Coated fuel particle detection equipment

Abstract

The invention discloses coated fuel particle detection equipment, which comprises a cache assembly, a detection assembly and a detection assembly, side plates are mounted on the two temporary storage tables; the two sliding rails are mounted on the left and right sides of the tops of the two temporary storage table mounting side plates; the first translation air cylinder and the second translation air cylinder are installed on the side portions and the tops of the two temporary storage table installation side plates correspondingly. The two lifting cylinders are respectively mounted on one sliding rail and the first translation cylinder; the first charging tray mounting plate is mounted on the two lifting cylinders; the second charging tray mounting plate is mounted on the second translation air cylinder and one sliding rail; the manipulator carrying assembly is suitable for carrying the metallographic sample to the image acquisition assembly; and the image acquisition assembly is suitable for acquiring a metallographic cross-section image of the metallographic sample so as to detect the thickness of the coating layer of each coated fuel particle in the metallographic sample or the optical anisotropy of the compact pyrolytic carbon layer. According to the invention, full-automatic detection of the coating layer thickness or optical anisotropy of the coated fuel particles can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of visual detection, and in particular to a coated fuel particle detection device. Background Art

[0002] The coated fuel particle is the smallest unit of high-temperature reactor fuel, consisting of a UO2 core and multiple coating layers on the outside, wherein the multiple coating layers are composed of pyrolytic carbon layers and silicon carbide layers with different thicknesses and densities.

[0003] The thickness of the coating layer and the optical anisotropy of the dense pyrolytic carbon layer are important parameters that affect the efficient and safe operation of the reactor. Therefore, it is crucial to accurately measure the thickness of each coating layer of each batch of coated fuel particles and the optical anisotropy parameters of the dense pyrolytic carbon layer. However, the diameter of the coated fuel particles is less than 1 mm, and the thickness of each coating layer is only 20 to 140 μm, which leads to low efficiency in accurately measuring the coating thickness and optical anisotropy data of the coated fuel particles, which is time-consuming and labor-intensive, and faces huge technical challenges. Therefore, the development of fully automatic coated fuel particle detection equipment has important application value.

[0004] Therefore, it is necessary to provide an intelligent, efficient, precise and reliable coated fuel particle detection device to solve the above technical problems.

[0005] Application Contents

[0006] To this end, the present invention provides a coated fuel particle detection device to solve or at least alleviate the above problems.

[0007] According to one aspect of the present invention, there is provided a coated fuel particle detection device for detecting the coating thickness of coated fuel particles or the optical anisotropy of a dense pyrolytic carbon layer, comprising: a cache assembly, comprising: a cache table mounting base plate; a first cache table mounting side plate and a second cache table mounting side plate, relatively mounted on the front and rear sides of the cache table mounting base plate; two slide rails, mounted on the left and right sides of the top of the first cache table mounting side plate and the second cache table mounting side plate; a first translation cylinder and a second translation cylinder, respectively mounted on the sides and the top of the first cache table mounting side plate and the second cache table mounting side plate; two lifting cylinders, relatively arranged on the left and right sides of the cache table mounting base plate, the two lifting cylinders being respectively mounted on a slide rail and the first translation cylinder; a first material tray mounting plate, mounted on the two lifting cylinders; a second material tray mounting plate, spaced apart from the first material tray mounting plate, and mounted on the first two translation cylinders and a slide rail; wherein the cache assembly is suitable for obtaining the metallographic sample to be detected and placing it on the first tray mounting plate, the metallographic sample includes a plurality of coated fuel particles, the two lifting cylinders are suitable for driving the first tray mounting plate to rise to the highest point, and the first translation cylinder and the second translation cylinder are respectively suitable for driving the first tray mounting plate and the second tray mounting plate to translate relative to each other to the first extreme position, and then, the two lifting cylinders are suitable for driving the first tray mounting plate to descend to the lowest point so that the first tray mounting plate and the second tray mounting plate exchange positions; a manipulator transport assembly is suitable for transporting the metallographic sample on the first tray mounting plate to the image acquisition assembly; the image acquisition assembly is suitable for acquiring the metallographic cross-sectional image of the metallographic sample to detect the coating thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer.

[0008] Optionally, in the coated fuel particle detection equipment according to the present invention, after the first tray mounting plate and the second tray mounting plate exchange positions, the cache component is suitable for obtaining the second metallographic sample to be detected and placing it on the second tray mounting plate; after the image acquisition component acquires the metallographic cross-sectional image of the metallographic sample, the manipulator handling component is suitable for transporting the metallographic sample at the image acquisition component to the first tray mounting plate, the two lifting cylinders are suitable for driving the first tray mounting plate to rise to the highest point, and the first translation cylinder and the second translation cylinder are respectively suitable for driving the first tray mounting plate and the second tray mounting plate to relative translation to the second extreme position, and then, the two lifting cylinders are suitable for driving the first tray mounting plate to descend to the lowest point, so that the first tray mounting plate and the second tray mounting plate exchange positions again, so as to take away the metallographic sample on the first tray mounting plate and place the third metallographic sample to be detected; the manipulator handling component is suitable for transporting the second metallographic sample on the second tray mounting plate to the image acquisition component for detection.

