Irradiation nuclear fuel rod underwater inspection device and irradiation nuclear fuel rod inspection equipment

Abstract

The invention belongs to the technical field of irradiation nuclear fuel rod underwater inspection, and particularly relates to an irradiation nuclear fuel rod underwater inspection device and irradiation nuclear fuel rod inspection equipment, and the irradiation nuclear fuel rod underwater inspection device comprises a support, a waterproof annular lamp and a plurality of irradiation-resistant underwater camera pieces; the waterproof annular lamp is connected to the support, the irradiation nuclear fuel rod penetrates through the waterproof annular lamp, and the waterproof annular lamp is provided with an illumination area; the plurality of irradiation-resistant underwater camera parts are connected to the support, the plurality of irradiation-resistant underwater camera parts are distributed at intervals in the circumferential direction of the waterproof annular lamp, and lenses of the plurality of irradiation-resistant underwater camera parts are all arranged towards the illumination area to obtain image information of the part, located in the illumination area, of the irradiation nuclear fuel rod, so that the inspection accuracy is improved, and the inspection efficiency is improved. And the inspection time is greatly shortened, the labor cost is reduced, and the inspection efficiency is improved.

Description

Technical Field

[0001] This application belongs to the field of underwater inspection technology for irradiated nuclear fuel rods, and particularly relates to an underwater inspection device and equipment for irradiated nuclear fuel rods. Background Technology

[0002] During the operation of a nuclear reactor, the nuclear fuel assembly is a core component, and its operational reliability directly affects the safe and stable operation of the reactor. Therefore, during the core operation cycle of the nuclear fuel assembly, it is necessary to comprehensively and accurately measure various operational data to monitor the operating status of the fuel assembly in real time and ensure the safe operation of the reactor.

[0003] When a defect is found in a fuel rod of a reactor core fuel assembly, the defective irradiated fuel rod must be replaced. The replaced irradiated fuel rod needs to be inspected using a defect inspection device to accurately assess its condition, analyze potential defects and causes of failure, and thus provide data support for subsequent design optimization and operation and maintenance of the nuclear fuel assembly. However, due to the special surface characteristics of the alloy cladding surrounding the irradiated fuel rod and its slender cylindrical structure, uneven illumination is easily encountered when using a single camera with unidirectional illumination. Specifically, this manifests as strip-shaped bright spots forming on the surface of the irradiated fuel rod, resulting in unclear edge contours, blurred images, and an inability to clearly display minute defects on the surface. This poor imaging quality means the defect inspection device cannot meet the requirements for accurate inspection, necessitating repeated inspections by operators. This not only prolongs inspection time and reduces efficiency but also significantly increases labor costs, hindering the efficient implementation of nuclear fuel assembly inspection work. Summary of the Invention

[0004] The purpose of this application is to provide an underwater inspection device and equipment for irradiated nuclear fuel rods, which can improve the inspection efficiency of irradiated nuclear fuel rods.

[0005] To achieve the above objectives, the technical solution adopted in this application is: an underwater inspection device for irradiated nuclear fuel rods, comprising a support, a waterproof ring light, and multiple radiation-resistant underwater cameras; the waterproof ring light is connected to the support and is used for irradiating nuclear fuel rods to pass through, and the waterproof ring light has an illumination area; the multiple radiation-resistant underwater cameras are connected to the support and are distributed at intervals along the circumference of the waterproof ring light, and the lenses of the multiple radiation-resistant underwater cameras are all set facing the illumination area to obtain image information of the portion of the irradiated nuclear fuel rod located within the illumination area.

[0006] Optionally, the number of waterproof ring lights is two, and the two waterproof ring lights are arranged coaxially and spaced apart, with the illumination area being the interval area between the two waterproof ring lights.

[0007] Optionally, the bracket includes a mounting plate, a support plate, and a plurality of connecting columns connected between the mounting plate and the support plate. The mounting plate and the support plate are arranged at intervals along the axial direction of the waterproof ring light, and the plurality of connecting columns are arranged at intervals along the circumferential direction of the waterproof ring light. One of the two waterproof ring lights and a plurality of radiation-resistant underwater cameras are mounted on the mounting plate, and the other waterproof ring light is mounted on the support plate. Along the circumferential direction of the waterproof ring light, the connecting columns are located between two adjacent radiation-resistant underwater cameras.

[0008] Optionally, the waterproof ring light includes a ring base, a ring light source, and a ring transparent element. The ring transparent element is coaxially fitted onto the ring base and surrounds it to form a ring light source cavity. The ring light source is coaxially disposed within the ring light source cavity. The side of the ring transparent element facing away from the ring base forms an illumination area.

[0009] Optionally, the annular transparent part is atomized.

[0010] Optionally, multiple radiation-resistant underwater cameras are arranged in a circular matrix around the axis of the waterproof ring light.

[0011] Optionally, the bracket is equipped with a cable management rack for securing cables connected to the radiation-resistant underwater camera and the waterproof ring light.

[0012] Optionally, the surface of the support is pickled and passivated.

[0013] Another technical solution adopted in this application is: the irradiated nuclear fuel rod inspection equipment includes the above-mentioned underwater inspection device for irradiated nuclear fuel rods, a lifting device, and a clamping device for clamping one end of the irradiated nuclear fuel rod, and the bracket is connected to the lifting end of the lifting device.

[0014] Optionally, the irradiation nuclear fuel rod inspection equipment includes a laser rangefinder used to measure the lifting distance of the lifting device.

[0015] The underwater inspection device and equipment for irradiated nuclear fuel rods provided in this application have at least one of the following technical effects: The combination of the waterproof ring light and the multi-resistant underwater camera distributed circumferentially achieves the following: Firstly, the waterproof ring light provides supplementary lighting, projecting light into the illumination area from multiple circumferential angles, ensuring that the portion of the irradiated nuclear fuel rod within the illumination area receives uniform illumination from all directions without blind spots. This effectively reduces the generation of undesirable optical phenomena such as highlights and reflections, improves the problem of uneven illumination, eliminates bright streaks, and makes the edge contours of the irradiated nuclear fuel rod clearer and the image more realistic. Secondly, the simultaneous inspection by the multi-resistant underwater camera achieves 360° omnidirectional coverage, eliminating the need for repeated manual angle adjustments and inspections. This not only improves inspection accuracy but also significantly shortens inspection time and reduces labor costs. It provides a reliable technical solution for the efficient and accurate inspection of irradiated nuclear fuel rods, thereby providing accurate data support for the design optimization and operation and maintenance of nuclear fuel assemblies. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an irradiated nuclear fuel rod inspection device provided in some embodiments of this application.

[0018] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0019] Figure 3 for Figure 1 Schematic diagram of the underwater inspection device for irradiated nuclear fuel rods Figure 1 .

[0020] Figure 4 for Figure 1 Schematic diagram of the underwater inspection device for irradiated nuclear fuel rods Figure 2 .

[0021] Figure 5 For along Figure 4 Sectional view along the middle BB line.

[0022] Figure 6 for Figure 3 The diagram shows an exploded view of an underwater inspection device for irradiated nuclear fuel rods.

[0023] Figure 7 for Figure 6 The diagram shows the structure of the waterproof ring light. Figure 1 .

[0024] Figure 8 for Figure 6 The diagram shows the structure of the waterproof ring light. Figure 2 .

[0025] Figure 9 For along Figure 8 Sectional view of the CC line.

[0026] Figure 10 for Figure 7 An exploded view of the waterproof ring light shown.

[0027] Figure 11 for Figure 1 Schematic diagram of the underwater inspection device for irradiated nuclear fuel rods Figure 3 .

[0028] Figure 12 This is a schematic flowchart of the control method for an underwater inspection device for irradiated nuclear fuel rods provided in some embodiments of this application.

[0029] Figure 13 This is a schematic diagram of the controller of a fuel rod inspection device provided in some embodiments of this application.

[0030] Figure 14 This is a schematic diagram of the electronic equipment of the irradiated nuclear fuel rod inspection device provided in some embodiments of this application.

[0031] The following are the labeling elements in the figure: 100. Irradiated nuclear fuel rod inspection equipment; 10. Irradiated nuclear fuel rod underwater inspection device; 11. Bracket; 111. Mounting plate; 1111. Second central circle; 1112. Second support arm; 1113. Second clearance hole; 1114. Plug-in part; 112. Support plate; 1121. First central circle; 1122. First support arm; 1123. Reinforcing rib; 1124. First clearance hole; 113. Connecting column; 114. Connecting part; 115. Cable management rack; 12. Waterproof ring light; 1201. Illumination area; 1202. Inner hole; 1203, Annular light source cavity; 121, Annular base; 122, Annular light source; 123, Annular transparent component; 124, Compression ring; 125, Sealing gasket; 126, Sealing ring; 13, Radiation-resistant underwater camera; 14, Cable; 15, Cable connector; 20, Clamping device; 30, Laser rangefinder; 40, Controller; 41, Camera control module; 42, Rangefinder control module; 50, Electronic equipment; 51, Memory; 52, Computer program; 53, Processor; 200, Irradiated nuclear fuel rod; 300, Fuel support. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, 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.

[0033] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include at least one of that feature.

[0034] In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0036] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this application, it should be understood that the terms "inner", "outer", "side", "upper", "bottom", "front", "rear", etc., indicating the orientation or positional relationship are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0038] In the description of this application, it should be noted that the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0039] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0040] Unless otherwise specified, all embodiments and optional embodiments of this application can be combined to form new technical solutions.

[0041] Unless otherwise specified, all technical features and optional technical features of this application may be combined to form new technical solutions.

[0042] In this application, "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0043] The underwater inspection device for irradiated nuclear fuel rods in this application is used for the inspection of irradiated nuclear fuel rods in nuclear power plants, including routine inspections of irradiated nuclear fuel rods and defect inspections of irradiated nuclear fuel rods replaced after nuclear fuel assembly repair. The underwater inspection device can be used to inspect the surface features (e.g., cracks, scratches, dents, bulges, etc.) and shape of the irradiated nuclear fuel rods. Irradiated nuclear fuel rods are radioactive nuclear fuel rods that have been in operation.

