Construction method of lining of household garbage incinerator

Abstract

This invention relates to the field of incinerator construction and masonry technology, specifically a method for constructing the lining of a municipal solid waste incinerator. The method includes: planning the masonry path based on a three-dimensional digital model of the incinerator body to generate a digital scheme for lining construction. An improved wavefront propagation algorithm is employed, using geometric constraints of already constructed blocks and a minimum mortar joint threshold to control wavefront expansion, dynamically generating a masonry sequence that conforms to the curved surface of the incinerator body. Prefabricated refractory blocks with positioning markers are used, and laser tracking positioning is used to complete the registration of the digital scheme with the on-site space. During construction, three-dimensional point cloud data is collected in real time to construct a masonry deviation field. Deviation feedback is used to adjust wavefront parameters, correcting the coordinates and attitude of subsequent blocks, forming an adaptive closed-loop control. This method can improve the conformity of the lining surface and the uniformity of mortar joints, suppress deviation accumulation, and improve the construction accuracy and stability of multi-layer refractory block masonry.

Description

Technical Field

[0001] This invention relates to the field of incinerator construction and masonry technology, and in particular to a method for constructing the lining of a municipal solid waste incinerator. Background Technology

[0002] The lining of the municipal solid waste incinerator has a complex curved structure, constructed using multi-layered refractory blocks. Current construction methods rely on two-dimensional drawings for manual layout design, with the laying path and sequence determined by experience rather than using a three-dimensional digital model of the furnace for overall planning. On-site, conventional laser positioning is employed, with block placement, mortar joint control, and positional correction done manually. A digital construction plan and automated positioning and control system have not been established.

[0003] The existing masonry method does not quantitatively simulate the working surface, does not constrain the advancement direction based on the geometric shape of the edges of the already laid blocks, and does not limit the spacing of adjacent blocks according to the minimum mortar joint threshold. The fit between the blocks and the curved surface of the furnace body is low, and the uniformity of mortar joint thickness is difficult to control. The construction process cannot collect three-dimensional spatial data of the blocks in real time, and the masonry deviation can only be detected manually in local areas. The deviation in the early positioning will be transmitted and accumulated layer by layer, and the accuracy of block overlap is poor and the consistency of the overall masonry is poor.

[0004] Currently, there is a lack of algorithms that combine dynamic planning of the masonry sequence based on the surface shape. It is impossible to adjust subsequent construction parameters through closed-loop adjustment of deviations measured on site, making it difficult to achieve adaptive control of the masonry process and failing to meet the construction requirements of high-precision and standardized masonry for irregular curved surface furnace linings. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and propose a construction method for the lining of a municipal solid waste incinerator.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a method for constructing the lining of a municipal solid waste incinerator, comprising: Based on the three-dimensional digital model of the incinerator body, the masonry path of multi-layer refractory blocks is planned, and a digital scheme for furnace lining masonry is generated. The construction of the three-dimensional digital model of the incinerator body includes: iterative nearest point registration based on the basic three-dimensional curved surface model of each section of the furnace body and the measured point cloud data of the furnace body steel shell structure. Based on the digital scheme for furnace lining construction, an improved wavefront advancement algorithm is used to dynamically generate the construction sequence of multi-layer refractory blocks that fit the furnace surface in real time. The improved wavefront advancement algorithm simulates the construction work surface as a wavefront and controls the expansion direction and speed of the wavefront based on the geometric constraints of the edges of the completed refractory blocks and the minimum mortar joint threshold between adjacent refractory blocks to determine the coordinates of the next refractory block to be constructed. The improved wavefront advancement algorithm includes: taking the starting boundary of the furnace lining construction as the initial wavefront, calculating the advancement priority score of the wavefront boundary point, selecting the expansion center based on the priority score, and determining the placement position of the new refractory block by combining the curvature of the furnace surface and the minimum mortar joint threshold to update the wavefront, and iteratively generating an ordered refractory block construction sequence. According to the digital scheme for furnace lining construction, the type, size and quantity of corresponding refractory blocks are configured, and refractory block units with positioning marks are prefabricated. At the furnace site, based on the prefabricated refractory block units with positioning marks and the laser tracking positioning system, the coordinates of the refractory blocks in the furnace lining construction digital scheme are registered with the on-site spatial location, and the construction starts from the reference layer. During the construction of each layer of refractory blocks, three-dimensional point cloud data of the surface of the refractory blocks in place is collected in real time and compared with the design model in the digital scheme of furnace lining construction to generate a construction deviation field. Using the masonry deviation field as feedback input, the wavefront expansion parameters of the improved wavefront propagation algorithm are adjusted in real time to correct the coordinates and attitude of the refractory blocks to be masonred, thus forming an adaptive masonry control command.

[0007] As a further aspect of the present invention, the steps for constructing the three-dimensional digital model of the incinerator body include: Obtain the original design drawings of the municipal solid waste incinerator, which include the overall assembly drawing of the furnace body, detailed drawings of each section of the shell, and detailed drawings of key structures; Based on the original design drawings, the basic three-dimensional curved surface models of each section of the furnace shell were constructed in three-dimensional modeling software. The prefabricated furnace body steel shell structure of each segment was scanned using a three-dimensional laser scanning device to obtain the measured point cloud data of the furnace body steel shell structure. The basic three-dimensional curved surface model is iteratively registered with the measured point cloud data of the furnace body steel shell structure to correct the shape and size of the basic three-dimensional curved surface model and generate a three-dimensional model of the furnace body steel shell that is consistent with the actual object. On the three-dimensional model of the furnace body steel shell, according to the design drawings, locate and add all the auxiliary structural features such as the grate support beam, secondary air inlet, observation hole, thermocouple mounting hole, and refractory material anchor positions; Add weld models and tolerance information to the connection areas between all auxiliary structural features and the furnace body steel shell structure to complete the three-dimensional digital model of the furnace body containing complete geometric and structural information. Virtual assembly interference checks and static analyses were performed on the completed 3D digital model of the furnace body to ensure that it meets the simulation requirements for subsequent masonry path planning and structural load-bearing capacity.

[0008] As a further aspect of the present invention, the method of dynamically generating the construction sequence of multi-layer refractory blocks that conform to the curved surface of the furnace body in real time using an improved wavefront propagation algorithm includes: The digital scheme for furnace lining construction includes information on the block arrangement sequence and joint location; The initial wavefront is defined by the initial boundary of the furnace lining construction, and the initial wavefront is composed of a series of discrete boundary points. Calculate the local normal vector for each boundary point of the initial wavefront, the local normal vector pointing to the space to be built inside the furnace body; Based on the aforementioned digital scheme for furnace lining construction, the minimum mortar joint threshold value between adjacent refractory blocks is obtained; Before each wavefront iteration, the geometric relationship between each boundary point on the current wavefront and the edge of the completed refractory block is detected to ensure that the newly expanded masonry position satisfies the minimum mortar joint threshold and the geometric interference constraint of the refractory block itself. Based on the direction of the local normal vector and combined with the principal curvature information of the furnace surface, a propulsion priority score is calculated for each boundary point on the current wavefront. The propulsion priority score is used to determine the order of wavefront expansion. Select the boundary point with the highest advance priority score on the current wavefront as a candidate expansion center; Based on the candidate expansion center, one or more candidate new refractory block placement positions are calculated according to the size of the standard refractory block; The impact of all candidate new refractory block placement locations on the smoothness of the current wavefront morphology is evaluated. The placement location of the new refractory block that makes the wavefront morphology change the smoothest is selected and confirmed as the actual masonry action. The new boundary exposed after the successful placement of the new refractory block is updated in the wavefront. Repeat the steps from detecting geometric relationships to updating the wavefront until the wavefront covers the entire surface of the furnace lining to be built, thereby generating an ordered sequence of refractory block masonry.

