Method and system for monitoring the operating state of a nuclear power plant refueling machine carousel

Abstract

The application relates to a method and system for monitoring the running state of a nuclear power plant refueling machine rotary disc, and comprises the following steps: acquiring real-time rotation information of each rotary disc; determining the rotation direction and color block data of each rotary disc according to the real-time rotation information of each rotary disc; determining a stroke scaling coefficient according to the rotation direction; calculating the stroke difference between two adjacent rotary discs according to the stroke scaling coefficient and the color block data; and monitoring the rotary disc state of the nuclear power plant refueling machine according to the stroke difference. Through the application, the running state of the nuclear power plant refueling machine rotary disc can be monitored in real time, the rotary disc abnormality can be found in time, the fault can be prevented from being further expanded, and the safety of the overall system can be effectively improved.

Description

Technical Field

[0001] This invention relates to the technical field of condition monitoring of refueling machines in nuclear power plants, and more specifically, to a method and system for monitoring the operating status of a refueling machine turntable in a nuclear power plant. Background Technology

[0002] The main lifting gripper cable of the nuclear power plant refueling machine is used for transmitting gripper limit signals, and the main lifting air pipe is used for supplying air to the cylinder. Currently, the tensioning and retraction of the cable and air pipe rely solely on the spring force of the turntable itself. Its operating status is not monitored in real time, creating a blind spot. If a malfunction occurs, it may not be detected in time, potentially leading to further escalation and serious consequences. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and system for monitoring the operating status of a nuclear power plant refueling machine turntable, addressing the problems existing in the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is: to construct a method for monitoring the operating status of a nuclear power plant refueling machine turntable, comprising the following steps: Obtain real-time rotation information for each turntable; The rotation direction and color block data of each turntable are determined based on the real-time rotation information of each turntable; The stroke scaling factor is determined based on the rotation direction; The travel difference between two adjacent turntables is calculated based on the travel scaling factor and the color block data. The status of the rotary table of the nuclear power plant refueling machine is monitored based on the travel difference.

[0005] In the method for monitoring the operating status of the nuclear power plant refueling machine turntable described in this invention, the real-time rotation information includes: the order and number of color blocks that each turntable rotates through per unit time. The process of determining the rotation direction and color block data of each turntable based on its real-time rotation information includes: The direction of rotation of each turntable is determined by the order in which the color blocks each turntable passes within a unit of time. The data of color blocks that each turntable rotates within a unit of time is determined based on the number of color blocks that each turntable rotates within a unit of time.

[0006] In the method for monitoring the operating status of the nuclear power plant refueling machine turntable described in this invention, the stroke scaling factor includes: a lifting factor and a descent factor; Determining the stroke scaling factor based on the rotation direction includes: If the rotation direction is lifting, then the stroke scaling factor is the lifting factor; If the rotation direction is downward, then the stroke scaling factor is a downward factor.

[0007] In the method for monitoring the operating status of a nuclear power plant refueling machine turntable according to the present invention, the step of calculating the stroke difference between two adjacent turntables based on the stroke scaling factor and the color block data includes: The first rotation stroke of the turntable is obtained by calculating the color block data that one of the two adjacent turntables rotates through in a unit time and the length of a single color block. The second rotation stroke of the turntable is calculated based on the color block data of the other turntable in a unit time and the length of a single color block. The stroke difference between two adjacent turntables is obtained by calculating based on the first rotation stroke and the second rotation stroke.

[0008] In the method for monitoring the operating status of a nuclear power plant refueling machine turntable according to the present invention, the step of monitoring the turntable status of the nuclear power plant refueling machine based on the stroke difference includes: The travel difference is compared with a set threshold. If the travel difference is greater than the set threshold, the turntable of the nuclear power plant refueling machine is determined to be abnormal. If the travel difference is less than the set threshold, then the turntable of the nuclear power plant refueling machine is determined to be in normal condition.

[0009] In the method for monitoring the operating status of the nuclear power plant refueling machine turntable described in this invention, the stroke scaling factor includes: a lifting factor and a descent factor; Both the lifting coefficient and the descent coefficient are obtained through the following steps: Step A: Calculate the initial travel of the first turntable and the initial travel of the second turntable in the initial state; Step B: Calculate the second travel of the first turntable and the second travel of the second turntable within the same time period; Step C: Calculate the amplitude factor based on the initial stroke of the first turntable, the second stroke of the first turntable, the initial stroke of the second turntable, and the second stroke of the second turntable; Step D: Repeat steps A to C to obtain multiple amplitude factors; Step E: After preprocessing the data of the multiple amplitude factors, take the average value to obtain the lifting coefficient or the falling coefficient.

