Support hanger inclination angle adjusting method based on 3D laser SLAM unmanned aerial vehicle
By using a 3D laser SLAM UAV-based method for detecting the tilt angle of supports and hangers, and leveraging a three-dimensional coordinate system and point cloud processing technology, high-precision measurement of the tilt angle of supports and hangers was achieved. This solved the problems of limited detection range and large errors, and improved the safety of pipeline systems in thermal power plants.
Patent Information
- Application Number
- CN202511115157.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-11
- Publication Date
- 2025-11-11
AI Technical Summary
Existing technologies have limited range and low accuracy in detecting the tilt angle of supports and hangers, making it difficult to conduct effective measurements in high-altitude, narrow, or high-temperature areas. Manual visual estimation has large errors and poses safety hazards.
The tilt angle of the support frame is detected by using a 3D laser SLAM-based UAV. By establishing a three-dimensional coordinate system, the UAV performs 3D laser scanning, and the tilt angle is calculated by combining point cloud processing and least squares fitting method to generate an adjustment plan.
It achieves high-precision measurement of support and hanger inclination angle, breaks through spatial accessibility limitations, eliminates human error, supports digital management throughout the entire life cycle, and improves the safe operation level of thermal power plant pipeline systems.
Smart Images
Figure CN120931704A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automatic inspection methods for unmanned aerial vehicles (UAVs), and in particular to a method for adjusting the tilt angle of a support frame based on a 3D laser SLAM UAV. Background Technology
[0002] In the steam and water piping system of thermal power plants, the inclination angle of the support rods directly affects the stability and operational safety of the pipeline structure. When the inclination angle of the rods exceeds the design allowable range, it will exacerbate the stress concentration effect and may even lead to serious accidents such as rod breakage.
[0003] Furthermore, with the development of intelligent detection technology, 3D laser SLAM (Simultaneous Localization and Mapping) drones, equipped with high-precision lidar, can build a three-dimensional map of the target area in real time and accurately locate their own position without the need for pre-deployment of positioning markers.
[0004] The existing methods for detecting and adjusting the tilt angle of supports and hangers are mainly as follows: First, direct measurement is performed using a contact tilt meter, which obtains tilt angle data through physical contact between the instrument and the surface of the hanger. Second, manual visual estimation is performed, relying on the experience of the inspectors to judge the degree of tilt of the hanger, and combining simple tools for rough measurement.
[0005] However, in the existing technology, the detection range of contact measuring instruments is limited by the accessibility of the working space, making it difficult to effectively measure supports and hangers in high-altitude, narrow, or high-temperature areas; while the accuracy of manual visual estimation is heavily dependent on the operator's experience level, and the measurement error rate generally exceeds ±5°. Moreover, when facing hidden areas or complex working conditions, the limited field of view can easily lead to the omission of safety hazards. Summary of the Invention
[0006] The purpose of this invention is to provide a method for adjusting the tilt angle of a support frame for a 3D laser SLAM UAV, so as to alleviate the technical problems of limited detection range and large visual error in the prior art.
[0007] The present invention provides a method for adjusting the tilt angle of a support frame for a 3D laser SLAM-based UAV, comprising: Step 1: Establish a three-dimensional coordinate system based on the boiler physical model; Step 2: Use a drone to perform 3D laser scanning on the support and hanger to obtain the spatial attitude parameters of the support and hanger rods; Step 3: Obtain the original point cloud of the support rod through spatial attitude parameters, and process the original point cloud by downsampling to obtain the processed laser point cloud; Step 4: Visualize the processed laser point cloud using 3D mapping, delete the laser point clouds of other structures, and retain the laser point cloud of the support rods that need to be fitted. Step 5: Use the least squares fitting method to perform spatial straight line fitting calculation on the laser point cloud of the support rod in Step 4 to obtain the axial position and direction angle of the rod in space; Step 6: When the actual tilt angle obtained in Step 5 exceeds the allowable value, calculate and determine a reasonable hanger adjustment distance based on the tilt angle data measured by the equipment under cold and hot operating conditions, and complete the adjustment.
[0008] Furthermore, the specific steps of step 1 are as follows: Based on the boiler structure of the power plant, a three-dimensional coordinate system is established with the vertical direction as the Z-axis, the direction from the side of the boiler to the side of the turbine as the X-axis, and the right side from the side of the turbine to the side of the boiler as the Y-axis.