[0009] Optionally, in the coated fuel particle detection equipment according to the present invention, the first tray mounting plate and the second tray mounting plate are respectively suitable for placing trays, the metallographic sample is suitable for being placed on the tray, and the manipulator handling assembly is suitable for carrying the tray with the metallographic sample to the image acquisition assembly; the manipulator handling assembly comprises: a six-axis robot; a manipulator flange, mounted on the six-axis robot, suitable for connecting linear bearings and connecting shafts; a clamping cylinder, connected to the connecting shaft through a cylinder mounting plate; a clamping jaw, mounted on the clamping jaw cylinder, suitable for moving under the driving action of the six-axis robot, and suitable for closing or opening by air pressure so as to clamp or release the tray; a spring, sleeved on the connecting shaft so as to buffer the clamping or releasing process of the tray.

[0010] Optionally, in the coated fuel particle detection equipment according to the present invention, the image acquisition assembly includes: a marble base; a microscope mounted on the marble base; a stage mounted on the microscope; a jig mounting plate mounted on the stage; wherein the manipulator transport assembly is suitable for transporting the metallographic sample to the jig mounting plate on the stage, so that the microscope can capture a metallographic cross-sectional image of the metallographic sample.

[0011] Optionally, the coated fuel particle detection device according to the present invention also includes: a computing device, which is communicatively connected to the microscope in the image acquisition component, and the computing device is suitable for: obtaining a first-field-of-view metallographic cross-sectional image of the metallographic sample acquired by the microscope, the first-field-of-view metallographic cross-sectional image containing multiple coated fuel particles; establishing a coordinate system of the metallographic sample based on the first-field-of-view metallographic cross-sectional image, and controlling the microscope to traverse the entire metallographic sample based on the coordinate system to acquire a complete field-of-view image covering the entire metallographic sample; determining the image position information of all complete coated fuel particles contained in the complete field-of-view image and stitching them together to obtain a global coordinate map containing all complete coated fuel particles in the metallographic sample; based on the global coordinate map, controlling the microscope to acquire second-field-of-view metallographic cross-sectional images of individual coated fuel particles one by one, and detecting the coating thickness of each coated fuel particle or the optical anisotropy of the dense pyrolytic carbon layer based on the second-field-of-view metallographic cross-sectional image of each coated fuel particle.

[0012] Optionally, the coated fuel particle detection device according to the present invention further includes: a monitoring unit, adapted to collect video data during the operation of the coated fuel particle detection device, so as to monitor the operating status of the coated fuel particle detection device based on the video data.

[0013] Optionally, in the coated fuel particle detection equipment according to the present invention, the cache assembly also includes: two slide rail mounting plates, installed on both sides of the top of the first cache table mounting side plate and the second cache table mounting side plate, the two slide rails are respectively installed on the two slide rail mounting plates, wherein the two ends of the slide rail mounting plates are respectively connected to the first cache table mounting side plate and the second cache table mounting side plate, and the two slide rails form a rectangular structure with the first cache table mounting side plate and the second cache table mounting side plate.

[0014] Optionally, the coated fuel particle detection device according to the present invention further comprises: a safety grating arranged on one side of the image acquisition component, suitable for giving an alarm when a person is detected entering into the range of the safety grating.

[0015] Optionally, the coated fuel particle detection device according to the present invention further includes: a mounting table, including a first mounting table plate and a second mounting table plate connected to each other, and the cache assembly, the manipulator transport assembly and the image acquisition assembly are installed on the mounting table.

[0016] Optionally, in the coated fuel particle detection equipment according to the present invention, the coated fuel particles include a core and a plurality of coating layers coated outside the core, and the plurality of coating layers include a loose pyrolytic carbon layer, an inner dense pyrolytic carbon layer, a pyrolytic silicon carbide layer, and an outer dense pyrolytic carbon layer.

[0017] According to the technical solution of the present invention, a coated fuel particle detection device is provided, including a cache component, a manipulator handling component and an image acquisition component. The cache component can obtain and place each metallographic sample to be detected, and the manipulator handling component can carry the metallographic sample on the cache component to the image acquisition component. Then, the metallographic cross-sectional image of the metallographic sample is collected by the image acquisition component to detect the coating layer thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer. Among them, after the first tray mounting plate and the second tray mounting plate of the cache component exchange positions each time, the manipulator handling component can carry the coated fuel particles to the image acquisition component for detection, and the cache component can continue to obtain the next metallographic sample to be detected, so that the manipulator handling component can carry the next metallographic sample to the image acquisition component for detection. In this way, a fully automated detection process for coated fuel particles in batch metallographic samples can be realized. Based on this, the present invention can realize fully automated detection of the coating thickness or optical anisotropy of coated fuel particles, thereby improving the detection efficiency, intelligence level, reliability and detection accuracy of the coating thickness or optical anisotropy of coated fuel particles.

[0018] In addition, the computing device can control the microscope of the image acquisition component to automatically acquire metallographic cross-sectional images of each coated fuel particle in the metallographic sample, and can acquire high-quality metallographic cross-sectional images. Based on this, the detection efficiency and accuracy of the coating thickness or optical anisotropy of the coated fuel particles can be further improved.

[0019] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To achieve the above and related purposes, certain illustrative aspects are described herein in conjunction with the following description and accompanying drawings, which indicate various ways in which the principles disclosed herein can be practiced, and all aspects and their equivalents are intended to fall within the scope of the claimed subject matter. The above and other purposes, features and advantages of the present disclosure will become more apparent by reading the following detailed description in conjunction with the accompanying drawings. Throughout the present disclosure, the same reference numerals generally refer to the same parts or elements.

