基于水下双目视觉的燃料组件变形检测系统
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摘要
燃料组件变形状态是堆芯运行过程中的重要监测指标,基于水下双目视觉的变形检测系统不仅能获得燃料组件关键参数的三维尺寸,还可以测量组件的整体轮廓。根据水下大型燃料组件的高热、高辐射特点,研制了一种基于16台摄像单元的水下双目检测系统,并给出各组成模块的详细设计;通过联合Harris特征点和区域灰度互相关方法,实现辐射噪声干扰下的双目摄像模块的组内快速图像配准。经模拟水池和核电现场实验,验证系统局部参数测量精度优于0.2mm,全局参数测量精度满足0.5mm,为高热、高辐射的水下乏燃料组件的局部变形和整体弯曲等参数测量提供有力工具。
The deformation state of fuel assembly is an important monitoring index during core operation.The deformation detection system of spent fuel assembly based on underwater binocular vision can not only obtain three-dimensional(3 D)sizes of key parameters of spent fuel assembly,but also measure the overall outline of the assembly.Based on high temperature and high radiation characteristics of underwater large-scale target,an underwater binocular detection system based on 16 sets of camera units was developed.And the detailed design of its modules was given.By means of Harris feature point and regional grayscale cross correlation method,the fast stereo matching of binocular camera module with radiation noise was realized.According to the experiment results of simulated pool and nuclear power field,the local measurement accuracy of the system is better than 0.2 mm,and the global parameters satisfy the measurement accuracy of 0.5 mm.It can provide a powerful tool for the measurement of local deformation and bending parameters of underwater spent fuel assembly with high temperature and high radiation.
The deformation state of fuel assembly is an important monitoring index during core operation.The deformation detection system of spent fuel assembly based on underwater binocular vision can not only obtain three-dimensional(3 D)sizes of key parameters of spent fuel assembly,but also measure the overall outline of the assembly.Based on high temperature and high radiation characteristics of underwater large-scale target,an underwater binocular detection system based on 16 sets of camera units was developed.And the detailed design of its modules was given.By means of Harris feature point and regional grayscale cross correlation method,the fast stereo matching of binocular camera module with radiation noise was realized.According to the experiment results of simulated pool and nuclear power field,the local measurement accuracy of the system is better than 0.2 mm,and the global parameters satisfy the measurement accuracy of 0.5 mm.It can provide a powerful tool for the measurement of local deformation and bending parameters of underwater spent fuel assembly with high temperature and high radiation.
引文
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[14]BAO Jiyu,WANG Long,DONG Xinmin.Binocular vision navigation algorithm for AAR of flying boom UAV[J].Journal of Applied Optics,2017,38(6):910-916.鲍继宇,王龙,董新民.硬管式无人机AAR双目视觉导航算法研究[J].应用光学,2017,38(6):910-916.
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[2]GUO Hui.Radiant deformation of PWR AFA 17×17fuel assembly and core loading of deformed fuel assembly[D].Shanghai:Shanghai Jiao Tong University,2008:19-24.郭辉.压水堆AFA17×17燃料组件辐照变形及其堆芯装料[D].上海:上海交通大学,2008:19-24.
[3]DENG Zhixin,WANG Lingbin.Testing,analysis and countermeasure study for nuclear fuel radioactive distortion of qinshan II[J].China Nuclear Power,2013,6(4):307-311.邓志新,王玲彬.秦山第二核电厂燃料组件辐照变形测量、分析及对策研究[J].中国核电,2013,6(4):307-311.
[4]KWUN H,MADER E V,KRZYWOSZ K J.Guided wave inspection of nuclear fuel rods[C]//San Antonio:Soulhwest Research Institute,Proc.7th Int.Conf.NDE in Relation to Structural Integrity for Nuclear and Pressurized Components,2009:1-7.
[5]THOME Z D,PEREIRA W C A,MACHADO JC,et al.A system for nuclear fuel inspection based on ultrasonic pulse-echo technique[J].IEEE Transactions on Nuclear Science,2011,58(5):2452-2458.
[6]XU Junlong,MA Guanbing,WANG Xianbin,et al.Nondestructive inspection and repair of fuel assembly in nuclear reactor[J].Nondestructive Testing,2014,36(11):39-41.许俊龙,马官兵,王贤彬,等.核反应堆燃料组件的无损检测和修复[J].无损检测,2014,36(11):39-41.
[7]LAN Zhibin,SUN Yubao,GUO Xulin,et al.Large nuclear fuel components envelope dimensions automatic inspection device technology development and application[J].Automation&Instrumentation,2010,149(12):76-78.兰智彬,孙毓宝,郭旭林,等.大型核电站燃料组件包络轮廓尺寸全自动检查装置技术开发与应用[J].自动化与仪器仪表,2010,149(12):76-78.
[8]GAO Yongming,LI Sheng,LI Lidan.A method for survey of underwater non-contact deformation of fuel assemblies[J].Nuclear Power Engineering,2010,31(4):87-90.高永明,李声,李丽丹.燃料组件水下非接触变形测量方法[J].核动力工程,2010,31(4):87-90.
[9]XIAN Dengfei,HAN Zhenyu,CHEN Wanliang,et al.Measuring simulated nucleus fuel modules’distortions with laser scan and projection method[J].Laser&Infrared,2006,36(3):184-186.先登飞,韩震宇,陈万良,等.用激光扫描投影法检测核燃料模拟组件变形[J].激光与红外,2006,36(3):184-186.
[10]YANG Fan,ZHAO Jianping,ZHANG Xiaodong.Design on a position control subsystem applied in the system of measuring deformation of nuclear fuel assemblies[J].Machinery&Electronics,2011,9(4):48-51.杨凡,赵建平,张小栋.用于核燃料组件变形检测的位置控制子系统设计[J].机械与电子,2011,9(4):48-51.
[11]XIONG Xin,SUN Dongmei,FAN Wen,et al.Calibration technique of binocular vision measurement system using light pen[J].Journal of Applied Optics,2015,36(5):784-790.熊鑫,孙冬梅,范文,等.光笔式双目视觉测量系统标定技术研究[J].应用光学,2015,36(5):784-790.
[12]LI Guangle,HUANG Wenyou,LIU Qingsong,et al.Improved zhang’s calibration method and experiments for underwater binocular stereo-vision[J].Acta Optical Sinica,2014,34(12):1215006.李光乐,黄文有,刘青松,等.面向水下双目视觉的改进张氏标定方法及实验[J].光学学报,2014,34(12):1215006.
[13]WANG Xuguang,WANG Zhiheng,WU Fuchao.Harris correlation and feature matching[J].Patten Recognition and Artificial Intelligence,2009,22(4):505-513.王旭光,王志衡,吴福朝.Harris相关与特征匹配[J].模式识别与人工智能,2009,22(4):505-513.
[14]BAO Jiyu,WANG Long,DONG Xinmin.Binocular vision navigation algorithm for AAR of flying boom UAV[J].Journal of Applied Optics,2017,38(6):910-916.鲍继宇,王龙,董新民.硬管式无人机AAR双目视觉导航算法研究[J].应用光学,2017,38(6):910-916.
[15]WU Xiaohong,ZHONG Shiming.Fast template matching algorithm based on boundary cross correlation and image integration[J].Journal of Computer Applications,2009,29(7):1914-1917.吴小洪,钟石明.基于互相关边界特性和图像积分的快速模板匹配算法[J].计算机应用,2009,29(7):1914-1917.