rows and columns included by each defect in the whole defect information of the surface of the cylinder to be detected; the defect information of each defect is determined according to the defect information of the defect element. As shown in fig. 5, the method may specifically include the following steps:
and 510, aiming at least two groups of to-be-detected cylindrical sections with corresponding lengths in the to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors.
And 520, determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
And 530, splicing the defects on the surfaces of the groups of cylindrical sections to be detected based on the position information of the defects on the surfaces of the groups of cylindrical sections to be detected to obtain the overall defect information of the surfaces of the cylindrical sections to be detected.
And 540, determining at least two defect elements from each defect according to the number of rows and columns included by each defect in the overall defect information of the surface of the cylinder to be detected.
Wherein, each defect is a defect area included by the weld surface defect.
Specifically, an external rectangle parallel to the coordinate axis of the image is made for each defect, if the minor axis direction of the external rectangle is vertical, the number of columns of the external rectangle area is larger than the number of rows, a column of pixels is taken as a defect element, otherwise, a row of pixels is taken as a defect element, and each defect is divided into a plurality of defect elements according to the rule.
Wherein the defect information of the defect elements includes an actual depth of each defect element. The defect information of each defect includes actual depth and position information of each defect.
Specifically, determining the defect information of each defect according to the defect information of the defect element includes:
determining the difference value between the minimum gray value of each defect element in each defect and the gray value of the pixel of the background element adjacent to the defect element;
and determining the defect depth of each defect according to the difference.
Wherein the minimum gray value of each defect element is the minimum gray value of the detection points included in each defect element.
And the background element pixel is a pixel point outside the defect area in the surface of the detected weld joint. Specifically, the difference between the minimum gray level of the detection point in each defect element in each defect and the gray level of the pixel of the background element adjacent to the defect element is calculated.
Illustratively, if a pixel point adjacent to a defect element is selected as a background element pixel, the difference value between the minimum gray value of each defect element in each defect and the gray value of the background element pixel is used as the actual depth information of the defect element; and if a plurality of pixel points adjacent to the defect element are selected as background element pixels, calculating the average value of the plurality of background element pixels, and taking the minimum gray value of each defect element in each defect and the average value of the background element pixels as the actual depth of the defect element.
Optionally, after dividing each defect into defect elements, some of the defect elements may be selected for calculating the depth information of the defect elements.
For example, if the single global defect is a 2-row-10-column matrix, the defect cell is divided into 10 defect cells of 2 rows and 1 column, and even columns of the 10 defect cells can be selected to calculate the actual depth of the defect cell of the selected even column. The actual depth of each defect is determined from the actual depth calculated from the selected defect elements.
The selection mode of the defect elements is not specifically limited, the actual depth of each defect is determined according to the actual calculation precision, the actual depth of the defect is calculated by calculating the defect depth of a part of the defect elements in each defect, the calculation process of defect information is simplified to a certain extent, and the calculation efficiency is improved.
Specifically, determining the defect depth of each defect according to the difference includes at least one of:
determining the mean value of at least two difference values with the largest values in the difference values, and taking the determined mean value as the defect depth of each defect;
or determining the mean value of all the difference values, and taking the determined mean value as the defect depth of each defect;
or determining the median of all the difference values, and taking the determined median as the defect depth of each defect.
Further, according to the difference value between the minimum gray value of the detection point in each defect element and the gray value of the pixel of the background element adjacent to the defect element, the defect depth of each defect is determined according to the difference value.
Optionally, two largest differences are selected according to the differences obtained by calculating the defect elements, and a mean value is calculated, and the determined mean value is used as the actual depth of each defect. Preferably, the maximum value of the difference values may be removed, and the average value of the three maximum values of the remaining difference values may be calculated, and the average value may be used as the defect depth of each defect. The defect depth of each defect is calculated by removing the maximum difference and selecting a plurality of differences, so that the calculation result has better robustness and is not influenced by a single noise point.