[0021] Figure 1 It shows a schematic diagram of the appearance structure of a coated fuel particle detection device 100 provided according to an embodiment of the present invention;

[0022] Figure 2It shows a schematic diagram of the internal structure of a coated fuel particle detection device 100 provided according to an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the structure of a cache component 300 according to an embodiment of the present invention is shown;

[0024] Figure 4 It shows a schematic structural diagram of a manipulator handling assembly 400 according to an embodiment of the present invention;

[0025] Figure 5 It shows a schematic diagram of the structure of an image acquisition component 500 according to an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the internal structure of the coated fuel particles according to an embodiment of the present invention is shown;

[0027] Figure 7 shows a first field of view metallographic cross-sectional image and a second field of view metallographic cross-sectional image acquired according to an embodiment of the present invention;

[0028] Figure 8 A block diagram of an exemplary computing device 800 that can be used to implement embodiments of the present invention is shown. DETAILED DESCRIPTION

[0029] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0030] In view of the low efficiency of measuring the coating thickness and optical anisotropy data of coated fuel particles in the prior art, the present invention proposes a coated fuel particle detection device 100, which can realize fully automated detection of the coating thickness or optical anisotropy of coated fuel particles, thereby improving the detection efficiency, intelligence level, reliability and detection accuracy.

[0031] Figure 1 It shows a schematic diagram of the appearance structure of a coated fuel particle detection device 100 provided according to an embodiment of the present invention; Figure 2 A schematic diagram of the internal structure of a coated fuel particle detection device 100 provided according to an embodiment of the present invention is shown.

[0032] The coated fuel particle detection device 100 provided according to an embodiment of the present invention can be used to detect the coating thickness or optical anisotropy of the coated fuel particles, and can be specifically used to detect the coating thickness of the coated fuel particles or the optical anisotropy of the dense pyrolytic carbon layer of the coated fuel particles. Here, the dense pyrolytic carbon layer includes an inner dense pyrolytic carbon layer and an outer dense pyrolytic carbon layer. Figure 6 FIG. 2 shows a schematic diagram of the internal structure of the coated fuel particles according to an embodiment of the present invention. Figure 6 As shown, the coated fuel particles to be tested in the present invention include a core (uranium dioxide core) and multiple coating layers coated outside the core, and the multiple coating layers include a loose pyrolytic carbon layer, an inner dense pyrolytic carbon layer, a pyrolytic silicon carbide layer, and an outer dense pyrolytic carbon layer from the outside to the inside. The diameter of the coated fuel particles is 0.92 mm, and the diameter of the uranium dioxide core is 0.5 mm.

[0033] First, the external structure of the coated fuel particle detection device 100 is introduced. Figure 1 As shown, the exterior of the coated fuel particle detection device 100 includes a housing 101 and a display 102, a button switch assembly 103, a keyboard and mouse storage part 104, a Foma wheel 105, a main power switch 106, and a tricolor lamp 107 arranged on the housing 101. The housing 101 is mainly used to install the internal components and modules of the coated fuel particle detection device. The housing 101 can be formed by square tube welding, which is firm and reliable, and has the characteristics of high strength, high rigidity, light weight, and short production cycle. The display 102 is used to display images and perform debugging. The button switch assembly 103 is used to control the start or stop of the coated fuel particle detection device. The keyboard and mouse storage part 104 is used to store the keyboard and mouse, and can be stored in a hidden manner. When they need to be used, the storage door of the keyboard and mouse storage part is opened and the keyboard and mouse are operated. The Foma wheel 105 is used to move and level the coated fuel particle detection device. The main power switch 106 is used to control the total power supply of the coated fuel particle detection device. The tricolor lamp 107 is used to indicate the device status.

[0034] In an embodiment of the present invention, Figure 2As shown, the coated fuel particle detection device 100 includes a cache component 300, a manipulator handling component 400, and an image acquisition component 500. The cache component 300 can obtain and place each metallographic sample to be detected (the metallographic sample includes multiple coated fuel particles). For example, the cache component 300 can cooperate with an automatic guided vehicle (AGV) to obtain each metallographic sample to be detected from the automatic guided vehicle (AGV). The manipulator handling component 400 is connected to the cache component 300, and the manipulator handling component 400 can carry the metallographic sample placed on the cache component 300 to the image acquisition component 500. Then, the metallographic cross-sectional image of the metallographic sample can be collected by the image acquisition component 500 to detect each coated fuel particle in the metallographic sample, and specifically, the coating thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer can be detected.

[0035] Figure 3 A schematic diagram of the structure of a cache component 300 according to an embodiment of the present invention is shown.

[0036] like Figure 3 As shown, the cache assembly 300 includes: a cache table mounting base plate 311, a first cache table mounting side plate 301, a second cache table mounting side plate 306, two slide rails 305, a first translation cylinder 308, a second translation cylinder 318, two lifting cylinders 310, a first material tray mounting plate 304 and a second material tray mounting plate 307.

[0037] The first cache station mounting side plate 301 and the second cache station mounting side plate 306 are relatively mounted on the front and rear sides of the cache station mounting bottom plate 311 .

