Underwater three-dimensional measuring device

Abstract

The utility model relates to the technical field of nuclear power reactor underwater measurement, and provides an underwater three-dimensional measurement device, the underwater three-dimensional measurement device comprises a shell and a rotation measurement mechanism, the shell is used for fixedly sleeving a control rod guide cylinder, so that a cushion block at the top end of the control rod guide cylinder is arranged in the shell; the rotation measuring mechanism comprises a rotation driving assembly and a three-dimensional scanning assembly which are arranged in the shell, the rotation driving assembly is rotationally connected with the shell, the three-dimensional scanning assembly is fixedly connected to the rotation driving assembly and corresponds to the cushion block, and the rotation driving assembly is used for driving the three-dimensional scanning assembly to rotate around the cushion block in the circumferential direction so as to collect images of the cushion block. The device can accurately measure the wear condition of the cushion block, and has the characteristics of simple overall structure installation, stability, reliability and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power reactor underwater measurement, and particularly provides an underwater three-dimensional measurement device. BACKGROUND

[0002] In a nuclear reactor, a control rod drive mechanism (CRDM) mainly controls the lifting or insertion of a control rod through a driving rod inside the CRDM to achieve the purpose of adjusting the power of the reactor.

[0003] A thermal insulation sleeve is a component of the CRDM, which is installed in a CRDM pipe seat on the top cover of a pressure vessel in a suspended manner, and is installed in a radial gap fit and axial unconstrained manner. The thermal insulation sleeve is a key safety-related component, and the main form of defects of the thermal insulation sleeve is wear and tear. After the thermal insulation sleeve is completely worn out, it will fall onto the control rod guide cylinder, which poses a significant risk to the safe operation of the nuclear reactor.

[0004] Therefore, a metal ring-shaped pad is installed on the top end of the control rod guide cylinder to support the thermal insulation sleeve. Although this measure can lift the CRDM thermal insulation sleeve to a certain extent, the position where the pad and the inner surface of the thermal insulation sleeve contact each other will be abnormally worn due to the vibration of the operating water flow after a long period of use, which poses a safety hazard.

[0005] Therefore, there is an urgent need for a device that can measure and evaluate the wear of the pad to ensure the long-term safe operation of the nuclear reactor system. CONTENT OF THE INVENTION

[0006] The purpose of the embodiments of the present application is to provide an underwater three-dimensional measurement device, which aims to solve the problem that the existing technology cannot monitor and measure the abnormal wear of the pad at the top end of the control rod guide cylinder.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0008] The present application provides an underwater three-dimensional measurement device, comprising:

[0009] A shell is used to be fixedly sleeved on the control rod guide cylinder, so that the pad at the top end of the control rod guide cylinder is arranged in the shell;

[0010] A rotary measurement mechanism comprises a rotary drive assembly and a three-dimensional scanning assembly arranged in the shell, the rotary drive assembly is rotationally connected with the shell, the three-dimensional scanning assembly is fixedly connected with the rotary drive assembly and corresponds to the pad, and the rotary drive assembly is used to drive the three-dimensional scanning assembly to rotate circumferentially around the pad to collect images of the pad.

[0011] Optionally, the underwater three-dimensional measuring device further comprises:

[0012] A terminal, in communication connection with the rotary drive assembly and the three-dimensional scanning assembly.

[0013] Optionally, the shell is provided with a first through hole at one end away from the control rod guide tube, and the shell is provided with a first gear inside the one end away from the control rod guide tube, the first gear is provided with a second through hole corresponding to the first through hole, and the first through hole and the second through hole are used for passing through the control rod drive rod.

[0014] The rotary drive assembly comprises a connecting arm, a motor and a second gear, the connecting arm is in rotational connection with the first gear, the connecting arm is provided with a third through hole corresponding to the second through hole and used for passing through the control rod drive rod, the connecting arm has a first end and a second end located on opposite sides of the third through hole, the motor is arranged at the first end of the connecting arm, the second gear is connected with an output shaft of the motor and engaged with the first gear, and the three-dimensional scanning assembly is arranged at the second end of the connecting arm.

