Device and method for measuring shape and position of high-radiation underwater reactor core coaming

Abstract

The invention provides a shape and position measuring device and method for a high-radiation underwater reactor core coaming. The shape and position measuring device for the high-radiation underwater reactor core coaming comprises a base, a circumferential motor and transmission mechanism, a main body, an adapter, a motor and transmission mechanism, a lifting track, a connecting plate, a measuring module and control equipment. The control device is used for controlling the circumferential motor and transmission mechanism and the lifting motor and transmission mechanism to be started, conducting coordinate system integration, splicing and filtering on the point cloud data, collected by the measuring module, of the measured area, generating point cloud data of the reactor core coaming, and obtaining the shape and position size of the reactor core coaming according to the point cloud data of the reactor core coaming. The measuring module is used for collecting the point cloud data of the reactor core coaming in the circumferential direction, and the control equipment is used for processing the point cloud data to obtain the shape and position size of the reactor core coaming, so that the problem that accurate measurement, fault judgment and post-repair evaluation of an existing reactor core coaming are difficult is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of in-service maintenance of pressurized water reactor nuclear power units, and particularly relates to a shape and position measuring device for a high-radiation underwater core plate and a method thereof. BACKGROUND

[0002] Nuclear power generation is to generate electricity by using the heat energy released by the self-sustained chain fission reaction of nuclear fuel. After the first criticality of a pressurized water reactor nuclear power plant, the nuclear fuel assembly, the primary system and the equipment have high radioactivity, the maintenance environment is extremely harsh, the maintenance personnel cannot normally approach, and the conventional means cannot be used for maintenance operation. At present, the common method in the industry at home and abroad is to use a certain concentration of boric acid water as a radiation shield to perform maintenance operation at a distance.

[0003] The reactor core plate is used for directly bearing and constraining the nuclear fuel assembly, and is subjected to harsh working conditions such as high irradiation, high temperature, high pressure, water flow impact and flow-induced vibration during operation. Once a fault occurs, irreversible serious consequences will be caused, and the nuclear safety of the nuclear power plant will be affected. The distance between the core fuel assemblies of the mainstream pressurized water reactor unit is about 1mm. The material aging and swelling in the high irradiation area of the core plate will cause the size of the core to change, and then cause the nuclear fuel assembly to be unable to be normally loaded and unloaded and other serious consequences. In order to meet the needs of accurate measurement, fault judgment and post-repair evaluation of the reactor core plate, it is urgent to develop the key technology of measuring the core plate in a high-radiation underwater environment. SUMMARY

[0004] Therefore, the application provides a shape and position measuring device for a high-radiation underwater core plate and a method thereof. The point cloud data of the core plate in the circumferential direction is collected by using a measuring module, and the shape and position size of the core plate is obtained by processing the point cloud data by using a control device, so as to solve the problem that the existing reactor core plate is difficult to accurately measure, judge faults and evaluate after repair.

[0005] The first aspect of the present application provides a shape and position measuring device for a high-radiation underwater reactor core containment plate, which comprises a base, a circumferential motor and transmission mechanism, a main body, an adapter, a motor and transmission mechanism, a lifting track, a connecting plate, a measuring module and a control device. The lower part of the base is designed with a guide hole, which is used for positioning and installing the shape and position measuring device in the reactor core. The upper part of the base is connected with the main body, and the inside of the main body is hollow for accommodating auxiliary components. The lower part of the adapter is connected with the main body through bolts, and the upper part of the adapter is matched with the hoist interface of the shape and position measuring device. The lifting track is installed on the side of the main body, and the circumferential motor and transmission mechanism are connected with the lifting track for rotating the lifting track in the circumferential direction of the main body through belt transmission. The measuring module is installed on the connecting plate through bolts for collecting point cloud data of the measured area of the reactor core containment plate. The lifting motor and transmission mechanism are located at the upper part of the lifting track and are connected with the connecting plate and the measuring module for driving the connecting plate to move up and down on the lifting track. The control device is in communication connection with the circumferential motor and transmission mechanism, the lifting motor and transmission mechanism, and the measuring module for controlling the circumferential motor and transmission mechanism and the lifting motor and transmission mechanism to be turned on, and integrating, splicing and filtering the point cloud data of the measured area collected by the measuring module in the coordinate system to generate the point cloud data of the reactor core containment plate, and obtaining the shape and position size of the reactor core containment plate according to the point cloud data of the reactor core containment plate.