[0009] As a further aspect of the present invention, based on the direction of the local normal vector and combined with the principal curvature information of the furnace surface, a propulsion priority score is calculated for each boundary point on the current wavefront, including: From the three-dimensional digital model of the furnace body, extract the principal curvature and secondary curvature of the furnace body surface in the normal direction at each boundary point on the current wavefront; Calculate the product of the principal curvature and the secondary curvature to obtain the absolute value of the Gaussian curvature of the furnace surface at the boundary point; The sum of the principal curvature and the secondary curvature is calculated to obtain the absolute value of the average curvature of the furnace surface at the boundary point; Obtain the cosine of the angle between the local normal vector at the boundary point and the direction of gravity; The absolute value of the Gaussian curvature, the absolute value of the mean curvature, and the cosine value of the included angle are weighted and summed. The weighting coefficients are set based on experience, and the reciprocal of the summation result is defined as the initial propulsion priority factor. The number of refractory blocks that have been built on both sides of the wavefront segment where the boundary point is located is queried. The side with more blocks is considered to be a more stable region, and a stable region reward factor is assigned to the boundary point. The initial advance priority factor is multiplied by the stable region reward factor to obtain the final advance priority score. The higher the advance priority score, the higher the priority of wavefront extension from the boundary point.

[0010] As a further aspect of the present invention, according to the aforementioned digital scheme for furnace lining construction, the type, size, and quantity of corresponding refractory blocks are configured, and refractory block units containing positioning marks are prefabricated, including: The digital scheme for furnace lining construction is analyzed, and the geometric dimensions and material type codes of all required refractory blocks are statistically analyzed. Based on the geometric dimensions and material type codes, retrieve the corresponding standard refractory block blanks from the refractory inventory database; Based on the three-dimensional shape of each refractory block in the furnace lining in the digital scheme for furnace lining construction, the standard refractory block blank is CNC machined to form the final refractory block including the working surface and the bonding surface. On a designated non-working surface of each final refractory block, multiple micro-reflective marker balls are embedded or attached in the form of a specific pattern code, and the multiple micro-reflective marker balls constitute a unique location identifier for the refractory block; The final refractory block, which is embedded with the multiple micro reflective marker balls, is bound with the corresponding masonry sequence number, geometric dimension information and material information, and stored as a prefabricated refractory block unit with positioning marks.

[0011] As a further aspect of the present invention, the process of registering the coordinates of the refractory blocks in the digital scheme for furnace lining construction with their on-site locations, based on the prefabricated refractory block units containing positioning markers and the laser tracking positioning system, includes: A global measurement coordinate system was established in the construction space inside the furnace body, and multiple fixed base stations of laser tracking and positioning systems were deployed on the key structures of the furnace body. The laser tracking and positioning system is driven to scan the existing reference structural features inside the furnace body. The reference structural features include the grate mounting surface or a ring beam at a specific elevation, and the coordinate transformation relationship between the actual space of the furnace body and the three-dimensional digital model of the furnace body is established. Based on the coordinate transformation relationship, the design coordinates of all refractory blocks in the digital scheme for furnace lining construction are uniformly transformed to the global measurement coordinate system to generate a set of on-site construction coordinate instructions; The first reference layer refractory block to be laid is hoisted to the approximate position, and the spatial position of multiple micro reflective marker balls contained on the refractory block is captured by a laser tracking and positioning system. The spatial positions of the captured multiple micro reflective marker balls are compared with the design positions of the corresponding refractory blocks in the on-site construction coordinate instruction set, and the deviation between position and posture is calculated. Based on the calculated position and attitude deviations, fine-tuning instructions are generated to adjust the position and attitude of the refractory blocks until the spatial position of its multiple micro reflective marker balls is less than the allowable tolerance range, thus completing the placement of the first refractory block and achieving registration between the digital scheme and the on-site space.

[0012] As a further aspect of the present invention, during the construction of each layer of refractory blocks, three-dimensional point cloud data of the surface of the in-place refractory blocks is collected in real time and compared with the design model in the digital scheme for furnace lining construction to generate a construction deviation field, including: A 3D laser scanner is installed at the end of the masonry robot arm. After a refractory block is laid, the 3D laser scanner is immediately driven to scan the laid area, including the newly placed refractory block. The original 3D point cloud obtained by scanning is denoised, filtered and registered to form the measured 3D point cloud model of the current masonry layer; Extract the design 3D point cloud model of the corresponding masonry layer from the aforementioned digital scheme for furnace lining construction; The measured 3D point cloud model and the designed 3D point cloud model are spatially aligned in the global measurement coordinate system. Regular sampling is performed on the surface of the designed three-dimensional point cloud model. For each sampling point, the nearest point is found in the measured three-dimensional point cloud model, and the spatial distance between the two points is calculated. The spatial distance is the masonry deviation value at the sampling point. The masonry deviation values ​​of all sampling points in the entire masonry layer are visualized in the form of a two-dimensional field to form the masonry deviation field, which contains position coordinate information and corresponding masonry deviation values.

[0013] As a further aspect of the present invention, the masonry deviation field is used as a feedback input to adjust the wavefront propagation parameters of the improved wavefront advancement algorithm in real time, thereby correcting the coordinates and orientation of the refractory blocks to be constructed subsequently, including: Extract the distribution of masonry deviation values ​​in the region near the current wavefront from the masonry deviation field; If the masonry deviation value is within the preset acceptable tolerance range, the wavefront extension parameters of the improved wavefront propagation algorithm will not be adjusted, and subsequent masonry will be carried out according to the control instructions generated by the original algorithm. If the masonry deviation value exceeds the preset acceptable tolerance range, the distribution pattern of the masonry deviation is analyzed to determine whether it is a systematic shift or a local abrupt change. For the systematic offset mode, the average deviation vector of the masonry deviation field is calculated, and the average deviation vector is converted into a compensation adjustment amount for the wavefront propagation direction and velocity in the improved wavefront advancement algorithm. The compensation adjustment amount is used to correct the design coordinates of the refractory blocks to be masonry in the future. For local mutation mode, the boundary of the already laid refractory block with abnormally large positioning deviation value is marked as an unstable wavefront segment in the improved wavefront propagation algorithm. During subsequent wavefront expansion, the algorithm will give priority to bypassing the unstable wavefront segment and expanding from a more stable area, and calculate the required attitude adjustment amount of the refractory block after bypassing. The adaptive masonry control command is generated by combining the compensation adjustment amount and the attitude adjustment amount. The adaptive masonry control command includes the corrected coordinates and attitude angles of the refractory block to be masonred.

[0014] As a further aspect of the present invention, extracting the distribution of masonry deviation values ​​in the region near the current wavefront from the masonry deviation field includes: Obtain the set of spatial coordinates of the wavefront in the improved wavefront propagation algorithm at the current moment; A spherical neighborhood with a fixed radius is defined centered on each coordinate point in the spatial coordinate set of the wavefront. In the masonry deviation field, find the masonry deviation value of all sampling points that fall within each of the spherical neighborhoods; The maximum, minimum, average, and standard deviation of all masonry deviation values ​​within each spherical neighborhood are statistically analyzed to provide a quantitative description of the distribution of masonry deviation values ​​in the vicinity of the wavefront coordinate point. The distribution of masonry deviation values ​​corresponding to all coordinate points on the wavefront is summarized, and a masonry deviation profile along the wavefront is drawn to visually determine the potential impact of masonry quality on wavefront propagation.