[0038] The two slide rails 305 are installed on the left and right sides of the top of the first cache station mounting side plate 301 and the second cache station mounting side plate 306. Specifically, the two slide rails 305 can be installed on the left and right sides of the top of the first cache station mounting side plate 301 and the second cache station mounting side plate 306 through two slide rail mounting plates 302. In some embodiments, as Figure 3 As shown, the cache assembly 300 also includes two slide rail mounting plates 302. The two slide rail mounting plates 302 are mounted on both sides of the top of the first cache station mounting side plate 301 and the second cache station mounting side plate 306, and the two slide rails 305 can be mounted on the two slide rail mounting plates 302 respectively. Among them, the two ends of the slide rail mounting plate 302 are respectively connected to the first cache station mounting side plate 301 and the second cache station mounting side plate 306. The two slide rails 305 and the first cache station mounting side plate 301 and the second cache station mounting side plate 306 form a rectangular structure.

[0039] The first translation cylinder 308 and the second translation cylinder 318 are arranged at right angles. The first translation cylinder 308 and the second translation cylinder 318 are respectively mounted on the side and top of the first cache station mounting side plate 301 and the second cache station mounting side plate 306. The front and rear ends of any translation cylinder are respectively connected to the first cache station mounting side plate 301 and the second cache station mounting side plate 306.

[0040] The two lifting cylinders 310 are arranged relatively on the left and right sides of the buffer table mounting base plate 311, and the two lifting cylinders 310 are respectively mounted on a slide rail 305 (the slide rail 305 on the left) and the first translation cylinder 308. In some embodiments, the two lifting cylinders 310 can be respectively mounted on a slide rail 305 (the slide rail 305 on the left) and the first translation cylinder 308 through the first connecting plate 303 and the second connecting plate 309. That is, one of the lifting cylinders 310 can be mounted on the left slide rail 305 through the first connecting plate 303, and the other lifting cylinder 310 can be mounted on the first translation cylinder 308 through the second connecting plate 309.

[0041] The first tray mounting plate 304 can be arranged above the first buffer stage mounting side plate 301 (the initial position before translation), and the first tray mounting plate 304 is mounted on two lifting cylinders 310. It can be understood that the first tray mounting plate 304 is indirectly connected to a slide rail 305 (the left slide rail 305) and the first translation cylinder 308 through the two lifting cylinders 310.

[0042] The second tray mounting plate 307 can be arranged above the second buffer stage mounting side plate 306 (initial position before translation). The second tray mounting plate 307 is arranged at a distance from the first tray mounting plate 304, and the second tray mounting plate 307 is mounted on the second translation cylinder 318 and a slide rail 305 (the slide rail 305 on the left).

[0043] According to an embodiment of the present invention, the working process of the coated fuel particle detection device 100 is as follows: First, the cache component 300 can obtain the metallographic sample to be detected (i.e., the first metallographic sample) (from the automatic guided vehicle), and place the metallographic sample on the first tray mounting plate 304. It should be noted that the metallographic sample includes a plurality of coated fuel particles. Subsequently, the two lifting cylinders 310 can drive the first tray mounting plate 304 to rise to the highest point, and the first translation cylinder 308 and the second translation cylinder 318 can respectively drive the first tray mounting plate 304 and the second tray mounting plate 307 to translate relative to each other to the first extreme position. In other words, the first translation cylinder 308 and the second translation cylinder 318 can be relatively translated to the first extreme position of the two, and in this process, the first tray mounting plate 304 and the second tray mounting plate 307 can be driven to translate synchronously, wherein the first translation cylinder 308 can drive the two lifting cylinders 310 and the first tray mounting plate 304 to translate, and the second translation cylinder 318 can drive the second tray mounting plate 307 to translate. It should be noted that, in the process of the first translation cylinder 308 and the second translation cylinder 318 driving the first tray mounting plate 304 and the second tray mounting plate 307 to translate relative to each other, the two slide rails 305 can guide the translation process of the first tray mounting plate 304 and the second tray mounting plate 307, respectively, to ensure that the translation process of the first tray mounting plate 304 and the second tray mounting plate 307 is stable and reliable.

[0044] After the first translation cylinder 308 and the second translation cylinder 318 respectively drive the first tray mounting plate 304 and the second tray mounting plate 307 to translate relative to each other to the first extreme position, the two lifting cylinders 310 can drive the first tray mounting plate 304 to descend to the lowest point, so that the first tray mounting plate 304 and the second tray mounting plate 307 exchange positions.

[0045] After the first tray mounting plate 304 and the second tray mounting plate 307 are exchanged, the manipulator transport component 400 can transport the metallographic sample (the first metallographic sample) on the first tray mounting plate 304 to the image acquisition component 500, so as to perform coating layer thickness detection or optical anisotropy detection on each coated fuel particle in the metallographic sample through the image acquisition component 500. Specifically, after the manipulator transport component 400 transports the metallographic sample on the first tray mounting plate 304 to the image acquisition component 500, the image acquisition component 500 can capture a metallographic cross-sectional image of the metallographic sample, and then, based on the metallographic cross-sectional image, the coating layer thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer can be detected.

[0046] It should be noted that after the first tray mounting plate 304 and the second tray mounting plate 307 exchange positions, the cache assembly 300 can continue to obtain the second metallographic sample to be tested (from the automatic guided vehicle) and place the second metallographic sample on the second tray mounting plate 307.