[0006] In one specific embodiment of the present application, the control device is a remote control device, which is in remote communication connection with the measuring module.

[0007] In one specific embodiment of the present application, the communication distance between the remote control device and the measuring module is not less than 100 meters.

[0008] In one specific embodiment of the present application, the mechanical components in the shape and position measuring device for the high-radiation underwater reactor core containment plate are made of stainless steel.

[0009] In one specific embodiment of the present application, the circumferential motor and transmission mechanism, the main body, the adapter, the motor and transmission mechanism, the lifting track, the connecting plate and the measuring module are all subjected to waterproof sealing treatment.

[0010] In one specific embodiment of the present application, the measuring module is subjected to anti-radiation shielding treatment.

[0011] In one specific embodiment of the present application, the measuring module adopts laser measurement technology.

[0012] The second aspect of the present application provides a shape and position measuring method for a high-radiation underwater reactor core containment plate, which comprises:

[0013] S10: The control equipment initiates automatic measurement. The control measurement module rotates one revolution along the circumference of the reactor core from the highest position of the lifting track, collecting point cloud data of the reactor core enclosure in the circumferential direction. The circumferential motor and transmission mechanism are located at the zero point of the equipment circumference.

[0014] S20: The control equipment drives the lifting rail by controlling the lifting motor and transmission mechanism to move the measuring module a preset distance, rotates the measuring module one revolution around the circumference of the core shroud, and collects single-layer point cloud data of the core shroud in the circumferential area at the current height. This operation is repeated until the entire measured area is covered. The preset distance is less than the measurement width of the measuring module in the vertical direction.

[0015] S30: The control equipment integrates, stitches, and filters the point cloud data of the measured area collected by the measurement module to generate the point cloud data of the core enclosure, and obtains the shape and position dimensions of the core enclosure based on the point cloud data of the core enclosure.

[0016] In one specific embodiment of this application, prior to step S10, the method for measuring the shape and position of the high-radiation underwater reactor core shroud further includes:

[0017] S1: The control equipment controls the circumferential motor and transmission mechanism to slowly move along the circumferential direction to the zero point of the equipment circumference.

[0018] S2: The control equipment controls the measurement module to slowly move vertically along the lifting track to the highest position.

[0019] The beneficial effects of this technical solution are as follows: By setting up control equipment to control the opening of the circumferential motor and transmission mechanism, and the lifting motor and transmission mechanism, the lifting motor and transmission mechanism drive the connecting plate to make the connecting plate and the measurement module move up and down on the lifting track. The measurement module collects point cloud data of the measured area of ​​the core enclosure plate, and the control equipment performs coordinate system integration, stitching, and filtering on the point cloud data of the measured area collected by the measurement module to generate point cloud data of the core enclosure plate. Based on the point cloud data of the core enclosure plate, the shape and position dimensions of the core enclosure plate are obtained, thereby realizing the measurement of the shape and position dimensions of the reactor core in the harsh environment of high-radiation underwater. The technical solution of this application can realize the core positioning of the high-radiation underwater core enclosure plate shape and position measurement device by relying on the guide hole at the bottom of the base and the guide pin of the core bottom plate; through modular design, the base, adapter, measurement module and other modules can be adaptively matched according to different measurement objects. Attached Figure Description

[0020] Figure 1 The diagram shown is a structural schematic of a shape and position measurement device for a high-radiation underwater reactor core ballast provided in an embodiment of this application.

[0021] Figure 2The diagram shown is an application status schematic of a high-radiation underwater reactor core ballast plate shape and position measurement device provided in an embodiment of this application.