[0015] As a further aspect of the present invention, the method further includes: according to the adaptive masonry control command, driving the masonry robotic arm to grasp and position the corresponding prefabricated refractory block unit containing the positioning mark, and completing the masonry and mortar joint filling of the remaining refractory blocks in the current operating layer, specifically including: The adaptive masonry control command includes the sequential number of a specific refractory block and its corrected target coordinates and target orientation; The central controller of the masonry robot arm schedules the corresponding prefabricated refractory block unit with positioning mark from the prefabricated refractory block buffer area according to the sequence number. The gripping mechanism of the masonry robot arm moves to the designated position in the precast refractory block buffer area, and grips the refractory block unit with a preset gripping force according to the geometric features and weight of the precast refractory block unit containing positioning marks. During the process of the masonry robot arm transporting the refractory block unit to the target coordinates, the laser tracking and positioning system continuously tracks multiple micro reflective marker balls attached to the refractory block unit and provides real-time feedback on its current spatial position and attitude angle. The central controller compares the current spatial position and attitude angle fed back by the laser tracking and positioning system with the target coordinates and target attitude in the adaptive masonry control command, and calculates the motion compensation amount at the end of the robotic arm in real time. Based on the calculated motion compensation, the motion parameters of each joint of the masonry robot arm are adjusted to guide the refractory block unit to move at a gentle speed and path until the error between the actual position and posture represented by its multiple micro reflective marker balls and the target coordinates and posture meets the assembly requirements. After the refractory block unit is in place, the masonry robot arm remains in a clamping state, and another set of mortar filling nozzles moves along the gap between the refractory block unit and the adjacent masonry refractory block to evenly inject the refractory mortar with a preset ratio. After the refractory mortar is filled, the masonry robot arm releases the clamping force and slowly withdraws, completing the current refractory block masonry and mortar joint filling operation. Repeat the steps from scheduling the precast refractory block units to evacuation until all refractory blocks to be laid on the operating layer are in place.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: By simulating the masonry work surface as a wavefront and combining the geometric constraints of the edges of the already masonry refractory blocks with the minimum mortar joint threshold of adjacent refractory blocks to control the direction and speed of wavefront expansion, the spatial coordinates of the blocks to be built can be accurately determined. The generated masonry sequence can be adapted to the curved surface shape of the furnace body in real time. The block arrangement fits the curvature change of the curved surface, the interface between adjacent blocks is regular, the mortar joint thickness is stable within the limited range, the uniformity of mortar joint distribution is improved, the geometric constraints of the block edges are strictly enforced, the misalignment of blocks and uneven overlap gaps are reduced, and the regularity of the curved furnace lining is significantly optimized.

[0017] Real-time acquisition of 3D point cloud data of in-place refractory blocks and comparison with the design model to form a masonry deviation field. Using the deviation field data as feedback to adjust the wavefront expansion parameters, the coordinates and installation posture of subsequent blocks can be dynamically corrected, suppressing the accumulation of early masonry deviations layer by layer in multi-layer construction. The matching degree between the actual on-site positioning state and the digital scheme is improved, the spatial positioning accuracy of the blocks is improved, the continuity and coordination of multi-layer block masonry are enhanced, the overall dimensional deviation of the furnace lining is within a controllable range, the conformity of the curved contour with the design shape is improved, the assembly accuracy and structural integrity of refractory blocks are improved, and stable construction accuracy can be maintained without repeated manual correction during the masonry process. Attached Figure Description

[0018] Figure 1 This is a flowchart of a construction method for lining a municipal solid waste incinerator according to the present invention; Figure 2 A flowchart for advancing the priority score calculation process; Figure 3 A flowchart for the process of prefabricating refractory block units with positioning marks. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the 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 the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] See Figure 1This invention provides a method for constructing the lining of a municipal solid waste incinerator, the specific method including: Based on a 3D digital model of the incinerator body, a multi-layer refractory block laying path is planned, generating a digital scheme for furnace lining construction. Building upon this scheme, an improved wavefront propagation algorithm dynamically generates the laying sequence. This algorithm simulates the working surface as a wavefront, controlling wavefront expansion based on the geometric constraints of the already laid block edges and the minimum mortar joint threshold, thus determining the coordinates of the next block to be laid. According to the scheme, the type, size, and quantity of refractory blocks are configured, and refractory block units with positioning markers are prefabricated. On-site, a laser tracking positioning system is used to register the coordinates in the digital scheme with the on-site location, starting construction from the reference layer. For each layer laid, 3D point cloud data of the positioned blocks is collected in real time and compared with the design model to generate a laying deviation field. This deviation field is used as feedback to adjust the wavefront expansion parameters in real time, correcting the coordinates and attitude of subsequent blocks, forming adaptive laying control commands.

[0022] In one embodiment of the present invention, the original design drawings of a municipal solid waste incinerator are obtained, including the overall assembly drawing of the furnace body, detailed drawings of each section of the shell, and large-scale drawings of key structures. Based on the original design drawings, a basic three-dimensional surface model of each section of the furnace body is constructed in 3D modeling software. A 3D laser scanning device is used to perform a solid scan of the prefabricated steel shell structure of each section of the furnace body, obtaining measured point cloud data of the furnace body's steel shell structure. Iterative nearest-point registration is performed between the basic three-dimensional surface model and the measured point cloud data to correct the shape and size of the basic model, generating a 3D model of the furnace body's steel shell consistent with the actual structure. On this model, according to the markings on the design drawings, all auxiliary structural features, including grate support beams, secondary air inlets, observation holes, thermocouple mounting holes, and refractory anchor positions, are located and added. Weld models and tolerance information are added to the connection areas between all auxiliary structures and the steel shell, forming a 3D digital model of the furnace body containing complete geometric and structural information. Virtual assembly interference checks and static analyses are performed on this model to ensure it meets the simulation requirements for masonry path planning and structural load-bearing capacity.

[0023] In a specific implementation, the construction process of the three-dimensional digital model of the municipal solid waste incinerator body relies on the fusion of original design data and measured data. The original design drawings of the municipal solid waste incinerator are acquired. These drawings include the overall assembly drawing of the furnace body, detailed drawings of each section of the shell, and large-scale drawings of key structures. The drawings are stored in DWG format and provide precise geometric dimension annotations and tolerance requirements. In a 3D modeling software environment, based on the geometric contours and dimensions of the original design drawings, the basic 3D surface models of each section of the furnace body shell are constructed segment by segment. The basic 3D surface models are represented using NURBS surfaces to ensure consistency with the design intent. In some embodiments, a 3D laser scanning device is used to perform a solid scan of the prefabricated steel shell structure of each section of the furnace body. A high-precision phase-detection laser scanner is selected, with a scanning resolution of 2 mm and a scanning distance of 10 meters. Measured point cloud data of the furnace body steel shell structure is acquired, containing millions of spatial coordinate points on the steel shell surface.