[0015] Optionally, the rotary drive assembly further comprises:

[0016] A counterweight is arranged on a side of the connecting arm away from the motor, so that the center of gravity of the rotary measuring mechanism is located on a central axis of the first gear.

[0017] Optionally, the connecting arm comprises:

[0018] A cross arm is in rotational connection with the first gear, the cross arm is provided with the third through hole and the counterweight, and the cross arm has the first end.

[0019] A cantilever is connected to an end of the cross arm away from the motor, and the cantilever has the second end.

[0020] Optionally, the rotary drive assembly further comprises:

[0021] A rotary bearing, the cross arm is in rotational connection with the first gear through the rotary bearing, and the rotary bearing is provided with a fourth through hole corresponding to the second through hole and used for passing through the control rod drive rod.

[0022] Optionally, the rotary bearing is provided with an annular bushing at a connection position with the first gear.

[0023] Optionally, the shell comprises:

[0024] A first mounting seat is used for fixing a sleeve to the control rod guide tube.

[0025] A plurality of connecting frames are arranged in a closed manner, and one end of each of the connecting frames is connected to the first mounting seat;

[0026] A second mounting seat is connected to the other end of each of the connecting frames, the second mounting seat is provided with the first through hole, and the second mounting seat is used for mounting the first gear.

[0027] Optionally, the underwater three-dimensional measurement device further comprises:

[0028] A float assembly is arranged on the second mounting seat, and the float assembly is provided with a fifth through hole corresponding to the first through hole and used for penetrating the control rod drive rod.

[0029] Optionally, the center line of the float assembly, the center line of the shell, the central axis of the first gear and the center line of the pad coincide.

[0030] Optionally, the three-dimensional scanning assembly comprises a laser and a camera.

[0031] Optionally, the three-dimensional scanning assembly further comprises:

[0032] A mounting box is provided with the laser and the camera, and the mounting box is provided with a first window corresponding to the laser and a second window corresponding to the camera, and the first window and the second window are both provided with light-transmitting lead plates.

[0033] The underwater three-dimensional measurement device provided by the application can drive the three-dimensional scanning assembly to rotate around the pad in the circumferential direction through the rotary drive assembly, and the three-dimensional scanning assembly can take 360° panoramic pictures of the surface of the pad to collect pad images, so that the wear condition of the pad can be analyzed according to the images, and the device has the characteristics of simple overall structure, stable and reliable installation, etc. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 One of the structure schematic diagrams of the underwater three-dimensional measurement device provided by the embodiments of the application;

[0036] Figure 2 The second structure schematic diagram of the underwater three-dimensional measurement device provided by the embodiments of the application;

[0037] Figure 3A structure schematic view of a rotary measuring mechanism provided for an embodiment of the present application is shown in the figure.

[0038] Figure 4 A structure assembly view of a rotary driving assembly provided for an embodiment of the present application is shown in the figure.

[0039] In the figure, the reference signs are as follows:

[0040] 1, housing; 2, rotary measuring mechanism; 3, control rod guide cylinder; 4, cushion block;

[0041] 5, rotary driving assembly; 6, three-dimensional scanning assembly; 7, first through hole; 8, first gear;

[0042] 9, connecting arm; 10, motor; 11, second gear; 12, third through hole; 13, first end;

[0043] 14, second end; 15, counterweight; 16, cross arm; 17, cantilever; 18, rotary support;

[0044] 19, fourth through hole; 20, step portion; 21, cover plate; 22, main body portion; 23, annular bushing;

[0045] 24, first mounting seat; 25, connecting frame; 26, second mounting seat; 27, float assembly;

[0046] 28, connecting rod; 29, float; 30, mounting box. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0048] In the description of the embodiments of the present application, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the embodiments of the present application.

[0049] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0050] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the embodiments of the present application can be understood according to the specific circumstances.

