A three-dimensional scanning-based dome hoisting detection method

Abstract

The application provides a dome hoisting detection method based on three-dimensional scanning and belongs to the technical field of nuclear power station construction. The method comprises the following steps: setting an inner target of the dome, setting a scanner at a relative middle part of a dome detection point and the target in the dome, and scanning the dome and the target; setting the scanner at the top of the cylinder, scanning the inner surface of the top of the cylinder and the target, splicing scanning data of each station through the target coordinates, intercepting a horizontal section of the bottom opening of the dome and the top opening of the cylinder, outputting the section point cloud of the bottom of the dome and the top of the cylinder, calculating the deviation value of the point cloud of the top of the cylinder based on the point cloud of the dome, adjusting the deviation value that does not meet the requirements, and ensuring the accuracy requirement before hoisting. The application solves the problem of quality inspection of dome hoisting. After the application is adopted, accurate detection results can be obtained, thereby providing a basis for actual quality determination, the station is flexible, measurement is convenient, and the space of other construction procedures is not occupied, which is helpful to meet the needs of construction quality guarantee.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power plant construction technology, and in particular relates to a dome hoisting inspection method based on three-dimensional scanning. Background Technology

[0002] A certain reactor building employs a double-layer containment design. The inner containment layer is a prestressed reinforced concrete structure. Previously, before the dome was hoisted, the radius was measured using a total station, and the corresponding radius of the inner containment shell was adjusted accordingly. This fragmented data measurement was labor-intensive and time-consuming. Furthermore, to ensure the circumference of the dome's bottom and the shell's top openings, multiple people worked together to manually measure these circumferences repeatedly with steel tape to verify the quality before hoisting. Working at the top of the shell at height posed significant risks to both safety and quality. Moreover, the time spent measuring with steel tape disrupted normal reinforced concrete construction. Additionally, the unevenness of the steel plates in the inner containment shell led to ongoing disputes regarding the final quality, with no reliable data to support the claims.

[0003] Assessing whether the quality of the dome meets the design requirements before hoisting, and accurately and efficiently completing the dome hoisting task, is a difficult problem in engineering. Summary of the Invention

[0004] Purpose of the invention: To address the aforementioned engineering construction challenges, this invention proposes a three-dimensional scanning-based method for inspecting dome hoisting. By scanning measurement points on the inner surface of the dome and searching for position information using azimuth angles, the dome's position data is obtained. A unified coordinate system is then used to adjust the corresponding data information at the top of the dome, resulting in a reliable quality assessment and ensuring the integrity of the quality assessment before dome hoisting.

[0005] The present invention proposes a dome hoisting inspection method based on three-dimensional scanning, comprising the following steps:

[0006] Set up targets inside the dome at the prefabricated dome site, measure the coordinates of the targets inside the dome, and establish a unified construction coordinate system; A scanner is installed inside the prefabricated dome site to scan the prefabricated dome and the target inside the dome to obtain dome scanning data; Based on the target coordinates inside the dome, the dome scanning data is stitched and transformed to obtain dome top cloud data under the unified construction coordinate system; Select the cross-section of the inner bottom opening of the dome from the dome point cloud data, extract the horizontal cross-section data passing through the inner bottom opening of the dome, and convert and output the cross-section data into two-dimensional dome cross-section point cloud data; Import the two-dimensional dome cross-sectional point cloud data into an EXCEL spreadsheet, calculate the azimuth angle of each dome point and sort them by azimuth angle, and further calculate the radius of each dome point to obtain the dome radius data. Set up targets inside the cylinder at the top of the cylinder, measure the coordinates of each target inside the cylinder, and make the coordinates of the targets inside the cylinder fall within the unified construction coordinate system; A scanner is installed on the top of the cylinder to perform multi-station scanning on the inner surface of the top of the cylinder and the target inside the cylinder to obtain cylinder scanning data. Based on the target coordinates inside the cylinder, the cylinder scanning data from each station are stitched together to obtain cylinder point cloud data under the unified construction coordinate system. Select the top inner point cross-section from the cylinder point cloud data, extract the horizontal cross-sectional data passing through the top inner point of the cylinder, and convert and output the cross-sectional data into two-dimensional cylinder cross-sectional point cloud data; Import the two-dimensional cylindrical cross-section point cloud data into an EXCEL spreadsheet, calculate the azimuth angle of each cylindrical point and sort them by azimuth angle, and further calculate the radius of each cylindrical point to obtain the cylindrical radius data. Using the dome radius data as a reference, calculate the deviation value of the cylinder radius data relative to the dome radius data, and make adjustments when the deviation value does not meet the requirements; The perimeter of the prefabricated dome bottom is calculated based on the dome radius data, and the perimeter of the cylinder top is calculated based on the cylinder radius data. The perimeter deviation values ​​are compared to determine whether the dome meets the accuracy requirements before hoisting.

