Method and device for verifying the conformity of an anchoring device of equipment in a nuclear power plant

Abstract

Method (100) for verifying conformity of an anchoring device (2) of equipment of a nuclear power plant, comprising the steps of providing (101) a 3D scanning device comprising a 3D scanner (1), projecting (102) a light pattern comprising a set of light points onto a portion of a surface of the anchoring device, acquiring (103) at least one image of the portion of the surface of the anchoring device with the projected light pattern; constructing (104), by the processing processor, a digital 3D model of the anchoring device from the at least one image, analyzing (105) the digital 3D model (4) to identify a non-conformity of the anchoring device with respect to a reference specification. Figure 5

Description

Title of the invention: Method and device for verifying the conformity of an anchoring device of equipment in a nuclear power plant

[0001] The present invention relates to the field of verifying the conformity of anchoring zones in nuclear power plants.

[0002] Known solutions for acquiring a precise three-dimensional model of an object are bulky, difficult to transport, and difficult to implement, particularly when the objects considered are located in areas that are directly inaccessible to an operator, in particular pipe support areas or equipment anchoring areas of a nuclear power plant. Checking the conformity of these anchoring areas is then made particularly difficult, if not impossible.

[0003] The invention therefore aims to propose a solution to all or part of these problems.

[0004] To this end, the present invention relates to a method for verifying the conformity of an anchoring device of equipment in a nuclear power plant, comprising the following steps:

[0005] - provision of a 3D scanning device comprising a 3D scanner, the 3D scanner comprising a projector, an imager, and a digital data processing processor, - projection, by the projector, of a light pattern comprising a set of light points, the light pattern being projected onto a portion of a surface of the anchoring device, in at least one projection direction;

[0006] - acquisition, by the imager, of at least one image of the portion of the surface of the anchoring device with the light pattern projected onto the portion of the surface of the anchoring device, the acquisition of the at least one image being carried out according to an acquisition direction, defined as a function of the at least one projection direction; - construction, by the processing processor, of a digital 3D model of the anchoring device from the at least one image; - analysis of the digital 3D model to identify non-conformity of the anchoring device with respect to a reference specification of the anchoring device, conformity being determined when the analysis does not identify any non-conformity.

[0007] According to one embodiment, the invention comprises one or more of the following characteristics, alone or in a technically acceptable combination.

[0008] According to one embodiment, the light pattern forms a line of light points, or a grid of light points, when projected onto a plane.

[0009] According to one embodiment, the analysis comprises a comparison of the digital 3D model with a reference digital 3D model.

[0010] According to one embodiment, the acquisition step comprises the acquisition of at least two images, at least one image of the surface portion of the anchoring device being acquired along one acquisition direction and at least one other image of the surface portion or another surface portion of the anchoring device being acquired along another acquisition direction, the construction of the digital 3D model of the anchoring device being carried out from the at least two images;

[0011] According to its provisions, the digital 3D model is more precise and more complete, in particular in that it covers a more complete portion of the surface of the anchoring device.

[0012] According to one embodiment, the 3D scanning device further comprises a pole, the 3D scanner being mounted on an end portion of the pole, the pole being held by another end portion of the pole, by an operator located at a distance from the 3D scanner in a direction of extension of the pole.

[0013] According to one embodiment, the pole is telescopic.

[0014] According to one embodiment, the 3D scanner is pivotally mounted around the end portion of the pole, such that the acquisition direction of the 3D scanner forms a variable angle with the extension direction of the pole, the other end portion of the pole being provided with a device for controlling an orientation of the acquisition direction of the 3D scanner.

[0015] According to these arrangements, the operator can acquire images from different angles of different portions of the surface of a remote anchoring device out of the direct range of the operator, in order to access shadow areas of the surface of an anchoring device, without modifying the direction of extension of the pole.

[0016] According to one embodiment, the operator uses a harness to help hold the pole. The operator equipped with this harness can place the base of the pole in a housing on the harness allowing him to free up one hand to orient the scanner with a control lever and to gain precision in handling the 3D scanner remotely, and to limit his fatigue as much as possible.

[0017] According to one embodiment, the 3D scanner can be installed in a semi-fixed position on a tripod.

[0018] The invention also relates to a 3D scanning device comprising a 3D scanner, the 3D scanner comprising a projector, an imager, and a digital data processing processor, the 3D scanning device further comprising a pole, the 3D scanner being mounted on an end portion of the pole, the pole being held by another end portion of the pole, by an operator located at a distance from the 3D scanner in a direction of extension of the pole, the 3D scanner being pivotally mounted around the end portion of the pole, so that the acquisition direction of the 3D scanner forms a variable angle with the extension direction of the pole, the other end portion of the pole being provided with a device for controlling an orientation of the acquisition direction of the 3D scanner, the 3D scanner being configured to implement the steps of the method according to one of the implementation modes described previously.

