Control method of irradiation nuclear fuel rod underwater inspection device, controller and electronic equipment
By setting up multiple imaging devices and rangefinders on the nuclear fuel rod inspection equipment, panoramic field-of-view imaging without the need for position adjustment is achieved, solving the problem of excessively long imaging time in existing technologies and improving inspection efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA GENERAL NUCLEAR POWER OPERATION
- Filing Date
- 2025-12-31
- Publication Date
- 2026-04-17
AI Technical Summary
Existing methods for inspecting nuclear fuel rods require multiple adjustments to the camera position, resulting in excessively long shooting times and making it difficult to quickly obtain 360° circumferential images of irradiated nuclear fuel rods.
Multiple imaging devices are set up on the fuel lifting equipment. Vertical distances are measured by a rangefinder, and the images are stitched together with the field of view to form a panoramic field of view, enabling the acquisition of 360° circumferential images of irradiated nuclear fuel rods in a single shooting action.
This greatly shortened the shooting time, improved image acquisition efficiency, and ensured comprehensive inspection of irradiated nuclear fuel rods.
Smart Images
Figure CN121885255A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of nuclear power technology, and in particular relates to control methods, controllers, electronic devices, computer-readable storage media, and computer program products for underwater inspection devices for irradiated nuclear fuel rods. Background Technology
[0002] Nuclear fuel rods are the core components of a nuclear reactor that generate heat. They release a large amount of heat through controlled nuclear fission reactions and are the "energy source" for nuclear power plants. To ensure the integrity of the radioactive barrier and maximize the utilization rate of nuclear fuel, irradiated nuclear fuel rods that have been replaced (i.e., nuclear fuel rods that have been in operation and have radiation) need to be inspected and recorded.
[0003] In conventional inspection methods, a camera is used to photograph the irradiated nuclear fuel rods, and the images are then used to determine whether the irradiated fuel rods have defects.
[0004] Because irradiated nuclear fuel rods are rod-shaped, once the camera's shooting position is fixed, there will always be areas that the camera cannot easily capture. Therefore, even for irradiated fuel rods at the same height, the camera's shooting position needs to be adjusted to obtain all image information of irradiated fuel rods at the same height. In other words, because the above inspection method requires multiple adjustments to the camera's shooting position, the recording time is relatively long. Summary of the Invention
[0005] This application provides a control method, controller, and electronic equipment for an underwater inspection device for irradiated nuclear fuel rods, which can solve the problem of excessively long shooting time when existing imaging equipment is used to photograph irradiated nuclear fuel rods.
[0006] In a first aspect, embodiments of this application provide a control method for an underwater inspection device for irradiated nuclear fuel rods. The underwater inspection device includes a rangefinder for measuring the vertical distance to a fuel lifting device, and multiple imaging devices. The field of view of each imaging device is stitched and fused to form a panoramic field of view, and each imaging device is disposed on the fuel lifting device. The control method for the underwater inspection device for irradiated nuclear fuel rods includes: When the fuel lifting device is in the initial inspection position, each of the imaging devices is controlled to perform an imaging action to obtain a ring image of one end of the irradiated nuclear fuel rod. When the fuel lifting device is in the initial inspection position, the distance measured by the rangefinder is the first distance. During the process of the fuel lifting device moving towards the other end of the irradiated nuclear fuel rod, the second distance measured by the rangefinder is obtained and the various imaging devices are controlled to perform imaging actions until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to obtain a circular image of the irradiated nuclear fuel rod from one end to the other.
[0007] The beneficial effects of the embodiments in this application compared with the prior art are: In this embodiment, the underwater inspection device for irradiated nuclear fuel rods includes various imaging devices mounted on a fuel lifting device within the fuel pool. These devices rise and fall with the lifting device, allowing each imaging device to capture images of the irradiated fuel rods at different heights. Furthermore, since the underwater inspection device includes a rangefinder to measure the vertical distance to the lifting device, the operating distance of the lifting device can be determined by the distance measured by the rangefinder, thus determining the height of the irradiated fuel rods that the imaging devices can capture. Because the field of view of the multiple imaging devices is stitched together to form a panoramic field of view, the multiple imaging devices do not need to change their shooting positions; a single shooting action is sufficient to obtain a 360° circumferential image of the irradiated fuel rod at a specific height. By combining the distance measured by the rangefinder with the control of the multiple imaging devices to perform one or more shooting actions, a 360° circumferential image of the entire irradiated fuel rod can be obtained, significantly reducing the shooting time.