[0007] As a preferred embodiment, the targets inside the dome are set on the inner surface of the supporting foundation or the inner surface of the bottom opening of the precast dome, and the number of targets with three-dimensional coordinates is not less than three. The targets inside the dome are evenly arranged along the bottom opening of the dome and are staggered in height within the scanning range; The scanner is positioned at the relative midpoint between the visible dome detection point and the target inside the dome, with the plane of the target inside the dome perpendicular to the scanning direction.

[0008] As a preferred embodiment, the dome scanning data stitching uses known points to perform overall point cloud coordinate transformation, and the number of common targets between adjacent scanning stations is no less than 3.

[0009] As a preferred embodiment, the cross-sectional data is imported into CAD and then converted into CASS format to output the two-dimensional dome cross-sectional point cloud data and the two-dimensional cylinder cross-sectional point cloud data.

[0010] As a preferred embodiment, the azimuth angle of the dome is calculated using an Excel spreadsheet according to the coordinates of the center reference point, and then sorted by the size of the azimuth angle. The radius of the dome and the radius of the cylinder are both calculated based on the distance formula in a Cartesian coordinate system.

[0011] As a preferred embodiment, the targets inside the cylinder are disposed on the inner surface of the cylinder or on the support frame, and the number of targets with three-dimensional coordinates is not less than three. The cylinder scanning adopts a multi-station closed scanning method, in which the scanner moves sequentially to multiple station positions to perform continuous scanning until it closes with the first station; The overlap between the scanning areas corresponding to different station locations is no less than 20%.

[0012] As a preferred embodiment, the target inside the cylinder is installed via a scanner and a centering plate mounted on the cylinder. The centering plate has bolt holes in the middle for instrument connection and reinforcing bars welded to the bottom for support.

[0013] As a preferred embodiment, the location of the cylinder is extracted based on the location of the bottom opening inside the dome, and the azimuth angle of the dome location deviates from the azimuth angle of the cylinder location by no more than 0.05°.

[0014] As a preferred embodiment, the deviation value is the radius deviation value of the cylindrical body point radius relative to the dome point radius.

[0015] As a preferred embodiment, the perimeter deviation value is calculated from the difference between the perimeter of the bottom opening of the prefabricated dome and the perimeter of the top opening of the cylinder, and the quality of the dome before hoisting is judged based on the perimeter deviation value.

[0016] Beneficial effects: This invention solves the problem of quality inspection before dome hoisting. After its adoption, not only can accurate inspection results be obtained, thus providing a basis for determining the actual position of the containment dome before hoisting, but it is also flexible in setting up the platform, convenient in measurement, and does not occupy the space of other construction processes, which helps to meet the needs of construction quality assurance. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the control points inside the prefabricated dome of the nuclear reactor building.

[0018] Figure 2 This is a schematic diagram of the control points of the nuclear reactor building.

[0019] Figure 3 This is a schematic diagram of the centering plate on the scanner and target mounting cylinder.