[0010] The present invention also provides an operating status monitoring system for a nuclear power plant refueling machine turntable, which is applied to the above-mentioned method for monitoring the operating status of a nuclear power plant refueling machine turntable, including: a color monitoring unit and a turntable status monitoring unit; The color monitoring unit is used to monitor the color markings on each turntable and obtain monitoring information for each turntable; The turntable status monitoring unit is used to perform the following steps: The real-time rotation information of each turntable is obtained based on the monitoring information; The rotation direction and color block data of each turntable are determined based on the real-time rotation information of each turntable; The stroke scaling factor is determined based on the rotation direction; The travel difference between two adjacent turntables is calculated based on the travel scaling factor and the color block data. The status of the rotary table of the nuclear power plant refueling machine is monitored based on the travel difference.

[0011] The nuclear power plant refueling machine turntable operation status monitoring system of the present invention also includes: a human-machine interaction unit; The human-computer interaction unit is used to display the real-time operating status information of the turntable and to allow users to perform interactive operations.

[0012] In the nuclear power plant refueling machine turntable operation status monitoring system of the present invention, the human-machine interaction unit includes: a display interface, a parameter setting interface, an interactive button interface, and a travel scaling factor measurement interface; The display interface is used to display turntable travel information and turntable status information; The parameter setting interface is used to set parameters; The interactive button interface is used for users to perform button operations; The trip scaling factor measurement interface is used by users to trigger the trip scaling factor measurement function.

[0013] In the nuclear power plant refueling machine turntable operation status monitoring system of the present invention, the color monitoring unit includes: a detection probe, a color sensor, a connector, a housing, and a base; The detection probe is connected to the color sensor via an optical fiber, the color sensor is connected to the connector via a cable, and the connector is connected to the turntable status monitoring unit; the connector is mounted on the housing, and the detection probe and the color sensor are disposed inside the housing; the housing is fixed on the base.

[0014] The method and system for monitoring the operating status of a nuclear power plant refueling machine turntable, as described in this invention, have the following beneficial effects: The method includes the following steps: acquiring real-time rotation information of each turntable; determining the rotation direction and color block data of each turntable based on the real-time rotation information; determining the stroke scaling factor based on the rotation direction; calculating the stroke difference between two adjacent turntables based on the stroke scaling factor and the color block data; and monitoring the turntable status of the nuclear power plant refueling machine based on the stroke difference. This invention enables real-time monitoring of the operating status of the nuclear power plant refueling machine turntable, timely detection of turntable abnormalities, prevention of further escalation of faults, and effective improvement of the overall system safety. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart illustrating the method for monitoring the operating status of a nuclear power plant refueling machine turntable provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the operating status monitoring system for the refueling machine turntable in a nuclear power plant provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the color monitoring unit provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the base provided in an embodiment of the present invention; Figure 5 This is a diagram of the turntable travel and status display interface (mode 1) provided in an embodiment of the present invention; Figure 6 This is a diagram of the turntable travel and status display interface (mode 2) provided in an embodiment of the present invention; Figure 7 This is a diagram of the parameter setting interface (Mode 1) provided in an embodiment of the present invention; Figure 8 This is a diagram of the parameter setting interface (mode two) provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the interactive button layout provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the travel scaling factor measurement options provided in an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating different coefficient calibration options provided in the embodiments of the present invention; Figure 12 This is a schematic diagram of the parameter calibration interface provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the parameter number selection status provided in the embodiment of the present invention; Figure 14 This is a schematic diagram of calculating the travel scaling factor in Mode 1 provided by an embodiment of the present invention; Figure 15 This is a schematic diagram of calculating the travel scaling factor in Mode 2 provided in an embodiment of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] This invention provides a method for monitoring the operating status of a nuclear power plant refueling machine turntable. It is a technical method based on color counting to indirectly estimate the movement position. It can monitor the operation and synchronization status of multiple motors such as the main lifting air conveyor turntable and cable turntable of the nuclear power plant refueling machine. When an abnormality is detected, an alarm is issued to avoid the jamming of cables or air pipes with sleeves, solve the problem of the safety of the moving mechanism, and improve the safety of the overall system.