[0009] Furthermore, the specific steps of step 3 are as follows: Step 3.1: Calculate the average local density of the laser point cloud to obtain outliers and delete them; (1); Among them, let , with points xyz i Let r be the center of a sphere, and let r be the number of neighboring points within the sphere. i If Nr(xyz) i If θmin < θmin, then it is considered an outlier. Step 3.2: Point cloud downsampling; Assume the coordinate set of the laser point cloud is Let δ be the minimum point cloud spacing threshold to ensure that the distance between the output point clouds is greater than δ; divide the three-dimensional space with a sphere of radius r=δ / 2; the center of the sphere is the candidate point, and only the original point closest to the center of the sphere is retained in each sphere, and the remaining points are discarded to obtain the processed laser point cloud.
[0010] Furthermore, the specific steps of step 4 are as follows: The processed laser point cloud is visualized by 3D mapping. The laser point cloud of the support rod that needs to be fitted is retained, and the laser point cloud of the other structures is deleted.
[0011] Furthermore, the specific steps of step 5 are as follows: Step 5.1: Calculate the centroid coordinates of the laser point cloud:
[0012]
[0013] (2); Step 5.2: Establish the equation of the straight line in space: (3); Simplifying formula (3) yields: (4); set up Then formula (4) can be expressed as: (5); Step 5.3, set The value obtained by formula (5) is then compared with the measured value x. i The sum of squared residuals is: (6); set up The value obtained by formula (5) is then compared with the measured value y. i The sum of squared residuals is: (7); To minimize Qx and Qy, the following conditions must be met: (8); Right now (9); Therefore, m:n:p =: (10); Step 5.4: According to formula (10) in step 5.3, by establishing a coordinate system, the vertical vector is (0, 0, 1), and the direction vector of the fitted line is... Then the inclination angle θ of the support rod is calculated as follows: (11).
[0014] Furthermore, the specific steps of step 6 are as follows: Step 6.1: Traverse the point cloud coordinate set P, and denote the maximum value in the Z-axis direction of the point cloud as z. max The minimum value is denoted as z. min And z min z max Substituting the points into formula (3), we obtain the maximum value x in the X-axis direction of the point cloud. max The minimum value of x along the X-axis min And the maximum value y in the Y-axis direction of the point cloud max The minimum value y in the Y-axis direction min The coordinates of the bottom of the boom are simplified to (x... min ,y min ,z min The coordinates of the top of the boom are simplified to (x max,y max ,z max ); Step 6.2: Let the tilt angle of the spring hanger rod in the hot state be θ2°. Adjust the spring hanger to a reasonable range. Let the expected tilt angle after adjustment be θ3°, that is, move the lug by Δx and Δy distances in the X and Y directions respectively. Step 6.3: Given the vertical vector in the coordinate system as (0,0,1), and the adjusted position of the lifting lugs... ; Step 6.4: Based on the adjusted expected tilt angle of θ3° and the formula for the angle between the two vectors, we obtain: (12); Simplified to: (13); Let x max -x min =X ai y max -y min =Y ai , z max -z min =Z ai Then formula 13 is: (14); Therefore, according to the quadratic formula, Δx is: (15); To reduce the moving distance, the value of Δx is: (16); According to Δy= Δy takes the following values: (17); Determine the distances the lifting lugs should move in the X and Y directions, respectively, by Δx and Δy, and then complete the adjustment.
[0015] Furthermore, in step 6.2, the inclination angle θ2° of the upper spring hanger rod in the hot state is not greater than 4°. When it is greater than 4°, it can be achieved by offset mounting, increasing the length of the movable part of the tie rod, or using a rolling bearing hanger plate at the root.
[0016] Furthermore, the specific steps in step 6.2 for the lifting lug to move distances Δx and Δy in the X and Y directions respectively are as follows: If x max -x min =0 and y max -y min If ≠0, then the lifting lug needs to move a distance of Δy in the Y direction; If x max -x min ≠0 and y max -y min =0, then the distance the lug needs to move is Δx in the X direction; If x max -x min ≠0 and y max -y min ≠0, x max -x min =L(y max -y min Then the lifting lug needs to move a distance of Δx in the X direction and Δx in the Y direction. .
[0017] Beneficial effects: The present invention provides a method for adjusting the tilt angle of a support frame based on a 3D laser SLAM UAV. By using a UAV to perform high-precision laser scanning on the support frame rod, the method employs a triple optimization of outlier removal, point cloud downsampling, and feature extraction to significantly improve the efficiency of point cloud data processing. Based on the least squares method, the method performs linear fitting on the rod point cloud to achieve a measurement accuracy of ±0.5°.
