Verification method and system for lifting the arch frame for maintenance of ring crane

Abstract

The present invention relates to a verification method and system for the jacking of a ring-hanging maintenance arch frame. The verification method comprises the following steps: S1: acquiring three-dimensional environmental data of the on-site environment according to the on-site environment of the containment plant; S2: acquiring three-dimensional arch data of the ring-hanging maintenance arch frame; S3: adjusting the three-dimensional arch data according to the action control information of the jacking scheme, and obtaining real-time three-dimensional arch data of the ring-hanging maintenance arch frame in the jacking scheme; S4: fusing the three-dimensional environmental data and the real-time three-dimensional arch data to obtain verification data of the jacking scheme. The verification system comprises an acquisition module, a control module and a processing module; the acquisition module is respectively connected to the control module and the processing module in communication. The present invention verifies the feasibility of the ring-hanging maintenance arch frame after the jacking installation scheme is completed before installation, ensures the operational reliability of the ring-hanging maintenance arch frame, and effectively improves the safety and economy of the jacking process of the ring-hanging maintenance arch frame.

Description

Technical Field

[0001] The invention relates to the field of nuclear power maintenance, and in particular to a verification method and system for the jacking of a ring-hanging maintenance arch. Background Art

[0002] The main function of the ring crane maintenance arch is to provide lifting equipment support for the main lifting open gear pair of the ring crane to ensure the requirements for the maintenance and transportation of the open gear pair. In the early stage of the construction of the nuclear power plant, it was found that the ring crane maintenance arch had interference and collision with the containment spray system of the containment plant after installation. When the ring crane was rotated 360°, the containment spray system might be damaged. In order not to affect the maintenance work of the nuclear power plant and the normal operation of the ring crane, the ring crane maintenance arch must be jacked and installed in the containment plant by jacking machinery.

[0003] The following difficulties exist in the jacking installation of the ring crane maintenance arch in the in-service nuclear power plant:

[0004] 1. The installation position of the ring-lift maintenance arch frame is located on the upper leg of the ring-lift beam. The installation space of the ring-lift maintenance arch frame is limited. There is a risk of collision during the on-site jacking installation process. The in-service nuclear power plant cannot test and verify the jacking path and jacking process on site. If interference or collision occurs during the on-site implementation, it will delay the key path of nuclear power overhaul and cause economic losses to the nuclear power plant.

[0005] 2. When the ring crane performs 360° rotation, there is still a risk of collision with the containment spray system.

[0006] 3. The containment plant is a radiation controlled area. The longer the installation time, the higher the radiation dose the engineers will be exposed to. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a verification method and system for the jacking of a ring-hanging maintenance arch frame, which is reliable and safe, shortens the operation time, and improves the feasibility of the implementation of the jacking scheme, in view of the defects of the prior art.

[0008] The technical solution adopted by the present invention to solve the technical problem is: constructing a verification method for the lifting of a ring-hanging maintenance arch frame, comprising the following steps:

[0009] S1: According to the on-site environment of the containment plant, three-dimensional environmental data of the on-site environment is obtained;

[0010] S2: Acquire the three-dimensional data of the arch frame of the ring crane maintenance arch frame;

[0011] S3: adjusting the three-dimensional data of the arch frame according to the action control information of the jacking scheme, and obtaining the real-time three-dimensional data of the arch frame of the ring crane maintenance arch frame in the jacking scheme;

[0012] S4: Fusing the three-dimensional environmental data and the real-time arch three-dimensional data to obtain verification data of the jacking scheme.

[0013] Preferably, in the step S1, it specifically includes acquiring three-dimensional environmental data of the containment plant site environment by a 3D scanning device;

[0014] In the step S2, it specifically includes acquiring the three-dimensional data of the arch frame of the ring crane maintenance arch frame through a 3D scanning device.

[0015] Preferably, the verification method further comprises step S5: if the verification data of the preset lifting scheme detects a collision, the preset lifting scheme is adjusted, and steps S3 to S4 are repeated.

[0016] Preferably, the verification method further comprises step S6: establishing a three-dimensional environment model according to the three-dimensional environment data, and establishing an arch model according to the real-time arch three-dimensional data.

[0017] Preferably, in step S6, the three-dimensional environmental data includes three-dimensional point cloud data of the walls, pipelines and / or equipment of the containment building; and a three-dimensional environmental model is established based on the three-dimensional point cloud data.