[0020] Figure 4 This is a schematic diagram of the elevation of the centering plate on the scanner and target mounting cylinder.

[0021] The following labels are used in the attached figures: 1-4, target control points inside the dome prefabrication site; 5, scanner installation position inside the dome prefabrication site; 6-9, scanner installation control points during cylinder scanning; 10-13, target control points on the outer wall; 14, containment dome; 15, outer containment; 16-19, target control points on the outer dome; 20, centering plate on the cylinder; 20-1, centering plate; 20-2, reinforcing steel; 20-3, bolt holes. Detailed Implementation

[0022] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0023] This invention discloses a method for inspecting the installation of dome structures based on three-dimensional scanning. The specific steps are as follows: The first step is to set up targets in the dome prefabrication site. Four targets should be evenly placed at the bottom of the dome. Planar targets are preferred. The coordinates of all targets should be measured using a unified construction coordinate system. The targets should be evenly distributed and staggered in height within the scanning range.

[0024] The second step is to set up a scanner in the middle of the visible dome detection point and the target inside the prefabricated dome site to scan the dome and the target. The target plane should be perpendicular to the scanning direction, and the angle between the scanning beam and the scanning area should be orthogonal.

[0025] The third step is to transform the dome scan data by stitching together the target coordinates. The stitching should use four evenly distributed known points to transform the coordinates of the overall point cloud. The number of common targets between adjacent scanning stations should not be less than three.

[0026] Step 4: Select the cross-section at the bottom point inside the dome, and cut a cross-section that passes through this point and is horizontal through the prefabricated dome. Import the cross-section data into CAD, convert it from CAD to CASS, and output the cross-section point cloud. The point cloud is converted from three-dimensional to two-dimensional. After the scan data is transferred, the coverage of the point cloud data, the integrity and availability of the target data should be checked. Missing data and data containing gross errors should be scanned again.

[0027] Step 5: Import the point data into an Excel spreadsheet, calculate the azimuth angles, sort by azimuth angles, and calculate the point azimuth using the Excel spreadsheet: α 穹顶 =ACOS((A 穹顶 -A 圆心 ) / SQRT((A 穹顶 -A 圆心 )²+(B 穹顶 -B圆心 )²)) Step 6: Calculate the radius of each point. The radius calculation should clearly define the coordinates of the center reference point and the calculation datum. It is recommended to use the distance formula in the Cartesian coordinate system. 穹顶 =SQRT((A 穹顶 -A 圆心 )²+(B 穹顶 -B 圆心 )²) Step 7: Set up targets inside the top of the cylinder. Four targets are evenly set up on the top of the cylinder. The targets are set up using a scanner. The centering plate 20 on the cylinder is welded to the cylinder support angle steel and connected to the targets through the centering plate 20-1 connecting bolts. The centering plate 20 on the cylinder consists of the centering plate 20-1, with bolt holes 20-3 in the middle for connecting to the instrument, and a supporting steel bar 20-2 welded to the bottom. The coordinates of each target are measured using a unified construction coordinate system.

[0028] Step 8: Set up the scanner at station 1 on the top of the cylinder. Weld the center plate 20-1 to the cylinder support angle steel and mount the scanner. Scan the inner surface of the top of the cylinder and the target. Move the scanner to the next station and continue scanning the upper surface of the cylinder and the target. Repeat the scanning process until it closes with station 1. The overlap of the scanning areas at different station positions and different angles should not be less than 20%.

[0029] Step 9: By stitching together the scan data of each station using the target coordinates, the positional error of the corresponding points after stitching should not be less than 1 / 2 of the positional error of the distance between ground feature points.

[0030] Step 10: Select the top point inside the cylinder, cut a horizontal cross section passing through this point, import the cross section data into CAD, convert it from CAD to CASS, and output the cross section point cloud. The point cloud is converted from three-dimensional to two-dimensional.