Alternatively, the mean value of all the difference values is calculated according to the difference values calculated by the selected defect elements, and the mean value is used as the defect depth of each defect.
Optionally, the median of all the differences is calculated according to the difference calculated from the selected defect element, and the median is used as the defect depth of each defect.
The defect depth of the defect is obtained by selecting different calculation modes, and the defect information of the surface of the welding seam can be reflected from different angles such as the actual depth of the defect, the mean value of the defect depth, the median and the like, so that the defect of the surface of the welding seam can be more comprehensively known.
According to the technical scheme of the embodiment, each defect is divided into a plurality of defect elements in unit step length according to the number of rows and columns of each defect on the surface of the measured cylinder, and the defect information of each defect is determined by calculating the defect information of the defect elements. By locally calculating the defect depth data by using the difference value between the defect element and the adjacent background element of the defect element, the calculation deviation caused by the jitter of the surface of the weld joint to be detected in the detection process can be avoided, and the defect detection precision is improved.
Example four
Fig. 6 is a structural view of an apparatus for nuclear fuel rod cladding surface inspection according to a fourth embodiment of the present invention. A method for nuclear fuel rod cladding surface inspection provided in any embodiment of the present invention may be performed, and referring to fig. 6, an apparatus for nuclear fuel rod cladding surface inspection provided in an embodiment of the present invention includes: a 3D point cloud data acquisition module 610 and a surface defect determination module 620.
The 3D point cloud data obtaining module 610 is configured to obtain, by using at least two image collectors, 3D point cloud data of the surface of each group of to-be-detected cylinder segments for at least two groups of to-be-detected cylinder segments with corresponding lengths in the to-be-detected cylinder.
And a surface defect determining module 620, configured to determine a surface defect of each group of to-be-detected cylindrical segments based on depth information in the 3D point cloud data of the surface of each group of to-be-detected cylindrical segments.
According to the technical scheme of the embodiment, at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder are adopted, and at least two image collectors are adopted to obtain 3D point cloud data of the surface of each group of to-be-detected cylindrical sections; the method comprises the steps of determining the surface defects of each group of cylindrical sections to be detected based on depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected, detecting the cylinders to be detected simultaneously by adopting a plurality of image collectors, improving the detection efficiency of the surface defects of the cylinders, and realizing accurate detection of the surface of the nuclear fuel rod cladding by acquiring the 3D point cloud data.
On the basis of the embodiment, the device for detecting the cladding surface of the nuclear fuel rod further comprises an overall defect information acquisition module, which is used for splicing the defects on the surface of each group of cylindrical sections to be detected to obtain the overall defect information of the surface of the cylindrical section to be detected based on the position information of the defects on the surface of each group of cylindrical sections to be detected.
On the basis of the embodiment, the device for detecting the surface of the cladding of the nuclear fuel rod further comprises a depth information comparison module, a position information acquisition module and a defect judgment module.
And the depth information comparison module is used for comparing the depth information of each defect in the surface of the cylinder to be detected with a preset depth information standard value.
And the position information acquisition module is used for acquiring the position information in the 3D point cloud data of the surface of the cylinder to be detected if the depth information of the defect is smaller than a preset depth information standard value.
And the defect judging module is used for performing width accumulation on the defects of the same section according to the position information, comparing the width value obtained by accumulation with a preset width standard value, and judging the defects to be acceptable defects if the width value obtained by accumulation is smaller than the preset width standard value.
On the basis of the above embodiment, the 3D point cloud data obtaining module 610 is specifically configured to, for each group of to-be-detected cylindrical segments, control the to-be-detected cylindrical body to rotate in the direction of the axis by using the axis of the to-be-detected cylindrical body as a rotation axis; and controlling at least two image collectors to obtain the 3D point cloud data of the surface of the set of cylindrical sections to be detected.
On the basis of the embodiment, the device for detecting the surface of the cladding of the nuclear fuel rod further comprises a to-be-detected cylindrical section determining module, wherein the to-be-detected cylindrical section determining module is used for controlling a to-be-detected cylinder to adjust the moving step length according to a preset length so as to obtain each group of to-be-detected cylindrical sections.