[0051] According to one embodiment of the present application, referring to Figure 1 The present application provides an underwater three-dimensional measurement device, which comprises a shell 1 and a rotary measurement mechanism 2. Wherein, the shell 1 is used for being fixedly sleeved on the control rod guide cylinder 3, so that the pad 4 at the top end of the control rod guide cylinder 3 is arranged in the shell 1; the rotary measurement mechanism 2 comprises a rotary drive assembly 5 arranged in the shell 1 and a three-dimensional scanning assembly 6, the rotary drive assembly 5 is rotatably connected with the shell 1, the three-dimensional scanning assembly 6 is fixedly connected with the rotary drive assembly 5 and corresponds to the pad 4, the rotary drive assembly 5 is used for driving the three-dimensional scanning assembly 6 to rotate circumferentially around the pad 4, so as to collect the image of the pad 4.

[0052] In this embodiment of the present application, the bottom of the shell 1 can be provided with a mounting hole for being fixedly sleeved on the control rod guide cylinder 3, and the shell 1 forms a protection space to surround the metal ring-shaped pad 4. In actual design, the shell 1 can be designed to be able to tightly fit the control rod guide cylinder 3, while ensuring that there is enough space inside to accommodate the rotary measurement mechanism 2.

[0053] The rotary drive assembly 5 is rotatably connected with the shell 1, which can smoothly drive the three-dimensional scanning assembly 6 to rotate and ensure the stability during scanning. That is, the rotary drive assembly 5 can provide rotating power, so that the three-dimensional scanning assembly 6 can rotate circumferentially around the pad 4 by 360°.

[0054] The three-dimensional scanning assembly 6 can comprehensively and accurately collect images of the surface of the pad 4. For example, it can include a high-resolution camera or other types of sensors (such as a laser scanner), which can obtain detailed surface information.

[0055] During installation, first, the shell 1 is fixed to the control rod guide tube 3, so that the metal annular pad 4 is located in the shell 1. The design of the shell 1 should ensure that it does not interfere with the normal operation of the drive rod or other reactor internal components. The shell 1 of the present application can be directly fixed to the control rod guide tube 3, so that no other separate fixing structure needs to be additionally provided, making the overall structure simple to install and enabling stable all-around measurement of the pad 4.

[0056] Then the rotary drive assembly 5 is started, which rotates at a preset speed. With the rotation of the rotary drive assembly 5, the three-dimensional scanning assembly 6 fixed thereto starts to perform 360° all-around scanning of the surface of the pad 4. During the scanning process, the three-dimensional scanning assembly 6 can capture detailed images or data of the surface of the pad 4, so that the wear of the pad 4 can be analyzed according to the images.

[0057] Therefore, the underwater three-dimensional measurement device provided by the embodiments of the present application provides an effective method for monitoring and evaluating the wear of the CRDM heat shield sleeve support pad through precise mechanical structure and advanced three-dimensional scanning technology, which helps to improve the safety and reliability of nuclear power plants.

[0058] According to one embodiment of the present application, the underwater three-dimensional measurement device further comprises a terminal (not shown in the figure), which is in communication connection with the rotary drive assembly 5 and the three-dimensional scanning assembly 6.

[0059] In this embodiment of the present application, the terminal serves as a user interface and can be used for remote monitoring and control of the entire underwater three-dimensional measurement process. The terminal can be a dedicated industrial computer, or a common smart phone or tablet computer or other portable device.

[0060] Through the communication connection, data exchange between the terminal and the rotary drive assembly 5 and the three-dimensional scanning assembly 6 can be realized. For example, through a wireless (such as Wi-Fi, Bluetooth) connection mode, stable data transmission in the complex environment of the reactor is ensured, allowing the operator to be away from the radiation environment and improving safety.

[0061] Specifically, the rotation speed of the rotary drive assembly 5 can be controlled through the terminal, and the images or point cloud data collected by the three-dimensional scanning assembly 6 can be converted into usable information for image processing and reconstruction of the three-dimensional model of the pad 4. By comparing the three-dimensional models at different time points, the terminal can automatically identify the changes on the surface of the pad 4, thereby evaluating the degree of wear. The terminal can automatically generate a detailed report according to the analysis results, which can be provided to maintenance personnel for reference. The report can include information such as the location, size, and depth of the worn area. In addition, the terminal can also predict future wear trends in combination with historical data.