[0047] After the image acquisition component 500 acquires the metallographic cross-sectional image of the metallographic sample (the first metallographic sample), the manipulator transport component 400 can transport the metallographic sample (the first metallographic sample) at the image acquisition component 500 to the first tray mounting plate 304, and the two lifting cylinders 310 can drive the first tray mounting plate 304 to rise to the highest point, and the first translation cylinder 308 and the second translation cylinder 318 can respectively drive the first tray mounting plate 304 and the second tray mounting plate 307 to relative translation to the second extreme position, and then, the two lifting cylinders 310 can drive the first tray mounting plate 304 to descend to the lowest point, so that the first tray mounting plate 304 and the second tray mounting plate 307 can exchange positions again (restore to the original position).

[0048] After the first tray mounting plate 304 and the second tray mounting plate 307 are exchanged again, the manipulator transport component 400 can transport the second metallographic sample on the second tray mounting plate 307 to the image acquisition component 500 for detection. That is, the metallographic cross-sectional image of the second metallographic sample is acquired by the image acquisition component 500 to detect the coating thickness of each coated fuel particle or the optical anisotropy of the dense pyrolytic carbon layer in the second metallographic sample.

[0049] In addition, after the first tray mounting plate 304 and the second tray mounting plate 307 are exchanged again, the metallographic sample on the first tray mounting plate 304 can be removed and the third metallographic sample to be tested can be placed on the first tray mounting plate 304. Here, the metallographic sample on the first tray mounting plate 304 that has been tested can be removed by an automatic guided vehicle (AGV), and then the third metallographic sample to be tested can be placed on the first tray mounting plate 304. The process is repeated in this way, and fully automated testing of each coated fuel particle in multiple metallographic samples can be achieved.

[0050] It can be seen that according to the embodiment of the present invention, after each exchange of positions between the first tray mounting plate 304 and the second tray mounting plate 307 of the cache assembly 300, the manipulator handling assembly 400 can carry the coated fuel particles to the image acquisition assembly 500 for detection, and the cache assembly 300 can continue to obtain the next metallographic sample to be detected, so that the manipulator handling assembly 400 can carry the next metallographic sample to the image acquisition assembly for detection. In this way, a fully automated detection process for coated fuel particles in batch metallographic samples can be realized, which improves detection efficiency and intelligence level, and the detection process is more reliable and has higher detection accuracy.

[0051] In some embodiments, Figure 3 As shown, the cache assembly 300 also includes a drag chain 312 and a drag chain mounting sheet metal 313, and the drag chain 312 is used for wiring and air pipes. Among them, the drag chain mounting sheet metal 313 is installed on the cache table mounting base plate 311, and the drag chain 312 is installed on the drag chain mounting sheet metal 313. In other words, the drag chain 312 is installed on the cache table mounting base plate 311 through the drag chain mounting sheet metal 313. In addition, the drag chain 312 is connected to the manipulator handling assembly 400 to facilitate the reciprocating motion of the manipulator handling assembly 400 during the handling of metallographic samples, and can play a role in traction and protection of the built-in wires and air pipes.

[0052] In some embodiments, trays can be placed on the first tray mounting plate 304 and the second tray mounting plate 307, respectively, and metallographic samples can be placed on the trays on the first tray mounting plate 304 and the second tray mounting plate 307. The manipulator transport component 400 can transport the tray with the metallographic sample to the image acquisition component 400 for inspection.

[0053] Figure 4 A schematic structural diagram of a robot handling assembly 400 according to an embodiment of the present invention is shown.

[0054] like Figure 4 As shown, the manipulator handling assembly 400 includes a six-axis robot 408, a manipulator flange 401, a clamping cylinder 406, a clamping claw 407, and a spring 404. Among them, the manipulator flange 401 is installed on the six-axis robot 408, and the manipulator flange 401 can be connected to the linear bearing 402 and the connecting shaft 403. The clamping claw 407 is installed on the clamping claw cylinder 406, and the clamping claw cylinder 406 can be connected to the connecting shaft 403 through the cylinder mounting plate 405. The clamping claw 407 can move under the driving action of the six-axis robot 408, and the clamping claw 407 can be closed or opened by air pressure to clamp or release the material tray. Specifically, the clamping claw 407 can clamp the material tray when it is closed under the action of air pressure, and the clamping claw 407 can release the material tray when it is opened under the action of air pressure. The spring 404 is sleeved on the connecting shaft 403, so that the clamping or releasing process (loading and unloading process) of the material tray can be buffered to prevent the robot handling component 400 from crushing the microscope and the stage of the image acquisition component 500 during loading and unloading, thereby ensuring the measurement accuracy of the coated fuel particles.

[0055] Figure 5 A schematic structural diagram of an image acquisition component 500 according to an embodiment of the present invention is shown.

[0056] In some embodiments, Figure 5As shown, the image acquisition component 500 includes a marble base 502, a microscope 506, a stage 503, a fixture mounting plate 504, and a calibration block mounting plate 505. The microscope 506 is mounted on the marble base 502, the stage 503 is mounted on the microscope 506, the fixture mounting plate 504 is mounted on the stage 503, and the calibration block mounting plate 505 is mounted on the fixture mounting plate 504. The manipulator transport component 400 can transport the metallographic sample on the cache component 300 (the first tray mounting plate 304 or the second tray mounting plate 307) to the fixture mounting plate 504 on the stage 503 of the image acquisition component 500, so as to acquire the metallographic cross-sectional image of the metallographic sample through the microscope 506 of the image acquisition component 500.