On the basis of the foregoing embodiment, the surface defect determining module 620 is specifically configured to perform graying based on depth information in the 3D point cloud data of the surface of each group of to-be-detected cylindrical segments to obtain a grayscale image of the surface of each group of to-be-detected cylindrical segments; and determining the defects of the surface of each group of the cylindrical sections to be detected based on the gray values in the gray image of the surface of each group of the cylindrical sections to be detected and preset defect conditions.
On the basis of the embodiment, the device for detecting the cladding surface of the nuclear fuel rod further comprises a defect element determining module and a defect information determining module, wherein the defect element determining module is used for determining at least two defect elements from each defect according to the number of rows and columns included by each defect in the overall defect information of the surface of the cylinder to be detected; the defect information determining module is configured to determine defect information of each defect according to the defect information of the defect element.
Further, the defect information determining module is further specifically configured to determine a difference between a minimum gray level value of each defect element in each defect and a gray level value of a background element pixel adjacent to the defect element; and determining the defect depth of each defect according to the difference.
Further, determining the defect depth of each defect according to the difference value, wherein the defect depth comprises at least one of the following items: determining the mean value of at least two difference values with the largest values in the difference values, and taking the determined mean value as the defect depth of each defect;
determining the mean value of all the difference values, and taking the determined mean value as the defect depth of each defect;
and determining the median of all the differences, and taking the determined median as the defect depth of each defect.
The device for detecting the surface of the cladding of the nuclear fuel rod, provided by the embodiment of the invention, can execute the method for detecting the surface of the cladding of the nuclear fuel rod, provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary device 712 suitable for use to implement embodiments of the present invention. The device 712 shown in fig. 7 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 7, device 712 may take the form of a general purpose computing device. Components of device 712 may include, but are not limited to: one or more processors 716 or processing units, a system memory 728, a bus 718 that couples various system components including the system memory 728 and the processors 716.
Program/utility 740 having a set (at least one) of program modules 742 may be stored, for instance, in storage 728, such program modules 742 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 742 generally perform the functions and/or methodologies of embodiments of the invention as described herein.
EXAMPLE six
There is also provided, in accordance with a sixth embodiment of the present invention, a storage medium containing computer-executable instructions for performing a method for nuclear fuel rod cladding surface inspection, the cladding being cylindrical in shape, the method comprising:
aiming at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors;
and determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected.
Of course, the embodiments of the present invention provide a storage medium containing computer executable instructions, which are not limited to the above method operations, but may also perform related operations in a method for nuclear fuel rod cladding surface inspection provided by any of the embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a terminal, or a network device) to execute the methods of the embodiments of the present invention.
It should be noted that in the above embodiment of the device for nuclear fuel rod cladding surface detection, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method for nuclear fuel rod cladding surface inspection, the cladding being cylindrical in shape, the method comprising:
aiming at least two groups of to-be-detected cylindrical sections corresponding to at least two lengths in a to-be-detected cylinder, acquiring 3D point cloud data of the surface of each group of to-be-detected cylindrical sections by adopting at least two image collectors;
determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected;
after determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected, the method further comprises the following steps:
based on the position information of the surface defects of each group of cylindrical sections to be detected, the defects on the surface of each group of cylindrical sections to be detected are spliced to obtain the overall defect information of the surface of the cylindrical section to be detected, specifically, the defects containing the same position information are spliced according to the position information of the surface defects of each group of cylindrical sections to be detected, the same defects are merged according to the crossed positions of the defects and the edges, the overall splicing is avoided, and therefore the overall defect information of the surface of the cylindrical section to be detected is obtained.