[0062] Therefore, the underwater three-dimensional measuring device with terminal control in the embodiment of the application not only improves the monitoring accuracy, but also enhances the safety and convenience of operation, and provides strong support for the periodic inspection of key components of nuclear power plants.

[0063] According to one embodiment of the application, referring to Figures 2-4 As shown in the figure, the first through hole 7 is arranged at the end of the shell 1 away from the control rod guide tube 3, and the first gear 8 is arranged inside the end of the shell 1 away from the control rod guide tube 3. The first gear 8 is provided with a second through hole corresponding to the first through hole 7, and the first through hole 7 and the second through hole are used to pass through the control rod drive rod (not shown in the figure).

[0064] The rotary drive assembly 5 includes a connecting arm 9, a motor 10 and a second gear 11. The connecting arm 9 is rotatably connected to the first gear 8, and is provided with a third through hole 12 corresponding to the second through hole and used to pass through the control rod drive rod. The connecting arm 9 has a first end 13 and a second end 14 located on opposite sides of the third through hole 12. The motor 10 is arranged at the first end 13 of the connecting arm 9. The second gear 11 is connected to the output shaft of the motor 10 and engaged with the first gear 8. The three-dimensional scanning assembly 6 is arranged at the second end 14 of the connecting arm 9.

[0065] In the control rod drive mechanism (CRDM), the control rod drive rod is arranged in the spacer 4 and the control rod guide tube 3. The underwater three-dimensional measuring device in the embodiment of the application considers the compatibility with the control rod drive mechanism (CRDM) in design, especially allowing the control rod drive rod to pass through the measuring device, so that the spacer 4 can be accurately measured without removing the drive rod. Specifically:

[0066] The top end of the shell 1 is provided with a first through hole 7 for passing through the control rod drive rod. The inside of the top end of the shell 1 is provided with a first gear 8, which is also provided with a second through hole for passing through the control rod drive rod.

[0067] In the rotary drive assembly 5, the connecting arm 9 is rotatably connected to the first gear 8 and is also provided with a third through hole 12 to ensure that the control rod drive rod can pass through smoothly. The motor 10 is installed at the first end 13 of the connecting arm 9, and the output shaft of the motor 10 is connected to the second gear 11. The second gear 11 is engaged with the first gear 8, and when the motor 10 is started, it can drive the second gear 11 to rotate around the first gear 8. The motor 10 can be a waterproof motor to improve safety and reliability.

[0068] And the number of teeth of the first gear 8 can be 118, and the number of teeth of the second gear 11 can be 78. Since the number of teeth of the first gear 8 is more than that of the second gear 11, this configuration plays a role of deceleration. That is, the high-speed low-torque output of the motor 10 is converted into low-speed high-torque output, which helps to smoothly drive the three-dimensional scanning assembly 6 to rotate around the pad 4 in the circumferential direction, reducing the influence of vibration on the measurement accuracy.

[0069] The three-dimensional scanning assembly 6 is mounted at the second end 14 of the connecting arm 9 and rotates with the connecting arm 9 to achieve omnidirectional scanning of the surface of the pad 4.

[0070] It can be understood that by providing corresponding through hole structures on the shell 1, the first gear 8 and the connecting arm 9, it is ensured that the control rod can pass through the entire device without obstacles. This means that when wear detection is performed, the drive rod does not need to be removed or moved, greatly simplifying the operation process.

[0071] When the motor 10 is started, it drives the second gear 11 to rotate through the output shaft. Since the second gear 11 is engaged with the first gear 8 fixed in the shell 1, the second gear 11 will move in the circumferential direction around the first gear 8. In this process, the connecting arm 9 will also rotate, driving the three-dimensional scanning assembly 6 to perform 360° omnidirectional scanning around the pad 4.

[0072] The three-dimensional scanning assembly 6 collects data on the surface of the pad 4 during rotation. These data include but are not limited to images, point clouds, etc., for subsequent three-dimensional model reconstruction and wear analysis.