[0018] refer to Figure 1 In a preferred embodiment, the method for monitoring the operating status of the refueling machine turntable in the nuclear power plant includes the following steps: Step S101: Obtain real-time rotation information for each turntable.

[0019] Optionally, in this embodiment of the invention, the real-time rotation information includes: the order and number of color blocks traversed by each turntable within a unit time. The real-time rotation information can be monitored by the color sensor 102 to generate corresponding monitoring information, which is then processed and analyzed by the turntable status monitoring unit 200.

[0020] It should be noted that each turntable mentioned here in a nuclear power plant refueling machine generally refers to a cable turntable and a gas pipe turntable, and may also include a wire turntable.

[0021] Step S102: Determine the rotation direction and color block data of each turntable based on the real-time rotation information of each turntable.

[0022] Optionally, in this embodiment of the invention, determining the rotation direction and color block data of each turntable based on the real-time rotation information of each turntable includes: determining the rotation direction of each turntable based on the order of color blocks rotated by each turntable within a unit time; and determining the color block data rotated by each turntable within a unit time based on the number of color blocks rotated by each turntable within a unit time.

[0023] Specifically, the number of color blocks detected on each turntable is used as the basis for calculating the travel distance (generally, the number of color blocks increases when the motor rotates clockwise and decreases when it rotates counterclockwise, and vice versa, which can be determined according to the actual design). The raising or lowering of the color blocks can also be determined according to the actual design; for example, clockwise rotation is raising, and counterclockwise rotation is lowering; conversely, clockwise rotation is lowering, and counterclockwise rotation is raising). The number of color blocks can be determined based on different turntable sizes and the required measurement accuracy.

[0024] Due to the specific application scenario of the material changing machine, accurate rotation data cannot be obtained directly by reading the encoder data of the turntable drive motor. This invention uses a color sensor 102 to detect the order in which the color blocks appear on each turntable, arranged in a sequential cycle of red, green, and blue, to determine the rotation direction of the turntable. For example, if the clockwise rotation sequence is set to red, green, blue, then the counter-clockwise rotation sequence is red, blue, green, thus determining the current rotation direction of the turntable.

[0025] Step S103: Determine the stroke scaling factor based on the rotation direction.

[0026] Optionally, in this embodiment of the invention, the stroke scaling factor is divided into a lifting factor and a descent factor. When the rotation direction of the turntable is lifting, the stroke scaling factor is the lifting factor; when the rotation direction of the turntable is descending, the stroke scaling factor is the descent factor. In this embodiment of the invention, determining the stroke scaling factor based on the rotation direction includes: if the rotation direction is lifting, then the stroke scaling factor is the lifting factor; if the rotation direction is descending, then the stroke scaling factor is the descent factor. In this embodiment of the invention, both the lifting factor and the descent factor are obtained through the following steps: Step A: Calculate the initial travel of the first turntable and the initial travel of the second turntable in the initial state; Step B: Calculate the second travel distance of the first turntable and the second travel distance of the second turntable within the same time period; Step C: Calculate the amplitude factor based on the initial stroke of the first turntable, the second stroke of the first turntable, the initial stroke of the second turntable, and the second stroke of the second turntable; Step D: Repeat steps A to C to obtain multiple amplitude factors; Step E: After preprocessing the data of multiple amplitude factors, take the average value to obtain the lifting coefficient or the falling coefficient.

[0027] Specifically, due to the different diameters of the turntables, the number of color blocks per revolution varies.

[0028] Step S104: Calculate the travel difference between two adjacent turntables based on the travel scaling factor and color block data.

[0029] Optionally, in this embodiment of the invention, calculating the travel difference between two adjacent turntables based on the travel scaling factor and the color block data includes: calculating the first rotation travel of the turntable based on the color block data rotated by one of the two adjacent turntables in a unit time and the length of a single color block; calculating the second rotation travel of the other turntable based on the color block data rotated by the other turntable in a unit time and the length of a single color block; and calculating the travel difference between the two adjacent turntables based on the first rotation travel and the second rotation travel.

[0030] Step S105: Monitor the turntable status of the nuclear power plant refueling machine based on the stroke difference.