2. The method of claim 1, wherein after determining the surface defects of each set of cylinder segments to be tested, the method further comprises:
comparing the depth information of each defect in the surface of the cylinder to be detected with a preset depth information standard value;
if the depth information of the defect is smaller than the preset depth information standard value, acquiring position information in the 3D point cloud data of the surface of the cylinder to be detected;
and performing width accumulation on the defects of the same section according to the position information, comparing the width value obtained by accumulation with a preset width standard value, and if the width value obtained by accumulation is smaller than the preset width standard value, judging the defects to be acceptable defects.
3. The method according to claim 1, wherein the acquiring, by using at least two image collectors, the 3D point cloud data of the surface of each group of the to-be-measured cylindrical sections for at least two groups of to-be-measured cylindrical sections corresponding to at least two lengths in the to-be-measured cylindrical body comprises:
for each group of cylindrical sections to be detected, taking the axial lead of the cylindrical section to be detected as a rotating shaft, and controlling the cylindrical section to be detected to rotate in the direction of the axial lead;
and controlling the at least two image collectors to obtain the 3D point cloud data of the surface of the set of cylindrical sections to be detected.
4. The method of claim 1, wherein after acquiring the 3D point cloud data of the surface of each set of cylindrical sections to be measured by using at least two image collectors, the method further comprises:
and controlling the cylinder to be measured to adjust the moving step length according to the preset length so as to obtain each group of cylinder sections to be measured.
5. The method of claim 1, wherein determining the surface defects of each set of cylindrical sections under test based on the depth information in the 3D point cloud data for the surface of each set of cylindrical sections under test comprises:
graying based on depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected to obtain a grayscale image of the surface of each group of cylindrical sections to be detected;
and determining the defects of the surface of each group of the cylindrical sections to be detected based on the gray values in the gray image of the surface of each group of the cylindrical sections to be detected and preset defect conditions.
6. The method according to claim 1, wherein after the splicing the defects on the surface of each group of cylindrical sections to be tested based on the position information of the defects on the surface of each group of cylindrical sections to be tested to obtain the overall defect information on the surface of the cylindrical section to be tested, the method further comprises:
determining at least two defect elements from each defect according to the number of rows and columns included by each defect in the whole defect information of the surface of the cylinder to be detected;
and determining the defect information of each defect according to the defect information of the defect element.
7. The method of claim 6, wherein determining the defect information of each defect according to the defect information of the defect element comprises:
determining the difference value between the minimum gray value of each defect element in each defect and the gray value of the pixel of the background element adjacent to the defect element;
and determining the defect depth of each defect according to the difference.
8. The method of claim 7, wherein determining the defect depth of each defect from the difference comprises at least one of:
determining the mean value of at least two difference values with the largest values in the difference values, and taking the determined mean value as the defect depth of each defect;
determining the mean value of all the difference values, and taking the determined mean value as the defect depth of each defect;
and determining the median of all the difference values, and taking the determined median as the defect depth of each defect.
9. An apparatus for nuclear fuel rod cladding surface inspection, the cladding being cylindrical in shape, comprising:
the 3D point cloud data acquisition module is used for acquiring 3D point cloud data of the surface of each group of cylindrical sections to be detected by adopting at least two image collectors aiming at least two groups of cylindrical sections to be detected corresponding to at least two lengths in the cylindrical body to be detected;
the surface defect determining module is used for determining the surface defects of each group of cylindrical sections to be detected based on the depth information in the 3D point cloud data of the surface of each group of cylindrical sections to be detected;
the overall defect information acquisition module is used for splicing the defects on the surfaces of all groups of cylindrical sections to be detected to obtain the overall defect information of the surfaces of the cylindrical sections to be detected based on the position information of the surface defects of all groups of cylindrical sections to be detected, specifically splicing the defects containing the same position information according to the position information of the surface defects of all groups of cylindrical sections to be detected, merging the same defects according to the crossed positions of the defects and the edges, avoiding overall splicing, and thus obtaining the overall defect information of the surfaces of the cylindrical sections to be detected.
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| CN113222937A (en) * | 2021-05-14 | 2021-08-06 | 中国核电工程有限公司 | Detection method and detection device for appearance peripheral surface defects of nuclear fuel pellet |
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