[0073] The collected data can be transmitted to a terminal device in a wireless manner. The software on the terminal processes these data to generate a three-dimensional model of the pad 4, and evaluates the wear degree of the pad 4 by comparing the models at different time points.

[0074] The design of the underwater three-dimensional measurement device according to the embodiments of the present application not only solves the problem of needing to disassemble the drive rod in the traditional method, but also improves the efficiency and accuracy of measurement. Through ingenious mechanical structure design and advanced three-dimensional scanning technology, strong technical support is provided for the safe operation of nuclear power plants. In addition, the device also has the ability of remote control, further improving the safety and convenience of operation.

[0075] According to one embodiment of the present application, with reference to Figure 3 As shown in the figure, the rotary drive assembly 5 further includes a counterweight 15 arranged on the side of the connecting arm 9 away from the motor 10, so that the center of gravity of the rotary measurement mechanism 2 is located on the central axis AB of the first gear 8.

[0076] In the actual measurement process, after image acquisition by the underwater three-dimensional measurement device of the above embodiment, it is found that the three-dimensional model of the cushion block 4 has obvious ripple noise, and the ripple characteristics are periodic fluctuations or fluctuations. The causes of this phenomenon include the instability of the transmission gear, which is specifically manifested in that the motor 10 is relatively heavy, causing the second gear 11 at one end of the motor 10 to be not parallel to the axis of the first gear 8, and further causing incomplete meshing. Due to incomplete meshing, vibrations will be generated during rotation, and these vibrations are transmitted to the three-dimensional scanning assembly 6, thereby affecting the quality of image acquisition.

[0077] In order to avoid the occurrence of ripple noise of the model, the position and weight of the counterweight block 15 are reasonably set to balance the weight of the motor 10, that is, the counterweight block 15 functions to offset the weight of one side of the motor 10, so that the center of gravity of the entire rotary measurement mechanism (including the connecting arm 9, the motor 10, the second gear 11, the counterweight block 15 and the three-dimensional scanning assembly 6, etc.) is located on the central axis of the first gear 8. When the center of gravity is aligned, the axes between the first gear 8 and the second gear 11 will be more parallel, thereby improving the meshing condition of the transmission gear.

[0078] Due to the alignment of the center of gravity, the meshing between the gears is more uniform and stable, and such stable transmission can significantly reduce the vibration during rotation, so that the three-dimensional scanning assembly 6 is less disturbed when collecting data, thereby improving the precision and quality of image acquisition. Higher quality data input helps to generate more accurate and smoother three-dimensional models, reducing the occurrence of ripple noise.

[0079] Therefore, by setting the counterweight block 15, the embodiment of the present application can effectively solve the problem of incomplete meshing of the gears caused by the weight of the motor 10, thereby avoiding the vibration and ripple noise generated during rotation. This simple and effective design not only improves the reconstruction accuracy of the three-dimensional model, but also enhances the stability and reliability of the entire device, providing strong technical support for the safety monitoring of the key components of the nuclear reactor.

[0080] According to an embodiment of the present application, referring to FIGS. 1 to 3, the connecting arm 9 includes a cross arm 16 and a cantilever arm 17. Figure 3 The cross arm 16 is rotationally connected with the first gear 8, and the cross arm 16 is provided with the third through hole 12 and the counterweight block 15, and the cross arm 16 has a first end 13. Figure 4 The cantilever arm 17 is connected to one end of the cross arm 16 away from the motor 10, and the cantilever arm 17 has a second end 14.

[0081] In the embodiment of the present application, the cross arm 16 is arranged in a horizontal direction and is rotationally connected with the first gear 8 to provide a basis for rotational movement. The third through hole 12 on the cross arm 16 is used to pass through the control rod drive rod, ensuring that the drive rod does not need to be removed during the measurement process. The counterweight 15 is mounted on the cross arm 16 and is used to balance the weight of the motor 10, so that the center of gravity of the entire rotary measurement mechanism 2 is located on the central axis of the first gear 8. The first end 13 of the cross arm 16 is used to mount the motor 10, and the motor 10 is connected to the second gear 11 through an output shaft.