[0018] Compared to traditional contact measuring instruments or manual visual inspection followed by tilt adjustment, this invention can utilize drones to overcome spatial accessibility limitations, eliminate human measurement errors, and support the establishment of digital archives to achieve full lifecycle management.
[0019] This invention generates adjustment schemes based on actual conditions, enabling inspection personnel to quickly and accurately determine the tilt angle of support rods and improve the safe operation level of thermal power plant pipeline systems. Attached Figure Description
[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0021] Figure 1 This is a flowchart illustrating the method for adjusting the tilt angle of a support frame for a 3D laser SLAM-based UAV, as provided in an embodiment of the present invention. Figure 2 The boiler three-dimensional coordinate system provided in the experimental example of the present invention; Figure 3 A front view of the spring hanger structure of the adjustment method provided in the experimental example of the present invention; Figure 4A truncated angle view of the spring hanger structure image of the adjustment method provided in the experimental example of the present invention; Figure 5 The point cloud image of the support rod after processing in step 4, provided as an experimental example of the invention. Detailed Implementation
[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.
[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0027] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0028] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0029] Example 1 The method for adjusting the tilt angle of a support frame for a 3D laser SLAM-based UAV provided in this embodiment of the invention is as follows: Figure 1 As shown, it includes: Step 1: Establish a three-dimensional coordinate system based on the boiler physical model; Specifically, such as Figure 2 As shown, based on the boiler structure of the power plant, the vertical direction is defined as the Z-axis, the direction from the side of the boiler to the side of the turbine is defined as the X-axis, and the right side from the side of the turbine to the side of the boiler is defined as the Y-axis. The X-axis, Y-axis, and Z-axis are all perpendicular to each other.
[0030] Step 2: Use a drone to perform 3D laser scanning on the support frame to obtain the spatial attitude parameters of the support frame rods; Specifically, such as Figure 3 , Figure 4 As shown, a 3D laser SLAM UAV system was used to perform tilt angle scanning and detection on the target support frame's boom. Through real-time positioning and mapping technology using laser radar, the spatial attitude parameters of the boom were accurately acquired, providing high-precision three-dimensional data support for subsequent structural safety assessment. The entire scanning process employed a non-contact measurement method, ensuring both detection efficiency and operational safety.
[0031] Step 3: Obtain the original point cloud of the support rod through the spatial attitude parameters, and process the original point cloud by downsampling to obtain the processed laser point cloud; Specifically, in step 3.1, outlier removal involves calculating the average local density of the laser point cloud to obtain outliers and then removing them. (1); Among them, setting a threshold , with points xyz i Let r be the center of a sphere, and let r be the number of neighboring points within the sphere. i If Nr(xyz) i If θmin < θmin, then it is considered an outlier. Step 3.2: Point cloud downsampling; Assume the coordinate set of the laser point cloud is Let δ be the minimum point cloud spacing threshold to ensure that the distance between the output point clouds is greater than δ; divide the three-dimensional space into spheres with radius r=δ / 2, and use the center of the sphere as the candidate point; retain only the original point closest to the center of the sphere in each sphere, and discard the remaining points to obtain the processed laser point cloud.
[0032] Step 4: Visualize the processed laser point cloud using 3D mapping, delete the laser point clouds of other structures, and retain the laser point cloud of the support rods that need to be fitted. Specifically, such as Figure 5 As shown, by intelligently filtering the collected laser point cloud data and employing a point cloud segmentation algorithm based on geometric features, effective point cloud data related to the support and hanger structure is accurately identified and extracted. This processing flow achieves efficient extraction and optimization of the target hanger point cloud data. Specifically, Python is used to visualize the downsampled laser point cloud. Through the visualized 3D point cloud, the laser point cloud of the support and hanger that needs to be fitted is retained, while the laser point clouds of other structures are deleted.
[0033] Step 5: Use the least squares fitting method to perform spatial straight line fitting calculation on the laser point cloud of the support rod described in Step 4 to obtain the axial position and direction angle of the rod in space; Specifically, the least squares fitting method is used to perform spatial straight-line fitting calculations on the laser point cloud data of the suspension rod structure. This algorithm establishes a mathematical model that minimizes the sum of squared errors, performing optimal straight-line fitting on the discrete three-dimensional point cloud data to accurately calculate the axial position and orientation angle of the suspension rod in space. The least squares-based fitting method effectively eliminates measurement error interference, improves the accuracy and reliability of the suspension rod axis fitting, and provides accurate geometric parameters for subsequent structural deformation analysis.