[0008] Secondly, embodiments of this application provide a controller for an underwater inspection device for irradiated nuclear fuel rods. The underwater inspection device includes a rangefinder for measuring the vertical distance to a fuel lifting device, and a plurality of imaging devices. The field of view of each imaging device is stitched and fused to form a panoramic field of view, and each imaging device is disposed on the fuel lifting device. The controller for the underwater inspection device for irradiated nuclear fuel rods includes: The imaging equipment control module is used to control each of the imaging devices to perform imaging actions when the fuel lifting device is in the initial inspection position, so as to obtain a ring image of one end of the irradiated nuclear fuel rod, wherein the distance measured by the rangefinder when the fuel lifting device is in the initial inspection position is a first distance; The rangefinder control module is used to acquire a second distance measured by the rangefinder and control each of the imaging devices to perform imaging actions during the process of the fuel lifting device moving towards the other end of the irradiated nuclear fuel rod, until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to acquire a circular image of the irradiated nuclear fuel rod from one end to the other.
[0009] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.
[0010] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.
[0011] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to perform the method described in the first aspect.
[0012] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.
[0014] Figure 1 This is a schematic flowchart of a control method for an underwater inspection device for irradiated nuclear fuel rods provided in an embodiment of this application; Figure 2 This is an image of the surface of an irradiated nuclear fuel rod obtained by illuminating the irradiated nuclear fuel rod using a directional beam illumination method according to an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the three imaging devices included in the underwater inspection device for irradiated nuclear fuel rods provided in an embodiment of this application; Figure 4 This is a schematic diagram of an application scenario where the three imaging devices included in the underwater inspection device for irradiated nuclear fuel rods are installed on a fuel lifting device, according to an embodiment of this application. Figure 5 This is a schematic diagram of the controller of an underwater inspection device for irradiated nuclear fuel rods provided in one embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation
[0015] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0016] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.
[0017] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0018] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.
[0019] A nuclear fuel rod is essentially a sealed metal tube containing nuclear fuel used in nuclear fission reactions. To improve the safety of nuclear power plant operations, it is necessary to promptly replace irradiated fuel rods (replacing defective components) and conduct comprehensive inspections on the replaced irradiated fuel rods.
[0020] Currently, inspection methods for irradiated nuclear fuel rods include visual inspection and image inspection. Visual inspection involves directly examining the irradiated fuel rods with the human eye. Image inspection, on the other hand, involves photographing the irradiated fuel rods and then examining the images to assess their quality.
[0021] When inspecting irradiated nuclear fuel rods using image-based methods, a camera must first be set up to photograph the fuel rods. The images are then used to determine if defects are present. Because a comprehensive inspection of the irradiated fuel rods is required, 360° images of the rods are needed. However, due to the rod-shaped nature of the fuel rods, the camera's position must be changed when using a single camera to obtain a complete 360° circumferential image, resulting in excessively long recording times.
[0022] To shorten the shooting time, this application provides a control method for an underwater inspection device for irradiated nuclear fuel rods.
[0023] The underwater inspection device for irradiated nuclear fuel rods includes various imaging devices installed on the fuel lifting device in the fuel pool. These devices can rise as the fuel lifting device rises and fall as the fuel lifting device falls, thereby enabling the multiple imaging devices included in the underwater inspection device for irradiated nuclear fuel rods to capture images of the irradiated nuclear fuel rods at various heights.
[0024] The control method of the underwater inspection device for irradiated nuclear fuel rods provided in the embodiments of this application is described below with reference to the accompanying drawings.
[0025] Figure 1 A schematic flowchart of a control method for an underwater inspection device for irradiated nuclear fuel rods, provided in an embodiment of this application, is shown below: S11, when the fuel lifting device is in the initial inspection position, control each imaging device to perform imaging action to obtain a ring image of one end of the irradiated nuclear fuel rod, wherein the distance measured by the rangefinder when the fuel lifting device is in the initial inspection position is the first distance.
[0026] Optionally, the aforementioned camera is a waterproof and radiation-resistant camera to enable close-up photography of underwater irradiated nuclear fuel rods.