[0024] In practice, an iterative nearest-point registration algorithm is applied to the basic 3D surface model and the measured point cloud data of the furnace steel shell structure. This algorithm corrects the shape and size of the basic 3D surface model by minimizing the spatial distance error between the two sets of data. The objective function of the iterative nearest-point registration is defined as minimizing the sum of squared distances between corresponding points, expressed by the formula:

[0025] in: For rotation matrix, It is a translation vector. Based on the coordinates of the sampling points of the three-dimensional surface model These are the coordinates of the corresponding point in the measured point cloud. These are the weighting coefficients. To match the number of point logs, after five iterations of optimization, the average registration error between the basic 3D surface model and the measured point cloud was reduced to within 0.5 mm, generating a 3D model of the furnace steel shell consistent with the actual object. It can be understood that, based on the 3D model of the furnace steel shell, according to the annotation information in the design drawings, the welded seat plates of the grate support beams, the flange interfaces of the secondary air inlets, the reinforcing rings of the observation holes, the sleeve positions of the thermocouple mounting holes, and the arrangement array of refractory material anchors were identified and located one by one. These auxiliary structural features were then added to the 3D model of the furnace steel shell using solid modeling.

[0026] Optionally, weld models are created for the connection areas between all auxiliary structural features and the furnace shell structure. These weld models are represented using triangular meshes and assigned a 2mm welding tolerance. The resulting 3D digital model of the furnace body contains complete geometric topology and structural connection information. A virtual assembly interference check is performed on the completed 3D digital model of the furnace body. The checks include whether the gap between the grate support beam and the inner wall of the shell exceeds the installation allowance, and whether the secondary air duct conflicts with the shell stiffeners. No collision issues were found during the interference check. Subsequently, static analysis is conducted, and design loads are applied to verify the structural stiffness and stress level of the model, confirming that the model meets the simulation requirements for subsequent masonry path planning and structural load-bearing capacity.

[0027] In one embodiment of the present invention, the digital scheme for furnace lining construction includes block arrangement sequence and joint location information. The initial wavefront is taken as the starting boundary of the construction, and this wavefront consists of a series of discrete boundary points. A local normal vector pointing to the space to be lining within the furnace is calculated for each boundary point. The minimum mortar joint threshold between adjacent blocks is obtained from the scheme. Before each wavefront iteration, the geometric relationship between each point on the current wavefront and the edge of the already constructed blocks is detected to ensure that the new position satisfies the minimum mortar joint threshold and the block's own interference constraints. See also... Figure 2 Combining local normal vectors and principal curvature information of the furnace surface, the advancement priority score of each boundary point is calculated: Principal and secondary curvatures are extracted at the boundary points, and the absolute values ​​of Gaussian curvature and average curvature are calculated; the cosine of the angle between the local normal vector and the gravity direction is obtained; the initial advancement priority factor is obtained by weighted summation of the three values ​​and taking the reciprocal; the number of blocks already built on both sides of the wavefront segment is queried, and a larger number is assigned a stable region reward factor; the final advancement priority score is obtained by multiplying the two scores, with higher scores indicating higher expansion priority. The boundary point with the highest score is selected as the candidate expansion center, and one or more candidate new block positions are calculated based on the standard block size. The influence of the candidate positions on the smoothness of the wavefront morphology is evaluated, and the position that makes the wavefront change the smoothest is selected as the actual building action, updating the newly exposed boundary to the wavefront. The detection and update steps are repeated until the wavefront covers the entire furnace lining surface, generating an ordered building sequence.

[0028] In a specific implementation, an improved wavefront advancement algorithm is used to dynamically generate the construction sequence of multi-layer refractory blocks. The digital scheme for furnace lining construction predefines the block arrangement sequence and joint location information. The starting boundary of the furnace lining construction is used as the initial wavefront, which consists of an array of discrete boundary points along the starting boundary. The spacing between adjacent boundary points is set to 50 mm to ensure wavefront resolution. A local normal vector is calculated for each boundary point of the initial wavefront. The local normal vector is perpendicular to the furnace surface and points to the space to be constructed inside the furnace. The local normal vector is used to indicate the approximate direction of wavefront expansion. In the specific implementation, based on the digital scheme for furnace lining construction, the minimum joint threshold between adjacent refractory blocks is extracted as 3 mm. Before each wavefront iteration, the distance relationship between each boundary point on the current wavefront and the edge of the completed refractory block is detected. Only when the distance is greater than or equal to 3 mm and there is no geometric interference with any completed block is it allowed to expand a new refractory block from that boundary point.

[0029] In some embodiments, a propulsion priority score is calculated for each boundary point on the current wavefront based on the direction of the local normal vector and the principal curvature information of the furnace surface. The principal and secondary curvatures of the furnace surface at each boundary point in the normal direction are extracted from the 3D digital model of the furnace. The principal curvature represents the maximum degree of curvature, and the secondary curvature represents the minimum degree of curvature. The product of the principal and secondary curvatures is calculated to obtain the absolute value of the Gaussian curvature, and the sum of the principal and secondary curvatures is calculated to obtain the absolute value of the average curvature. The cosine of the angle between the local normal vector at the boundary point and the direction of gravity is obtained. When the local normal vector is close to vertically upward, the cosine of the angle approaches 1; when the local normal vector is close to horizontal, the cosine of the angle approaches 0. The absolute value of the Gaussian curvature, the absolute value of the average curvature, and the cosine of the angle are substituted into a weighted summation formula, with weighting coefficients set to 0.4, 0.4, and 0.2, respectively. The reciprocal of the summation result is defined as the initial propulsion priority factor. The system queries the number of refractory blocks already laid on both sides of the wavefront segment where the boundary point is located. If one side has more than 5 more blocks than the other, the boundary point is assigned a stable region reward factor of 1.5. The initial advance priority factor is multiplied by the stable region reward factor to obtain the final advance priority score. A higher advance priority score indicates a higher priority for expansion from that boundary point. The formula for calculating the advance priority score can be understood as follows:

[0030] in: The advancement priority score for the j-th boundary point is given. Let be the absolute value of Gaussian curvature. The absolute value of the mean curvature. The value of the cosine of the angle between the local normal vector and the direction of gravity. , , These are the weighting coefficients for the corresponding terms. To stabilize the regional reward factor.

[0031] Optionally, the boundary point with the highest priority score on the current wavefront is selected as a candidate expansion center. Using this candidate expansion center as a reference, and based on the standard refractory block dimensions of 230×114×65 mm, three candidate placement positions for new refractory blocks are calculated. These three positions correspond to placement postures along the positive direction of the local normal vector, with a 10-degree clockwise rotation, and a 10-degree counterclockwise rotation, respectively. The impact of all candidate new refractory block placement positions on the smoothness of the current wavefront morphology is evaluated. The smoothness index is defined as the difference in curvature continuity between the newly added boundary point and the original wavefront point. The candidate position that minimizes the smoothness index is selected as the actual construction action. New boundary points exposed after successful placement of new refractory blocks are added to the wavefront queue, and old boundary points that have been covered are deleted. The updated wavefront continues to participate in the next iteration. The steps from detecting geometric relationships to updating the wavefront are repeated until the wavefront covers the entire furnace lining surface to be constructed, ultimately outputting an ordered construction sequence containing 812 refractory blocks.