[0034] Step 5.1: Calculate the centroid coordinates of the laser point cloud:
[0035]
[0036] (2); Step 5.2: Establish the equation of the straight line in space: (3); Simplifying formula (3) yields: (4); set up Then formula (4) can be expressed as: (5); Step 5.3, set The approximate value obtained by formula (5) is then compared with the measured value x. i The sum of squared residuals is: (6); set up The value obtained by formula (5) is then compared with the measured value y. i The sum of squared residuals is: (7); To minimize Qx and Qy, the following conditions must be met: (8); Right now (9); Therefore, m:n:p =: (10); Step 5.4: According to formula (10) described in step 5.3, by establishing a coordinate system, the vertical vector is (0, 0, 1), and the direction vector of the fitted line is... Then the inclination angle θ of the support rod is calculated as follows: (11).
[0037] Step 6: When the actual tilt angle obtained in Step 5 exceeds the allowable value, calculate and determine a reasonable hanger adjustment distance based on the tilt angle data measured by the equipment under cold and hot operating conditions, and complete the adjustment.
[0038] Specifically, when the actual tilt angle of the support exceeds the design allowable value, a reasonable adjustment distance for the support needs to be determined by calculation based on the tilt angle data measured under cold and hot operating conditions.
[0039] Step 6.1: Traverse the point cloud coordinate set P, and denote the maximum value in the Z-axis direction of the point cloud as z. max The minimum value is denoted as z. min And the z min z max Substituting the points into formula (3), we obtain the maximum value x in the X-axis direction of the point cloud. max The minimum value of x along the X-axis min And the maximum value y in the Y-axis direction of the point cloud max The minimum value y in the Y-axis direction min The coordinates of the bottom of the boom are simplified to (x... min ,y min ,z minThe coordinates of the top of the boom are simplified to (x max ,y max ,z max ); Step 6.2: Assume the tilt angle of the spring hanger rod in the hot state is θ2°. Adjust the spring hanger to a reasonable range, and set the expected tilt angle after adjustment as θ3°, which means moving the lifting lug by Δx and Δy distances in the X and Y directions respectively. The tilt angle θ2° of the spring hanger rod in the hot state should not exceed 4°. When it exceeds 4°, adjustments are needed by offset mounting, increasing the length of the moving part of the tie rod, or using a rolling bearing hanger plate at the root. In other words, adjustments are required when the angle exceeds 4°.
[0040] The specific steps for moving the lifting lug by distances Δx and Δy in the X and Y directions respectively are as follows: If x max -x min =0 and y max -y min If ≠0, then the lifting lug needs to move a distance of Δy in the Y direction; If x max -x min ≠0 and y max -y min =0, then the distance the lug needs to move is Δx in the X direction; If x max -x min ≠0 and y max -y min ≠0, x max -x min =L(y max -y min Then the lifting lug needs to move a distance of Δx in the X direction and Δx in the Y direction. .
[0041] Step 6.3: Given the vertical vector in the coordinate system as (0,0,1), and the adjusted position of the lifting lugs... ; Step 6.4: Based on the adjusted expected tilt angle of θ3° and the formula for the angle between the two vectors, we obtain: (12); Simplified to: (13); Let x max -x min =X ai y max -y min =Y ai , z max -z min =Z ai Then formula 13 is: (14); Therefore, according to the quadratic formula, Δx is: (15); To reduce the moving distance, the value of Δx is: (16); According to Δy= Δy takes the following values: (17); Determine the distances the lifting lugs should move in the X and Y directions, respectively, by Δx and Δy, and then complete the adjustment.
[0042] This invention utilizes a 3D laser SLAM drone to perform three-dimensional scanning of support rods and scaffolds. Based on the least squares method, it performs linear fitting of the laser point cloud of the scaffolds and scaffolds to calculate their tilt angle. Based on the actual situation, it generates and adjusts the tilt angle of the support rods and scaffolds, enabling inspection personnel to quickly and accurately determine the tilt angle of the support rods and scaffolds.
[0043] Example 2 This embodiment 2 is based on embodiment 1, with the support rod tilt angle being 5°; the specific adjustment method is as follows: Step 1: Establish a three-dimensional coordinate system based on the boiler physical model; Step 2: Tilt the support rod at an angle of 5° and use a drone to perform 3D laser scanning on the support rod to obtain the spatial attitude parameters of the support rod. Step 3: Obtain the original point cloud of the support rod through spatial attitude parameters, and process the original point cloud by downsampling to obtain the processed laser point cloud; Step 4: Visualize the processed laser point cloud using 3D mapping, delete the laser point clouds of other structures, and retain the laser point cloud of the support rods that need to be fitted. Step 5: Use the least squares fitting method to perform spatial straight line fitting calculation on the laser point cloud of the support rod in Step 4 to obtain the axial position and direction angle of the rod in space; Step 5.1: Calculate the centroid coordinates of the laser point cloud:
[0044]
[0045] (2); The centroid coordinates of the laser point cloud were calculated. .