[0027] In this embodiment, the fuel lifting device can be used to control the lifting and lowering of the imaging equipment, and also to control the irradiated nuclear fuel rods, such as controlling the translation, flipping, tilting, and lifting / lowering of the irradiated nuclear fuel rods in the fuel pool. In the underwater inspection device for irradiated nuclear fuel rods, apart from the rangefinder, the other equipment (such as various imaging devices, the erection frame, etc.) is mounted on the fuel lifting device, and can rise as the fuel lifting device rises and fall as the fuel lifting device falls. The rangefinder is positioned above the fuel lifting device to measure the vertical distance to the fuel lifting device, which reflects the operating distance of the fuel lifting device.
[0028] Optionally, the underwater inspection device for irradiated nuclear fuel rods may be fixedly or non-fixedly mounted (e.g., the underwater inspection device for irradiated nuclear fuel rods has a certain degree of translational and / or rotational freedom) on the fuel lifting equipment.
[0029] In this embodiment, the irradiated nuclear fuel rod end cap is clamped and positioned above the storage container by a fuel rod clamping device. When the fuel lifting device is in the initial inspection position, it indicates that each imaging device can capture an image of one end of the irradiated nuclear fuel rod. After fusing the images captured by each imaging device, a ring image of one end of the irradiated nuclear fuel rod is obtained, that is, a 360° circumferential image of one end of the irradiated nuclear fuel rod is obtained.
[0030] Optionally, the initial inspection position can be determined manually. For example, when the fuel lifting device is determined to be in the initial inspection position, an inspection command is issued to the underwater inspection device for irradiated nuclear fuel rods, so that the underwater inspection device for irradiated nuclear fuel rods controls each imaging device to perform imaging actions.
[0031] Optionally, the initial inspection position can also be determined by the underwater inspection device for irradiated nuclear fuel rods itself. For example, determining whether the fuel lifting equipment is located at the initial inspection position is done by measuring the distance with a rangefinder; that is, before controlling each imaging device to perform the imaging action, the following steps are also included: The current distance measured by the rangefinder is obtained. If the current distance is the first distance, the fuel lifting device is determined to be located at the initial inspection position.
[0032] The rangefinders described above can use lasers or sound waves for distance measurement. Of course, other methods can also be used for distance measurement, which are not limited here.
[0033] In this embodiment, after determining the installation position of the rangefinder, the fuel lifting device is controlled to move to a preset initial inspection position, and the distance measured by the rangefinder at this time is obtained, assuming this distance is the first distance. When it is necessary to inspect the irradiated nuclear fuel rods, the value measured by the rangefinder is obtained. If this value is equal to the first distance, it is determined that the fuel lifting device has moved to the preset initial inspection position. Since the rangefinder is used to measure the vertical distance to the fuel lifting device, when the position of the rangefinder remains unchanged, the distance it measures corresponds one-to-one with the position of the fuel lifting device, that is, determining the position of the fuel lifting device by the distance measured by the rangefinder is accurate.
[0034] In this embodiment of the application, controlling each shooting device to perform shooting actions may include controlling each shooting device to perform shooting actions at the same time.
[0035] Specifically, the underwater inspection device for irradiating nuclear fuel rods can use a synchronization controller to send synchronization pulse signals to each imaging device, so that each imaging device can be exposed simultaneously upon receiving the synchronization pulse signal. Since each imaging device performs its 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 resulting fused image (i.e., the ring image). Of course, the underwater inspection device for irradiating nuclear fuel rods can also use other methods to control the individual imaging devices; this is not limited here.
[0036] S12, during the process of the fuel lifting device moving to the other end of the irradiated nuclear fuel rod, the second distance measured by the rangefinder is obtained and the imaging devices are controlled to perform imaging actions until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to obtain a ring image of the irradiated nuclear fuel rod from one end to the other.
[0037] The aforementioned fuel lifting equipment can be controlled by an underwater inspection device for irradiated nuclear fuel rods, or by other devices; no limitation is made here.