[0018] Preferably, the three-dimensional data of the arch frame includes the shape structure and size data of the ring crane maintenance arch frame.

[0019] Preferably, the action control information includes control process information of the ring crane maintenance arch being controlled, and path information corresponding to the control process information;

[0020] The real-time arch three-dimensional data includes one or more of the position, space, speed and angle of the ring crane maintenance arch.

[0021] Preferably, the verification method further comprises step S7: recording the action time and arch position point of the ring crane maintenance arch under the control of the control process information.

[0022] Preferably, the verification method further comprises step S8: analyzing the arch position point in combination with the action time to obtain collision point information of the verification data.

[0023] Preferably, the step S8 includes:

[0024] S8-1: The arch position point generates arch position coordinate data, and the arch position coordinate data includes space position point coordinates and limit position point coordinates;

[0025] S8-2: Compare the spatial position point coordinates with the extreme position point coordinates one by one, determine whether the spatial position point coordinates and the extreme position point coordinates coincide with each other, and obtain the collision point information of the verification data.

[0026] Preferably, in the step S8-1, it specifically includes obtaining a number of sampling time points within the action time, and obtaining the coordinates of the spatial position point according to the number of sampling time points; and obtaining the coordinates of the extreme position point according to the three-dimensional data of the arch.

[0027] The present invention also constructs a verification system for the lifting of a ring crane maintenance arch frame, including a collection module, a control module and a processing module;

[0028] The acquisition module is used to obtain the three-dimensional environmental data of the on-site environment of the containment building and the three-dimensional data of the arch frame of the ring crane maintenance arch frame;

[0029] The control module is used to adjust the three-dimensional data of the arch frame according to the action control information of the jacking scheme, and obtain the real-time three-dimensional data of the arch frame of the ring crane maintenance arch frame in the jacking scheme;

[0030] The processing module is used to fuse the three-dimensional environmental data and the real-time arch three-dimensional data to obtain verification data of the jacking scheme;

[0031] The acquisition module is communicatively connected with the control module and the processing module respectively.

[0032] Preferably, the processing module includes a time calculation unit, a collision analysis unit and a simulation operation unit. The time calculation unit is used to calculate the lifting time of the ring-crane maintenance arch frame during the verification process, the collision analysis unit is used to analyze the collision position of the ring-crane maintenance arch frame during the verification process, and the simulation operation unit is used to analyze the path information of the ring-crane maintenance arch frame during the verification process.

[0033] Preferably, the verification system further comprises a 3D scanning device, and the 3D scanning device is used to obtain the three-dimensional environmental data of the on-site environment of the containment building and to obtain the three-dimensional data of the arch frame of the ring crane maintenance arch frame.

[0034] Preferably, the verification system further comprises a processor, and the processor is used to establish a three-dimensional environment model according to the three-dimensional environment data obtained by the processing module and to establish an arch model according to the real-time arch three-dimensional data.

[0035] Preferably, the verification system further comprises a display, and the display is used to display the process of simulating the operation of the three-dimensional environment model and the arch model according to the jacking scheme.

[0036] The implementation of the present invention has the following beneficial effects: the present invention is a verification application of the ring-hanging maintenance arch jacking scheme in the containment building of an in-service nuclear power plant, and the feasibility of the ring-hanging maintenance arch after the jacking installation scheme is completed before installation is verified. The feasibility of the ring-hanging maintenance arch jacking path is verified through a reliable three-dimensional environment, the operational reliability of the ring-hanging maintenance arch is ensured, and the safety and economy of the ring-hanging maintenance arch jacking process are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 It is a flow chart of the verification method of the ring crane maintenance arch jacking of the present invention;

[0039] Figure 2 It is a principle diagram of the verification method of the ring crane maintenance arch jacking of the present invention;

[0040] Figure 3 It is a structural schematic diagram of the three-dimensional environment model of the present invention;

[0041] Figure 4 It is a schematic diagram of the lifting path of the maintenance arch frame of the present invention;

[0042] Figure 5 It is a structural schematic diagram of the verification system for lifting the ring crane maintenance arch frame of the present invention. DETAILED DESCRIPTION

[0043] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0044] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0045] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0046] See also Figure 1-4 The present invention constructs a verification method for lifting the arch frame for ring crane maintenance, such as Figure 1 As shown, the following steps are included:

[0047] S1: According to the on-site environment of the containment plant 200, obtain the three-dimensional environmental data of the on-site environment. Further, collect the on-site environment of the containment plant 200 through a 3D scanning device to obtain the three-dimensional environmental data of the walls, systems, equipment, etc. in the on-site environment, and enter step S2. Specifically, the 3D scanning device can use other scanning devices such as a three-dimensional laser scanner to obtain the data of the on-site environment.