[0044] The following is in conjunction with the appendix Figures 1-14 The underwater inspection device 10 for irradiated nuclear fuel rods according to an embodiment of this application will be described.

[0045] like Figures 1-2 As shown, in some embodiments, the underwater inspection device 10 for irradiating nuclear fuel rods includes a support 11, a waterproof ring light 12, and a plurality of radiation-resistant underwater cameras 13. The waterproof ring light 12 is connected to the support 11 and is used for irradiating nuclear fuel rods 200 to pass through. The waterproof ring light 12 has an illumination area 1201. The plurality of radiation-resistant underwater cameras 13 are connected to the support 11 and are distributed circumferentially along the waterproof ring light 12. The lenses of the plurality of radiation-resistant underwater cameras 13 are all set facing the illumination area 1201 to obtain image information of the portion of the irradiated nuclear fuel rod 200 located within the illumination area 1201.

[0046] The bracket 11 serves as the mounting and support base for the waterproof ring light 12 and multiple radiation-resistant underwater cameras 13. It secures the waterproof ring light 12 and the multiple radiation-resistant underwater cameras 13, ensuring a relatively stable position for each component during inspection and providing a fundamental guarantee for accurate imaging. Considering that the inspection of irradiated nuclear fuel rods 200 may involve underwater or irradiated environments, the bracket 11 can be made of high-strength, corrosion-resistant materials, such as a stainless steel welded frame or an aluminum alloy profile splicing structure. This type of structure not only meets the requirements for support stability but also reduces the overall weight of the underwater inspection device 10 for irradiated nuclear fuel rods while ensuring structural strength. This facilitates the handling and deployment of the underwater inspection device 10 at the inspection site and also facilitates subsequent disassembly and maintenance of each component.

[0047] For example, bracket 11 is made of 316 stainless steel.

[0048] The waterproof ring light 12 and multiple radiation-resistant underwater cameras 13 can be fixed to the bracket 11 by means of bolt connection, snap-fit, or other detachable methods, which not only ensures the firmness of the connection, but also allows for flexible replacement of the waterproof ring light 12 and radiation-resistant underwater cameras 13 according to actual needs.

[0049] The waterproof ring light 12 can refer to a luminaire with a ring-shaped structure. It is a lighting device with a ring-shaped light-emitting structure, designed and manufactured with waterproof measures to prevent the intrusion of moisture, dust, etc. It combines ring lighting with waterproof functionality to adapt to various lighting environments requiring waterproof protection. The waterproof ring light 12 also has radiation resistance to meet the underwater inspection needs of irradiated nuclear fuel rods 200 where ionizing radiation exists. The waterproof ring light 12 can also be a radiation-resistant waterproof ring light.

[0050] The waterproof ring light 12 has an inner hole 1202 through which the irradiated nuclear fuel rod 200 passes. The waterproof ring light 12 has an illumination area 1201, which is the spatial area in which the waterproof ring light 12 provides uniform light for irradiating the nuclear fuel rod 200 and for the radiation-resistant underwater camera 13 to acquire clear images.

[0051] In some examples, the inner hole 1202 of the waterproof ring light 12 forms a light-emitting surface, and the area enclosed by the waterproof ring light 12 forms an illumination area 1201.

[0052] In some examples, one of the two surfaces of the waterproof ring lamp 12 that are opposite to each other along its axial direction forms a light-emitting surface, and the area located on the waterproof ring lamp 12 along its axial direction and on the same side as the light-emitting surface forms an illumination area 1201.

[0053] The reason why unidirectional illumination easily forms strip-shaped bright spots on the surface of the irradiated nuclear fuel rod 200 is that the light irradiation angle is singular and cannot fully cover the surface of the slender cylindrical irradiated nuclear fuel rod 200. However, the waterproof ring lamp 12 adopts a surrounding structure. When the irradiated nuclear fuel rod 200 passes through the inner hole 1202, the irradiated nuclear fuel rod 200 passes through the illumination area 1201. The illumination area 1201 can project light into the illumination area 1201 from multiple circumferential angles, so that the part of the irradiated nuclear fuel rod 200 located in the illumination area 1201 can obtain all-round, uniform illumination without dead angles. This can provide better shadowless underwater illumination for the inspection of the irradiated nuclear fuel rod 200 and effectively reduce the generation of adverse optical phenomena such as highlights and reflections.

[0054] The radiation-resistant underwater camera 13 refers to an imaging component used to acquire image information of the surface of the irradiated nuclear fuel rods 200. The radiation-resistant underwater camera 13 can be a camera, a webcam, etc. The radiation-resistant underwater camera 13 can be applied to underwater operations in radiation environments (such as nuclear power plants, nuclear fuel processing plants, etc.). It combines radiation resistance, underwater sealing, corrosion resistance, and high-definition imaging characteristics to meet the underwater inspection needs of irradiated nuclear fuel rods 200 where ionizing radiation exists.

[0055] There are multiple radiation-resistant underwater cameras 13, which are distributed at equal intervals along the circumference of the waterproof ring light 12, or they can be distributed at non-equal intervals. The lenses of the radiation-resistant underwater cameras 13 are all set facing the illumination area 1201, so that the radiation-resistant underwater cameras 13 can capture image information of the irradiated nuclear fuel rods 200 in the illumination area 1201.

[0056] In a single-camera solution, it is not easy to quickly achieve a 360° all-around inspection of the irradiated nuclear fuel rod 200. This typically requires repeated camera angle adjustments and shooting, which is not only time-consuming and labor-intensive but also prone to missing defects due to shooting angle deviations. However, the design of multiple radiation-resistant underwater cameras 13 spaced circumferentially along the waterproof ring light 12 enables simultaneous, multi-dimensional inspection of the irradiated nuclear fuel rod 200 passing through the illumination area 1201. During the inspection, when the irradiated nuclear fuel rod 200 passes through the illumination area 1201 of the waterproof ring light 12, multiple radiation-resistant underwater cameras 13 can be activated simultaneously, acquiring image information from different circumferential positions of the irradiated nuclear fuel rod 200. These images can be stitched together using subsequent image processing algorithms to ultimately form a complete 360° image of the irradiated nuclear fuel rod 200, thus fully covering the surface of the irradiated nuclear fuel rod 200 and reducing defect omissions.

[0057] In this embodiment of the underwater inspection device 10 for irradiated nuclear fuel rods, the replaced irradiated nuclear fuel rod 200 is inserted into the inner hole 1202 and the illumination area 1201 of the waterproof ring light 12. The waterproof ring light 12 projects uniform light into the illumination area 1201. At the same time, multiple radiation-resistant underwater cameras 13 work synchronously to acquire image information of the irradiated nuclear fuel rod 200 in the illumination area 1201. Finally, the acquired multiple sets of image information are stitched together to obtain a complete 360° image of the irradiated nuclear fuel rod 200.

[0058] By adopting the technical solution of this embodiment, the waterproof ring light 12 and the multi-radiation resistant underwater camera 13 are distributed circumferentially. On the one hand, the waterproof ring light 12 provides supplementary lighting, projecting light into the illumination area 1201 from multiple circumferential angles. This ensures that the portion of the irradiated nuclear fuel rod 200 within the illumination area 1201 receives uniform illumination from all directions without blind spots, effectively reducing the generation of undesirable optical phenomena such as highlights and reflections, improving the problem of uneven illumination, eliminating bright stripes, and making the edge contours of the irradiated nuclear fuel rod 200 clearer and the image more realistic. On the other hand, the multi-radiation resistant underwater camera 13 enables simultaneous inspection, achieving 360° omnidirectional coverage. This eliminates the need for repeated manual angle adjustments and inspections, improving inspection accuracy, significantly shortening inspection time, and reducing labor costs. This provides a reliable technical solution for the efficient and accurate inspection of the irradiated nuclear fuel rod 200, thereby providing more accurate data support for the design optimization and operation and maintenance of nuclear fuel assemblies.

[0059] In some cases, the irradiated nuclear fuel rods 200 are radioactive. To reduce the inspection risk, the inspection is usually carried out underwater in the fuel pool. The radiation-resistant underwater camera 13 has waterproof and radiation-resistant properties, and the waterproof ring light 12 also has waterproof properties, which allows the underwater inspection device 10 for irradiated nuclear fuel rods to directly enter the water for inspection, greatly improving the safety of the underwater inspection device 10 for irradiated nuclear fuel rods.

[0060] In some examples, the radiation-resistant underwater camera 13 may be a radiation-resistant high-definition underwater camera, which can obtain clearer images and help improve the accuracy of inspection results.

[0061] See Figures 3-6 As shown, in some embodiments, there are two waterproof ring lights 12, which are coaxially spaced apart, and the illumination area 1201 is the interval area between the two waterproof ring lights 12.

[0062] The number of waterproof ring lights 12 is two, and the central axis of the two waterproof ring lights 12 (see...) Figure 5The center line M) is aligned or nearly aligned to facilitate the irradiation of the nuclear fuel rods 200 along the axis of the waterproof ring lamp 12 (see...). Figure 5 The light from the two waterproof ring lights 12 passes through the center line (Z direction) in sequence. The two waterproof ring lights 12 are spaced apart, and the space between the two waterproof ring lights 12 forms an illumination area 1201, so that the light from the two waterproof ring lights 12 can converge and overlap in the middle area. This layout not only provides sufficient space for the irradiation of nuclear fuel rods 200 to be installed and inspected, but also creates a more comprehensive and softer lighting environment through the superposition of light.