[0038] In this embodiment, considering that the probability of damage to the irradiated nuclear fuel rod during movement is greater than the probability of damage caused by the operation of the fuel lifting device, the method of keeping the irradiated nuclear fuel rod stationary while controlling the operation of the fuel lifting device is typically chosen. Specifically, the fuel rod clamping device can be kept stationary, and the fuel lifting device can be controlled to move the underwater inspection device for the irradiated nuclear fuel rod (excluding the rangefinder) downwards. At this time, the irradiated nuclear fuel rod is slowly lifted upwards relative to the underwater inspection device. During the slow downward movement of the nuclear fuel lifting device, each imaging device simultaneously photographs the irradiated nuclear fuel rod, and the rangefinder also provides real-time feedback on the distance it measures. Assuming that the distance measured by the rangefinder during the operation of the fuel lifting device is the second distance, the difference between the second distance and the first distance reflects the operating distance of the fuel lifting device and also reflects the height of the irradiated nuclear fuel rod corresponding to the ring image. When the operating distance is equal to the length of the irradiated nuclear fuel rod (or the irradiated nuclear fuel rod is no longer present in the image captured by the imaging device), it indicates that the imaging device has photographed the entire irradiated nuclear fuel rod, and at this time, the photographing can be stopped.
[0039] In this embodiment, the underwater inspection device for irradiated nuclear fuel rods includes various imaging devices mounted on a fuel lifting device within the fuel pool. These devices rise and fall with the lifting device, allowing each imaging device to capture images of the irradiated fuel rods at different heights. Furthermore, since the underwater inspection device includes a rangefinder to measure the vertical distance to the lifting device, the operating distance of the lifting device can be determined by the distance measured by the rangefinder, thus determining the height of the irradiated fuel rods that the imaging devices can capture. Because the field of view of the multiple imaging devices is stitched together to form a panoramic field of view, the multiple imaging devices do not need to change their shooting positions; a single shooting action is sufficient to obtain a 360° circumferential image of the irradiated fuel rod at a specific height. By combining the distance measured by the rangefinder with the control of the multiple imaging devices to perform one or more shooting actions, a 360° circumferential image of the entire irradiated fuel rod can be obtained, significantly reducing the shooting time.
[0040] In some embodiments, considering that the irradiated nuclear fuel rods are generally rod-shaped and have an alloy cladding, illuminating them with a directional beam would result in bright stripe-like spots on the surface of the irradiated fuel rods in the captured images, and the edges of the irradiated fuel rods would be unclear. Figure 2 As shown. To reduce the appearance of striped light spots in the captured images, the underwater inspection device for irradiated nuclear fuel rods provided in this application embodiment further includes: a ring-shaped shadowless supplementary light sleeved on the outside of the irradiated nuclear fuel rod; and before controlling the above-mentioned imaging devices to perform the imaging action, it further includes: Turn on the aforementioned ring-shaped shadowless fill light.
[0041] The aforementioned ring-shaped shadowless fill light is a professional lighting device that combines a ring-shaped multi-point light source with diffusion technology to achieve high uniformity and near-zero shadows.
[0042] Optionally, the aforementioned ring-shaped shadowless fill light adopts a waterproof design to achieve the function of underwater lighting, and its window material is treated with atomization to give the ring-shaped shadowless fill light diffuse scattering characteristics and reduce the probability of producing high light.
[0043] Because the ring-shaped shadowless lamp is attached to the outside of the irradiated nuclear fuel rod, and the ring-shaped shadowless lamp is turned on before the imaging device performs the imaging action, the imaging device can capture images of the irradiated nuclear fuel rod with uniform illumination when performing the imaging action, thereby reducing the probability of striped light spots and unclear edges of the irradiated nuclear fuel rod in the obtained image.
[0044] The number of ring-shaped shadowless supplementary lights can be one or two sets. When the underwater inspection device for irradiated nuclear fuel rods includes two sets of ring-shaped shadowless supplementary lights, the two sets of ring-shaped shadowless supplementary lights are coaxially fitted onto the outside of the irradiated nuclear fuel rods, and the lenses of each imaging device face the irradiated nuclear fuel rods between the two sets of ring-shaped shadowless supplementary lights. In this case, the control method for the underwater inspection device for irradiated nuclear fuel rods provided in this application embodiment further includes, before controlling each of the aforementioned imaging devices to perform the imaging action: Control the two sets of the above-mentioned ring shadowless supplementary lights to turn on.
[0045] Correspondingly, controlling each of the aforementioned imaging devices to perform an imaging action to obtain a ring-shaped image of one end of the irradiated nuclear fuel rod includes: Control each of the aforementioned imaging devices to perform imaging actions in order to obtain a ring image of one end of the irradiated nuclear fuel rod between the two sets of aforementioned ring shadowless supplementary lights.