[0031] Optionally, in this embodiment of the invention, monitoring the turntable status of the nuclear power plant refueling machine based on the stroke difference includes: comparing the stroke difference with a set threshold; if the stroke difference is greater than the set threshold, it is determined that the turntable status of the nuclear power plant refueling machine is abnormal; if the stroke difference is less than the set threshold, it is determined that the turntable status of the nuclear power plant refueling machine is normal.

[0032] Specifically, the system records the number of detected color blocks as observation data for the rotational travel of the turntables and calculates the travel difference between the turntables, triggering an alarm based on whether it exceeds a set threshold. However, because the radii and rotational speeds of different turntables are inconsistent, the actual travel distance covered within the same time frame varies. The travel difference calculated directly from the measured number of original color blocks will normally increase over time. In this case, a fixed threshold for travel difference cannot serve as an effective judgment indicator. Assuming that the motor shaft rotational speed is constant under normal conditions, the radius of the external gear disk on the motor shaft remains essentially unchanged, and the angular velocity of turntable 1 is... The radius of the turntable is The angular velocity of the turntable is The radius of the turntable is To compare the travel distances between the gears and turntables carried by the motor shaft, it is necessary to compensate for the rotational speed of one of the turntables. The solution adopted in this invention is to introduce a travel scaling factor. (Both the lifting coefficient and the lowering coefficient are expressed in this way), so that the simulated synchronous rotation speed of the two turntables satisfies: ; Because measuring the angular velocity and radius of the turntable is difficult, this invention uses the equivalent number of color blocks rotated per unit time as a substitute. Let the number of color blocks rotated by turntable 1 per unit time be... The number of color blocks that the turntable rotates within a unit of time is The length of a single color block is That is, after time The estimated distances traveled by the last two roundabouts are as follows: (1); in, This is the first rotational stroke. This is the second rotational stroke.

[0033] Therefore, by calculating and The travel difference can then be calculated. The travel difference is obtained using the following formula: (2); in, This is the travel difference.

[0034] After calculating the travel difference Afterwards, Compared with a set threshold, if If the value exceeds a set threshold, an alarm will be triggered, alerting the operator to take action. The set threshold can be configured based on field experience.

[0035] As can be seen from the above calculation formula, determining the stroke scaling factor is crucial for calculating the stroke difference. Since different turntables have different diameters, the number of color blocks per revolution also varies. Based on this principle, this invention calculates the stroke scaling factor using the following method, taking the lifting factor as an example. Specifically: First, calculate the initial travel of turntable 1 in its initial state. The initial travel of turntable 2 .

[0036] Next, after controlling the turntable to rotate in the same direction for the same amount of time, record and calculate the second turntable stroke. The second journey of turntable 2 .

[0037] Then, the amplitude factor is calculated. The amplitude factor is calculated using the following formula: (3); (3) In the formula, is the amplitude factor.

[0038] Then, repeat the above steps multiple times (the exact number of times can be determined on-site and according to accuracy requirements) to obtain the desired result. , , , ..., .

[0039] Next, remove , , ..., For outliers that differ significantly from other amplitude factors, the average value of the remaining amplitude factors is obtained. This average value is the lifting coefficient.

[0040] Because the turntable differs during the lifting and lowering processes, it is necessary to measure the coefficients for the lifting and lowering states separately. The method for obtaining the lowering coefficient is the same as that for obtaining the lifting coefficient.

[0041] refer to Figure 2 The present invention also provides a system for monitoring the operating status of a nuclear power plant refueling machine turntable, which can be applied to the method for monitoring the operating status of a nuclear power plant refueling machine turntable disclosed in the embodiments of the present invention.

[0042] Specifically, such as Figure 2 As shown, the operating status monitoring system for the refueling machine turntable of the nuclear power plant includes a color monitoring unit 100 and a turntable status monitoring unit 200. The color monitoring unit 100 monitors the color markings on each turntable to obtain monitoring information for each turntable. The turntable status monitoring unit 200 performs the following steps: obtaining real-time rotation information of each turntable based on the monitoring information; determining the rotation direction and color block data of each turntable based on the real-time rotation information; determining the stroke scaling factor based on the rotation direction; calculating the stroke difference between two adjacent turntables based on the stroke scaling factor and the color block data; and monitoring the turntable status of the nuclear power plant refueling machine based on the stroke difference.