[0063] In some examples, two waterproof ring lights 12 are arranged vertically at intervals, and the irradiated nuclear fuel rod 200 can pass directly through the two waterproof ring lights 12 from top to bottom. The installation of the irradiated nuclear fuel rod 200 is simple and reliable.

[0064] By adopting the technical solution of this embodiment, the two waterproof ring lights 12 are coaxially spaced and the illumination area 1201 is the interval area between the two waterproof ring lights 12. This allows the light from the two waterproof ring lights 12 to be uniformly superimposed within the illumination area 1201, so that the surface details of the irradiated nuclear fuel rod 200 at each circumferential position can be clearly presented. Meanwhile, the multiple radiation-resistant underwater cameras 13 distributed along the circumference of the waterproof ring lights 12 have their lenses facing the illumination area 1201, and can simultaneously capture clear images of the irradiated nuclear fuel rod 200 at each angle. This provides double assurance for the accuracy of subsequent 360° image stitching, further improves inspection efficiency, and reduces the need for repeated manual inspections.

[0065] In some embodiments, the bracket 11 includes a mounting plate 111, a support plate 112, and a plurality of connecting posts 113 connected between the mounting plate 111 and the support plate 112. The mounting plate 111 and the support plate 112 are arranged at intervals along the axial direction of the waterproof ring light 12, and the plurality of connecting posts 113 are arranged at intervals along the circumferential direction of the waterproof ring light 12. One of the two waterproof ring lights 12 and a plurality of radiation-resistant underwater cameras 13 are mounted on the mounting plate 111, and the other waterproof ring light 12 is mounted on the support plate 112. Along the circumferential direction of the waterproof ring light 12, the connecting posts 113 are located between two adjacent radiation-resistant underwater cameras 13.

[0066] Mounting plate 111 provides a mounting base for one of the two waterproof ring lights 12 and multiple radiation-resistant underwater cameras 13, support plate 112 provides a mounting base for the other waterproof ring light 12, and connecting post 113 is used to fix the mounting plate 111 and support plate 112 together, thereby connecting the mounting plate 111 and support plate 112 into a whole.

[0067] In some examples, the support plate 112 has a first central circle 1121 at its center, from which multiple first arms 1122 radiate outward. A waterproof ring light 12 is mounted on the upper side of the first central circle 1121, and the first central circle 1121 forms a first clearance hole 1124 to facilitate the insertion of the irradiated nuclear fuel rods 200. The ends of the first arms 1122 facing away from the first central circle 1121 can be connected to the connecting column 113 by means of snap-fit, bolts, etc. This structure of the support plate 112 reduces the amount of material accumulation, which is beneficial to the lightweight design of the underwater inspection device 10 for irradiated nuclear fuel rods. The upper side of the support plate 112 may also be provided with reinforcing ribs 1123 to increase the structural strength of the support plate 112.

[0068] In some examples, the mounting plate 111 has a second central circle 1111 at its center, from which multiple second arms 1112 radiate outwards. A waterproof ring light 12 is mounted on the lower side of the second central circle 1111. The second central circle 1111 forms a second clearance hole 1113 to facilitate the insertion of the irradiated nuclear fuel rods 200. The periphery of the second central circle 1111 can be connected to the connecting post 113 by means of snap-fit, bolts, etc. Multiple radiation-resistant underwater cameras 13 are mounted one-to-one on the second arms 1112. This structure of the mounting plate 111 reduces the amount of material accumulation and facilitates the lightweight design of the underwater inspection device 10 for irradiated nuclear fuel rods.

[0069] Mounting plate 111 and support plate 112 are arranged at intervals along the axial direction of the waterproof ring light 12, providing corresponding mounting carriers for the two waterproof ring lights 12. This allows the two waterproof ring lights 12 to be fixed to these two plates, thereby ensuring the coaxiality and spacing stability of the two supplementary lights through plate positional fixation. This reduces the risk of offset of the lighting area 1201 or deterioration of the light superposition effect due to installation misalignment of the waterproof ring lights 12. The two waterproof ring lights 12 are located between the mounting plate 111 and support plate 112, ensuring that they do not obstruct the convergence and superposition of light in the spaced area.

[0070] Multiple connecting posts 113 connect the mounting plate 111 and the support plate 112, and are arranged at intervals along the circumference of the waterproof ring light 12. This arrangement ensures a stable connection between the mounting plate 111 and the support plate 112, while also maintaining the overall stability and lightweight design of the bracket 11. The circumferentially spaced connecting posts 113 also ensure a uniform distribution of support force between the mounting plate 111 and the support plate 112, reducing deformation caused by concentrated force in one direction and thus minimizing impact on the installation accuracy of the waterproof ring light 12 and the radiation-resistant underwater camera 13. Compared to a monolithic bracket structure, the circumferentially spaced connecting posts 113 meet structural strength requirements while reducing material usage and the overall weight of the bracket 11. Furthermore, they do not obstruct the path of the irradiated nuclear fuel rods 200 or the light projection path of the waterproof ring light 12, improving the smoothness of the inspection process. The connecting posts 113 can be fixed to the mounting plate 111 and the support plate 112 by welding, snap-fitting, or bolting.

[0071] The lens of the radiation-resistant underwater camera 13 needs to be oriented towards the illumination area 1201 between the two waterproof ring lights 12 to acquire clear images. The radiation-resistant underwater camera 13 and one of the waterproof ring lights 12 are mounted together on the mounting plate 111. The radiation-resistant underwater camera 13 is located outside the waterproof ring light 12, which allows the lens of the radiation-resistant underwater camera 13 to have a reasonable distance from the illumination area 1201, so as to obtain higher-definition image information. At the same time, it ensures that the relative position of the radiation-resistant underwater camera 13 and the corresponding waterproof ring light 12 is fixed, avoiding lens orientation shift due to different mounting carriers. The other waterproof ring light 12 is mounted separately on the support plate 112. The axial spacing between the support plate 112 and the mounting plate 111 can be used to precisely control the spacing between the two waterproof ring lights 12, thereby precisely controlling the range of the illumination area 1201, so that the illumination area 1201 can completely cover the imaging field of view of the radiation-resistant underwater camera 13.

[0072] Along the circumference of the waterproof ring light 12, the connecting post 113 is located between two adjacent radiation-resistant underwater camera components 13. This prevents the connecting post 113 from obstructing the lens of the radiation-resistant underwater camera component 13, ensuring unobstructed imaging by the radiation-resistant underwater camera component 13. The connecting post 113 is positioned in the circumferential gap between two adjacent radiation-resistant underwater camera components 13. This fully utilizes the unused space between the radiation-resistant underwater camera components 13 to provide support, without interfering with the lens orientation and imaging field of view of any one of the radiation-resistant underwater camera components 13. This ensures that each radiation-resistant underwater camera component 13 can completely capture the image information of the corresponding circumferential position of the irradiated nuclear fuel rod 200 within the illumination area 1201, guaranteeing the integrity of subsequent 360° image stitching.

[0073] By adopting the technical solution of this embodiment, the axially spaced layout design of the mounting plate 111 and the support plate 112 can better support and fix the two waterproof ring lights 12 and the radiation-resistant underwater camera 13; in addition, the positional avoidance of the connecting column 113 relative to the radiation-resistant underwater camera 13 is conducive to improving the imaging effect and enhancing the overall inspection stability and accuracy of the underwater inspection device 10 for irradiated nuclear fuel rods.

[0074] See Figures 7-10 As shown, in some embodiments, the waterproof ring light 12 includes a ring base 121, a ring light source 122, and a ring transparent element 123. The ring transparent element 123 is coaxially covered by the ring base 121 and surrounds to form a ring light source cavity 1203. The ring light source 122 is coaxially disposed in the ring light source cavity 1203. The side of the ring transparent element 123 facing away from the ring base 121 forms an illumination area 1201.

[0075] The annular base 121 serves as the support and installation foundation for the entire waterproof ring light 12. It can be used to fix the ring light source 122 and connect external components (such as subsequent lifting devices). The annular structure of the base 121 also facilitates the insertion of the irradiated nuclear fuel rods 200. The annular base 121 can be made of high-strength, corrosion-resistant materials, such as stainless steel plates or hard aluminum alloy profiles, to withstand the irradiation and humid environment that may exist in the inspection scenario of the irradiated nuclear fuel rods 200, while ensuring the installation stability of the waterproof ring light 12. The annular base 121 can be fixed to the mounting plate 111 or support plate 112 of the bracket 11 by means of bolts, snap-fit, or other detachable methods, facilitating the subsequent disassembly, maintenance, and replacement of the waterproof ring light 12.

[0076] The annular transparent element 123 is a functional component that allows light to be emitted uniformly while providing protection for the annular light source 122. The annular transparent element 123 needs to be made of a material with high light transmittance. For example, tempered glass or radiation-resistant polycarbonate can be used. These materials can ensure efficient light transmission while also having a certain degree of strength and weather resistance.

[0077] The annular transparent part 123 is coaxially covered on the annular base 121, and the two form a closed annular light source cavity 1203. The annular transparent part 123 provides protection for the annular light source 122, and the annular light source cavity 1203 can provide installation space for the annular light source 122.

[0078] In some examples, the annular base 121 is provided with an annular light source cavity 1203, and the annular transparent part 123 coaxially covers the annular opening of the annular light source cavity 1203. A clamping ring 124 is provided on the outer side of the annular transparent part 123 to fix the annular transparent part 123 to the annular base 121. A sealing gasket 125 is clamped between the clamping ring 124 and the annular transparent part 123 to improve the sealing performance of the waterproof ring light 12, so as to facilitate underwater lighting; a sealing ring 126 is clamped between the annular transparent part 123 and the annular base 121 to improve the sealing performance of the waterproof ring light 12.

[0079] In some examples, there are two clamping rings 124, one clamping ring 124 is used to clamp and fix the outer edge of the annular transparent part 123, and the other clamping ring 124 is used to clamp and fix the inner edge of the annular transparent part 123, so as to improve the fixing reliability of the annular transparent part 123.