[0031] Step 11: Import the point data into an Excel spreadsheet, calculate the azimuth angles, sort by azimuth angles, and calculate the point azimuth using the Excel spreadsheet: α 筒体 =ACOS((A 筒体 -A 圆心 ) / SQRT((A 筒体 -A 圆心 )²+(B 筒体 -B 圆心 )²)) Step 12: Calculate the radius of each point.

[0032] Step 13: Using the precast dome radius as a reference, calculate the deviation of the top radius of the cylinder. The azimuth deviation between the two should not exceed 0.05º. If the deviation value does not meet the requirements, adjust it until it does. If a power outage, system crash, or instrument position change occurs during the scanning process, the scanner should be initialized and the scan should be repeated.

[0033] Step 14: Calculate the circumference of the bottom opening of the precast dome and the circumference of the top opening of the cylinder, and compare the circumference deviations: S 穹顶 =2πR 穹顶均 S 筒顶 =2πR 筒顶均 δS=S 穹顶 -S 筒顶 Determine the magnitude of the perimeter deviation to see if it meets the requirements.

[0034] In a further embodiment, the reference point for the dome bottom opening of the detection method is set on the inner surface of the supporting foundation or the inner surface of the precast dome bottom opening, and there are 4 points with three-dimensional coordinates. In a further embodiment, the reference point of the dome opening of the detection method is set on the inner surface of the cylinder or on the support frame, and there are 4 points with three-dimensional coordinates. In a further embodiment, the detection method transforms dome scan data by stitching together target coordinates; In a further embodiment, the detection method selects a point, captures a horizontal cross section passing through the point, imports the cross section data into CAD, converts it from CAD to CASS, and outputs the cross section point cloud, converting the point cloud from three-dimensional to two-dimensional. In a further embodiment, the detection point of the cylinder can be extracted according to the corresponding detection point at the bottom of the dome, with an orientation deviation of no more than 0.05º.

[0035] In a further embodiment, the detection method imports the point data into an Excel spreadsheet, calculates each azimuth angle, and sorts them by azimuth angle; In a further embodiment, the detection method calculates the perimeter of the bottom opening of the prefabricated dome and the perimeter of the top opening of the cylinder, and compares the perimeter deviation values. In a further embodiment, the detection method uses a scanner and a target mounting cylinder with a centering plate 20 consisting of a centering plate 20-1, a bolt hole in the middle for connecting to the instrument, and a supporting steel bar welded to the bottom.

[0036] Example 1: In this embodiment, the reactor building center (A1704.900, B566.100, H44.600) has an inner radius of 22.000m for the hemispherical dome, a cylinder radius of 22.000m, and an initial elevation of 44.600m for the bottom surface of the Z0 dome.

[0037] See also: A method for dome hoisting inspection based on 3D scanning. Figures 1 to 4 This includes the following steps: Step 1: Set up targets 1 to 4 inside the prefabricated dome, located on the inner surface of the support piers. Connect the coordinates of each target to a unified coordinate system: 1 (1684.5655, 574.5228, 44.200), 2 (1713.2978, 586.4827, 44.200), 3 (1725.2345, 557.6772, 45.200), 4 (1696.4772, 545.65, 44.200). The second step is to set up a scanner at the visible dome detection point 5 and the middle part of the target inside the prefabricated dome site to scan the dome and the target. The third step is to convert the dome scan data by stitching together the coordinates of targets 1-4. Step 4: Select the cross-section at the 44.610m point at the bottom of the inner side of the dome, cut a cross-section that passes through this point and through the horizontal of the precast dome, import the cross-section data into CAD, convert it from CAD to CASS, and output the point cloud inside the cross-section. The point cloud is converted from three-dimensional to two-dimensional. Step 5: Import the location data into an Excel spreadsheet and calculate the azimuth angles for each direction. α 内 =ACOS((A 内测 -A 圆心 ) / SQRT((A 内测 -A 圆心 ) ２ + (B) 内测 -B 圆心 ) 2 )) Sort by azimuth, see Table 1.