[0046] Step 5.2: Establish the equation of the straight line in space: (3); Simplifying formula (3) yields: (4); set up Then formula (4) can be expressed as: (5); Step 5.3, set The value obtained by formula (5) is then compared with the measured value x. i The sum of squared residuals is: (6); set up The value obtained by formula (5) is then compared with the measured value y. i The sum of squared residuals is: (7); To minimize Qx and Qy, the following conditions must be met: (8); Right now (9); Therefore, m:n:p =: (10); The calculated ratio of m:n:p is 0:1:11.52.
[0047] Step 5.4: According to formula (10) described in step 5.3, by establishing a coordinate system, the vertical vector is (0, 0, 1), and the direction vector of the fitted line is... Then the inclination angle θ of the support rod is calculated as follows: (11).
[0048] The angle detected by laser point cloud scanning of the support bracket is 4.96°.
[0049] Step 6: When the actual tilt angle obtained in Step 5 exceeds the allowable value, calculate and determine a reasonable hanger adjustment distance based on the tilt angle data measured by the equipment under cold and hot operating conditions, and complete the adjustment.
[0050] Step 6.1: Traverse the point cloud coordinate set P, and denote the maximum value in the Z-axis direction of the point cloud as z. max =3429, the minimum value is denoted as z. min =24, and the z min z max Substituting the points into formula (3), we obtain the maximum value x in the X-axis direction of the point cloud. max =1000, minimum value of x along the X-axis min=1000 and the maximum value y in the Y-axis direction of the point cloud max =298.62, the minimum value of y in the Y-axis direction min =3.17; The coordinates of the bottom of the boom are simplified to (1000, 3.33, 24), and the coordinates of the top of the boom are simplified to (1000, 298.62, 3429). Step 6.2: Given that the inclination angle of the spring hanger rod in the hot state is θ2° = 5° (> 4°), if the spring hanger needs to be adjusted to a reasonable range, assuming the expected inclination angle after adjustment is θ3° = 3.5°, the usual method is to adjust the position of the top lug of the support, that is, move the lug by Δx and Δy distances in the X and Y directions respectively. According to the actual pipeline design drawings, it is known that the hot position of the spring hanger in the X and Y directions needs to be adjusted, which are: x t y t And x max -x min =L(y max -y min If the displacement of the lug in the Y direction is Δy, then L = 0.
[0051] Step 6.3: The vertical vector in the coordinate system is (0,0,1), and the adjusted position of the lug is (0,298.62+Δy,3429).
[0052] Step 6.4: The adjusted expected tilt angle is θ3° = 3.5°. Therefore, according to the formula (12) for the angle between two vectors, we can obtain: ; According to the detailed calculations obtained in Example 1, the distance Δy that the lifting lug needs to move in this example is -151.42mm.
[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for adjusting the tilt angle of a support frame for a 3D laser SLAM-based UAV, characterized in that, include: Step 1: Establish a three-dimensional coordinate system based on the boiler physical model; Step 2: Use a drone to perform 3D laser scanning on the support frame to obtain the spatial attitude parameters of the support frame rods; Step 3: Obtain the original point cloud of the support rod through the spatial attitude parameters, and process the original point cloud by downsampling to obtain the processed laser point cloud; Step 4: Visualize the processed laser point cloud using 3D mapping, delete the laser point clouds of other structures, and retain the laser point cloud of the support rods that need to be fitted. Step 5: Use the least squares fitting method to perform spatial straight line fitting calculation on the laser point cloud of the support rod described in Step 4 to obtain the axial position and direction angle of the rod in space; Step 6: When the actual tilt angle obtained in Step 5 exceeds the allowable value, calculate and determine a reasonable hanger adjustment distance based on the tilt angle data measured by the equipment under cold and hot operating conditions, and complete the adjustment.
2. The adjustment method according to claim 1, characterized in that, The specific steps of step 1 are as follows: Based on the boiler structure of the power plant, a three-dimensional coordinate system is established with the vertical direction as the Z-axis, the direction from the side of the boiler to the side of the turbine as the X-axis, and the right side from the side of the turbine to the side of the boiler as the Y-axis.