[0046] In this embodiment of the application, the underwater inspection device for irradiated nuclear fuel rods, equipped with two sets of ring-shaped shadowless supplementary lighting lamps, can be used as follows: Figure 3 As shown. In Figure 3 In the middle, underwater inspection device for irradiated nuclear fuel rods ( Figure 3 (Range measuring device not shown) includes three imaging devices 31 and a mounting frame 32. The application scenario diagram of this underwater inspection device for irradiated nuclear fuel rods, when installed above the fuel lifting device 33, is shown below. Figure 4 As shown.
[0047] from Figure 4 It can be seen that the end plug of the irradiated nuclear fuel rod 34 is held by the fuel rod clamping device. Figure 4 (Not shown) Clamping, two sets of ring shadowless supplementary lights 35 are coaxially sleeved on the outside of the irradiated nuclear fuel rod. The lenses of the three imaging devices 31 included in the underwater inspection device for the irradiated nuclear fuel rod are facing the irradiated nuclear fuel rod between the two sets of ring shadowless supplementary lights 35, and the three imaging devices 31 are evenly distributed circumferentially with the irradiated nuclear fuel rod 34 as the axis to achieve full circumferential coverage inspection of the irradiated nuclear fuel rod 34.
[0048] Since the two sets of ring-shaped shadowless fill lights are arranged vertically, and the vertical separation does not obstruct the field of view of the shooting equipment, and provides more uniform illumination, the above arrangement is conducive to further improving the clarity of the obtained ring image.
[0049] As described above, the underwater inspection device for irradiated nuclear fuel rods provided in this application includes multiple imaging devices. Optionally, these imaging devices are detachably installed in the underwater inspection device for irradiated nuclear fuel rods.
[0050] In some embodiments, considering that the imaging device is photographing irradiated nuclear fuel rods, which may emit nuclear radiation, and that the closer the device is to the irradiated fuel rod, the greater the radiation, the imaging device can be positioned as far away from the irradiated fuel rod as possible while still being able to capture a clear image. That is, before controlling each of the aforementioned imaging devices to perform the imaging action, the method further includes: A1. Based on the field of view, focal length, allowable envelope size of the environment for each of the above-mentioned shooting devices, and the radiation effect of the irradiated nuclear fuel rods on the shooting devices, determine the distance between the corresponding shooting devices and the irradiated nuclear fuel rods.
[0051] Among them, the environmental setup refers to the environmental setup corresponding to the setup on which the imaging equipment is installed. The allowable envelope size of the environmental setup refers to the closest distance that the imaging equipment can be kept away from the radiation effects of the irradiated nuclear fuel rods on the environmental setup.
[0052] The radiation impact of irradiated nuclear fuel rods on filming equipment includes the effect of the radiation from the irradiated fuel rods on the video (or image) signal of the filming equipment. The closer the filming equipment is to the nuclear fuel rods, the greater the interference with the video (or image) signal caused by radiation.
[0053] 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 imaging device at this distance, based on the field of view and focal length, should include a clear image of the irradiated nuclear fuel rods.
[0054] A2. Set up the corresponding shooting devices according to the distance between each of the above-mentioned shooting devices and the above-mentioned irradiated nuclear fuel rods.
[0055] In this embodiment, since the distance between the imaging device and the irradiated nuclear fuel rod is determined according to the field of view, focal length, and envelope size allowed by the environment for each imaging device, the determined distance is more matched with each imaging device, thereby resulting in more accurate imaging device setup.
[0056] In some embodiments, considering that having the same camera parameters for each imaging device helps reduce the complexity of subsequent image fusion, the camera parameters for each imaging device can be set to be the same. In this case, A2, setting the corresponding imaging device according to the distance between each imaging device and the irradiated nuclear fuel rod, includes: Among the distances between each of the aforementioned imaging devices and the aforementioned irradiated nuclear fuel rods, the shortest distance is determined; all of the aforementioned imaging devices are then set up according to the shortest distance.
[0057] Camera parameters include focal length, distortion coefficient, exposure time, white balance coefficient, and so on.