[0032] In one embodiment of the present invention, see [reference] Figure 3 The process involves analyzing the digital scheme for furnace lining construction and compiling the geometric dimensions and material type codes of all refractory blocks. Standard block blanks are retrieved from the inventory database based on these codes. According to the three-dimensional shape of each block in the scheme, the blanks are CNC machined to form the final blocks, including the working surface and the bonding surface. Multiple micro-reflective marker balls are embedded or attached to designated non-working surfaces of each final block using a specific pattern code, forming unique location identifiers. The final blocks with marker balls are bound to the construction sequence number, geometric dimensions, and material information, and stored as prefabricated block units with positioning identifiers. A global measurement coordinate system is established within the furnace construction space, and multiple laser tracking and positioning system fixed base stations are deployed at key structures. The drive system scans existing reference structural features within the furnace, such as the grate mounting surface or ring beams at specific elevations, to establish the coordinate transformation relationship between the actual on-site space and the three-dimensional digital model of the furnace. Based on this relationship, the design coordinates of all blocks in the scheme are uniformly transformed to the global coordinate system, generating a set of on-site construction coordinate instructions. The first reference layer block is hoisted to its approximate position. The system captures the spatial position of its miniature reflective marker ball, compares it with the corresponding design position in the instruction set to calculate the pose deviation, and generates fine-tuning instructions until the position error of the marker ball is less than the tolerance, thus completing the first block's placement and digital field registration.

[0033] In a specific implementation, the process involves prefabricating refractory block units with positioning markers and registering the digital scheme with the physical space on-site. This process uses the furnace lining construction digital scheme as input and outputs the reference blocks for placement. Analysis of the furnace lining construction digital scheme revealed a requirement of 1245 refractory blocks, covering three geometric dimensions: 230×114×65 mm, 230×114×75 mm, and irregular corner wedge blocks. The material types are coded as GZ-48 high-alumina and MZ-36 mullite. Based on the geometric dimensions and material type codes, corresponding standard refractory block blanks are retrieved from the refractory inventory database, with a 3 mm machining allowance. Each standard refractory block blank undergoes five-axis CNC machining to form the final refractory block, including a working surface and a bonding surface. The working surface retains a 1 mm roughness to enhance mortar joint adhesion, and the bonding surface is polished to Ra6.3 to meet the requirements for curved surface bonding.

[0034] In practice, on the non-working surface of the back of each final refractory block, four micro-reflective marker spheres with a diameter of 8 mm are embedded in a rhomboid array. These micro-reflective marker spheres utilize a glass substrate with a coated reflective layer, reflecting wavelengths compatible with the 633 nm light source of the laser tracking and positioning system. The rhombus has a side length of 100 mm and a diagonal angle of 60 degrees. This pattern coding combination constitutes a unique location identifier for the refractory block. The final refractory block with embedded micro-reflective marker spheres is bound to its construction sequence number, geometric dimension information, and material information, and stored in the prefabricated refractory block buffer area, forming a prefabricated refractory block unit containing positioning identifiers. See Table 1 for typical data records during the prefabrication process: Table 1: Attribute Table of Precast Refractory Block Units with Positioning Marks ; It is understandable that a right-handed Cartesian global measurement coordinate system is established within the construction space inside the furnace body, with the origin located at the center of the grate mounting surface, the Z-axis pointing vertically upwards, and the X-axis pointing towards the secondary air inlet. Four laser tracking and positioning system fixed base stations are symmetrically arranged at the top ring beam and bottom support of the furnace body's steel shell, each base station covering a fan-shaped measurement area with a radius of 20 meters. The laser tracking and positioning system is driven to scan five pre-set reference target spheres on the grate mounting surface. The coordinates of the reference target spheres are known in the design model. A coordinate transformation matrix between the actual furnace space and the three-dimensional digital model of the furnace body is established through least-squares fitting. The coordinate transformation relationship expression is:

[0035] in: The coordinate vector in the global measurement coordinate system. This refers to the coordinate vector in the coordinate system of the three-dimensional digital model of the furnace body. For rotation matrix, It is a translation vector.

[0036] In some embodiments, the design coordinates of all refractory blocks in the digital scheme for furnace lining construction are transformed to the global measurement coordinate system according to the coordinate transformation relationship, generating a field construction coordinate instruction set containing 1245 positioning instructions. The first reference layer refractory block #A-001 to be constructed is hoisted to a range of ±50 mm from the target position. The laser tracking positioning system simultaneously captures the spatial positions of four micro reflective marker balls on the block, with a sampling frequency of 100 Hz. The captured marker ball coordinates are compared with the design position of #A-001 in the field construction coordinate instruction set, and the position deviation vector and Euler angle attitude deviation are calculated. The position deviation modulus is 12.5 mm, and the attitude yaw angle is 2.3 degrees. Based on the deviation, the action instructions of the hydraulic fine-tuning platform are generated to adjust the planar displacement and rotation angle of the block. After three iterations of fine-tuning, the linear error between the spatial position of the marker ball and the design position is reduced to 0.3 mm, and the attitude error is less than 0.1 degrees, meeting the 1 mm assembly tolerance requirement. The first refractory block is positioned, and the registration between the digital scheme and the field space is achieved.

[0037] In one embodiment of the invention, a 3D laser scanner is installed at the end of a masonry robotic arm. Once a single block is in place, the scanner immediately scans the already constructed area. The original point cloud is denoised, filtered, and registered to form a measured 3D point cloud model of the current layer. A 3D point cloud model of the same layer is extracted from the digital scheme, and the two are spatially aligned in the global coordinate system. Regular sampling is performed on the surface of the design model. For each sampling point, the spatial distance between the nearest point in the measured model is calculated as the masonry deviation value. The deviation of all sampling points in the entire layer is visualized as a two-dimensional field, generating a masonry deviation field containing coordinates and deviation values. The deviation distribution near the current wavefront is extracted from this field: a spherical neighborhood is established centered on each coordinate point of the wavefront. The maximum, minimum, average, and standard deviation of the deviation within the neighborhood are statistically analyzed, and a deviation profile along the wavefront is drawn. If the deviation is within the tolerance, no adjustment is made to the wavefront parameters; if it exceeds the limit, it is analyzed as a systematic shift or a local mutation: for the former, the average deviation vector is calculated and converted into a compensation amount for the wavefront propagation direction and velocity, and the design coordinates of subsequent blocks are corrected; for the latter, abnormal blocks are located, their boundaries are marked as unstable wavefront segments, and subsequent propagation prioritizes bypassing them and the attitude adjustment amount after bypassing is calculated. The compensation amount and the adjustment amount are combined to generate an adaptive block-building command containing corrected coordinates and attitude angles.

[0038] In a specific implementation, the generation of the masonry deviation field and its feedback application in the improved wavefront propagation algorithm are described. This process takes real-time acquired 3D point cloud data as input and outputs adaptive masonry control commands. A line laser 3D scanner is installed on the end flange of the masonry robot arm, with a scanning field of view of 70 degrees and a scanning accuracy of 0.1 mm. Whenever a single refractory block is positioned and stationary, the 3D laser scanner is immediately driven to perform a panoramic scan of the masonry area, including the newly positioned refractory block. A single scan takes 3 seconds and acquires approximately 2 million original 3D point cloud data points. Outlier removal, Gaussian filtering, and ICP registration with the global measurement coordinate system are performed on the original 3D point cloud to form a measured 3D point cloud model of the current masonry layer. The model point spacing is controlled within 2 mm. The design 3D point cloud model corresponding to the current masonry layer is extracted from the digital scheme of furnace lining construction. The surface sampling density of the design model is consistent with that of the measured model. The two achieve spatial overlap in the global measurement coordinate system through feature point alignment.