[0057] In some embodiments, the image acquisition component 500 further includes a marble support seat 501 and an air-floating shock-absorbing pad 507, and the marble base 502 can be mounted on the air-floating shock-absorbing pad 507, for example, by bolts. In this way, the image acquisition component 500 can achieve a shock-absorbing effect.

[0058] In some embodiments, the microscope 506 of the image acquisition component 500 can respectively capture a first field of view metallographic cross-sectional image and a second field of view metallographic cross-sectional image of the metallographic sample based on the first field of view (large field of view) and the second field of view (small field of view), so as to detect the coating thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer.

[0059] Figure 7 The first field of view metallographic cross-sectional image and the second field of view metallographic cross-sectional image collected according to the embodiment of the present invention are shown. It should be noted that the first field of view is larger than the second field of view. In some embodiments, the microscope 506 can use a 5x objective lens to collect a metallographic cross-sectional image of the first field of view of the metallographic sample, and the size of the first field of view is 2882×2492μm, which contains approximately 3-7 coated fuel particles. The microscope 506 can use a 10x objective lens to collect a metallographic cross-sectional image of the second field of view of the metallographic sample, and the size of the second field of view is 1422×1230μm, which only contains a single coated fuel particle.

[0060] In some embodiments, the coated fuel particle detection device 100 also includes a computing device (which can be implemented as the computing device 800 described below), which is respectively communicated with the cache component 300, the robot transport component 400, and the image acquisition component 500, and can control the cache component 300, the robot transport component 400, and the image acquisition component 500 to work in coordination to achieve coating layer thickness detection or optical anisotropy detection of each coated fuel particle in the metallographic sample.

[0061] In some embodiments, the computing device is in communication with the microscope 506 in the image acquisition component 500. The computing device may first acquire a first field of view metallographic cross-sectional image of the metallographic sample (central area) acquired by the microscope 506, wherein the first field of view metallographic cross-sectional image includes a plurality of coated fuel particles. Subsequently, the computing device may establish a coordinate system of the entire metallographic sample based on the first field of view metallographic cross-sectional image. Specifically, the coordinate system of the entire metallographic sample may be established with the core gravity center of any coated fuel particle in the first field of view metallographic cross-sectional image as the coordinate origin. Then, the computing device may control the microscope 506 to traverse the entire metallographic sample based on the coordinate system to acquire a complete field of view image (including a plurality of first field of view metallographic cross-sectional images) covering the entire metallographic sample, and acquire the complete field of view image acquired by the microscope 506, determine the image position information of all the complete coated fuel particles included in the complete field of view image, and use the coordinate stitching algorithm to stitch the image position information of all the complete coated fuel particles, so as to obtain a global coordinate map including all the complete coated fuel particles in the metallographic sample. Finally, the computing device can control the microscope 506 to collect the second field of view metallographic cross-sectional images (containing only a single coated fuel particle) of a single coated fuel particle (complete coated fuel particle) in the metallographic sample one by one based on the global coordinate map, and can detect the coating thickness of each coated fuel particle or the optical anisotropy of the dense pyrolytic carbon layer based on the second field of view metallographic cross-sectional images of each coated fuel particle. Based on this, the present invention can realize the automatic collection process of the metallographic cross-sectional images of each coated fuel particle in the metallographic sample, and can collect high-quality metallographic cross-sectional images, so that the detection efficiency and detection accuracy of the coating thickness or optical anisotropy of the coated fuel particle can be further improved.

[0062] It should be noted that when detecting the coating thickness of the coated fuel particles based on the second field of view metallographic cross-section image of the coated fuel particles, the computing device can first perform image segmentation processing on the second field of view metallographic cross-section image. For example, a semantic segmentation model can be used to define the coating of the second field of view metallographic cross-section image of the coated fuel particles, and then the thickness of each coating layer of the coated fuel particles can be measured.

[0063] When detecting the optical anisotropy of the dense pyrolytic carbon layer of the coated fuel particles based on the second field of view metallographic cross-sectional image of the coated fuel particles, the computing device may first perform image segmentation processing on the second field of view metallographic cross-sectional image, for example, the semantic segmentation model may be used to define the coating of the second field of view metallographic cross-sectional image of the coated fuel particles, and then the dense pyrolytic carbon layer region may be extracted from the second field of view metallographic cross-sectional image based on the coating definition image, and the measurement region that meets the measurement requirements may be searched and extracted from the dense pyrolytic carbon layer region, and then the optical anisotropy of the dense pyrolytic carbon layer of the coated fuel particles may be determined by measuring the reflectivity of the measurement region. For example, in one embodiment, the stage may be controlled to move to drive the metallographic sample to move so that the measurement region of the coated fuel particles moves to the center of the acquisition region of the microscope, and then the reflectivity of the measurement region of the coated fuel particles under polarized light in different directions may be measured by using a microscope in conjunction with a polarizing objective lens (e.g., a 50x polarizing objective lens), and the optical anisotropy of the dense pyrolytic carbon layer of the coated fuel particles may be determined accordingly.

[0064] In some embodiments, Figure 2 As shown, the coated fuel particle detection device 100 also includes a monitoring unit 205, through which the video data of the coated fuel particle detection device 100 during operation can be collected in all directions (through one or more cameras), and the video data can be compressed, encoded, decoded and other pre-processing operations can be performed on the video data, so as to monitor the operating status of the coated fuel particle detection device 100 based on the video data, especially the operating status of the cache component 300 and the image acquisition component 500.