[0082] The cantilever 17 extends downward in a vertical direction from an end of the cross arm 16 away from the motor 10, and the second end 14 of the cantilever 17 is used to mount the three-dimensional scanning assembly 6, so that the three-dimensional scanning assembly 6 can be rotated circumferentially around the pad 4.

[0083] The embodiment of the present application arranges the motor 10 and the three-dimensional scanning assembly 6 at the two ends of the connecting arm 9 respectively, which not only ensures sufficient operating space, but also avoids affecting the control rod drive rod, so that the measurement can be completed without disassembling the control rod drive rod, thereby reducing downtime and workload.

[0084] According to one embodiment of the present application, referring to Figure 4 The rotary drive assembly 5 further includes a rotary bearing 18, the cross arm 16 is rotationally connected with the first gear 8 through the rotary bearing 18, and the rotary bearing 18 is provided with a fourth through hole 19 corresponding to the second through hole and used to pass through the control rod drive rod.

[0085] In the embodiment of the present application, the rotary bearing 18 can provide a solid and stable rotation point for the cross arm 16, ensure stable rotational connection between the cross arm 16 and the first gear 8, and the fourth through hole 19 on the rotary bearing 18 is aligned with the first through hole 7 of the housing 1, the second through hole of the first gear 8, and the third through hole 12 of the cross arm 16, together forming a passage for the control rod drive rod to pass through and extend into the pad 4 and the control rod guide cylinder 3.

[0086] Due to the presence of the rotary bearing 18, the rotation of the cross arm 16 will not be affected by the control rod drive rod, and the control rod drive rod can complete the related detection task without moving, ensuring that the necessary monitoring can be carried out while the nuclear power plant is normally operating.

[0087] According to one embodiment of the present application, referring to Figure 4 The second through hole of the first gear 8 can be a stepped hole, the outer periphery of the rotary bearing 18 is provided with a first annular groove, and the first annular groove is connected with the stepped portion 20 in the stepped hole of the first gear 8 to form rotational connection between the rotary bearing 18 and the first gear 8.

[0088] In order to realize the installation, the slewing bearing 18 in the embodiment comprises a detachable cover plate 21 and a main body 22, which can be connected through fasteners to form a first ring groove together, and the main body 22 can be connected with the cross arm 16 through fasteners.

[0089] According to one embodiment of the present application, referring to Figure 4 It is shown that the slewing bearing 18 is provided with an annular bushing 23 at the connection with the first gear 8.

[0090] The embodiment of the present application can improve the wear resistance during slewing by providing the annular bushing 23, thereby prolonging the service life of the slewing bearing 18.

[0091] According to one embodiment of the present application, referring to Figure 2 It is shown that the housing 1 comprises a first mounting seat 24, a plurality of connecting frames 25 and a second mounting seat 26, the first mounting seat 24 is provided with a mounting hole for fixing the entire device to the control rod guide cylinder 3, the number of connecting frames 25 can be three, each connecting frame 25 is arranged to form a space for accommodating components such as the slewing measurement mechanism 2, and one end of each connecting frame 25 is connected with the first mounting seat 24, the second mounting seat 26 is connected with the other end of each connecting frame 25 to form a stable frame structure, the second mounting seat 26 is provided with a first through hole 7 for passing through the control rod drive rod, and the second mounting seat 26 is used for mounting the first gear 8.

[0092] The housing 1 of the embodiment of the present application adopts a frame structure, which is light in weight, facilitating operation and movement in water, and the frame structure fixed at multiple points improves the overall rigidity of the device, reduces vibration, and helps to improve measurement accuracy, in addition, the open frame design facilitates the inspection and maintenance of internal components, and simplifies routine maintenance work.

[0093] According to one embodiment of the present application, referring to Figure 1 and Figure 2 It is shown that the underwater three-dimensional measurement device further comprises a float assembly 27, the float assembly 27 is arranged on the second mounting seat 26, and the float assembly 27 is provided with a fifth through hole corresponding to the first through hole 7 and used for passing through the control rod drive rod, so as to ensure that the control rod drive rod can smoothly pass through the entire device.