[0039] In practice, 25,000 sampling points were generated on the surface of the designed 3D point cloud model at 10mm intervals. For each sampling point, the nearest Euclidean distance matching point was found in the measured 3D point cloud model, and the spatial distance between the two points was calculated as the masonry deviation value at the sampling point. The coordinates and deviation values ​​of all sampling points in the entire masonry layer were mapped onto a 2D unfolded diagram to form a masonry deviation field. The deviation field was visualized using a heatmap, with red indicating a positive deviation (measured value higher than design), blue indicating a negative deviation (measured value lower than design), and green indicating zero deviation. See Table 2 for some statistical data on the masonry deviation field after a certain scan. Table 2: Statistics on the Distribution of Masonry Deviations in Different Areas ; It is understandable that the deviation distribution in the vicinity of the wavefront in the current improved wavefront advancement algorithm is extracted from the masonry deviation field: A set of 150 discrete coordinate points on the wavefront at the current moment is obtained, and a spherical neighborhood with a radius of 30 mm is defined centered on each coordinate point. Within each spherical neighborhood, the deviation values ​​of the sampled points falling into the neighborhood are statistically analyzed, and the maximum, minimum, average, and standard deviation are calculated. These are then summarized and plotted as a deviation profile along the wavefront, with the horizontal axis representing the arc length of the wavefront and the vertical axis representing the deviation value. If the profile shows that the mean deviation of all neighborhoods is within a tolerance range of ±2 mm, the wavefront extension parameters of the improved wavefront advancement algorithm are not adjusted, and the masonry sequence generated by the original algorithm continues to be executed.

[0040] In some embodiments, if the mean deviation of a spherical neighborhood near a certain wavefront exceeds the ±2 mm tolerance, the deviation distribution pattern is analyzed: when more than 10 consecutive neighborhood deviations show the same direction of shift and have a gentle gradient, it is determined to be a systematic shift, and the arithmetic mean vector of these neighborhood deviations is calculated as the mean deviation vector. The average deviation vector is transformed into a compensation adjustment for the wavefront propagation direction and velocity in the improved wavefront propagation algorithm. The compensated wavefront propagation direction is superimposed along the original direction. The reverse component is expanded by 10% to avoid cumulative error, thereby correcting the design coordinates of subsequent refractory blocks to be laid. When the deviation of a single spherical neighborhood suddenly increases to more than ±4 mm while the adjacent neighborhoods are normal, it is judged as a local mutation. In the improved wavefront propagation algorithm, the boundary of the corresponding laid refractory block is marked as an unstable wavefront segment. Subsequent wavefront expansion skips this segment and advances preferentially from the stable regions on both sides. It is calculated that the refractory block to be laid needs to rotate 2.5 degrees after bypassing to adapt to the new boundary. This rotation amount is the attitude adjustment amount. Optionally, the adaptive laying control command is generated by combining the compensation adjustment amount and the attitude adjustment amount. The command includes the corrected coordinates and attitude angles of the refractory block to be laid, and the coordinate correction amount. The calculation formula is:

[0041] in: This is the correction vector for the coordinates of the refractory blocks to be laid. The attenuation coefficient is set to 0.8. This represents the average deviation vector. Commands are sent to the masonry robot controller, driving the robot to perform subsequent masonry work according to the corrected posture, thus achieving adaptive closed-loop control of the masonry process.

[0042] In one embodiment of the invention, the adaptive masonry control command includes the sequential number of a specific block and the corrected target coordinates and attitude. The central controller of the masonry robot dispatches the corresponding block unit with a positioning marker from the prefabricated block buffer area according to the number. The clamping mechanism moves to the designated position in the buffer area and grasps the block unit with a preset clamping force. During the handling process, the laser tracking positioning system continuously tracks the micro-reflective marker ball on the block, providing real-time feedback on the current position and attitude angle. The central controller compares the feedback value with the command target value, calculates the motion compensation amount at the end of the robot arm in real time, and adjusts the joint parameters to guide the block to move smoothly until the actual pose represented by the marker ball and the target error meet the assembly requirements. After positioning, the robot arm maintains the clamping position, and the mortar filling nozzle moves along the gap between the blocks to evenly inject refractory mortar. After filling, the robot arm releases the clamping force and slowly withdraws, completing the single-block masonry and mortar joint operation. The dispatching and withdrawal steps are repeated until all blocks on the operating layer are in place.

[0043] In a specific implementation, an adaptive masonry control command drives a robotic arm to complete the entire process of refractory block laying and mortar joint filling. This adaptive control command includes the sequence number of a specific refractory block, the corrected target coordinates, and the target posture. The robotic arm's central controller parses the sequence number #B-178 in the command and locates the corresponding prefabricated refractory block unit with a positioning mark from the third-level shelf of the prefabricated refractory block buffer area. This unit has geometric dimensions of 230×114×75 mm and is made of MZ-36 mullite. The robotic arm's gripping mechanism moves to the designated coordinates in the prefabricated refractory block buffer area. Based on the rectangular cross-section and 18 kg weight of the refractory block unit, a vacuum suction cup array is used to grip the refractory block unit with an adsorption force of 0.06 MPa. A vacuum pressure sensor monitors the adsorption stability.

[0044] In practice, the robotic arm carrying refractory block units moves along a preset collision-free path towards the target coordinates at a speed of 0.25 meters per second. A laser tracking and positioning system continuously tracks four miniature reflective marker balls on the back of the refractory block unit at a frequency of 100 Hz, providing real-time feedback on the spatial position and pitch / yaw attitude angles of the marker balls. The central controller subtracts the current position feedback from the laser tracking and positioning system from the target coordinates to obtain a three-axis position deviation vector, and subtracts the feedback attitude angle from the target attitude angle to obtain a three-axis angle deviation vector. The controller then calculates the motion compensation amount for the six degrees of freedom at the end effector of the robotic arm in real time. The formula for calculating the motion compensation amount is as follows:

[0045] in: Let be the motion compensation vector at time t. Let be the position and attitude deviation vector at time t. It is a proportional gain matrix. The differential gain matrix is ​​used. The servo motor speed and rotation angle of each joint of the masonry robot arm are adjusted according to the motion compensation amount to guide the refractory block unit to approach the target pose with a smooth acceleration curve. When the linear error between the actual position represented by the micro reflective marker ball and the target coordinate is less than 0.3 mm and the attitude error is less than 0.1 degrees, the assembly requirements are deemed to be met.