[0058] In this embodiment, since the distance between the imaging device and the irradiated nuclear fuel rod is related not only to the field of view and focal length, but also to the envelope size allowed by the environment, even if the camera parameters of each imaging device are the same, the distances between these imaging devices and the irradiated nuclear fuel rod may not be the same. Figure 3 Of the three imaging devices 33, the imaging device 33 located on the far left of the mounting frame 34 is restricted by the mounting frame 34, that is, by the envelope size allowed by the environment. The other two imaging devices 33 are not restricted by the envelope size allowed by the environment. Therefore, the distance between the imaging device 33 located on the far left of the mounting frame 34 and the irradiated nuclear fuel rod is the shortest. At this time, the three imaging devices 33 can be set according to the distance between the imaging device 33 located on the far left of the mounting frame 34 and the irradiated nuclear fuel rod.
[0059] In this embodiment of the application, the above settings ensure that each imaging device has the same camera parameters and the same distance from the irradiated nuclear fuel rod. That is, these imaging devices can photograph the irradiated nuclear fuel rod with the same imaging parameters, thereby further reducing the complexity of subsequent image fusion.
[0060] After obtaining a ring-shaped image of the irradiated nuclear fuel rod using the aforementioned imaging equipment, 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 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.
[0061] The aforementioned textual description information includes: description information when the irradiated nuclear fuel rod is free of defects (e.g., "smooth surface of the irradiated nuclear fuel rod"), and / or, description information when the irradiated nuclear fuel rod has defects (e.g., "cracked surface of the fuel rod").
[0062] 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. 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.
[0063] 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.
[0064] 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.
[0065] 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 can make it adaptable to defect identification of irradiated nuclear fuel rods, thereby improving the training speed of obtaining the defect identification model.
[0066] In this embodiment of the application, considering that when identifying defects in irradiated nuclear fuel rods, the main focus is on identifying the surface of the irradiated nuclear fuel rod, and the features corresponding to the surface of the irradiated nuclear fuel rod 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.
[0067] Optionally, the parameters of the aforementioned shallow layer include parameters such as shape, outline, and color.
[0068] 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.
[0069] Corresponding to the control method of the underwater inspection device for irradiated nuclear fuel rods described in the above embodiments, Figure 5 This diagram illustrates the structure of a controller for an underwater inspection device for irradiated nuclear fuel rods according to an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown.
[0070] Reference Figure 5 The controller 5 of the underwater inspection device for irradiated nuclear fuel rods includes: The imaging equipment control module 51 is used to control each of the imaging devices to perform imaging actions when the fuel lifting device is in the initial inspection position, so as to obtain a ring image of one end of the irradiated nuclear fuel rod. When the fuel lifting device is in the initial inspection position, the distance measured by the rangefinder is the first distance.
[0071] Among them, in addition to the rangefinder, the underwater inspection device for nuclear fuel rods is set on the fuel lifting equipment. The underwater inspection device for irradiated nuclear fuel rods includes a rangefinder for measuring the vertical distance to the aforementioned fuel lifting equipment, and includes multiple shooting devices. The field of view of each of the aforementioned shooting devices is stitched and fused to form a panoramic field of view.
[0072] The rangefinder control module 52 is used to acquire the second distance measured by the rangefinder and control each of the above-mentioned imaging devices to perform imaging actions during the process of the fuel lifting device moving to the other end of the irradiated nuclear fuel rod, until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to acquire a ring image of the irradiated nuclear fuel rod from one end to the other.
[0073] In this embodiment, the underwater inspection device for irradiated nuclear fuel rods includes various imaging devices mounted on a fuel lifting device within the fuel pool. These devices rise and fall with the lifting device, allowing each imaging device to capture images of the irradiated fuel rods at different heights. Furthermore, since the underwater inspection device includes a rangefinder to measure the vertical distance to the lifting device, the operating distance of the lifting device can be determined by the distance measured by the rangefinder, thus determining the height of the irradiated fuel rods that the imaging devices can capture. Because the field of view of the multiple imaging devices is stitched together to form a panoramic field of view, the multiple imaging devices do not need to change their shooting positions; a single shooting action is sufficient to obtain a 360° circumferential image of the irradiated fuel rod at a specific height. By combining the distance measured by the rangefinder with the control of the multiple imaging devices to perform one or more shooting actions, a 360° circumferential image of the entire irradiated fuel rod can be obtained, significantly reducing the shooting time.