[0080] The ring light source 122 is coaxially disposed within the ring light source cavity 1203, so that the light emitted by the ring light source 122 is uniformly distributed along the ring circumference. The ring light source 122 can be an LED ring light panel, a ring light tube, etc.

[0081] The light emitted by the ring light source 122 needs to pass through the ring transparent part 123 before being projected outward, thereby forming an illumination area 1201 on the side of the ring transparent part 123 facing away from the ring base 121.

[0082] When the two waterproof ring lights 12 are respectively installed on the mounting plate 111 and the support plate 112 of the bracket 11, the annular transparent parts 123 of the two waterproof ring lights 12 are arranged opposite each other. After the light is emitted from the annular transparent parts 123 on both sides, it converges and overlaps in the interval area between the two waterproof ring lights 12, and finally forms an illumination area 1201 that covers the irradiated nuclear fuel rod 200 and has a uniform light distribution, which can effectively improve the problems of strip bright spots and blurred edges on the surface of the irradiated nuclear fuel rod 200.

[0083] By adopting the technical solution of this embodiment, the ring light source 122 can emit ring light, which is uniformly emitted through the ring transparent part 123 and converges in the illumination area 1201. This can provide clear and uniform imaging conditions for multiple radiation-resistant underwater cameras 13 distributed in the circumferential direction, which is conducive to the radiation-resistant underwater cameras 13 obtaining clearer image information and effectively improving the accuracy of inspection.

[0084] In some embodiments, the annular transparent element 123 is atomized.

[0085] Atomization treatment refers to processes such as physical abrasion, chemical etching, or spraying atomized coatings.

[0086] For example, the annular transparent element 123 is atomized, which makes the surface of the annular transparent element 123 form a dense and uniform micro-uneven structure. This structure does not affect the overall light transmittance, but it can change the way light propagates. The surface of the un-atomized transparent element is smooth, and light is prone to specular reflection when passing through it, which will lead to local light concentration. There is still a risk that fine bright spots may be formed after the light is projected onto the surface of the irradiated nuclear fuel rod 200. However, the atomized annular transparent element 123 will cause the light emitted by the annular light source 122 to undergo diffuse reflection during the transmission process, so that the light is uniformly diffused along the circumference and axis after exiting the annular transparent element 123, forming soft and blind-spot-free illumination, effectively reducing the generation of local strong light areas.

[0087] By adopting the technical solution of this embodiment, the atomization process makes the light emitted through the annular transparent part 123 more uniform, allowing the surface of the irradiated nuclear fuel rod 200 to obtain more uniform illumination, thereby effectively eliminating the problems of strip-shaped bright spots and blurred edges. This allows multiple radiation-resistant underwater cameras 13 distributed along the circumference to capture clearer and more realistic surface details of the irradiated nuclear fuel rod 200, significantly improving the accuracy of defect identification, reducing the frequency of manual re-inspection, and further reducing inspection time and labor costs.

[0088] In some embodiments, a plurality of radiation-resistant underwater cameras 13 are arranged in a circular matrix around the axis of the waterproof ring light 12.

[0089] Multiple radiation-resistant underwater cameras 13 are arranged in a circular matrix around the axis of the waterproof ring light 12. The center of the circular distribution of the radiation-resistant underwater cameras 13 coincides with the central axis of the waterproof ring light 12, and each radiation-resistant underwater camera 13 is uniformly distributed in a matrix along the circumference of the waterproof ring light 12. The circumferential angle between two adjacent radiation-resistant underwater cameras 13 is consistent.

[0090] For example, the number of radiation-resistant underwater cameras 13 is three. The three radiation-resistant underwater cameras 13 are arranged in a circular matrix around the axis of the waterproof ring light 12. The center of the circular distribution of the three radiation-resistant underwater cameras 13 is collinear with the central axis of the waterproof ring light 12 and is evenly distributed along the circumference of the waterproof ring light 12. The circumferential angle between two adjacent radiation-resistant underwater cameras 13 is 120°. The equal angle of 120° can ensure that the imaging fields of the three radiation-resistant underwater cameras 13 can be completely connected, and the fields of view of two adjacent radiation-resistant underwater cameras 13 will form a moderate overlap area. In this way, 360° circumferential full coverage of the irradiated nuclear fuel rod 200 can be achieved with the minimum number of radiation-resistant underwater cameras 13, which reduces the imaging blind zone of the circumferential surface of the irradiated nuclear fuel rod 200 and avoids image redundancy due to excessive overlap of fields of view. Three radiation-resistant underwater cameras 13 can provide full coverage of the fuel rod surface inspection. If there are defects or cracks in the irradiated nuclear fuel rods 200, they can be quickly identified to ensure that the image quality meets the inspection requirements.

[0091] By adopting the technical solution of this embodiment, multiple radiation-resistant underwater cameras 13 are arranged in a uniform ring matrix, which allows the imaging field of view of each radiation-resistant underwater camera 13 to be accurately aligned with the illumination area 1201. At the same time, the imaging fields of adjacent radiation-resistant underwater cameras 13 will form a moderate overlap area or just intersect. This can reduce the blind spot of circumferential imaging and prevent image redundancy caused by excessive overlap of fields of view, greatly improving the efficiency and accuracy of subsequent image stitching.

[0092] See Figure 3 As shown, in some embodiments, the surface of the support 11 is subjected to pickling and passivation treatment.

[0093] Pickling and passivation is a surface treatment process for metal materials, specifically consisting of two consecutive steps: pickling and passivation. The pickling step effectively removes oxide scale, rust, oil, and other surface impurities generated during the processing, welding, or transportation of the support 11, making the surface of the support 11 clean and smooth. The passivation step forms a dense, uniform, and matte chemical passivation film on the clean metal surface. This passivation film differs from the smooth surface of the untreated metal support 11; its surface exhibits low reflectivity and does not produce strong specular reflection of light like a smooth metal surface.

[0094] During the inspection of the irradiated nuclear fuel rods 200, in addition to the light projected onto the illumination area 1201, some of the light emitted by the waterproof ring light 12 will inevitably shine onto the surface of the support 11. If the surface of the support 11 has not been acid-washed and passivated, the smooth metal surface will reflect the light to form highlights, which will be refracted onto the alloy cladding surface of the irradiated nuclear fuel rods 200, resulting in additional reflective areas on the cladding surface. This will disrupt the originally uniform lighting environment and interfere with the capture of minute defects on the cladding surface by the radiation-resistant underwater camera 13. However, the surface of the support 11 after acid washing and passivation treatment can significantly reduce the specular reflection intensity of light due to the low reflectivity of the passivation film, absorb some of the scattered light, and prevent the generated highlights from being refracted onto the alloy cladding of the irradiated nuclear fuel rods 200. This ensures the purity and uniformity of the illumination on the fuel rod surface and eliminates the interference of additional reflections on imaging.

[0095] By adopting the technical solution of this embodiment, after the surface of the support 11 is acid-washed and passivated, the surface of the support 11 has low reflectivity, which can significantly reduce the specular reflection intensity of light, absorb some scattered light, and reduce the risk of high light refraction to the alloy cladding of the irradiated nuclear fuel rod 200. This results in good uniformity of illumination on the surface of the irradiated nuclear fuel rod 200 and eliminates the interference of additional reflections on imaging.

[0096] In some embodiments, the bracket 11 is provided with a cable management rack 115, which is used to fix the cables 14 connected to the radiation-resistant underwater camera 13 and the waterproof ring light 12, making the wiring of the underwater inspection device 10 for irradiated nuclear fuel rods simpler, clearer, and neater, and facilitating the maintenance of the underwater inspection device 10 for irradiated nuclear fuel rods. The cable management rack 115 is fixed with a cable connector 15, through which the cables 14 are connected, facilitating the connection between the cables 14.

[0097] For example, the cable management frame 115 is located on the mounting plate 111 and between two adjacent radiation-resistant underwater cameras 13. This layout helps to improve the structural compactness of the components, reduce the volume of the irradiated nuclear fuel rod inspection equipment 100, and reduce interference between the irradiated nuclear fuel rod inspection equipment 100 and other components, so as to better adapt to the inspection environment of the irradiated nuclear fuel rods 200.

[0098] See Figures 1-2 As shown, in some embodiments, the irradiated nuclear fuel rod inspection equipment 100 includes the above-mentioned underwater inspection device 10 for irradiated nuclear fuel rods, a lifting device, and a clamping device 20 for clamping one end of the irradiated nuclear fuel rod 200. The bracket 11 is connected to the lifting end of the lifting device.

[0099] The clamping device 20 is a component used to clamp and fix the irradiated nuclear fuel rod 200. The clamping device 20 clamps one end of the irradiated nuclear fuel rod 200, ensuring the irradiated nuclear fuel rod 200 remains stable during inspection and reducing the risk of blurred imaging or defect inspection deviations caused by the irradiated nuclear fuel rod 200 shaking. The clamping part of the clamping device 20 should be adapted to the shape of the end of the irradiated nuclear fuel rod 200. A flexible clamping structure can be used to ensure the clamping is secure while avoiding damage to the fuel rod due to excessive clamping force. The clamping device 20 can also be a clamping cylinder, clamping sleeve, or other components.

[0100] The lifting device is a component used to drive the relative movement of the irradiated nuclear fuel rod 200 and the underwater inspection device 10 for the irradiated nuclear fuel rod. It is connected to the support 11 of the underwater inspection device 10 for the irradiated nuclear fuel rod through the lifting end of the lifting device, thereby enabling the entire underwater inspection device 10 for the irradiated nuclear fuel rod to achieve lifting and lowering movement.

[0101] In some examples, the lifting device can be a new fuel lifting device for the fuel pool, or it can be an additional lifting device, such as a linear module, cylinder, or other components. The connection between the lifting device and the support 11 must have sufficient rigidity and reliability. Bolt fastening, flange connection, or other methods can be used to reduce loosening or shaking during the lifting movement and improve the relative positional stability between the underwater inspection device 10 for irradiated nuclear fuel rods and the fuel rods 200.