[0038] Table 1

[0039] Step 6: Calculate the radius of each point; Step 7: Set up targets 10-13 on the top of the cylinder. The targets are evenly set on the top of the cylinder. The targets are set up using a scanner. The centering plate 20 on the cylinder is welded to the cylinder support angle steel. The coordinates of each target are measured in a unified construction coordinate system: 10 (1690.1213, 582.3971, 44.7125), 11 (1720.2841, 581.8270, 44.7123), 12 (1722.0131, 552.2755, 44.7124), 13 (1690.1410, 549.7861, 44.7122). Step 8: Set up the scanner at station 6 at the top of the cylinder. The scanner and target are mounted on the centering plate 20 on the cylinder support angle steel. Scan the inner surface of the top of the cylinder and the target. Move the scanner to the next station 7 and continue scanning the upper surface of the cylinder and the target. Repeat the scanning until it closes with station 6. Step 9: Assemble the scanning data from each station using the target coordinates; Step 10: Select the top point inside the cylinder, cut a horizontal cross section passing through this point, import the cross section data into CAD, convert it from CAD to CASS, and output the cross section point cloud. The point cloud is converted from three-dimensional to two-dimensional. Step 11: Import the point data into an Excel spreadsheet, calculate the azimuth angles, sort by azimuth angles, and calculate the point azimuth using the Excel spreadsheet, as shown in Table 2.

[0040] Table 2

[0041] α 筒体 =ACOS((A 筒体 -A 圆心 ) / SQRT((A 筒体 -A 圆心 ) ２ + (B) 筒体 -B 圆心 ) 2 )) Step 12: Calculate the radius of each point; Step 13: Using the radius of the precast dome as a reference, calculate the deviation of the top radius of the cylinder. If the deviation does not meet the requirements, make adjustments until it does, as shown in Table 3.

[0042] Table 3

[0043] As shown in Table 3, the radius deviations are all less than 20 mm, which meets the requirements; Step 14: Calculate the circumference of the bottom opening of the precast dome and the circumference of the top opening of the cylinder, and compare the circumference deviation values; S 穹顶 =2πR 穹顶均 =2×π×22.0050=138.2610 m S 筒顶 =2πR 筒顶均 2 × π × 22.0042 = 138.2564 m δS=S 穹顶 -S 筒顶 =138.2610-138.2564=0.0046m Determine the magnitude of the perimeter deviation; it must be less than 30mm.

[0044] Repeated practice has proven that the method in this embodiment effectively solves the problem of quality inspection before the hoisting of the nuclear reactor building dome being a purely manual operation, and has the following significant advantages: 1. The distribution of points can be selected according to the actual accuracy requirements on site. Then, the corresponding points of the dome and the cylinder can be found by taking a section to ensure the correspondence of the points. 2. The number of points is comprehensive; the inner side of the dome can be completed in one go, and the top of the cylinder can be completed by splicing multiple stations. 3. It effectively solves the problems of spatial three-dimensional detection that requires manual operation, poses high safety risks, and requires high precision, and is flexible and convenient to apply.