[0043] Optionally, in embodiments of the present invention, such as Figure 3 As shown, the color monitoring unit 100 includes: a detection probe 101, a color sensor 102, a connector 103, a housing 104 (which can serve as a shockproof shell for protection), and a base 105. The detection probe 101 is connected to the color sensor 102 via an optical fiber, and the color sensor 102 is connected to the connector 103 via a cable. The connector 103 is connected to the turntable status monitoring unit 200. The connector 103 is mounted on the housing 104, and the detection probe 101 and the color sensor 102 are disposed inside the housing 104. The housing 104 is fixed to the base 105. The detection probe 101 is the probe of the color sensor 102. The base 105 is a multi-degree-of-freedom adjustable base, for example, it can have 2 degrees of freedom. The structure of the multi-degree-of-freedom adjustable base 105 is as follows... Figure 4 As shown. The multi-degree-of-freedom adjustable base 105 enables the color sensor 102 to be in close proximity (generally 2mm) to various color marks (i.e., color blocks) on the turntable, so that the detection probe 101 of the color sensor 102 can accurately land on the color mark with a φ1mm light spot, thereby realizing the automatic recognition of different colors.

[0044] Furthermore, in this embodiment of the invention, the operating status monitoring system for the nuclear power plant refueling machine turntable also includes: a human-machine interface unit 300 and a historical parameter storage unit 400; the human-machine interface unit 300 is used to display the turntable's operating status information in real time and to allow users to perform interactive operations. The historical parameter storage unit 400 is used to store historical parameters to facilitate user use and to cope with emergencies such as power outages.

[0045] Optionally, in this embodiment of the invention, the human-computer interaction unit 300 includes: a display interface, a parameter setting interface, an interactive button interface, and a travel scaling factor measurement interface. The display interface is used to display turntable travel information and turntable status information; the parameter setting interface is used to set parameters; the interactive button interface is used for users to perform button operations; and the travel scaling factor measurement interface is used for users to trigger the travel scaling factor measurement function.

[0046] The operating status monitoring system for the nuclear power plant refueling machine turntable of this invention is mainly divided into four parts in its software component. The first part: Monitoring information on the turntable rotation is obtained by detecting the rotational changes of different colored blocks on each turntable using color sensors 102. The second part: The turntable status monitoring unit 200 determines the direction and stroke of the turntable rotation based on the real-time rotation information, and judges whether the refueling machine turntable is experiencing abnormalities such as jamming or asynchrony based on the calculated stroke difference between different turntables. The third part: The human-machine interaction unit 300. Through a simple and easy-to-use interactive interface, it displays real-time operating status information such as turntable stroke, turntable working status, and warning level, while providing customizable parameter and working mode settings options, facilitating adjustments for users according to actual usage scenarios. The fourth part: The historical parameter storage unit 400. The historical parameter storage unit 400 facilitates user operation and responses to emergencies such as power outages, while providing functions for manually saving parameter settings and automatically saving parameters after power failure. Users can manually save the parameters after setting them on the interactive interface, and reuse the previously saved parameter settings upon the next power-on.

[0047] During the material changing operation, the material changing machine needs to lower and raise the steel wires, cables, and air pipes connecting the material changing grippers via multiple turntables. If a single turntable jams or becomes out of sync, it may cause safety issues such as wire breakage. To determine if the turntables are jamming or out of sync, this invention monitors the turntable's travel distance to provide early warnings to the operator. Details are as described above.

[0048] Furthermore, this invention also adds a parameter calibration function to the interactive interface. For example... Figure 5 and Figure 6As shown, the turntable travel and status display interface has two modes: two-turntable monitoring mode (corresponding to mode one) and three-turntable monitoring mode (corresponding to mode two). In mode one, the wire turntable is disabled.

[0049] The parameter setting interface of this invention is as follows: Figure 7 and Figure 8 As shown, where, Figure 7 For the parameter settings interface of Mode 1, Figure 8 This is the parameter setting interface for Mode 2. In this interface, different first-level and second-level error warnings can be set. Specifically, this invention has already set different stroke scaling coefficients (corresponding to the descent and rise coefficients in the setting interface) based on the lifting and lowering states.

[0050] Interactive button layout as follows Figure 9 As shown in the image. The buttons are a 4×4 matrix.