[0094] Specifically, the float assembly 27 comprises a connecting rod 28 and a float 29, the bottom end of the connecting rod 28 is connected with the second mounting seat 26, and the float 29 is connected to the top end of the connecting rod 28, and the connecting rod 28 and the float 29 can be provided with the fifth through hole.

[0095] It can be understood that the float assembly 27 can provide sufficient buoyancy to enable the entire device to maintain balance in water, reducing the sway caused by water flow. A stable environment helps improve the accuracy of three-dimensional scanning, as motion blur and other errors caused by instability are reduced.

[0096] The embodiment of the present application introduces the float assembly 27, which not only improves the stability of the device in water, but also enhances the measurement accuracy. This design is particularly suitable for underwater environments such as nuclear power plants that require high-precision monitoring. The addition of the float assembly 27 makes the entire device more flexible and reliable, providing strong support for long-term safe operation.

[0097] According to one embodiment of the present application, referring to Figure 1 and Figure 2 , the center line of the float assembly 27, the center line of the housing 1, the central axis of the first gear 8, and the center line of the pad 4 coincide.

[0098] This design ensures that the three-dimensional scanning assembly 6 and the pad 4 always maintain a fixed distance, thereby improving measurement accuracy.

[0099] According to one embodiment of the present application, the three-dimensional scanning assembly 6 includes a laser and a camera.

[0100] In this embodiment of the present application, the laser emits a laser beam that illuminates the surface of the pad 4. The laser can be a point laser, a line laser, or a surface laser, depending on the required resolution and scanning speed. The laser has high brightness and good directivity, which can provide clear reflection signals. The camera captures the reflected light generated by the laser illumination and records image data. The camera can be an industrial-grade high-resolution CCD or CMOS camera to ensure high-quality image acquisition. For example, the laser and camera are underwater lasers and underwater cameras.

[0101] In operation, the laser beam emitted by the laser illuminates the surface of the pad 4, forming a bright spot or bright line, and the camera captures the image of this bright spot or bright line from a specific angle. By knowing the relative position relationship between the laser and the camera, the precise coordinates of the laser illumination point on the surface of the pad 4 are calculated using the principles of trigonometry. By splicing multiple scanning data at different angles and positions, a complete three-dimensional point cloud model is generated. The point cloud data is used for three-dimensional model reconstruction, and the wear condition of the pad 4 is analyzed through the terminal.

[0102] The embodiment of the present application combines the three-dimensional scanning assembly 6 of the laser and the camera to achieve high-precision, non-contact measurement of the pad 4. This design not only improves the accuracy and efficiency of measurement, but also enhances the reliability and adaptability of the device, making it particularly suitable for the safe monitoring of critical components such as nuclear power plants.

[0103] According to one embodiment of the present application, referring to Figure 1 and Figure 2 As shown in the drawings, the three-dimensional scanning assembly 6 further comprises a mounting box 30 mounted on the second end 14 of the cantilever 17, the mounting box 30 is provided with a laser and a camera, and the mounting box 30 is provided with a first window corresponding to the laser and a second window corresponding to the camera, both the first window and the second window are provided with light-transmitting lead plates.

[0104] In the actual measurement process, after image acquisition by the underwater three-dimensional measurement device of the above embodiment, the three-dimensional model of the cushion block 4 is reconstructed, and it is found that the model has obvious ripple noise, and the ripple characteristics are periodic fluctuations or fluctuations. The causes of this phenomenon also include signal interference. Therefore, by setting light-transmitting lead plates at the windows, the laser and visible light can be transmitted, without affecting the normal operation of the laser and the camera, while isolating radiation and other electromagnetic interference, avoiding the influence of other equipment of the nuclear power plant on the collected signals, reducing ripple noise and other phenomena, thereby further improving the measurement accuracy.