[0022] In the diagram, 1. Base; 2. Circular motor and transmission mechanism; 3. Main body; 4. Adapter; 5. Lifting motor and transmission mechanism; 6. Lifting rail; 7. Connecting plate; 8. Measurement module; 9. Core enclosure plate; 10. Core bottom plate; 11. Guide pin. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] At least one embodiment of this application provides a shape and position measurement device for a high-radiation underwater reactor core shroud, referencing... Figure 1 and Figure 2 The high-radioactivity underwater reactor core enclosure's shape and position measurement device includes a base 1, a circumferential motor and transmission mechanism 2, a main body 3, an adapter 4, a motor and transmission mechanism 5, a lifting rail 6, a connecting plate 7, a measurement module 8, and control equipment. The base 1 has a guide hole at its lower part for positioning and installing the shape and position measurement device within the reactor core. The upper part of the base 1 connects to the main body 3, and the hollow interior of the main body 3 is used to house auxiliary components. The lower part of the adapter 4 is bolted to the main body 3, and the upper part of the adapter 4 matches the lifting interface of the shape and position measurement device. The lifting rail 6 is installed on the side of the main body 3, and the circumferential motor and transmission mechanism 2 is connected to the lifting rail 6 for rotating the main body 3 circumferentially via belt drive. The measurement module 8 is bolted to the connecting plate 7 for collecting point cloud data in the circumferential direction of the core enclosure 9. The lifting motor and transmission mechanism 5 is located above the lifting rail 6 and connected to the connecting plate 7 and the measurement module 8, driving the connecting plate 7 to move the connecting plate 7 and the measurement module 8 up and down on the lifting rail 6. The control device is communicatively connected to the circumferential motor and transmission mechanism 2, the lifting motor and transmission mechanism 5, and the measurement module 8. It is used to control the circumferential motor and transmission mechanism 2 and the lifting motor and transmission mechanism 5 to start, and to integrate, stitch, and filter the point cloud data in the circumferential direction collected by the measurement module 8 to generate the point cloud data of the core enclosure plate, and to obtain the shape and position dimensions of the core enclosure plate 9 based on the point cloud data of the core enclosure plate.

[0025] It should be noted that "high radiation" refers to the radiation level corresponding to the radiation protection red zone of a nuclear power plant. Auxiliary components include cables and other parts. The upper part of adapter 4 is compatible with the lifting interface of the form and position measuring device, allowing adapter 4 to be replaced according to the lifting interface of different form and position measuring devices.

[0026] According to the technical solution provided in this application embodiment, a control device is set to control the operation of the circumferential motor and transmission mechanism 2, and the lifting motor and transmission mechanism 5. The lifting motor and transmission mechanism 5 drive the connecting plate 7 to move the connecting plate 7 and the measurement module 8 up and down on the lifting track 6. The measurement module 8 collects point cloud data of the measured area of ​​the core enclosure 9, and the control device performs coordinate system integration, splicing, and filtering on the point cloud data of the measured area collected by the measurement module 8 to generate point cloud data of the core enclosure. Based on the point cloud data of the core enclosure, the shape and position dimensions of the core enclosure 9 are obtained, thereby realizing the measurement of the shape and position dimensions of the reactor core in the harsh environment of high-radiation underwater. In this application embodiment, the core positioning of the high-radiation underwater core enclosure 9 shape and position measurement device can be realized by relying on the guide hole at the bottom of the base 1 and the guide pin 11 of the core base plate 10. Through modular design, the base 1, adapter 4, measurement module 8 and other modules can be adaptively matched according to different measurement objects.

[0027] In at least one embodiment of this application, the control device is a remote control device, and the remote control device is remotely connected to the measurement module 8. This enables long-distance communication and operation.

[0028] In at least one embodiment of this application, the communication distance between the remote control device and the measurement module 8 is not less than 100 meters.

[0029] In at least one embodiment of this application, the mechanical components of the high-radiation underwater reactor core shroud are made of stainless steel. This facilitates the removal of radioactive dust from the surfaces of the components after use in a radiation environment.

[0030] In at least one embodiment of this application, the circumferential motor and transmission mechanism 2, the main body 3, the adapter 4, the motor and transmission mechanism 5, the lifting rail 6, the connecting plate 7, and the measuring module 8 are all waterproof and sealed. This meets the requirements for long-term underwater measurements.

[0031] In at least one embodiment of this application, the measurement module 8 is equipped with radiation shielding. This enables measurement functionality in high-radiation underwater environments.

[0032] For example, a radiation-resistant shell can be used on the outside of the measurement module 8, or a radiation-resistant material can be selected for the measurement module 8.

[0033] It should be noted that radiation shielding can be further applied to the adapter 4, motor and transmission mechanism 5, etc.

[0034] Experiments have demonstrated that the high-radiation underwater core ballast plate's shape and position measurement device possesses high underwater radiation resistance (radiation dose rate not less than 25 KGy / h, cumulative dose not less than 2500 Kgy; underwater operating depth). Continuous underwater working time It can meet the underwater maintenance requirements in radiation environments.