[0048] S2: Acquire the three-dimensional data of the arch frame of the ring crane maintenance arch frame 1, and enter step S3. Further, the three-dimensional data of the arch frame of the ring crane maintenance arch frame 1 is acquired by a 3D scanning device; the acquired three-dimensional data of the arch frame may include data such as the shape structure and size of the ring crane maintenance arch frame 1.

[0049] S3: adjusting the arch three-dimensional data according to the motion control information of the jacking scheme, and obtaining the real-time arch three-dimensional data of the ring crane maintenance arch 1 in the jacking scheme.

[0050] Furthermore, the action control information includes control process information of the ring crane maintenance arch 1 and path information of the jacking path 11 corresponding to the control process information; the real-time arch three-dimensional data includes one or more of the position, space, speed and angle of the ring crane maintenance arch 1.

[0051] During the first verification process, the three-dimensional data of the arch frame is adjusted according to the action control information of the preset jacking scheme design, that is, according to the control process information of the ring crane maintenance arch frame being controlled, and the path information corresponding to the control process information, a suitable three-dimensional data of the arch frame is obtained after adjustment, and then the verification is entered into step S4.

[0052] S4: Fusion of three-dimensional environmental data and real-time arch frame three-dimensional data to obtain verification data for the jacking scheme. The verification data may include data such as jacking time, collision position, interference position, etc. obtained after test verification. The above verification data is fed back to the original jacking scheme, and the motion control information and arch frame three-dimensional data of the ring crane maintenance arch frame 1 are adjusted, that is, the jacking path 11 and the equipment design structure are adjusted until the best jacking scheme for the ring crane maintenance arch frame 1 is selected. Understandably, the collected three-dimensional environmental data and real-time arch frame three-dimensional data can be directly processed by the processor to obtain verification data for the jacking scheme. Furthermore, the collected three-dimensional environmental data and real-time arch frame three-dimensional data can also be modeled and then verified, which can intuitively display the simulated jacking process, and can be adjusted and implemented according to actual conditions.

[0053] Furthermore, the processor includes but is not limited to a microprocessor, a digital signal processor, a microcomputer, a central processing unit and other devices that can process and calculate data, or can be improved or innovatively designed according to needs, which will not be described in detail here.

[0054] Furthermore, after step S4, step S5 is also included: if a collision is detected in the verification data of the preset lifting scheme of this round, the original preset lifting scheme needs to be adjusted and modified to obtain a new lifting scheme, and the new lifting scheme is implemented, and steps S3 to S4 are repeated for the next round of verification. And so on, until the best lifting scheme of the ring crane maintenance arch is obtained.

[0055] Combined with reference Figure 1-Figure 3, further, before step S4 and after step S3, step S6 is also included: modeling the acquired three-dimensional environmental data and real-time arch frame three-dimensional data, establishing a three-dimensional environmental model according to the three-dimensional environmental data, and establishing a ring crane maintenance arch frame model according to the real-time arch frame three-dimensional data, referred to as the arch frame model. In establishing the three-dimensional environmental model according to the three-dimensional environmental data, the equipment model of the ring crane body 100 and the environmental models of the wall, system, equipment, etc. other than the ring crane maintenance arch frame are mainly established. In establishing the arch frame model according to the real-time arch frame three-dimensional data, the shape structure and size of the arch frame model are mainly established and adjusted according to the real-time adjusted jacking plan. Establishing the three-dimensional environmental model and the arch frame model makes it easier to see the problems existing in the jacking process more intuitively, and the jacking plan can be adjusted more timely. Furthermore, the three-dimensional environmental model and the arch frame model can be displayed in real time through a display. Among them, the display can be a CRT flat-panel display or a liquid crystal display.

[0056] After the three-dimensional environment data and the real-time arch frame three-dimensional data are modeled, the three-dimensional environment data and the real-time arch frame three-dimensional data are integrated in step S4 to obtain the verification data of the jacking scheme. The specific operation process is as follows:

[0057] The arch frame model can be placed in a three-dimensional environment model that needs to be verified, and the jacking path 11 of the ring-hanging maintenance arch frame 1 can be imported into the three-dimensional environment model, so that the arch frame model can be simulated and jacked according to the jacking path 11, and the time consumed by the maintenance arch frame equipment model from the path starting point 111 to the jacking to the end point 113 can be recorded to obtain the jacking time data.