[0105] The above is only a preferred embodiment of the present application, and is not intended to limit the embodiments of the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. An underwater three-dimensional measuring device, characterized by, The underwater three-dimensional measuring device comprises: a shell for being fixedly sleeved on a control rod guide cylinder so that a pad at a top end of the control rod guide cylinder is arranged in the shell; a rotation measuring mechanism comprising a rotation driving assembly and a three-dimensional scanning assembly, the rotation driving assembly being rotationally connected with the shell, and the three-dimensional scanning assembly being fixedly connected with the rotation driving assembly and corresponding to the pad, the rotation driving assembly being configured to drive the three-dimensional scanning assembly to rotate circumferentially around the pad so as to collect images of the pad.

2. The underwater three-dimensional measuring apparatus according to claim 1, characterized by The underwater three-dimensional measuring device further comprises: a terminal being in communication connection with the rotation driving assembly and the three-dimensional scanning assembly.

3. The underwater three-dimensional measuring apparatus according to claim 1, characterized by The shell is provided with a first through hole at an end thereof away from the control rod guide cylinder, and the shell is internally provided with a first gear at the end thereof away from the control rod guide cylinder, the first gear being provided with a second through hole corresponding to the first through hole, the first through hole and the second through hole being configured to pass through a control rod drive rod. The rotation driving assembly comprises a connecting arm, a motor and a second gear, the connecting arm being rotationally connected with the first gear, the connecting arm being provided with a third through hole corresponding to the second through hole and configured to pass through the control rod drive rod, the connecting arm having a first end and a second end located at opposite sides of the third through hole, the motor being arranged at the first end of the connecting arm, the second gear being connected with an output shaft of the motor and engaged with the first gear, and the three-dimensional scanning assembly being arranged at the second end of the connecting arm.

4. The underwater three-dimensional measuring apparatus according to claim 3, characterized in that, The rotation driving assembly further comprises: a counterweight arranged at a side of the connecting arm away from the motor so that a center of gravity of the rotation measuring mechanism is located on a central axis of the first gear.

5. The underwater three-dimensional measuring apparatus according to claim 4, characterized in that, The connecting arm comprises: a horizontal arm rotationally connected with the first gear, the horizontal arm being provided with the third through hole and the counterweight, the horizontal arm having the first end; a cantilever connected to an end of the horizontal arm away from the motor, the cantilever having the second end.

6. The underwater three-dimensional measuring apparatus according to claim 5, characterized in that, The rotation driving assembly further comprises: a rotation support, the horizontal arm being rotationally connected with the first gear via the rotation support, the rotation support being provided with a fourth through hole corresponding to the second through hole and configured to pass through the control rod drive rod.

7. The underwater three-dimensional measuring apparatus according to claim 6, characterized in that, The rotation support is provided with an annular bushing at a connection position of the rotation support and the first gear.

8. The underwater three-dimensional measuring apparatus according to claim 3, characterized by The shell comprises: a first mounting seat for being fixedly sleeved on the control rod guide cylinder; a plurality of connecting frames, each of the connecting frames being arranged in a surrounding manner, and each of the connecting frames having one end connected with the first mounting seat; a second mounting seat connected with the other ends of the connecting frames, the second mounting seat being provided with the first through hole, and the second mounting seat being configured to mount the first gear.

9. The underwater three-dimensional measuring apparatus according to claim 8, characterized in that, The underwater three-dimensional measuring device further comprises: a float assembly arranged on the second mounting seat, and the float assembly being provided with a fifth through hole corresponding to the first through hole and configured to pass through the control rod drive rod.

10. The underwater three-dimensional measuring apparatus according to claim 9, characterized by A center line of the float assembly, a center line of the shell, a central axis of the first gear and a center line of the pad coincide.

11. The underwater three-dimensional measuring apparatus according to any one of claims 1 to 10, characterized by, The three-dimensional scanning assembly comprises a laser and a camera.

12. The underwater three-dimensional measuring apparatus according to claim 11, characterized by The three-dimensional scanning assembly further comprises: A mounting box is internally provided with the laser and the camera, and is provided with a first window corresponding to the laser and a second window corresponding to the camera, and the first window and the second window are both provided with light-transmitting lead plates.

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