[0102] In some examples, the bracket 11 is provided with a connecting part 114, which is equipped with a quick-connect tool. The quick-connect tool can be quickly connected to the lifting end of the lifting device to improve inspection efficiency. The connecting part 114 can be a rectangular frame located on the side of the mounting plate 111. The rectangular frame has a large area and can provide more connection points, facilitating a stable connection between the bracket 11 and the lifting end of the lifting device. The quick-connect tool can be a snap-on quick-connect tool, a plug-in quick-connect tool, a locking pin quick-connect tool, a quick-locking flange quick-connect tool, etc.

[0103] The irradiated nuclear fuel rod inspection device 100 of this application embodiment has irradiated nuclear fuel rods 200 installed on a fuel support 300. The fuel support 300 can be used as a temporary storage container for the irradiated nuclear fuel rods 200. One side of the support 11 is connected to a lifting device, and the support 11 is located on the upper side of the fuel support 300. When using the irradiated nuclear fuel rod inspection equipment 100, the underwater inspection device 10 for irradiated nuclear fuel rods can first be installed on the lifting device. The clamping device 20 is used to clamp and position the end of the irradiated nuclear fuel rod 200 above the fuel support 300, thus fixing the irradiated nuclear fuel rod 200. The clamping device 20 remains stationary, and the lifting device drives the underwater inspection device 10 to move downwards as a whole, so that the irradiated nuclear fuel rod 200 forms a slow upward relative movement with respect to the underwater inspection device 10. This relative movement allows multiple radiation-resistant underwater cameras 13 to comprehensively and continuously inspect the surface of the fuel rod. After the inspection is completed, the underwater inspection device 10 and the lifting device are disassembled, thus realizing the defect inspection of the irradiated nuclear fuel rod 200. In this way, a comprehensive and rapid inspection of the irradiated nuclear fuel rod 200 can be completed in one lifting motion.

[0104] By adopting the technical solution of this embodiment, the irradiated nuclear fuel rod 200 can be fully inspected along its axial and circumferential directions by utilizing the cooperation of the lifting device, the clamping device 20, and the underwater inspection device 10 for irradiated nuclear fuel rods. In addition, the irradiated nuclear fuel rod 200 is fixed in place while the underwater inspection device 10 for irradiated nuclear fuel rods is raised and lowered, which can reduce the risk of damage to the irradiated nuclear fuel rod 200 and improve the safety of the irradiated nuclear fuel rod 200.

[0105] In some embodiments, the irradiated nuclear fuel rod inspection equipment 100 includes a laser rangefinder 30, which is used to measure the lifting distance of the lifting device.

[0106] The laser rangefinder 30 is a sensing component used for non-contact real-time measurement of the movement distance of the underwater inspection device 10 for irradiated nuclear fuel rods. The laser rangefinder 30 utilizes the linear propagation characteristics of laser and the principle of reflection ranging to achieve accurate capture of the displacement of the underwater inspection device 10 for irradiated nuclear fuel rods.

[0107] The laser rangefinder 30 can be mounted on the clamping device 20 or on the mounting base of the lifting device. The measuring direction of the laser rangefinder 30 is consistent with the lifting direction of the lifting device.

[0108] When the lifting device moves the underwater inspection device 10 for irradiated nuclear fuel rods downwards, the laser ranging device 30 continuously emits laser signals towards a designated reference surface (such as the reference surface on the support 11, the reference surface on the lifting end, the positioning surface of the fuel support 300, etc.). By receiving the reflected signals and calculating the time difference or phase difference of signal transmission, the real-time displacement of the underwater inspection device 10 for irradiated nuclear fuel rods is quickly calculated. The data acquired by the laser ranging device 30 can be precisely synchronized with the imaging record of the radiation-resistant underwater camera 13. When the radiation-resistant underwater camera 13 captures a minor defect on the surface of the irradiated nuclear fuel rod 200, the laser ranging device 30 can simultaneously output the movement distance of the underwater inspection device 10 for irradiated nuclear fuel rods at that moment, thereby correspondingly calibrating the specific relative position of the defect in the axial direction of the irradiated nuclear fuel rod 200. In this way, the underwater inspection device 10 for irradiated nuclear fuel rods can both detect defects and accurately locate their positions, providing accurate positional data support for subsequent defect analysis and failure cause tracing of the irradiated nuclear fuel rod 200. Meanwhile, the non-contact measurement characteristics of the laser rangefinder 30 will not cause any damage to the irradiated nuclear fuel rod 200 or the underwater inspection device 10 for irradiated nuclear fuel rods. It also has high measurement accuracy and strong resistance to underwater environmental interference, making it suitable for the needs of irradiated nuclear fuel rod 200 inspection scenarios.

[0109] In some examples, when the underwater inspection device 10 for irradiated nuclear fuel rods is in the initial inspection position (i.e., when the underwater inspection device 10 for irradiated nuclear fuel rods is in the highest position), the laser rangefinder 30 is fixed, meaning the underwater position of the laser rangefinder 30 is known. Thus, the distance between the lifting end of the lifting device and the laser rangefinder 30 can be measured using the laser rangefinder 30, thereby calculating the underwater position of the irradiated fuel rod 200. This allows it to be determined whether the irradiated fuel rod 200 is in a safe underwater position, ensuring the safety of the inspection.

[0110] See Figure 11 As shown, in some embodiments, the side of the support 11 facing away from the clamping device 20 is provided with a plug-in portion 1114 that engages with the fuel support 300. This plug-in portion 1114 can be inserted into a hole on the fuel support 300. Thus, before inspection, the fuel support 300 can be used to position the underwater inspection device 10 for irradiated nuclear fuel rods, ensuring that the irradiated nuclear fuel rods 200 can be accurately inserted into the inner hole 1202 of the waterproof ring lamp 12, improving the safety of the inspection of the irradiated nuclear fuel rods 200. Furthermore, after inspection, the plug-in portion 1114 can be inserted into the hole on the fuel support 300, allowing the fuel support 300 to also provide support for the underwater inspection device 10 for irradiated nuclear fuel rods.

[0111] In some examples, the plug portion 1114 may be a tapered protrusion provided on the mounting plate 111, which can be used to guide the plug portion 1114 to be accurately inserted into the hole on the fuel holder 300 to achieve docking.

[0112] In some embodiments, the two waterproof ring lights 12 are arranged vertically at intervals to reduce obstruction of the field of view of the radiation-resistant underwater camera 13. The waterproof ring lights 12 are designed to be waterproof, and the annular transparent part 123 of the waterproof ring lights 12 is treated with a frosting process to give the light emitted by the waterproof ring lights 12 diffuse scattering characteristics and reduce the generation of highlights. The three radiation-resistant underwater cameras 13 are evenly arranged around the center of the waterproof ring lights 12, which can ensure that the irradiated nuclear fuel rods 200 are clearly displayed in the image. The positions of the components in the irradiated nuclear fuel rod underwater inspection device 10 are reasonably set up, so that the irradiated nuclear fuel rod underwater inspection device 10 can be set up within the space allowed by the actual use environment of the nuclear power plant and can maintain a certain distance from the irradiated nuclear fuel rods 200 being tested, thus reducing the use of shielding materials. Overall, the irradiated nuclear fuel rod underwater inspection device 10 of this application embodiment achieves optimal imaging effect, radiation resistance performance, overall device size and weight.

[0113] In some embodiments, three radiation-resistant underwater cameras 13 and a waterproof ring light 12 can provide circumferential full coverage of the irradiated nuclear fuel rods 200. The underwater inspection device 10 for irradiated nuclear fuel rods is waterproof, resistant to high radiation, and has a lightweight design. The underwater inspection device 10 for irradiated nuclear fuel rods is installed on the new fuel lifting equipment in the fuel pool and is used to conduct full inspections using the temporary fuel storage support 300 for the irradiated nuclear fuel rods 200. It can be quickly set up using matching quick-connect tools, and can be quickly inspected after setup. After the inspection is completed, it can also support the rapid recovery of the underwater inspection device 10 for irradiated nuclear fuel rods.

[0114] In some embodiments, the bracket 11 and the annular transparent element 123 of the waterproof ring light 12 undergo special surface treatment to improve problems such as high gloss and reflection that occur when inspecting irradiated nuclear fuel rods 200. The underwater inspection device 10 for irradiated nuclear fuel rods can realize simultaneous, multi-dimensional inspection of three radiation-resistant underwater cameras 13, and can stitch together 360° images of the irradiated nuclear fuel rods 200. At the same time, the radiation-resistant underwater cameras 13 and the two waterproof ring lights 12 of the underwater inspection device 10 for irradiated nuclear fuel rods can be detachably connected to the bracket 11 to support individual component replacement, improving the economy and efficiency of nuclear power plant site operations.

[0115] Figure 12 A schematic flowchart of a control method for an underwater inspection device 10 for irradiated nuclear fuel rods is shown, and is described in detail below: S11, when the lifting end of the lifting device is in the initial inspection position, control each radiation-resistant underwater camera 13 to perform a shooting action to obtain a ring image of one end of the irradiated nuclear fuel rod 200. When the lifting end of the lifting device is in the initial inspection position, the lifting distance measured by the laser ranging device 30 is the first distance.

[0116] In this embodiment, the underwater inspection device 10 for irradiated nuclear fuel rods is mounted on the lifting end of a lifting device, and can rise as the lifting end of the device rises and fall as the lifting end of the device falls. That is, each radiation-resistant underwater camera 13 (e.g., three radiation-resistant underwater cameras 13) and the waterproof ring light 12 included in the underwater inspection device 10 also rise as the lifting end of the device rises and fall as the lifting end of the device falls.