[0065] In some embodiments, the computing device is communicatively connected to the monitoring unit 205, and can obtain video data (preprocessed video data) during the operation of the coated fuel particle detection equipment 100 from the monitoring unit 205, and can analyze the video data to monitor the operating status of the coated fuel particle detection equipment 100.

[0066] In some embodiments, Figure 2 As shown, the coated fuel particle detection device 100 also includes a safety grating 207 and an illuminator 206. The safety grating 207 is arranged on one side of the image acquisition component 500. The safety grating 207 can detect whether a person enters the range of the safety grating, and an alarm is issued when a person enters the range of the safety grating. The safety grating 207 in the present invention can play a role in safety protection. When an operator enters the range of the safety grating, an alarm is issued and the equipment is stopped to prevent personal injury caused by misoperation. The illuminator 206 is arranged above the image acquisition component 500 for lighting.

[0067] In some embodiments, Figure 2 As shown, the coated fuel particle detection device 100 also includes a mounting platform, which includes a first mounting platform plate 201 and a second mounting platform plate 202 connected to each other. The cache assembly 300 (cache platform mounting base plate 311), the manipulator handling assembly 400 (six-axis robot) and the image acquisition assembly 500 can all be installed on the mounting platform. In some embodiments, the marble support seat and the air-floating shock-absorbing pad of the image acquisition assembly 500 are installed on the mounting platform, for example, they can be installed on the mounting platform by bolts.

[0068] According to the coated fuel particle detection device 100 of the present invention, it includes a cache component, a manipulator handling component and an image acquisition component. The cache component can obtain and place each metallographic sample to be detected, and the manipulator handling component can carry the metallographic sample on the cache component to the image acquisition component. Then, the metallographic cross-sectional image of the metallographic sample is collected by the image acquisition component to detect the coating layer thickness of each coated fuel particle in the metallographic sample or the optical anisotropy of the dense pyrolytic carbon layer. Among them, after the first tray mounting plate and the second tray mounting plate of the cache component exchange positions each time, the manipulator handling component can carry the coated fuel particles to the image acquisition component for detection, and the cache component can continue to obtain the next metallographic sample to be detected, so that the manipulator handling component can carry the next metallographic sample to the image acquisition component for detection. In this way, a fully automated detection process for coated fuel particles in batch metallographic samples can be realized. Based on this, the present invention can realize fully automated detection of the coating thickness or optical anisotropy of coated fuel particles, thereby improving the detection efficiency, intelligence level, reliability and detection accuracy of the coating thickness or optical anisotropy of coated fuel particles.

[0069] In addition, the computing device can control the microscope of the image acquisition component to automatically acquire metallographic cross-sectional images of each coated fuel particle in the metallographic sample, and can acquire high-quality metallographic cross-sectional images. Based on this, the detection efficiency and accuracy of the coating thickness or optical anisotropy of the coated fuel particles can be further improved.

[0070] also, Figure 8 A block diagram of an exemplary computing device 800 that can be used to implement embodiments of the present invention is shown.

[0071] refer to Figure 8, computing device 800 is an example of a hardware device that can be applied to various aspects of the present invention. Computing device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Computing device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0072] like Figure 8 As shown, the computing device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 to a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the computing device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0073] A number of components in the computing device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 can be any type of device capable of inputting information to the computing device 800, and the input unit 806 can receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the computing device, and can include but is not limited to a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 807 can be any type of device capable of presenting information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 808 can include but is not limited to a disk, an optical disk. The communication unit 809 allows the computing device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0074] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning network algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc.

[0075] In the description of this specification, unless otherwise clearly specified and limited, the terms "connected", "fixed", etc. should be understood in a broad sense. In addition, the directions or positional relationships indicated by the terms "front", "rear", "upper", "lower", "inner", "outer", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as limiting the present invention.

[0076] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0077] Similarly, it should be understood that in order to streamline the disclosure and aid in understanding one or more of the various application aspects, in the above description of exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Therefore, the claims that follow the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the invention.

[0078] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0079] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0080] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0081] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0082] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative and not restrictive with respect to the scope of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A coated fuel particle detection device, comprising: Cache components, including: The cache table is installed with a base plate; A first cache table mounting side plate and a second cache table mounting side plate are relatively mounted on the front and rear sides of the cache table mounting bottom plate; Two slide rails are installed on the left and right sides of the top of the first cache station installation side plate and the second cache station installation side plate; The first translation cylinder and the second translation cylinder are respectively mounted on the side and top of the first cache table mounting side plate and the second cache table mounting side plate; Two lifting cylinders are arranged oppositely on the left and right sides of the buffer table installation base plate, and the two lifting cylinders are respectively installed on a slide rail and the first translation cylinder; A first material tray mounting plate, mounted on the two lifting cylinders; A second tray mounting plate is spaced apart from the first tray mounting plate and is mounted on the second translation cylinder and a slide rail; Wherein, the cache assembly is suitable for obtaining a metallographic sample to be detected and placing it on the first tray mounting plate, the metallographic sample includes a plurality of coated fuel particles, the two lifting cylinders are suitable for driving the first tray mounting plate to rise to the highest point, and the first translation cylinder and the second translation cylinder are respectively suitable for driving the first tray mounting plate and the second tray mounting plate to translate relative to each other to a first extreme position, and then, the two lifting cylinders are suitable for driving the first tray mounting plate to descend to the lowest point, so that the first tray mounting plate and the second tray mounting plate exchange positions; A manipulator transport component, adapted to transport the metallographic sample on the first tray mounting plate to the image acquisition component; The image acquisition component is suitable for acquiring the metallographic cross-sectional image of the metallographic sample to detect the coating thickness of each coated fuel particle or the optical anisotropy of the dense pyrolytic carbon layer in the metallographic sample.