[0058] The arch frame model is placed in the three-dimensional environmental data, and the maintenance arch frame is simulated and lifted according to the lifting path 11 of the maintenance arch frame in the three-dimensional environmental model. The possible collision positions of the arch frame model from the path starting point 111 to the end point 113 are marked by simulated lifting. The collision positions obtained after the simulated lifting are automatically highlighted and recorded in the three-dimensional environmental model to obtain detailed collision position data.

[0059] The arch model is placed on the ring crane 100 in the three-dimensional environment model to simulate the status of the ring crane 100 and the arch model after installation. Then, a 360° simulation operation is performed on the ring crane 100 to simulate the status of the ring crane 100 and the maintenance arch during 360° operation. The positions where the maintenance arch and the upper containment spray system 300 may interfere with each other during the simulation operation are analyzed, and the positions where interference occurs are automatically highlighted and marked in the three-dimensional environment model to obtain detailed interference position data.

[0060] The above lifting time data, collision position data and interference position data are integrated to obtain verification data.

[0061] Specifically, in step S6, the three-dimensional environmental data includes three-dimensional point cloud data of the walls, pipelines and / or equipment of the containment plant 200; a three-dimensional environmental model is established based on the above three-dimensional point cloud data. Similarly, when modeling the ring crane maintenance arch frame 1, the arch frame model can be obtained according to the size, shape structure and other data of the ring crane maintenance arch frame, and the size or shape structure of the arch frame model can be adjusted accordingly as the jacking plan is adjusted.

[0062] Furthermore, the verification method also includes step S7: recording the action time and arch position of the ring crane maintenance arch under the control of the control process information. Step S7 can be executed after step S4 to record the action time and arch position for data viewing and archiving comparison.

[0063] The action time includes the jacking time of the ring-lift maintenance arch frame 1 simulated according to the jacking path 11 in the preset jacking scheme, that is, the jacking time of the ring-lift maintenance arch frame 1 from the starting point 111 to the end point 113 according to the jacking path 11. The arch frame position point may include a spatial position point and an extreme position point; the spatial position point refers to any sampling point in the jacking process of the ring-lift maintenance arch frame 1 simulated according to the jacking path 11, that is, the position point of the ring-lift maintenance arch frame 1 at a certain time during the jacking process. For example, Figure 4 As shown, when sampling points on the lifting path 11, the lifting path 11 can be divided into a starting point 111, an intermediate node 112 and an end point 113, and the starting point 111, the intermediate node 112 and the end point 113 are spatial position points.

[0064] The extreme position point refers to the position point that the ring-lift maintenance arch 1 can reach within the safe acceptance range; that is, the extreme point that ensures that the ring-lift maintenance arch will not collide with the containment spray system 300 above it or other equipment inside the containment plant 200.

[0065] Furthermore, after step S7, step S8 is also included: analyzing the arch position point in combination with the action time to obtain collision point information.

[0066] Specifically, in step S8, it includes:

[0067] S8-1: Generate arch frame position coordinate data according to the arch frame position point conversion, the arch frame position point is expressed in the form of coordinates, and the arch frame position coordinate data is obtained. The arch frame position coordinate data includes the coordinates of the spatial position point and the coordinates of the extreme position point; establish a three-dimensional coordinate system for the three-dimensional environment model, and express the spatial position point and the extreme position point in the form of three-dimensional coordinates, that is, in the form of 3D coordinates of X / Y / Z.

[0068] Furthermore, within the action time, several sampling time points are obtained according to the setting of the preset jacking scheme, wherein the several sampling time points can be sampled at a certain time interval, and then the spatial position point coordinates of the ring crane maintenance arch frame corresponding to the sampling time point are obtained according to the several sampling time points; that is, one sampling time point corresponds to one spatial position point. And the extreme position point coordinates within the safety range are obtained according to the three-dimensional data of the arch frame.

[0069] S8-2: Compare the spatial position point coordinates and the extreme position point coordinates one by one, determine whether the spatial position point coordinates and the extreme position point coordinates coincide, and obtain the collision point information. At this time, at least one extreme position point is taken. When the coordinate value of at least one of the X / Y / Z axes of the spatial position point coordinates to be verified is greater than or equal to the extreme position point coordinate range, it is determined that the ring crane maintenance arch frame has collided during the jacking process, and the collision point data information is obtained.