[0074] Optionally, the controller 5 of the underwater inspection device for irradiated nuclear fuel rods further includes: The initial inspection position determination module is used to obtain the current distance measured by the rangefinder before the above-mentioned control of each of the above-mentioned shooting devices to perform the shooting action. If the current distance is the first distance, the fuel lifting device is determined to be located at the initial inspection position.
[0075] Optionally, the underwater inspection device for irradiated nuclear fuel rods includes: a ring-shaped shadowless supplementary light fitted around the outside of the irradiated nuclear fuel rods; a controller 5 for the underwater inspection device for irradiated nuclear fuel rods; and further includes: The ring-shaped shadowless fill light activation module is used to control the ring-shaped shadowless fill light to be activated before the aforementioned shooting devices perform shooting actions.
[0076] Optionally, the number of sets of the above-mentioned annular shadowless supplementary lights is 2, and the two sets of the above-mentioned annular shadowless supplementary lights are coaxially sleeved on the outside of the above-mentioned irradiated nuclear fuel rods. When the above-mentioned annular shadowless supplementary light opening module controls the opening of the above-mentioned annular shadowless supplementary lights, it is specifically used to control the opening of the two sets of the above-mentioned annular shadowless supplementary lights.
[0077] Correspondingly, when the rangefinder control module controls each of the aforementioned imaging devices to perform imaging actions to obtain a ring-shaped image of one end of the irradiated nuclear fuel rod, it is specifically used for: Control each of the aforementioned imaging devices to perform imaging actions in order to obtain a ring image of one end of the irradiated nuclear fuel rod between the two sets of aforementioned ring shadowless supplementary lights.
[0078] Optionally, the controller 5 of the underwater inspection device for irradiated nuclear fuel rods further includes: The distance determination module between the imaging device and the irradiated nuclear fuel rod is used to determine the distance between the imaging device and the irradiated nuclear fuel rod before the imaging device is controlled to perform the imaging action, based on the field of view, focal length, allowable envelope size of the environment, and radiation effect of the irradiated nuclear fuel rod on the imaging device. The imaging equipment setting module is used to set the corresponding imaging equipment according to the distance between each of the above-mentioned imaging equipment and the above-mentioned irradiated nuclear fuel rods.
[0079] Optionally, the camera parameters of all the above-mentioned shooting devices are the same, and the shooting device setting module is specifically used for: Among the distances between each of the aforementioned imaging devices and the aforementioned irradiated nuclear fuel rods, the shortest distance is determined; all of the aforementioned imaging devices are then set up according to the shortest distance.
[0080] Optionally, the controller 5 of the underwater inspection device for irradiated nuclear fuel rods further 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 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.
[0081] Optionally, the controller 5 of the underwater inspection device for irradiated nuclear fuel rods further 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.
[0082] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept and prototype 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.
[0083] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 The diagram shows only one processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, which, when executed, performs the steps of any of the above method embodiments.
[0084] The electronic device 6 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. 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.
[0085] The processor 60 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.
[0086] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 61 may be an external storage device of the electronic device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 6. Furthermore, the memory 61 may include both internal and external storage units of the electronic device 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.
[0087] 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.
[0088] 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.
[0089] 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.
[0090] 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.
[0091] 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.
[0092] 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.
[0093] 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.
[0094] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device 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.
[0095] 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.
Claims
1. A control method for an underwater inspection device for irradiated nuclear fuel rods, characterized in that, The underwater inspection device for irradiated nuclear fuel rods includes a rangefinder for measuring the vertical distance to the fuel lifting equipment, and multiple imaging devices. The field of view of each imaging device is stitched and fused to form a panoramic field of view, and each imaging device is mounted on the fuel lifting equipment. The control method for the underwater inspection device for irradiated nuclear fuel rods includes: When the fuel lifting device is in the initial inspection position, each of the imaging devices is controlled to perform an imaging action to obtain a ring image of one end of the irradiated nuclear fuel rod. When the fuel lifting device is in the initial inspection position, the distance measured by the rangefinder is the first distance. During the process of the fuel lifting device moving towards the other end of the irradiated nuclear fuel rod, the second distance measured by the rangefinder is obtained and the various imaging devices are controlled to perform imaging actions until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to obtain a circular image of the irradiated nuclear fuel rod from one end to the other.
2. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 1, characterized in that, Before controlling each of the aforementioned shooting devices to perform the shooting action, the method further includes: The current distance measured by the rangefinder is obtained. If the current distance is the first distance, the fuel lifting device is determined to be located at the initial inspection position.
3. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 1, characterized in that, The underwater inspection device for irradiated nuclear fuel rods further includes: a ring-shaped shadowless supplementary light fitted to the outside of the irradiated nuclear fuel rods; and before controlling each of the imaging devices to perform the imaging action, it also includes: Control the ring-shaped shadowless fill light to turn on.
4. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 3, characterized in that, The number of ring-shaped shadowless fill lights is two, and the two ring-shaped shadowless fill lights are coaxially fitted onto the outside of the irradiated nuclear fuel rods. Before controlling each of the imaging devices to perform the imaging action, the system further includes: Control the two sets of the aforementioned ring-shaped shadowless supplementary lights to turn on; The control of each of the imaging devices to perform imaging actions to obtain a ring-shaped image of one end of the irradiated nuclear fuel rod includes: Control each of the aforementioned imaging devices to perform imaging actions in order to obtain a ring image of one end of the irradiated nuclear fuel rod between the two sets of ring shadowless fill lights.
5. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 1, characterized in that, Before controlling each of the aforementioned shooting devices to perform the shooting action, the method further includes: Based on the field of view, focal length, allowable envelope size of the environment for each of the aforementioned imaging devices, and the radiation effect of the irradiated nuclear fuel rods on the imaging devices, the distance between the corresponding imaging device and the irradiated nuclear fuel rods is determined. The corresponding imaging device is set according to the distance between each imaging device and the irradiated nuclear fuel rod.
6. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 5, characterized in that, The camera parameters of each of the aforementioned imaging devices are identical. The step of setting up a corresponding imaging device based on the distance between each imaging device and the irradiated nuclear fuel rod includes: Among the distances between each of the aforementioned imaging devices and the irradiated nuclear fuel rods, determine the shortest distance; All the shooting devices are set according to the shortest distance.
7. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in any one of claims 1 to 6, characterized in that, After acquiring a ring-shaped image of the irradiated nuclear fuel rod from one end to the other, the method further includes: Obtain the textual description information of the defect; The text description information and the annular image are input into a preset defect recognition model to obtain the defect judgment result output by the defect recognition model. The defect recognition model is used to extract the visual information features of the annular image, perform cross-modal fusion of the visual information features and the text vector corresponding to the text description information, and obtain the defect judgment result based on the cross-modal fusion result.
8. The control method for the underwater inspection device for irradiated nuclear fuel rods as described in claim 7, characterized in that, Before inputting the text description information and the annular image into the preset defect recognition model, the method further includes: A large model to be trained is determined, which is obtained by training an open-source dataset; Determine the parameters of the shallow layer of the large model, and freeze the parameters of the non-shallow layer of the large model; The parameters of the shallow layer are trained to obtain the trained parameters of the shallow layer. Based on the parameters of the non-shallow layer and the parameters of the trained shallow layer, the parameters of the trained large model are determined, and the trained large model serves as the defect recognition model.
9. A controller for an underwater inspection device for irradiated nuclear fuel rods, characterized in that, The underwater inspection device for irradiated nuclear fuel rods includes a rangefinder for measuring the vertical distance to the fuel lifting equipment, and multiple imaging devices. The field of view of each imaging device is stitched and fused to form a panoramic field of view, and each imaging device is mounted on the fuel lifting equipment. The controller of the underwater inspection device for irradiated nuclear fuel rods includes: The imaging equipment control module is used to control each of the imaging devices to perform imaging actions when the fuel lifting device is in the initial inspection position, so as to obtain a ring image of one end of the irradiated nuclear fuel rod, wherein the distance measured by the rangefinder when the fuel lifting device is in the initial inspection position is a first distance; The rangefinder control module is used to acquire a second distance measured by the rangefinder and control each of the imaging devices to perform imaging actions during the process of the fuel lifting device moving towards the other end of the irradiated nuclear fuel rod, until the difference between the second distance and the first distance is equal to the length of the irradiated nuclear fuel rod, so as to acquire a circular image of the irradiated nuclear fuel rod from one end to the other.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 8.
11. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 8.
12. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1 to 8 to be performed.