2. The coated fuel particle detection device according to claim 1, wherein: After the first tray mounting plate and the second tray mounting plate are exchanged, the cache assembly is adapted to obtain a second metallographic sample to be tested and place it on the second tray mounting plate; After the image acquisition component acquires the metallographic cross-sectional image of the metallographic sample, the manipulator transport component is suitable for transporting the metallographic sample at the image acquisition component to the first tray mounting plate, the two lifting cylinders are suitable for driving the first tray mounting plate to rise to the highest point, and the first translation cylinder and the second translation cylinder are respectively suitable for driving the first tray mounting plate and the second tray mounting plate to translate relative to each other to the second extreme position, and then, the two lifting cylinders are suitable for driving the first tray mounting plate to descend to the lowest point, so that the first tray mounting plate and the second tray mounting plate exchange positions again, so as to take away the metallographic sample on the first tray mounting plate and place the third metallographic sample to be tested; The robot transport component is suitable for transporting the second metallographic sample on the second tray mounting plate to the image acquisition component for inspection.

3. The coated fuel particle detection device according to claim 1, wherein: The first tray mounting plate and the second tray mounting plate are respectively suitable for placing trays, the metallographic samples are suitable for being placed on the trays, and the manipulator transport component is suitable for transporting the trays with the metallographic samples placed thereon to the image acquisition component; The manipulator handling assembly comprises: Six-axis robot; A manipulator flange, mounted on the six-axis robot, suitable for connecting the linear bearing and the connecting shaft; A clamping jaw cylinder connected to the connecting shaft via a cylinder mounting plate; A clamping claw, mounted on the clamping claw cylinder, adapted to move under the driving action of the six-axis robot and adapted to be closed or opened by air pressure so as to clamp or release the tray; A spring is sleeved on the connecting shaft to cushion the clamping or releasing process of the material tray.

4. The coated fuel particle detection device according to any one of claims 1 to 3, wherein: The image acquisition component comprises: marble base; a microscope, mounted on said marble base; A stage, mounted on the microscope; A fixture mounting plate, mounted on the stage; Wherein, the manipulator transport component is suitable for transporting the metallographic sample to the fixture mounting plate on the stage, so that the microscope can collect the metallographic cross-sectional image of the metallographic sample.

5. The coated fuel particle detection device according to any one of claims 1 to 4, wherein: Also includes: A computing device is communicatively connected to the microscope in the image acquisition component, and the computing device is suitable for: obtaining a first-field metallographic cross-sectional image of the metallographic sample acquired by the microscope, wherein the first-field metallographic cross-sectional image includes a plurality of coated fuel particles; establishing a coordinate system of the metallographic sample based on the first-field metallographic cross-sectional image, and controlling the microscope to traverse the entire metallographic sample based on the coordinate system to acquire a complete field of view image covering the entire metallographic sample; determining image position information of all complete coated fuel particles contained in the complete field of view image and performing splicing to obtain a global coordinate map including all complete coated fuel particles in the metallographic sample; controlling the microscope to acquire second-field metallographic cross-sectional images of individual coated fuel particles one by one based on the global coordinate map, and detecting the coating thickness of each coated fuel particle or the optical anisotropy of a dense pyrolytic carbon layer based on the second-field metallographic cross-sectional image of each coated fuel particle.

6. The coated fuel particle detection device according to any one of claims 1 to 5, wherein: Also includes: The monitoring unit is adapted to collect video data during the operation of the coated fuel particle detection device, so as to monitor the operation status of the coated fuel particle detection device based on the video data.

7. The coated fuel particle detection device according to any one of claims 1 to 6, wherein: The cache component also includes: Two slide rail mounting plates are installed on both sides of the top of the first cache table mounting side plate and the second cache table mounting side plate, and the two slide rails are respectively installed on the two slide rail mounting plates, wherein the two ends of the slide rail mounting plates are respectively connected to the first cache table mounting side plate and the second cache table mounting side plate, and the two slide rails and the first cache table mounting side plate and the second cache table mounting side plate form a rectangular structure.

8. The coated fuel particle detection device according to any one of claims 1 to 7, wherein: Also includes: The safety grating is arranged on one side of the image acquisition component and is suitable for sounding an alarm when a person is detected entering the range of the safety grating.

9. The coated fuel particle detection device according to any one of claims 1 to 8, wherein: Also includes: The mounting platform comprises a first mounting platform plate and a second mounting platform plate which are connected to each other. The cache component, the manipulator transport component and the image acquisition component are mounted on the mounting platform.

10. The coated fuel particle detection device according to any one of claims 1 to 9, wherein: The coated fuel particles include a core and a plurality of coating layers coated outside the core, wherein the plurality of coating layers include a loose pyrolytic carbon layer, an inner dense pyrolytic carbon layer, a pyrolytic silicon carbide layer, and an outer dense pyrolytic carbon layer.

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