[0070] like Figure 5 As shown, the present invention also constructs a verification system for the lifting of a ring crane maintenance arch frame, which can be verified by using the above-mentioned verification method for the lifting of a ring crane maintenance arch frame. The verification system includes a collection module, a control module and a processing module;

[0071] The acquisition module is used to obtain the three-dimensional environmental data of the on-site environment of the containment building 200 and the three-dimensional data of the arch frame of the ring crane maintenance arch frame;

[0072] The control module is used to adjust the three-dimensional data of the arch frame according to the action control information of the jacking plan, and obtain the real-time three-dimensional data of the arch frame of the ring crane maintenance arch frame in the jacking plan; the control module mainly controls the unit of the 3D data action of the ring crane maintenance arch frame, and can control the path, direction, angle, installation process, transportation process, operation process, etc. of the jacking plan of the ring crane maintenance arch frame, and can freely adjust the position, space, speed, angle and other parameters of the arch frame three-dimensional data.

[0073] The processing module is used to fuse the 3D environmental data and the real-time 3D arch data to obtain the verification data of the jacking scheme;

[0074] The acquisition module is communicated with the control module and the processing module respectively. The three-dimensional environmental data and arch frame three-dimensional data acquired by the acquisition module are transmitted to the control module and the processing module respectively, so that the control module can adjust the arch frame three-dimensional data and the processing module can fuse the three-dimensional environmental data and the real-time arch frame three-dimensional data.

[0075] Furthermore, the processing module also includes a time calculation unit, a collision analysis unit and a simulation operation unit. The time calculation unit is used to calculate the lifting time of the ring crane maintenance arch frame during the verification process. The time calculation unit mainly records the time when the three-dimensional data of the ring crane maintenance arch frame is controlled by the control module according to the lifting plan, records the time consumed by the three-dimensional data of the arch frame to complete all control actions, and outputs the lifting time data. The collision analysis unit is used to analyze the collision position of the ring crane maintenance arch frame during the verification process, and through the simulation of lifting to mark the maintenance arch frame equipment model according to the possible collision position during the implementation of the lifting plan, the collision position obtained after the simulated lifting is automatically highlighted and recorded in the three-dimensional environment model to obtain detailed collision position data. The simulation operation unit is used to analyze the path information of the ring crane maintenance arch during the verification process, place the arch model on the ring crane 100 in the three-dimensional environment model, simulate the status of the ring crane 100 and the arch model after installation, and then perform a 360° simulation operation on the ring crane 100 to simulate the status of the ring crane 100 and the maintenance arch during 360° operation, analyze the possible interference positions between the maintenance arch and the upper containment spray system 300 during the simulation operation, automatically highlight and mark the interference positions in the three-dimensional environment model, and obtain detailed interference positions and other path information.

[0076] The data such as time, collision position, interference position, etc. obtained by the time calculation unit, collision analysis unit, and simulation operation unit are fed back to the original jacking plan, and the jacking path 11 of the maintenance arch frame and the equipment design structure are adjusted until the best ring-hanging maintenance arch frame jacking plan is selected.

[0077] Furthermore, the verification system also includes a 3D scanning device, which is mainly used to obtain three-dimensional environmental data of the on-site environment of the containment building 200 and to obtain three-dimensional arch data of the ring crane maintenance arch.

[0078] Furthermore, the verification system also includes a processor, which is mainly used to establish a three-dimensional environment model according to the three-dimensional environment data obtained by the acquisition module and to establish an arch model according to the real-time arch three-dimensional data.

[0079] Furthermore, the processor includes but is not limited to a microprocessor, a microcontroller, a digital signal processor, a microcomputer, a central processing unit, a field programmable gate array, a programmable logic device, a state machine, a logic circuit, an analog circuit, a digital circuit and / or any device based on an operation instruction operation signal (analog and / or digital). It can adopt mature control solutions such as the main control MCU on the market, or be improved or innovatively designed according to needs, which will not be described in detail here.