[0035] In at least one embodiment of this application, the measurement module 8 employs laser measurement technology. This enables high-density point cloud data acquisition, achieving precise measurement of the object under test; it also allows for adjustment of the point cloud data acquisition density, improving on-site data acquisition efficiency.

[0036] The following examples illustrate the installation and removal of the shape and position measurement device for the high-radiation underwater reactor core ballast.

[0037] During the installation of the high-radiation underwater reactor core enclosure shape and position measurement device, a lifting tool and hoisting equipment are used to hoist the high-radiation underwater reactor core enclosure shape and position measurement device to the top of the reactor core; the high-radiation underwater reactor core enclosure shape and position measurement device is slowly lowered and slowly enters the guide pin 11 of the core bottom plate 10 through the guide hole at the bottom of the base 1, so as to realize the core positioning and installation of the high-radiation underwater reactor core enclosure shape and position measurement device.

[0038] When dismantling the geometry measurement device (GMD) of the high-radiation underwater reactor core cladding, shut down the GMD and remove the power supply. Use lifting equipment and hoisting tools to lift the GMD from the core to a designated location. Check and confirm that no components or items have been left on site, clean up the maintenance area, and ensure the site is clean and tidy after work. It should be noted that radiation dosimetry instruments must be used to monitor and measure radiation levels in real time throughout the process to prevent radioactive materials from being brought out of the water or other shielded environments.

[0039] At least one embodiment of this application also provides a method for measuring the shape and position of a high-radioactivity underwater reactor core ballast. This method is executed using a control device within a high-radioactivity underwater reactor core ballast shape and position measuring apparatus as described in any of the above embodiments. The method includes the following steps.

[0040] S10: The control equipment starts automatic measurement. The control measurement module 8 rotates one revolution along the circumference of the reactor core from the highest position of the lifting track 6, collecting point cloud data of the reactor core enclosure 9 in the circumferential direction. The circumferential motor and transmission mechanism 2 are located at the zero point of the equipment circumference.

[0041] S20: The control equipment drives the lifting rail 6 by controlling the lifting motor and transmission mechanism 5 to move the measurement module 8 a preset distance, rotating the measurement module 8 one revolution around the circumference of the core enclosure 9, and collecting single-layer point cloud data of the core enclosure 9 in the circumferential area at the current height. This operation is repeated until the entire measured area is covered. The preset distance is less than the measurement width of the measurement module 8 in the vertical direction.

[0042] S30: The control equipment integrates, stitches, and filters the point cloud data of the measured area collected by the measurement module 8 to generate the point cloud data of the core enclosure plate, and obtains the shape and position dimensions of the core enclosure plate 9 based on the point cloud data of the core enclosure plate.

[0043] Specifically, the control equipment is equipped with software that integrates, stitches, and filters the point cloud data to form effective point cloud data of the reachable parts of the core enclosure 9. Based on the effective point cloud data, the shape and position dimensions of the core enclosure 9 are measured to obtain the shape and position dimensions of the core enclosure 9.

[0044] In at least one embodiment of this application, prior to step S10, the shape and position measurement method for the high-radiation underwater reactor core shroud further includes the following steps S1 and S2.

[0045] S1: The control equipment controls the circumferential motor and transmission mechanism 2 to slowly move along the circumferential direction to the zero point of the equipment circumference.

[0046] S2: The control device controls the measurement module 8 to slowly move vertically along the lifting track 6 to the highest position.

[0047] Specifically, the lifting track 6, connecting plate 7, and measuring module 8, relying on the circumferential motor and transmission mechanism 2 and the motor and transmission mechanism 5, can achieve circumferential movement in the circumferential direction. The measuring module 8 can collect single-layer point cloud data of the core shroud 9 in the circumferential direction.

[0048] Before step S1 or step S10, you can check and confirm that the power cord and all cables of the high-radiation underwater reactor core enclosure are correctly and reliably connected before turning on the device and checking and confirming that all functions and parameters are normal.

[0049] After the initial inspection, a motion path interference check can be performed. This check involves manually rotating the measuring module 8 one full revolution along the core circumference while simultaneously monitoring for interference using a camera. This ensures that the form and position measuring device operates without interference or collisions. After completing these steps, the measuring module 8 is slowly moved a certain distance vertically along the lifting track 6, and the motion path interference check is repeated until the entire measured area is covered.