[0051] I. Numeric keys: 1, 2, 3, …, 9, 0; II. Decimal point key: Used to input the decimal point, with a maximum of one decimal place; III. Move keys: Use the up and down arrow keys to move the option up or down to select different options. A black triangle arrow will appear before the current option. IV. Input / Confirm Key: Numeric Mode: When the current option is a numeric option, pressing this key will enter the selected state, and the triangle arrow will turn into a black square (at this time, the option cannot be changed using the move keys, and you need to use the delete key or the confirm key to exit the selected state). Enter the value you want to set using the numeric keys (the maximum value is 99999.9). After modifying the value, press the confirm key again to confirm the modification.

[0052] Function Mode: When the option is a function option, pressing this button will execute the corresponding function.

[0053] V. Delete key: Used only for numeric options. When a numeric value is entered incorrectly, the least significant digit can be deleted using the delete key. When all numeric values ​​are deleted, pressing the delete key will exit the selection state.

[0054] VI. Cancel Alarm Button: When the interface displays that the alarm is enabled, pressing the button will disable the alarm function, and pressing it again will enable the alarm function (when the alarm level is 2, the alarm function will be forcibly enabled and an alarm will be triggered, at which time the button will be disabled).

[0055] To facilitate user operation, the system provides a travel scaling factor measurement function. This function option (i.e., parameter calibration option) is available in the parameter setting interface, such as... Figure 10As shown. Select either the descent coefficient calibration or the rise coefficient calibration as needed, such as... Figure 11 As shown. If calibration is not required, you can return to the parameter setting interface via the return option. The parameter calibration interface is shown below. Figure 12 As shown, it is divided into a color block counting area, a parameter measurement function area, an average value calculation area, and a return function area.

[0056] Color block counting area: Records the actual number of color blocks measured by each turntable after the measurement begins, and displays it in area ①.

[0057] Parameter measurement function area: up to eight sets of parameters can be measured. If you are not satisfied with the measured data or the deviation is large, you can remeasure.

[0058] Average value calculation area: Calculate the average value of the set of measured parameters.

[0059] The specific operating steps are as follows: A. Use the up and down arrow keys to select the parameter number (1, 2, ..., 8), and press the confirmation key to select it. When selected, the triangle arrow will turn into a black square. Figure 13 As shown (if accidentally selected, the selection can be deselected using the delete key), after selection, the color block counting area is reset to zero and begins to record the color block change value (an increase in value indicates forward rotation, and a decrease in value indicates reverse rotation).

[0060] B. Control the material changer to descend or rise a certain distance, press the confirmation key to end the measurement, and obtain a set of descent or rise coefficients. Repeat the above steps to measure multiple sets of coefficients. Figure 14 As shown (if you are not satisfied with the measured parameters or the deviation is large, you can re-perform the above operation by pressing the confirmation button).

[0061] C. After the coefficient measurement is completed, use the up and down arrow keys to select the calculation option, and press the confirmation key to calculate the average value of the measured coefficient set.

[0062] D. The calculated average value can be saved and returned to the parameter setting interface by using the save and exit option (the save and exit option will write the corresponding coefficients to the chip storage area, so there is no need to save and exit in the parameter setting interface). If you do not need to save, you can return to the parameter setting interface by using the return option.

[0063] Mode 2 measures two coefficients simultaneously, corresponding to the cable turntable and the air hose turntable respectively, such as... Figure 15 As shown.

[0064] It should be noted that a measurement coefficient of 0 indicates a measurement error (if the coefficient is 0, the rotation value of the turntable will not change) and will not be included in the calculation of the average value.

[0065] This invention is based on the counting of color sensor 102, and then calculates the movement position through interpolation approximation algorithm. It also compares the synchronization of the movement positions of multiple motion mechanisms in real time, thereby realizing real-time monitoring of the operating status of the nuclear power plant refueling machine turntable. This avoids the situation where cables or air pipes get stuck with the sleeve, improves the operating safety of the refueling machine, enhances the safety of the entire system, and ensures the safe operation of nuclear power plant equipment.

[0066] Specifically, the specific coordination and operation process between the various units in the nuclear power plant refueling machine turntable operation status monitoring system can be referred to the above-mentioned nuclear power plant refueling machine turntable operation status monitoring method, and will not be repeated here.