[0080] Furthermore, the verification system also includes a display, which is used to display the process of the three-dimensional environment model and the arch model simulating the operation according to the jacking plan. The display is connected to the processing module in communication, and the action control information can be input into the display for display. The device is a display that integrates real-time image data with virtual image data. The display has the function of displaying the real-time image of the three-dimensional environment model, and can also display the virtual image data such as the path, direction, angle, installation process, transportation process, and operation process of the arch model controlled by the jacking plan; when the system is running, the display is used as a carrier to intuitively display the jacking plan implementation and simulated operation process of the arch model in the real-time image of the three-dimensional environment model. After the implementation of the jacking plan and the simulated operation are completed, the jacking path and collision information of the arch model in the three-dimensional environment model will be recorded.

[0081] The implementation of the present invention has the following beneficial effects:

[0082] 1. The present invention can be used to verify the jacking process of the ring-hanging maintenance arch frame in an in-service nuclear power plant, verify the feasibility of the jacking path of the ring-hanging maintenance arch frame through a reliable three-dimensional environment, and improve the feasibility of the implementation of the jacking plan.

[0083] 2. The present invention can comprehensively evaluate various lifting schemes for the ring-hanging maintenance arch frame, evaluate the safety and economy of various lifting schemes from aspects such as collision risk, time consumption, interference risk, radiation dose, etc., and assist personnel in selecting the best lifting scheme.

[0084] 3. The present invention can be used for 360° operation collision verification after the installation of the ring crane maintenance arch frame is completed, to verify and analyze the possible collision range and area of ​​the ring crane maintenance arch frame, to assist in optimizing the ring crane maintenance arch frame structure, and to eliminate the operation collision risk of the ring crane and the maintenance arch frame.

[0085] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A verification method for lifting the arch frame for ring crane maintenance. It is characterized in that The following steps are involved: S1: According to the on-site environment of the containment plant, three-dimensional environmental data of the on-site environment is obtained; S2: Acquire the three-dimensional data of the arch frame of the ring crane maintenance arch frame; S3: adjusting the three-dimensional data of the arch frame according to the action control information of the jacking scheme, and obtaining the real-time three-dimensional data of the arch frame of the ring crane maintenance arch frame in the jacking scheme; the action control information includes the control process information of the ring crane maintenance arch frame being controlled, and the path information corresponding to the control process information; the real-time three-dimensional data of the arch frame includes one or more of the position, space, speed and angle of the ring crane maintenance arch frame; S4: fusing the three-dimensional environment data and the real-time arch three-dimensional data to obtain verification data of the jacking scheme; The verification method further includes step S7: recording the action time and arch position point of the ring-hanging maintenance arch frame under the control of the control process information; the arch position point includes a spatial position point and a limit position point; the spatial position point refers to any sampling point in the ring-hanging maintenance arch frame during the jacking process simulated by the jacking path, and the limit position point refers to a position point that the ring-hanging maintenance arch frame can reach within a safe acceptance range, which is a limit point to ensure that the ring-hanging maintenance arch frame will not collide with the containment spray system above it or other equipment inside the containment plant; The verification method further comprises step S8: analyzing the arch position point in combination with the action time to obtain collision point information of the verification data; In the step S8, it includes: S8-1: The arch position point generates arch position coordinate data, and the arch position coordinate data includes space position point coordinates and limit position point coordinates; A three-dimensional coordinate system is established for the three-dimensional environment model, and the spatial position points and the extreme position points are expressed in the form of three-dimensional coordinates; in the step S8-1, it specifically includes obtaining a number of sampling time points within the action time, and obtaining the coordinates of the spatial position points according to the number of sampling time points; and obtaining the coordinates of the extreme position points according to the three-dimensional data of the arch; S8-2: Compare the coordinates of the spatial position points and the coordinates of the extreme position points one by one, determine whether the coordinates of the spatial position points and the coordinates of the extreme position points coincide with each other, and obtain the collision point information of the verification data; at this time, take at least one extreme position point, and when the coordinate value of at least one of the X, Y, and Z axes of the spatial position point coordinates to be verified is greater than or equal to the extreme position point coordinate range, it is determined that the ring crane maintenance arch frame collides during the jacking process, and the collision point data information is obtained.

2. The verification method for lifting the ring crane maintenance arch according to claim 1, It is characterized in that In the step S1, specifically, the three-dimensional environmental data of the containment plant site environment is acquired by a 3D scanning device; In the step S2, it specifically includes acquiring the three-dimensional data of the arch frame of the ring crane maintenance arch frame through a 3D scanning device.