[0046] Understandably, after the refractory block unit is in place, the construction robot arm maintains its clamping state and locks the end effector's position. A mortar filling nozzle fixed to the side of the robot arm moves along the gap between the refractory block unit and the adjacent already laid refractory block. The nozzle diameter is 12 mm, the moving speed is 50 mm / s, and GZ-48 grade refractory mortar is uniformly injected at a pump pressure of 0.2 MPa. The mortar's water-cement ratio is 0.28, and the filling volume per joint is 0.6 liters. After the refractory mortar is filled, the construction robot arm maintains the suction force for 10 seconds to allow the mortar to initially set. Then, it releases the vacuum pressure and slowly withdraws at a speed of 0.1 m / s to avoid disturbing the positioned block, thus completing the laying and mortar filling operation of the current refractory block.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for constructing the lining of a municipal solid waste incinerator, characterized in that, The method includes: Based on the three-dimensional digital model of the incinerator body, the masonry path of multi-layer refractory blocks is planned, and a digital scheme for furnace lining masonry is generated. Based on the digital scheme for furnace lining construction, an improved wavefront advancement algorithm is used to dynamically generate the construction sequence of multi-layer refractory blocks that fit the furnace body surface in real time. The improved wavefront advancement algorithm includes: taking the starting boundary of the furnace lining construction as the initial wavefront, calculating the advancement priority score of the wavefront boundary point, selecting the expansion center based on the priority score, and determining the placement position of the new refractory block to update the wavefront by combining the curvature of the furnace body surface and the minimum mortar joint threshold, and iteratively generating an ordered refractory block construction sequence. According to the digital scheme for furnace lining construction, the type, size and quantity of corresponding refractory blocks are configured, and refractory block units with positioning marks are prefabricated. Based on the refractory block unit and the laser tracking and positioning system, the coordinates of the refractory blocks in the digital scheme for furnace lining construction are registered with the on-site spatial location; During the construction of each layer of refractory blocks, three-dimensional point cloud data of the surface of the refractory blocks in place is collected in real time and compared with the design model in the digital scheme of furnace lining construction to generate a construction deviation field. Using the masonry deviation field as feedback input, the wavefront expansion parameters of the improved wavefront propagation algorithm are adjusted in real time to correct the coordinates and attitude of the refractory blocks to be masonred, thus forming an adaptive masonry control command.

2. The construction method for lining a municipal solid waste incinerator according to claim 1, characterized in that, The steps for constructing the three-dimensional digital model of the incinerator body include: Iterative nearest-point registration is performed based on the basic three-dimensional curved surface model of each segment of the furnace shell and the measured point cloud data of the furnace steel shell structure, specifically including: Obtain the original design drawings of the municipal solid waste incinerator, which include the overall assembly drawing of the furnace body, detailed drawings of each section of the shell, and detailed drawings of key structures; Based on the original design drawings, the basic three-dimensional curved surface models of each section of the furnace shell were constructed in three-dimensional modeling software. The prefabricated furnace body steel shell structure of each segment was scanned using a three-dimensional laser scanning device to obtain the measured point cloud data of the furnace body steel shell structure. The basic three-dimensional curved surface model is iteratively registered with the measured point cloud data of the furnace body steel shell structure to correct the shape and size of the basic three-dimensional curved surface model and generate a three-dimensional model of the furnace body steel shell that is consistent with the actual object. On the three-dimensional model of the furnace body steel shell, according to the design drawings, locate and add all the auxiliary structural features such as the grate support beam, secondary air inlet, observation hole, thermocouple mounting hole, and refractory material anchor positions; Add weld models and tolerance information to the connection areas between all auxiliary structural features and the furnace body steel shell structure to complete the three-dimensional digital model of the furnace body containing complete geometric and structural information. Virtual assembly interference checks and static analyses were performed on the completed 3D digital model of the furnace body to ensure that it meets the simulation requirements for subsequent masonry path planning and structural load-bearing capacity.

3. The construction method for lining a municipal solid waste incinerator according to claim 1, characterized in that, The method employs an improved wavefront propagation algorithm to dynamically generate the laying sequence of multi-layer refractory blocks that conform to the curved surface of the furnace body in real time, including: The improved wavefront propagation algorithm simulates the masonry work surface as a wavefront and controls the expansion direction and velocity of the wavefront based on the geometric constraints of the edges of the completed refractory blocks and the minimum mortar joint threshold between adjacent refractory blocks, thereby determining the coordinates of the next refractory block to be built. The digital scheme for furnace lining construction includes information on the block arrangement sequence and joint location; The initial wavefront is defined by the initial boundary of the furnace lining construction, and the initial wavefront is composed of a series of discrete boundary points. Calculate the local normal vector for each boundary point of the initial wavefront, the local normal vector pointing to the space to be built inside the furnace body; Based on the aforementioned digital scheme for furnace lining construction, the minimum mortar joint threshold value between adjacent refractory blocks is obtained; Before each wavefront iteration, the geometric relationship between each boundary point on the current wavefront and the edge of the completed refractory block is detected to ensure that the newly expanded masonry position satisfies the minimum mortar joint threshold and the geometric interference constraint of the refractory block itself. Based on the direction of the local normal vector and combined with the principal curvature information of the furnace surface, a propulsion priority score is calculated for each boundary point on the current wavefront. The propulsion priority score is used to determine the order of wavefront expansion. Select the boundary point with the highest advance priority score on the current wavefront as a candidate expansion center; Based on the candidate expansion center, one or more candidate new refractory block placement positions are calculated according to the size of the standard refractory block; The impact of all candidate new refractory block placement locations on the smoothness of the current wavefront morphology is evaluated. The placement location of the new refractory block that makes the wavefront morphology change the smoothest is selected and confirmed as the actual masonry action. The new boundary exposed after the successful placement of the new refractory block is updated in the wavefront. Repeat the steps from detecting geometric relationships to updating the wavefront until the wavefront covers the entire surface of the furnace lining to be built, thereby generating an ordered sequence of refractory block masonry.

4. The construction method for lining a municipal solid waste incinerator according to claim 3, characterized in that, Based on the direction of the local normal vector and combined with the principal curvature information of the furnace surface, a propulsion priority score is calculated for each boundary point on the current wavefront, including: From the three-dimensional digital model of the furnace body, extract the principal curvature and secondary curvature of the furnace body surface in the normal direction at each boundary point on the current wavefront; Calculate the product of the principal curvature and the secondary curvature to obtain the absolute value of the Gaussian curvature of the furnace surface at the boundary point; The sum of the principal curvature and the secondary curvature is calculated to obtain the absolute value of the average curvature of the furnace surface at the boundary point; Obtain the cosine of the angle between the local normal vector at the boundary point and the direction of gravity; The absolute value of the Gaussian curvature, the absolute value of the mean curvature, and the cosine value of the included angle are weighted and summed. The weighting coefficients are set based on experience, and the reciprocal of the summation result is defined as the initial propulsion priority factor. The number of refractory blocks that have been built on both sides of the wavefront segment where the boundary point is located is queried. The side with more blocks is considered to be a more stable region, and a stable region reward factor is assigned to the boundary point. The initial advance priority factor is multiplied by the stable region reward factor to obtain the final advance priority score. The higher the advance priority score, the higher the priority of wavefront extension from the boundary point.

5. The construction method for lining a municipal solid waste incinerator according to claim 1, characterized in that, According to the aforementioned digital scheme for furnace lining construction, the type, size, and quantity of corresponding refractory blocks are configured, and refractory block units with positioning marks are prefabricated, including: The digital scheme for furnace lining construction is analyzed, and the geometric dimensions and material type codes of all required refractory blocks are statistically analyzed. Based on the geometric dimensions and material type codes, retrieve the corresponding standard refractory block blanks from the refractory inventory database; Based on the three-dimensional shape of each refractory block in the furnace lining in the digital scheme for furnace lining construction, the standard refractory block blank is CNC machined to form the final refractory block including the working surface and the bonding surface. On a designated non-working surface of each final refractory block, multiple micro-reflective marker balls are embedded or attached in the form of a specific pattern code, and the multiple micro-reflective marker balls constitute a unique location identifier for the refractory block; The final refractory block, which is embedded with the multiple micro reflective marker balls, is bound with the corresponding masonry sequence number, geometric dimension information and material information, and stored as a prefabricated refractory block unit with positioning marks.