[0050] The shape and position measurement method for the high-radiation underwater reactor core ballast plate is the method corresponding to the shape and position measurement device for the high-radiation underwater reactor core ballast plate in any of the above embodiments of this application. It includes the corresponding technical features and can achieve the corresponding technical effects, which will not be elaborated here.

[0051] It should be noted that the combination of the technical features in the embodiments of this application is not limited to the combination methods described in the embodiments of this application or the combination methods described in specific embodiments. All technical features described in this application can be freely combined or combined in any way, unless they contradict each other.

[0052] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the term "comprising" only indicates that it includes explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0053] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A shape and position measurement device for a high-radiation underwater reactor core shroud, characterized in that, Includes a base, a circumferential motor and transmission mechanism, a main body, an adapter, a motor and transmission mechanism, a lifting rail, a connecting plate, a measuring module, and control equipment. The base has guide holes at the bottom for positioning and installing the form and position measurement device in the reactor core. The upper part of the base connects to the main body, which is hollow inside to house auxiliary components. The lower part of the adapter is bolted to the main body, and the upper part of the adapter matches the lifting interface of the form and position measurement device. The lifting rail is installed on the side of the main body, and the circumferential motor and transmission mechanism are connected to the lifting rail for rotating the rail in the circumferential direction of the main body via belt drive. The measurement module is bolted to the connecting plate for collecting point cloud data of the measured area of ​​the reactor core enclosure. The lifting motor and transmission mechanism are located on the upper part of the lifting rail and connected to the connecting plate and the measurement module for driving the connecting plate to move the connecting plate and the measurement module up and down on the lifting rail. The control device communicates with the circumferential motor and transmission mechanism, the lifting motor and transmission mechanism, and the measurement module to control the opening of the circumferential motor and transmission mechanism, the lifting motor and transmission mechanism, and to perform coordinate system integration, stitching, and filtering of the point cloud data of the measured area collected by the measurement module to generate point cloud data of the reactor core enclosure and to derive the form and position dimensions of the reactor core enclosure based on the point cloud data of the reactor core enclosure.

2. The shape and position measurement device for a high-radiation underwater reactor core shroud according to claim 1, characterized in that, The control device is a remote control device, and the remote control device is remotely connected to the measurement module.

3. The shape and position measurement device for a high-radiation underwater reactor core shroud according to claim 2, characterized in that, The communication distance between the remote control device and the measurement module shall not be less than 100 meters.

4. The shape and position measurement device for a high-radiation underwater reactor core shroud according to claim 1, characterized in that, The circumferential motor and transmission mechanism, main body, adapter, motor and transmission mechanism, lifting rail, connecting plate, and measuring module are all waterproof and sealed.

5. The shape and position measurement device for a high-radiation underwater reactor core shroud according to claim 1, characterized in that, The measurement module is equipped with radiation shielding.

6. A shape and position measuring device for a high-radiation underwater reactor core shroud according to any one of claims 1 to 5, characterized in that, The measurement module uses laser measurement technology.

7. A method for measuring the shape and position of a high-radiation underwater reactor core shroud, characterized in that, include: S10: The control equipment starts automatic measurement. The control measurement module rotates one revolution along the circumference of the core from the highest position of the lifting track to collect point cloud data of the core enclosure in the circumferential direction. The circumferential motor and transmission mechanism are located at the zero point of the equipment circumference. S20: The control equipment drives the lifting track by controlling the lifting motor and transmission mechanism to move the measurement module a preset distance, rotates the measurement module around the circumference of the core enclosure plate, and collects single-layer point cloud data of the core enclosure plate in the circumferential area at the current height. The operation is repeated until the entire measured area is covered. The preset distance is less than the measurement width of the measurement module in the vertical direction. S30: The control equipment integrates, stitches, and filters the point cloud data of the measured area collected by the measurement module to generate the point cloud data of the core enclosure, and obtains the shape and position dimensions of the core enclosure based on the point cloud data of the core enclosure.

8. The method for measuring the shape and position of a high-radiation underwater reactor core shroud according to claim 7, characterized in that, Before step S10, the method for measuring the shape and position of a high-radiation underwater reactor core ballast further includes: S1: The control equipment controls the circumferential motor and transmission mechanism to slowly move along the circumferential direction to the zero point of the equipment circumference; S2: The control equipment controls the measurement module to slowly move vertically along the lifting track to the highest position.

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