3. The verification method for lifting the ring crane maintenance arch according to claim 1, It is characterized in that Before step S4 and after step S3, the verification method further includes step S6: establishing a three-dimensional environment model according to the three-dimensional environment data, and establishing an arch model according to the real-time arch three-dimensional data.

4. The verification method for lifting the ring crane maintenance arch according to claim 3, It is characterized in that In step S6, the three-dimensional environmental data includes three-dimensional point cloud data of the walls, pipelines and / or equipment of the containment building; and a three-dimensional environmental model is established based on the three-dimensional point cloud data.

5. The verification method for lifting the ring crane maintenance arch according to claim 1, It is characterized in that The three-dimensional data of the arch frame includes the shape structure and size data of the ring crane maintenance arch frame.

6. A verification system for the lifting of a ring crane maintenance arch frame, It is characterized in that It includes an acquisition module, a control module and a processing module; The acquisition module is used to obtain the three-dimensional environmental data of the on-site environment of the containment plant and the three-dimensional data of the arch frame of the ring crane maintenance arch frame; The control module is used to adjust the three-dimensional data of the arch frame according to the action control information of the jacking scheme, and obtain the real-time three-dimensional data of the arch frame of the ring crane maintenance arch frame in the jacking scheme; The processing module is used to fuse the three-dimensional environmental data and the real-time arch three-dimensional data to obtain verification data of the jacking scheme; the action control information includes control process information of the ring crane maintenance arch being controlled, and path information corresponding to the control process information; the real-time arch three-dimensional data includes one or more of the position, space, speed, and angle of the ring crane maintenance arch; The processing module is used to record the action time and arch position point of the ring-hanging maintenance arch frame under the control of the control process information; the arch position point includes a spatial position point and a limit position point; the spatial position point refers to any sampling point in the ring-hanging maintenance arch frame during the jacking process simulated by the jacking path, and the limit position point refers to the position point that the ring-hanging maintenance arch frame can reach within the safe acceptance range, which is the limit point to ensure that the ring-hanging maintenance arch frame will not collide with the containment spray system above it or other equipment inside the containment plant; The processing module is used to analyze the arch position point in combination with the action time to obtain the collision point information of the verification data, which includes: the arch position point generates arch position coordinate data, and the arch position coordinate data includes spatial position point coordinates and extreme position point coordinates; establishes a three-dimensional coordinate system for the three-dimensional environment model, and represents the spatial position point and the extreme position point in the form of three-dimensional coordinates; and includes obtaining a number of sampling time points within the action time, and obtaining the spatial position point coordinates according to the several sampling time points; obtaining the extreme position point coordinates according to the arch three-dimensional data; the processing module is used to compare the spatial position point coordinates and the extreme position point coordinates one by one, determine whether the spatial position point coordinates and the extreme position point coordinates coincide, and obtain the collision point information of the verification data; at this time, at least one extreme position point is taken, and when the coordinate value of at least one of the X, Y, and Z axes of the spatial position point coordinates to be verified is greater than or equal to the extreme position point coordinate range, it is determined that the ring crane maintenance arch has collided during the jacking process, and the collision point data information is obtained; The acquisition module is communicatively connected with the control module and the processing module respectively.

7. The verification system for lifting the ring crane maintenance arch according to claim 6, It is characterized in that The processing module includes a time calculation unit, a collision analysis unit and a simulation operation unit. The time calculation unit is used to calculate the lifting time of the ring-lift maintenance arch frame during the verification process, the collision analysis unit is used to analyze the collision position of the ring-lift maintenance arch frame during the verification process, and the simulation operation unit is used to analyze the path information of the ring-lift maintenance arch frame during the verification process.

8. The verification system for lifting the ring crane maintenance arch according to claim 6, It is characterized in that The verification system also includes a 3D scanning device, which is used to obtain three-dimensional environmental data of the containment plant on-site environment and to obtain three-dimensional data of the arch frame of the ring crane maintenance arch frame.

9. The verification system for lifting the ring crane maintenance arch according to claim 6, It is characterized in that The verification system also includes a processor, which is used to establish a three-dimensional environment model according to the three-dimensional environment data obtained by the processing module and to establish an arch model according to the real-time arch three-dimensional data.

10. The verification system for lifting the ring crane maintenance arch according to claim 9, It is characterized in that The verification system also includes a display, which is used to display the process of simulating the operation of the three-dimensional environment model and the arch model according to the jacking solution.

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