3. The adjustment method according to claim 1, characterized in that, The specific steps of step 3 are as follows: Step 3.1: Calculate the average local density of the laser point cloud to obtain outliers and delete them; （1）； Among them, let , with points xyz i Let r be the center of a sphere, and let r be the number of neighboring points within the sphere. i If Nr(xyz) i If θmin < θmin, then it is considered an outlier. Step 3.2: Point cloud downsampling; Assume the coordinate set of the laser point cloud is Let δ be the minimum point cloud spacing threshold to ensure that the distance between the output point clouds is greater than δ; divide the three-dimensional space with a sphere of radius r=δ / 2, and use the center of the sphere as the candidate point; retain only the original point closest to the center of the sphere in each sphere, and discard the remaining points to obtain the processed laser point cloud.
4. The adjustment method according to claim 1, characterized in that, The specific steps of step 4 are as follows: The processed laser point cloud is visualized by 3D mapping. The laser point cloud of the support rod that needs to be fitted is retained, and the laser point cloud of the other structures is deleted.
5. The adjustment method according to claim 1, characterized in that, The specific steps of step 5 are as follows: Step 5.1: Calculate the centroid coordinates of the laser point cloud: （2）； Step 5.2: Establish the equation of the straight line in space: （3）； Simplifying formula (3) yields: （4）； set up Then formula (4) can be expressed as: （5）； Step 5.3, set The value obtained by formula (5) is then compared with the measured value x. i The sum of squared residuals is: （6）； set up The value obtained by formula (5) is then compared with the measured value y. i The sum of squared residuals is: （7）； To minimize Qx and Qy, the following conditions must be met: （8）； Right now （9）； Therefore, m:n:p =: （10）； Step 5.4: According to formula (10) described in step 5.3, by establishing a coordinate system, the vertical vector is (0, 0, 1), and the direction vector of the fitted line is... Then the inclination angle θ of the support rod is calculated as follows: （11）。 6. The adjustment method according to claim 5, characterized in that, The specific steps of step 6 are as follows: Step 6.1: Traverse the point cloud coordinate set P, and denote the maximum value in the Z-axis direction of the point cloud as z. max The minimum value is denoted as z. min And the z min z max Substituting the points into formula (3), we obtain the maximum value x in the X-axis direction of the point cloud. max The minimum value of x along the X-axis min And the maximum value y in the Y-axis direction of the point cloud max The minimum value y in the Y-axis direction min The coordinates of the bottom of the boom are simplified to (x... min ,y min ,z min The coordinates of the top of the boom are simplified to (x max ,y max ,z max ); Step 6.2: Let the tilt angle of the spring hanger rod in the hot state be θ2°. Adjust the spring hanger to a reasonable range. Let the expected tilt angle after adjustment be θ3°, that is, move the lug by Δx and Δy distances in the X and Y directions respectively. Step 6.3: Given the vertical vector in the coordinate system as (0,0,1), and the adjusted position of the lifting lugs... ; Step 6.4: Based on the adjusted expected tilt angle of θ3° and the formula for the angle between the two vectors, we obtain: （12）； Simplified to: （13）； Let x max -x min =X ai y max -y min =Y ai , z max -z min =Z ai Then formula 13 is: （14）； Therefore, according to the quadratic formula, Δx is: （15）； To reduce the moving distance, the value of Δx is: （16）； According to Δy= Δy takes the following values: （17）； Determine the distances the lifting lugs should move in the X and Y directions, respectively, by Δx and Δy, and then complete the adjustment.
7. The adjustment method according to claim 6, characterized in that, In step 6.2, the inclination angle θ2° of the spring hanger rod in the hot state shall not be greater than 4°. When it is greater than 4°, it shall be adjusted by offset mounting, increasing the length of the movable part of the tie rod, or using a rolling bearing hanger plate at the root.
8. The adjustment method according to claim 6, characterized in that, The specific steps for moving the lifting lug by Δx and Δy distances in the X and Y directions respectively in step 6.2 are as follows: If x max -x min =0 and y max -y min If ≠0, then the lifting lug needs to move a distance of Δy in the Y direction; If x max -x min ≠0 and y max -y min =0, then the distance the lug needs to move is Δx in the X direction; If x max -x min ≠0 and y max -y min ≠0, x max -x min =L(y max -y min Then the lifting lug needs to move a distance of Δx in the X direction and Δx in the Y direction. .