[0117] In this embodiment, the clamping device 20 clamps and positions one end of the irradiated nuclear fuel rod 200 above the fuel support 300. When the lifting end of the lifting device is in the initial inspection position, it indicates that each radiation-resistant underwater camera 13 can capture an image of one end of the irradiated nuclear fuel rod 200. After fusing the images captured by each radiation-resistant underwater camera 13, a ring image of one end of the irradiated nuclear fuel rod 200 is obtained, that is, a 360° circumferential image of one end of the irradiated nuclear fuel rod 200 is obtained.

[0118] Optionally, the initial inspection position can be determined manually. For example, when the lifting end of the lifting device is determined to be in the initial inspection position, an inspection command is issued to the underwater inspection device 10 for irradiated nuclear fuel rods, so that the underwater inspection device 10 for irradiated nuclear fuel rods controls each radiation-resistant underwater camera 13 to perform a shooting action.

[0119] Optionally, the initial inspection position can also be determined by the underwater inspection device 10 for irradiated nuclear fuel rods itself. For example, the distance measured by the laser rangefinder 30 can be used to determine whether the lifting end of the lifting device is at the initial inspection position. That is, before controlling each radiation-resistant underwater camera 13 to perform the shooting action, the following steps are also included: The current distance measured by the laser rangefinder 30 is obtained. If the current distance is the first distance, the lifting end of the lifting device is determined to be at the initial inspection position.

[0120] In this embodiment, after determining the installation position of the laser rangefinder 30, the lifting end of the lifting device is controlled to move to a preset initial inspection position, and the distance measured by the laser rangefinder 30 at this time is obtained, assuming this distance is the first distance. When it is necessary to inspect the irradiated nuclear fuel rods 200, the value measured by the laser rangefinder 30 is obtained. If this value is equal to the first distance, it is determined that the lifting end of the lifting device has moved to the preset initial inspection position. Since the laser rangefinder 30 is used to measure the lifting distance of the lifting end of the lifting device, when the position of the laser rangefinder 30 remains unchanged, the distance it measures corresponds one-to-one with the position of the lifting end of the lifting device. That is, judging the position of the lifting end of the lifting device by the distance measured by the laser rangefinder 30 is accurate.

[0121] In this embodiment of the application, controlling each radiation-resistant underwater camera 13 to perform a shooting action may include controlling each radiation-resistant underwater camera 13 to perform a shooting action at the same time.

[0122] Specifically, the underwater inspection device 10 for irradiating nuclear fuel rods can use a synchronization controller 40 to send synchronization pulse signals to each radiation-resistant underwater camera 13, so that each radiation-resistant underwater camera 13 will be exposed simultaneously upon receiving the synchronization pulse signal. Since each radiation-resistant underwater camera 13 performs the imaging action at the same time, it is beneficial to improve the accuracy of feature matching involved in subsequent image fusion, thereby improving the accuracy of the obtained fused image (i.e., the ring image). Of course, the underwater inspection device 10 for irradiating nuclear fuel rods can also use other methods to control each radiation-resistant underwater camera 13, which is not limited here.

[0123] S12, during the process of the lifting end of the above-mentioned lifting device moving towards the other end of the above-mentioned irradiated nuclear fuel rod 200, the second distance measured by the above-mentioned laser ranging device 30 is obtained and the above-mentioned radiation-resistant underwater camera 13 is controlled to perform shooting action until the difference between the above-mentioned second distance and the above-mentioned first distance is equal to the length of the above-mentioned irradiated nuclear fuel rod 200, so as to obtain a ring image of the above-mentioned irradiated nuclear fuel rod 200 from one end to the other end.

[0124] The lifting end of the aforementioned lifting device can be controlled by the underwater inspection device 10 for irradiated nuclear fuel rods, or by other devices; this is not limited here.

[0125] In this embodiment, considering that the probability of damage to the irradiated nuclear fuel rod 200 during movement is greater than the probability of damage to the irradiated nuclear fuel rod 200 caused by the operation of the lifting end of the lifting device, it is generally chosen to keep the irradiated nuclear fuel rod 200 stationary while controlling the operation of the lifting end of the lifting device. Specifically, the clamping device 20 can be kept stationary, and the lifting end of the lifting device can be controlled to drive the underwater inspection device 10 for the irradiated nuclear fuel rod to move downward as a whole. At this time, the irradiated nuclear fuel rod 200 is slowly lifted upward relative to the underwater inspection device 10. During the slow downward movement of the lifting end of the lifting device, each radiation-resistant underwater camera 13 simultaneously takes pictures of the irradiated nuclear fuel rod 200, and the laser rangefinder 30 also provides real-time feedback of the distance it measures. Assuming that the distance measured by the laser rangefinder 30 during the movement of the lifting end of the lifting device is the second distance, the difference between the second distance and the first distance reflects the movement distance of the lifting end of the lifting device, and also reflects the height of the irradiated nuclear fuel rod 200 corresponding to the ring image. When the operating distance is equal to the length of the irradiated nuclear fuel rod 200, it indicates that the radiation-resistant underwater camera 13 has photographed the entire irradiated nuclear fuel rod 200, and at this point, the photographing can be stopped.

[0126] In this embodiment of the application, the underwater inspection device 10 for irradiated nuclear fuel rods is installed on the lifting end of the lifting device of the fuel pool. It can rise as the lifting end of the lifting device rises and fall as the lifting end of the lifting device falls, thereby enabling the multiple radiation-resistant underwater cameras 13 included in the underwater inspection device 10 for irradiated nuclear fuel rods 200 at various heights to capture images. Meanwhile, since the laser rangefinder 30 is used to measure the lifting distance of the lifting end of the aforementioned lifting device, the operating distance of the lifting end of the lifting device can be determined by the distance measured by the laser rangefinder 30, that is, the height of the irradiated nuclear fuel rod 200 that the radiation-resistant underwater camera 13 can capture. Furthermore, since the field of view of the multiple radiation-resistant underwater cameras 13 is stitched and fused to form a panoramic field of view, the multiple radiation-resistant underwater cameras 13 do not need to change their shooting positions. They can obtain a 360° circumferential image of the irradiated nuclear fuel rod 200 at a certain height by performing a single shooting action. In addition, by controlling the multiple radiation-resistant underwater cameras 13 to perform one or more shooting actions in combination with the distance measured by the laser rangefinder 30, a 360° circumferential image of the entire irradiated nuclear fuel rod 200 can be obtained, thereby greatly shortening the shooting time.

[0127] In some embodiments, considering that the irradiated nuclear fuel rod 200 is generally rod-shaped and its exterior is clad in an alloy shell, if the irradiated nuclear fuel rod 200 is illuminated using a directional beam illumination method, it will result in strip-shaped bright spots appearing on the surface of the irradiated nuclear fuel rod 200 in the captured image, and the edges of the irradiated nuclear fuel rod 200 will be unclear. To reduce the appearance of strip-shaped bright spots in the captured images, the underwater inspection device 10 for irradiated nuclear fuel rods provided in this application embodiment further includes: a waterproof ring light 12 for being fitted onto the outside of the irradiated nuclear fuel rod 200, and before controlling the aforementioned radiation-resistant underwater cameras 13 to perform the imaging action, it further includes: Control the aforementioned waterproof ring light 12 to turn on.

[0128] The aforementioned waterproof ring light 12 is a professional lighting device that achieves high uniformity and near-zero shadows by combining a ring-shaped multi-point light source with diffusion technology.

[0129] Optionally, the aforementioned waterproof ring light 12 adopts a waterproof design to achieve the function of underwater lighting, and its annular transparent part 123 is frosted to give the waterproof ring light 12 diffuse scattering characteristics and reduce the probability of producing high light.

[0130] Since the waterproof ring light 12 is fitted onto the outside of the irradiated nuclear fuel rod 200, and the waterproof ring light 12 is turned on before the radiation-resistant underwater camera 13 performs the shooting action, the radiation-resistant underwater camera 13 can capture images of the irradiated nuclear fuel rod 200 with uniform illumination when performing the shooting action, thereby reducing the probability of striped light spots and unclear edges of the irradiated nuclear fuel rod 200 in the obtained images.

[0131] The number of sets of the aforementioned waterproof ring lights 12 can be one or two. When the underwater inspection device 10 for irradiated nuclear fuel rods includes two waterproof ring lights 12, the two waterproof ring lights 12 are coaxially sleeved on the outside of the irradiated nuclear fuel rod 200, and the lenses of each radiation-resistant underwater camera 13 face the irradiated nuclear fuel rod 200 between the two waterproof ring lights 12. At this time, the control method of the underwater inspection device 10 for irradiated nuclear fuel rods provided in this application embodiment further includes, before controlling each of the aforementioned radiation-resistant underwater cameras 13 to perform the shooting action: Control the two aforementioned waterproof ring lights 12 to turn on.

[0132] Correspondingly, the control of each of the aforementioned radiation-resistant underwater cameras 13 to perform a shooting action to acquire a ring-shaped image of one end of the irradiated nuclear fuel rod 200 includes: The aforementioned radiation-resistant underwater cameras 13 are controlled to perform shooting actions to obtain a ring image of one end of the irradiated nuclear fuel rod 200 between the two aforementioned waterproof ring lights 12.

[0133] In this embodiment, the underwater inspection device 10 for irradiated nuclear fuel rods includes two waterproof ring lights 12, three radiation-resistant underwater cameras 13, and a support 11. The underwater inspection device 10 for irradiated nuclear fuel rods is located on the lifting end of a lifting device.

[0134] The end of the irradiated nuclear fuel rod 200 is held by a clamping device 20. Two waterproof ring lights 12 are coaxially sleeved on the outside of the irradiated nuclear fuel rod 200. The underwater inspection device 10 for the irradiated nuclear fuel rod includes three radiation-resistant underwater cameras 13. The lenses of the three radiation-resistant underwater cameras 13 face the irradiated nuclear fuel rod 200 between the two waterproof ring lights 12. The three radiation-resistant underwater cameras 13 are evenly distributed circumferentially around the irradiated nuclear fuel rod 200 to achieve full circumferential coverage inspection of the irradiated nuclear fuel rod 200.