[0067] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0068] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0069] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0070] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They do not limit the scope of protection of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A method for monitoring the operating status of a nuclear power plant refueling machine turntable, characterized in that, Includes the following steps: Obtain real-time rotation information for each turntable; The rotation direction and color block data of each turntable are determined based on the real-time rotation information of each turntable; The real-time rotation information includes: the order and number of color blocks that each turntable rotates through per unit time; The process of determining the rotation direction and color block data of each turntable based on its real-time rotation information includes: The direction of rotation of each turntable is determined by the order in which the color blocks each turntable passes within a unit of time. The data of color blocks that each turntable rotates within a unit of time is determined based on the number of color blocks that each turntable rotates within a unit of time. The stroke scaling factor is determined based on the rotation direction; the stroke scaling factor includes a lift factor and a descent factor. Determining the stroke scaling factor based on the rotation direction includes: If the rotation direction is lifting, then the stroke scaling factor is the lifting factor; If the rotation direction is downward, then the stroke scaling factor is a downward factor; The travel difference between two adjacent turntables is calculated based on the travel scaling factor and the color block data, including: The first rotation stroke of the turntable is obtained by calculating the color block data that one of the two adjacent turntables rotates through in a unit time and the length of a single color block. The second rotation stroke of the turntable is calculated based on the color block data of the other turntable in a unit time and the length of a single color block. The stroke difference between two adjacent turntables is calculated based on the first rotation stroke and the second rotation stroke. The status of the rotary table of the nuclear power plant refueling machine is monitored based on the aforementioned stroke difference, including: The travel difference is compared with a set threshold. If the travel difference is greater than the set threshold, the turntable of the nuclear power plant refueling machine is determined to be abnormal. If the travel difference is less than the set threshold, then the turntable of the nuclear power plant refueling machine is determined to be in normal condition.

2. The method for monitoring the operating status of a nuclear power plant refueling machine turntable according to claim 1, characterized in that, The travel scaling factor includes: a lift factor and a descent factor; Both the lifting coefficient and the descent coefficient are obtained through the following steps: Step A: Calculate the initial travel of the first turntable and the initial travel of the second turntable in the initial state; Step B: Calculate the second travel of the first turntable and the second travel of the second turntable within the same time period; Step C: Calculate the amplitude factor based on the initial stroke of the first turntable, the second stroke of the first turntable, the initial stroke of the second turntable, and the second stroke of the second turntable; Step D: Repeat steps A to C to obtain multiple amplitude factors; Step E: After preprocessing the data of the multiple amplitude factors, take the average value to obtain the lifting coefficient or the falling coefficient.

3. A system for monitoring the operational status of a nuclear power plant refueling machine turntable, applied to the method for monitoring the operational status of a nuclear power plant refueling machine turntable as described in any one of claims 1-2, characterized in that, include: Color monitoring unit and turntable status monitoring unit; The color monitoring unit is used to monitor the color markings on each turntable and obtain monitoring information for each turntable; The turntable status monitoring unit is used to perform the following steps: The real-time rotation information of each turntable is obtained based on the monitoring information; The rotation direction and color block data of each turntable are determined based on the real-time rotation information of each turntable; The stroke scaling factor is determined based on the rotation direction; The travel difference between two adjacent turntables is calculated based on the travel scaling factor and the color block data. The status of the rotary table of the nuclear power plant refueling machine is monitored based on the travel difference.

4. The nuclear power plant refueling machine turntable operation status monitoring system according to claim 3, characterized in that, Also includes: Human-computer interaction unit; The human-computer interaction unit is used to display the real-time operating status information of the turntable and to allow users to perform interactive operations.

5. The operating status monitoring system for the nuclear power plant refueling machine turntable according to claim 4, characterized in that, The human-computer interaction unit includes: a display interface, a parameter setting interface, an interactive button interface, and a travel scaling factor measurement interface; The display interface is used to display turntable travel information and turntable status information; The parameter setting interface is used to set parameters; The interactive button interface is used for users to perform button operations; The trip scaling factor measurement interface is used for users to trigger the trip scaling factor measurement function.

6. The nuclear power plant refueling machine turntable operation status monitoring system according to any one of claims 3-5, characterized in that, The color monitoring unit includes: a detection probe, a color sensor, a connector, a housing, and a base; The detection probe is connected to the color sensor via an optical fiber, the color sensor is connected to the connector via a cable, and the connector is connected to the turntable status monitoring unit; the connector is mounted on the housing, and the detection probe and the color sensor are disposed inside the housing; the housing is fixed on the base.

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