[0045] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. Although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A method for inspecting the hoisting of a dome based on three-dimensional scanning, characterized in that, Includes the following steps: Set up targets inside the dome at the prefabricated dome site, measure the coordinates of the targets inside the dome, and establish a unified construction coordinate system; A scanner is installed inside the prefabricated dome site to scan the prefabricated dome and the target inside the dome to obtain dome scanning data; Based on the target coordinates inside the dome, the dome scanning data is stitched and transformed to obtain dome top cloud data under the unified construction coordinate system; Select the cross-section of the inner bottom opening of the dome from the dome point cloud data, extract the horizontal cross-section data passing through the inner bottom opening of the dome, and convert and output the cross-section data into two-dimensional dome cross-section point cloud data; Import the two-dimensional dome cross-sectional point cloud data into an EXCEL spreadsheet, calculate the azimuth angle of each dome point and sort them by azimuth angle, and further calculate the radius of each dome point to obtain the dome radius data. Set up targets inside the cylinder at the top of the cylinder, measure the coordinates of each target inside the cylinder, and make the coordinates of the targets inside the cylinder fall within the unified construction coordinate system; A scanner is installed on the top of the cylinder to perform multi-station scanning on the inner surface of the top of the cylinder and the target inside the cylinder to obtain cylinder scanning data. Based on the target coordinates inside the cylinder, the cylinder scanning data from each station are stitched together to obtain cylinder point cloud data under the unified construction coordinate system. Select the top inner point cross-section from the cylinder point cloud data, extract the horizontal cross-sectional data passing through the top inner point of the cylinder, and convert and output the cross-sectional data into two-dimensional cylinder cross-sectional point cloud data; Import the two-dimensional cylindrical cross-section point cloud data into an EXCEL spreadsheet, calculate the azimuth angle of each cylindrical point and sort them by azimuth angle, and further calculate the radius of each cylindrical point to obtain the cylindrical radius data. Using the dome radius data as a reference, calculate the deviation value of the cylinder radius data relative to the dome radius data, and make adjustments when the deviation value does not meet the requirements; The perimeter of the prefabricated dome bottom is calculated based on the dome radius data, and the perimeter of the cylinder top is calculated based on the cylinder radius data. The perimeter deviation values ​​are compared to determine whether the dome meets the accuracy requirements before hoisting.

2. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The targets inside the dome are set on the inner surface of the supporting foundation or the inner surface of the bottom opening of the precast dome, and the number of targets with three-dimensional coordinates is not less than 3. The targets inside the dome are evenly arranged along the bottom opening of the dome and are staggered in height within the scanning range; The scanner is positioned at the relative midpoint between the visible dome detection point and the target inside the dome, with the plane of the target inside the dome perpendicular to the scanning direction.

3. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The dome scanning data stitching uses known points to perform overall point cloud coordinate transformation, and the number of common targets between adjacent scanning stations is no less than 3.

4. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The cross-sectional data is imported into CAD and then converted into CASS format to output the two-dimensional dome cross-sectional point cloud data and the two-dimensional cylinder cross-sectional point cloud data.

5. The method for dome hoisting inspection based on three-dimensional scanning according to claim 1, characterized in that, The azimuth angle of the dome is calculated using an Excel spreadsheet based on the coordinates of the center reference point and sorted by azimuth angle size. The radius of the dome and the radius of the cylinder are both calculated based on the distance formula in a Cartesian coordinate system.

6. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The targets inside the cylinder are set on the inner surface of the cylinder or on the support frame, and the number of targets with three-dimensional coordinates is not less than 3. The cylinder scanning adopts a multi-station closed scanning method, in which the scanner moves sequentially to multiple station positions to perform continuous scanning until it closes with the first station; The overlap between the scanning areas corresponding to different station locations is no less than 20%.

7. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The target inside the cylinder is installed via a scanner and a centering plate mounted on the cylinder. The centering plate has bolt holes in the middle for instrument connection and reinforcing bars welded to the bottom.

8. The dome hoisting inspection method based on three-dimensional scanning according to claim 1, characterized in that, The cylinder position is extracted based on the corresponding bottom position of the dome, and the azimuth angle of the dome position deviates from the azimuth angle of the cylinder position by no more than 0.05°.

9. The method for dome hoisting inspection based on three-dimensional scanning according to claim 1, characterized in that, The deviation value is the radius deviation of the cylindrical body point radius relative to the dome point radius.

10. The method for dome hoisting inspection based on three-dimensional scanning according to claim 1, characterized in that, The perimeter deviation value is calculated from the difference between the perimeter of the bottom opening of the prefabricated dome and the perimeter of the top opening of the cylinder, and the quality of the dome before hoisting is judged based on the perimeter deviation value.

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