[0135] Since the two waterproof ring lights 12 are arranged in an up-down configuration, and the vertical separation does not obstruct the field of view of the radiation-resistant underwater camera 13, and provides more uniform illumination, the above arrangement helps to further improve the clarity of the obtained ring image.

[0136] As described above, the underwater inspection device 10 for irradiated nuclear fuel rods provided in this application embodiment includes a plurality of radiation-resistant underwater cameras 13. Optionally, these radiation-resistant underwater cameras 13 are detachably installed in the underwater inspection device 10 for irradiated nuclear fuel rods.

[0137] In some embodiments, considering that the radiation-resistant underwater camera 13 is used to photograph the irradiated nuclear fuel rod 200, and that the irradiated nuclear fuel rod 200 may emit nuclear radiation, and that the closer one is to the irradiated nuclear fuel rod 200, the greater the corresponding nuclear radiation, the radiation-resistant underwater camera 13 can be configured to be as far away from the irradiated nuclear fuel rod 200 as possible while still being able to capture clear images. That is, before controlling each of the aforementioned radiation-resistant underwater cameras 13 to perform the photographing action, the method further includes: A1. Based on the field of view, focal length, allowable envelope size for environmental setup, and radiation effect of the irradiated nuclear fuel rods 200 on each of the aforementioned radiation-resistant underwater cameras 13, determine the corresponding distance between the aforementioned radiation-resistant underwater cameras 13 and the aforementioned irradiated nuclear fuel rods 200.

[0138] Among them, the environmental setup refers to the environmental setup corresponding to the setup on which the radiation-resistant underwater camera 13 is installed. The allowable envelope size of the environmental setup refers to the farthest distance that the radiation-resistant underwater camera 13 can be away from the irradiated nuclear fuel rods 200 on the environmental setup.

[0139] In this embodiment of the application, the determined distance is as close as possible to the envelope size allowed by the environment, and the image captured by the radiation-resistant underwater camera 13 at this distance, based on the field of view and focal length, should include a clear image of the irradiated nuclear fuel rods 200.

[0140] A2. The radiation-resistant underwater camera 13 is set according to the distance between each of the above-mentioned radiation-resistant underwater camera 13 and the above-mentioned irradiated nuclear fuel rod 200.

[0141] In this embodiment, since the distance between the radiation-resistant underwater camera 13 and the irradiated nuclear fuel rod 200 is determined according to the field of view, focal length and the envelope size allowed by the environment for setting up each radiation-resistant underwater camera 13, the determined distance is more matched with each radiation-resistant underwater camera 13, thereby making the setting of the radiation-resistant underwater camera 13 more accurate.

[0142] In some embodiments, considering that having the same parameters for each radiation-resistant underwater camera 13 helps reduce the complexity of fusing the images captured by these radiation-resistant underwater cameras 13, the parameters of each radiation-resistant underwater camera 13 can be set to be the same. In this case, the above-mentioned A2, setting the corresponding radiation-resistant underwater camera 13 according to the distance between each of the above-mentioned radiation-resistant underwater cameras 13 and the irradiated nuclear fuel rod 200, includes: Among the distances between each of the aforementioned radiation-resistant underwater camera 13 and the aforementioned irradiated nuclear fuel rod 200, the shortest distance is determined; all of the aforementioned radiation-resistant underwater camera 13 are installed according to the aforementioned shortest distance.

[0143] The parameters include focal length, distortion coefficient, exposure time, white balance coefficient, etc.

[0144] In this embodiment, the distance between the radiation-resistant underwater camera 13 and the irradiated nuclear fuel rod 200 depends not only on the field of view and focal length but also on the allowable envelope size of its environment. Therefore, even if the parameters of each radiation-resistant underwater camera 13 are the same, the distances between these radiation-resistant underwater cameras 13 and the irradiated nuclear fuel rod 200 may not be the same. Figure 2 Of the three radiation-resistant underwater cameras 13, the one located on the far left of the support 11 is limited by the support 11, i.e., by the allowable envelope size of the environment. The other two radiation-resistant underwater cameras 13 are not limited by the allowable envelope size of the environment. Therefore, the distance between the radiation-resistant underwater camera 13 located on the far left of the support 11 and the irradiated nuclear fuel rod 200 is the shortest. At this time, the three radiation-resistant underwater cameras 13 can be set according to the distance between the radiation-resistant underwater camera 13 located on the far left of the support 11 and the irradiated nuclear fuel rod 200.

[0145] In this embodiment of the application, the above-mentioned settings ensure that each radiation-resistant underwater camera 13 has the same parameters and is at the same distance from the irradiated nuclear fuel rod 200. That is, these radiation-resistant underwater cameras 13 capture images of the irradiated nuclear fuel rod 200 with the same shooting parameters, thereby further reducing the complexity of subsequent image fusion.

[0146] After obtaining a ring-shaped image of the irradiated nuclear fuel rod 200 using the aforementioned radiation-resistant underwater camera 13, a preset defect identification model can be used to identify defects in the ring-shaped image. That is, after obtaining the ring-shaped image of the irradiated nuclear fuel rod 200 from one end to the other, the process further includes: Obtain textual description information of the defect; input the textual description information and the annular image into a preset defect recognition model to obtain the defect judgment result output by the defect recognition model, wherein the defect recognition model is used to extract visual information features of the annular image, perform cross-modal fusion of the visual information features and the text vector corresponding to the textual description information, and obtain the defect judgment result based on the cross-modal fusion result.

[0147] The aforementioned textual description information includes: description information when the irradiated nuclear fuel rod 200 is without defects (e.g., "smooth surface of the irradiated nuclear fuel rod 200"), and / or, description information when the irradiated nuclear fuel rod 200 has defects (e.g., "cracked surface of the fuel rod").

[0148] In this embodiment, textual description information and images are used to train the defect recognition model to improve the accuracy of the defect judgment results of the trained defect recognition model. Optionally, multiple textual description information can be assigned to the same image. That is, by increasing the diversity of textual description information, the diversity of textual descriptions matched with a defect image is increased, thereby increasing the diversity of descriptions for a certain category of defects and guiding or improving the defect detection performance of the defect recognition model to be trained.

[0149] Optionally, when extracting visual information features from a ring-shaped image, the aforementioned defect recognition model first extracts image patch labels corresponding to different feature layers of the ring-shaped image, and then convolves these image patch labels with convolution kernels of different scales to obtain visual information features at different scales. Through the above processing, information at different scales can be considered, improving the defect recognition model's focus on defect regions.

[0150] After obtaining visual information features at different scales, these visual information features are fused with text vectors across modalities to obtain normal and abnormal images corresponding to the same image patch label. Normal and abnormal images at the same scale corresponding to different image patch labels are fused into the final normal and abnormal images corresponding to that scale. Finally, anomaly scores are calculated based on the final normal and abnormal images at each scale, and the defect judgment result is determined based on the anomaly scores.

[0151] In some embodiments, the above-mentioned defect identification model can be obtained in the following manner: The large model to be trained was determined, and the aforementioned large model was trained using an open-source dataset. Determine the parameters of the shallow layer of the above large model, and freeze the parameters of the non-shallow layer of the above large model; The parameters of the aforementioned shallow layer are trained to obtain the trained parameters of the aforementioned shallow layer. Based on the parameters of the non-shallow layer and the parameters of the shallow layer after training, the parameters of the large model after training are determined, and the large model after training is used as the defect recognition model.

[0152] Because the large model is trained using an open-source dataset, the determined large model to be trained can classify the most common categories in daily life and the most frequently appearing categories on the Internet. That is, since the large model to be trained has basic classification capabilities, fine-tuning the parameters of the large model to be trained can make the fine-tuned large model adaptable to the defect identification of irradiated nuclear fuel rods 200, thereby improving the training speed of obtaining the defect identification model.

[0153] In this embodiment of the application, considering that when identifying defects in the irradiated nuclear fuel rod 200, the main focus is on identifying the surface of the irradiated nuclear fuel rod 200, and the features corresponding to the surface of the irradiated nuclear fuel rod 200 are mainly features extracted from the shallow layer of the large model, the above-mentioned defect identification model can be obtained by training only the parameters of the shallow layer of the large model.

[0154] Optionally, the parameters of the aforementioned shallow layer include parameters such as shape, outline, and color.

[0155] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0156] Corresponding to the control method of the underwater inspection device 10 for irradiated nuclear fuel rods described in the above embodiments, Figure 13 A schematic diagram of the controller 40 of the fuel rod inspection device is shown. For ease of explanation, only the parts relevant to the embodiments of this application are shown.

[0157] The underwater inspection device 10 for irradiating nuclear fuel rods also includes a controller 40, which includes: The camera control module 41 is used to control each of the radiation-resistant underwater cameras 13 to perform a shooting action when the lifting end of the lifting device is in the initial inspection position, so as to obtain a ring image of one end of the irradiated nuclear fuel rod 200. When the lifting end of the lifting device is in the initial inspection position, the distance measured by the laser rangefinder 30 is the first distance.

[0158] The fuel rod inspection device is installed on the lifting end of the lifting device. The underwater inspection device 10 for irradiated nuclear fuel rods includes a laser rangefinder 30 for measuring the lifting distance of the lifting end of the lifting device, and includes multiple radiation-resistant underwater cameras 13. The field of view of each of the radiation-resistant underwater cameras 13 is stitched and fused to form a panoramic field of view.

[0159] The ranging control module 42 is used to acquire the second distance measured by the laser ranging device 30 during the process of moving from the lifting end of the lifting device to the other end of the irradiated nuclear fuel rod 200, and to control each of the radiation-resistant underwater cameras 13 to perform shooting actions until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod 200, so as to acquire a ring image of the irradiated nuclear fuel rod 200 from one end to the other.