6. The construction method for lining a municipal solid waste incinerator according to claim 1, characterized in that, At the furnace site, based on the prefabricated refractory block units with positioning markers and the laser tracking positioning system, the coordinates of the refractory blocks in the digital scheme for furnace lining construction are registered with their spatial locations on site, including: A global measurement coordinate system was established in the construction space inside the furnace body, and multiple fixed base stations of laser tracking and positioning systems were deployed on the key structures of the furnace body. The laser tracking and positioning system is driven to scan the existing reference structural features inside the furnace body. The reference structural features include the grate mounting surface or a ring beam at a specific elevation, and the coordinate transformation relationship between the actual space of the furnace body and the three-dimensional digital model of the furnace body is established. Based on the coordinate transformation relationship, the design coordinates of all refractory blocks in the digital scheme for furnace lining construction are uniformly transformed to the global measurement coordinate system to generate a set of on-site construction coordinate instructions; The first reference layer refractory block to be laid is hoisted to the approximate position, and the spatial position of multiple micro reflective marker balls contained on the refractory block is captured by a laser tracking and positioning system. The spatial positions of the captured multiple micro reflective marker balls are compared with the design positions of the corresponding refractory blocks in the on-site construction coordinate instruction set, and the deviation between position and posture is calculated. Based on the calculated position and attitude deviations, fine-tuning instructions are generated to adjust the position and attitude of the refractory blocks until the spatial position of its multiple micro reflective marker balls is less than the allowable tolerance range, thus completing the placement of the first refractory block and achieving registration between the digital scheme and the on-site space.

7. The construction method for lining a municipal solid waste incinerator according to claim 1, characterized in that, During the construction of each layer of refractory blocks, three-dimensional point cloud data of the surface of the in-place refractory blocks is collected in real time and compared with the design model in the digital scheme for furnace lining construction to generate a construction deviation field, including: A 3D laser scanner is installed at the end of the masonry robot arm. After a refractory block is laid, the 3D laser scanner is immediately driven to scan the laid area, including the newly placed refractory block. The original 3D point cloud obtained by scanning is denoised, filtered and registered to form the measured 3D point cloud model of the current masonry layer; Extract the design 3D point cloud model of the corresponding masonry layer from the aforementioned digital scheme for furnace lining construction; The measured 3D point cloud model and the designed 3D point cloud model are spatially aligned in the global measurement coordinate system. Regular sampling is performed on the surface of the designed three-dimensional point cloud model. For each sampling point, the nearest point is found in the measured three-dimensional point cloud model, and the spatial distance between the two points is calculated. The spatial distance is the masonry deviation value at the sampling point. The masonry deviation values ​​of all sampling points in the entire masonry layer are visualized in the form of a two-dimensional field to form the masonry deviation field, which contains position coordinate information and corresponding masonry deviation values.

8. The construction method for lining a municipal solid waste incinerator according to claim 7, characterized in that, Using the masonry deviation field as feedback input, the wavefront propagation parameters of the improved wavefront advancement algorithm are adjusted in real time to correct the coordinates and orientation of the refractory blocks to be constructed, including: Extract the distribution of masonry deviation values ​​in the region near the current wavefront from the masonry deviation field; If the masonry deviation value is within the preset acceptable tolerance range, the wavefront extension parameters of the improved wavefront propagation algorithm will not be adjusted, and subsequent masonry will be carried out according to the control instructions generated by the original algorithm. If the masonry deviation value exceeds the preset acceptable tolerance range, the distribution pattern of the masonry deviation is analyzed to determine whether it is a systematic shift or a local abrupt change. For the systematic offset mode, the average deviation vector of the masonry deviation field is calculated, and the average deviation vector is converted into a compensation adjustment amount for the wavefront propagation direction and velocity in the improved wavefront advancement algorithm. The compensation adjustment amount is used to correct the design coordinates of the refractory blocks to be masonry in the future. For local mutation mode, the boundary of the already laid refractory block with abnormally large positioning deviation value is marked as an unstable wavefront segment in the improved wavefront propagation algorithm. During subsequent wavefront expansion, the algorithm will give priority to bypassing the unstable wavefront segment and expanding from a more stable area, and calculate the required attitude adjustment amount of the refractory block after bypassing. The adaptive masonry control command is generated by combining the compensation adjustment amount and the attitude adjustment amount. The adaptive masonry control command includes the corrected coordinates and attitude angles of the refractory block to be masonred.

9. A method for constructing the lining of a municipal solid waste incinerator according to claim 8, characterized in that, From the masonry deviation field, the distribution of masonry deviation values ​​in the region near the current wavefront is extracted, including: Obtain the set of spatial coordinates of the wavefront in the improved wavefront propagation algorithm at the current moment; A spherical neighborhood with a fixed radius is defined centered on each coordinate point in the spatial coordinate set of the wavefront. In the masonry deviation field, find the masonry deviation value of all sampling points that fall within each of the spherical neighborhoods; The maximum, minimum, average, and standard deviation of all masonry deviation values ​​within each spherical neighborhood are statistically analyzed to provide a quantitative description of the distribution of masonry deviation values ​​in the vicinity of the wavefront coordinate point. The distribution of masonry deviation values ​​corresponding to all coordinate points on the wavefront is summarized, and a masonry deviation profile along the wavefront is drawn to visually determine the potential impact of masonry quality on wavefront propagation.

10. A method for constructing the lining of a municipal solid waste incinerator according to claim 9, characterized in that, The method further includes: according to the adaptive masonry control command, driving the masonry robotic arm to grasp and position the corresponding prefabricated refractory block unit with positioning mark, and completing the masonry and mortar joint filling of the remaining refractory blocks in the current operating layer, specifically including: The adaptive masonry control command includes the sequential number of a specific refractory block and its corrected target coordinates and target orientation; The central controller of the masonry robot arm schedules the corresponding prefabricated refractory block unit with positioning mark from the prefabricated refractory block buffer area according to the sequence number. The gripping mechanism of the masonry robot arm moves to the designated position in the precast refractory block buffer area, and grips the refractory block unit with a preset gripping force according to the geometric features and weight of the precast refractory block unit containing positioning marks. During the process of the masonry robot arm transporting the refractory block unit to the target coordinates, the laser tracking and positioning system continuously tracks multiple micro reflective marker balls attached to the refractory block unit and provides real-time feedback on its current spatial position and attitude angle. The central controller compares the current spatial position and attitude angle fed back by the laser tracking and positioning system with the target coordinates and target attitude in the adaptive masonry control command, and calculates the motion compensation amount at the end of the robotic arm in real time. Based on the calculated motion compensation, the motion parameters of each joint of the masonry robot arm are adjusted to guide the refractory block unit to move at a gentle speed and path until the error between the actual position and posture represented by its multiple micro reflective marker balls and the target coordinates and posture meets the assembly requirements. After the refractory block unit is in place, the masonry robot arm remains in a clamping state, and another set of mortar filling nozzles moves along the gap between the refractory block unit and the adjacent masonry refractory block to evenly inject the refractory mortar with a preset ratio. After the refractory mortar is filled, the masonry robot arm releases the clamping force and slowly withdraws, completing the current refractory block masonry and mortar joint filling operation. Repeat the steps from scheduling the precast refractory block units to evacuation until all refractory blocks to be laid on the operating layer are in place.

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