[0160] In this embodiment, the underwater inspection device 10 for irradiated nuclear fuel rods is installed on the lifting end of the lifting device of the fuel pool. It can rise as the lifting end of the lifting device rises and fall as the lifting end of the lifting device falls, thereby enabling the multiple radiation-resistant underwater cameras 13 included in the underwater inspection device 10 for irradiated nuclear fuel rods 200 at various heights to capture images. Meanwhile, since the laser rangefinder 30 included in the underwater inspection device 10 for irradiated nuclear fuel rods is used to measure the lifting distance of the lifting end of the aforementioned lifting device, the operating distance of the lifting end of the lifting device can be determined by the distance measured by the laser rangefinder 30, that is, the height of the irradiated nuclear fuel rod 200 that the radiation-resistant underwater camera 13 can capture. Furthermore, since the field of view of the multiple radiation-resistant underwater cameras 13 is stitched and fused to form a panoramic field of view, the multiple radiation-resistant underwater cameras 13 do not need to change their shooting positions. They can obtain a 360° circumferential image of the irradiated nuclear fuel rod 200 at a certain height by performing a single shooting action. In addition, by controlling the multiple radiation-resistant underwater cameras 13 to perform one or more shooting actions in combination with the distance measured by the laser rangefinder 30, a 360° circumferential image of the entire irradiated nuclear fuel rod 200 can be obtained, thereby greatly shortening the shooting time.

[0161] Optionally, the controller 40 of the underwater inspection device 10 for irradiated nuclear fuel rods further includes: The initial inspection position determination module is used to obtain the current distance measured by the laser rangefinder 30 before the above-mentioned control of each of the above-mentioned radiation-resistant underwater cameras 13 to perform the shooting action. If the current distance is the first distance, it is determined that the lifting end of the lifting device is located at the initial inspection position.

[0162] Optionally, the underwater inspection device 10 for irradiated nuclear fuel rods includes: a waterproof ring light 12 fitted onto the outside of the irradiated nuclear fuel rod 200, a controller 40 for the underwater inspection device 10 for irradiated nuclear fuel rods, and further includes: The supplementary lighting module is used to control the waterproof ring light 12 to turn on before the aforementioned radiation-resistant underwater camera 13 performs the shooting action.

[0163] Optionally, the number of sets of the above-mentioned waterproof ring lights 12 is 2, and the two waterproof ring lights 12 are coaxially sleeved on the outside of the above-mentioned irradiated nuclear fuel rod 200. When the above-mentioned supplementary lighting module controls the waterproof ring lights 12 to be turned on, it is specifically used to control the two waterproof ring lights 12 to be turned on.

[0164] Correspondingly, when the ranging control module 42 controls each of the aforementioned radiation-resistant underwater cameras 13 to perform a shooting action to obtain a ring image of one end of the irradiated nuclear fuel rod 200, it is specifically used for: The aforementioned radiation-resistant underwater cameras 13 are controlled to perform shooting actions to obtain a ring image of one end of the irradiated nuclear fuel rod 200 between the two aforementioned waterproof ring lights 12.

[0165] Optionally, the controller 40 of the underwater inspection device 10 for irradiated nuclear fuel rods also includes: The distance determination module between the radiation-resistant underwater camera 13 and the irradiated nuclear fuel rod 200 is used to determine the distance between the radiation-resistant underwater camera 13 and the irradiated nuclear fuel rod 200 based on the field of view, focal length, and the allowable envelope size of the environment before controlling each of the radiation-resistant underwater cameras 13 to perform the shooting action. The camera setting module is used to set the corresponding radiation-resistant underwater camera 13 according to the distance between each of the above-mentioned radiation-resistant underwater camera 13 and the above-mentioned irradiated nuclear fuel rod 200.

[0166] Optionally, the parameters of each of the above-mentioned radiation-resistant underwater camera devices 13 are the same, and the above-mentioned camera setting module is specifically used for: Among the distances between each of the aforementioned radiation-resistant underwater camera 13 and the aforementioned irradiated nuclear fuel rod 200, the shortest distance is determined; all of the aforementioned radiation-resistant underwater camera 13 are installed according to the aforementioned shortest distance.

[0167] Optionally, the controller 40 of the underwater inspection device 10 for irradiated nuclear fuel rods also includes: The text description information acquisition module is used to acquire text description information of defects after acquiring the annular image of the irradiated nuclear fuel rod 200 from one end to the other. The defect identification module is used to input the above-mentioned text description information and the above-mentioned annular image into a preset defect identification model to obtain the defect judgment result output by the above-mentioned defect identification model. The above-mentioned defect identification model is used to extract the visual information features of the above-mentioned annular image, perform cross-modal fusion of the above-mentioned visual information features and the text vector corresponding to the above-mentioned text description information, and obtain the above-mentioned defect judgment result based on the cross-modal fusion result.

[0168] Optionally, the controller 40 of the underwater inspection device 10 for irradiated nuclear fuel rods also includes: The large model to be trained module is used to determine the large model to be trained before inputting the above text description information and the above ring image into the preset defect recognition model. The large model is trained using an open source dataset. The shallow parameter determination module is used to determine the shallow parameters of the above large model and freeze the non-shallow parameters of the above large model. The shallow parameter training module is used to train the shallow parameters mentioned above to obtain the trained shallow parameters. The defect identification model determination module is used to determine the parameters of the trained large model based on the parameters of the non-shallow layer and the parameters of the trained shallow layer. The trained large model is used as the defect identification model.

[0169] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0170] In some embodiments, the irradiated nuclear fuel rod inspection device 100 further includes electronic equipment 50, such as... Figure 14 As shown, the electronic device 50 includes: at least one processor 53 ( Figure 14 The diagram shows only one processor, a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 53, which, when executed, implements the steps in any of the above method embodiments.

[0171] The electronic device 50 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The electronic device 50 may include, but is not limited to, a processor 53 and a memory 51. Those skilled in the art will understand that... Figure 14 This is merely an example of electronic device 50 and does not constitute a limitation on electronic device 50. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0172] The processor 53 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0173] In some embodiments, the memory 51 may be an internal storage unit of the electronic device 50, such as a hard disk or memory of the electronic device 50. In other embodiments, the memory 51 may be an external storage device of the electronic device 50, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 50. Furthermore, the memory 51 may include both internal and external storage units of the electronic device 50. The memory 51 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 51 can also be used to temporarily store data that has been output or will be output.

[0174] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0175] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0176] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0177] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0178] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0179] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0180] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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 implementation should not be considered beyond the scope of this application.

[0181] In the embodiments provided in this application, it should be understood that the devices / network equipment and methods used can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0182] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0183] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An underwater inspection device for irradiated nuclear fuel rods, characterized in that, include: support; A waterproof ring light, connected to the bracket, is used for the irradiated nuclear fuel rods to pass through, and the waterproof ring light has an illumination area; Multiple radiation-resistant underwater cameras are connected to the bracket. The multiple radiation-resistant underwater cameras are distributed at intervals along the circumference of the waterproof ring light. The lenses of the multiple radiation-resistant underwater cameras are all set towards the illumination area to obtain image information of the portion of the irradiated nuclear fuel rod located within the illumination area.

2. The underwater inspection device for irradiated nuclear fuel rods according to claim 1, characterized in that: The number of waterproof ring lights is two, and the two waterproof ring lights are arranged coaxially and spaced apart. The illumination area is the interval area between the two waterproof ring lights.

3. The underwater inspection device for irradiated nuclear fuel rods according to claim 2, characterized in that: The bracket includes a mounting plate, a support plate, and a plurality of connecting columns connecting the mounting plate and the support plate. The mounting plate and the support plate are arranged at intervals along the axial direction of the waterproof ring light, and the plurality of connecting columns are arranged at intervals along the circumferential direction of the waterproof ring light. One of the two waterproof ring lights and a plurality of radiation-resistant underwater cameras are mounted on the mounting plate, and the other waterproof ring light is mounted on the support plate. Along the circumferential direction of the waterproof ring light, the connecting columns are located between two adjacent radiation-resistant underwater cameras.

4. The underwater inspection device for irradiated nuclear fuel rods according to any one of claims 1 to 3, characterized in that: The waterproof ring light includes a ring base, a ring light source, and a ring transparent component. The ring transparent component coaxially covers the ring base and surrounds it to form a ring light source cavity. The ring light source is coaxially disposed within the ring light source cavity. The side of the ring transparent component facing away from the ring base forms the illumination area.

5. The underwater inspection device for irradiated nuclear fuel rods according to claim 4, characterized in that: The annular transparent component is treated with atomization.

6. The underwater inspection device for irradiated nuclear fuel rods according to any one of claims 1 to 3, characterized in that: Multiple radiation-resistant underwater cameras are arranged in a circular matrix around the axis of the waterproof ring light.

7. The underwater inspection device for irradiated nuclear fuel rods according to any one of claims 1 to 3, characterized in that: The bracket is equipped with a cable management rack, which is used to fix the cables connected to the radiation-resistant underwater camera and the waterproof ring light.

8. The underwater inspection device for irradiated nuclear fuel rods according to any one of claims 1 to 3, characterized in that: The surface of the support is subjected to acid pickling and passivation treatment.

9. An inspection device for irradiated nuclear fuel rods, characterized in that: The device includes the underwater inspection apparatus for irradiated nuclear fuel rods, the lifting device, and the clamping device for clamping one end of the irradiated nuclear fuel rods as described in any one of claims 1 to 8, wherein the bracket is connected to the lifting end of the lifting device.

10. The irradiated nuclear fuel rod inspection equipment according to claim 9, characterized in that: The irradiated nuclear fuel rod inspection equipment includes a laser rangefinder, which is used to measure the lifting distance of the lifting device.

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