[0019] For a better understanding, an embodiment and / or implementation of the invention is described with reference to the attached drawings representing, by way of non-limiting example, an embodiment or implementation respectively of a device and / or a method according to the invention. The same references in the drawings designate similar elements or elements whose functions are similar.

[0020] [Fig.l] is a perspective view of a 3D scanner according to one embodiment of the invention.

[0021] [Fig.2] is a simplified representation of a 3D scanning device comprising a 3D scanner mounted on a pole.

[0022] [Fig.3] is a simplified representation of a 3D scanning device comprising a 3D scanner mounted on a pole according to a first acquisition direction of the 3D scanner.

[0023] [Fig.4] is a simplified representation of a 3D scanning device comprising a 3D scanner mounted on a pole according to a second acquisition direction of the 3D scanner.

[0024] [Fig.5] is a simplified diagram of the sequence of steps of the method according to one embodiment of the invention.

[0025] [Fig.6] is an example of an anchoring device.

[0026] [Fig.7] is an example of a support device.

[0027] [Fig.8] is another example of an anchoring device.

[0028] [Fig.9] is an example 3D model obtained for the anchoring device of [Fig.8] with the method according to the invention for verifying the conformity of said device.

[0029] In this document, the term anchoring and / or support device refers to the robust fixing and support devices for equipment or a mechanical component, such as piping for example, on a so-called fixed element, such as civil engineering or a structure known to be solid, the fixing and support device making it possible to maintain the equipment in a precisely defined position and maintained over time while resisting the stresses (normal and accidental) which may be experienced during its use.

[0030] Figures 6, 8 show two different examples of anchoring devices and [Fig.7] shows an example of a supporting device.

[0031] In the remainder of this document, the term “anchoring device” will be used to designate both an anchoring device and a support device.

[0032] The method 100 according to the present invention is aimed more particularly at anchoring devices which have the common characteristic of, on the one hand, comprising numerous zones masked from a given viewing angle, and on the other hand, of serving to fix equipment of a nuclear power plant to places inaccessible to an operator.

[0033] The method 100 therefore aims to enable the conformity of an anchoring device of equipment in a nuclear power plant to be verified.

[0034] For this, the method 100 comprises the following steps, presented below with reference to [Fig.5]:

[0035] - provision 101 of a 3D scanning device comprising a 3D scanner 1, the 3D scanner comprising a projector, an imager, and a digital data processing processor; an exemplary embodiment of a 3D scanner which integrates a projector, an imager, and a digital data processing processor is presented in [Fig.l]; - projection 102, by the projector of the 3D scanner, of a light pattern comprising a set of light points, the light pattern being projected onto a portion of a surface of the anchoring device, in at least one projection direction; according to one embodiment, the light pattern comprises one or more light lines, for example in the shape of a grid, when the projection is carried out on a plane transverse to a projection axis of the projector. When the projection is carried out on a complex, non-planar surface, such as that of the anchoring device, the projected light pattern has the shape of one or more lines, for example a grid, deformed according to the shape of the surface of the anchoring device.

[0036] - acquisition 103, by the imager, of at least one image of the portion of the surface of the anchoring device with the light pattern projected onto the portion of the surface of the anchoring device, the acquisition of the at least one image being carried out according to an acquisition direction A1, A2, defined as a function of the at least one projection direction; according to an exemplary implementation of the method, corresponding to a use of the 3D scanner of [Fig.l], the acquisition direction of the image is identical to the projection direction, the two directions being determined for example by an angular position A1, according to [Fig.3], or by another angular position A2, according to [Fig.4], of the 3D scanner of [Fig.l]. - construction 104, by the processing processor, of a digital 3D model 4 of the anchoring device from the at least one image; the construction of a digital 3D model of a surface from one or more images of a light pattern projected onto the surface acquired by an imager of a 3D scanner is automatic and known to those skilled in the art. An example of a digital 3D model 4 of the anchoring device shown in [Fig.8], obtained with a 3D scanner, for example that shown in [Fig.l], is presented in [Fig.9]. - analysis 105 of the digital 3D model 4 to identify a non-conformity of the anchoring device with respect to a reference specification of the anchoring device, the conformity being determined when the analysis does not identify any non-conformity; the reference specification comprises for example plans of the anchoring device, and / or a list of the dimensions of the anchoring device and its components, and / or a reference digital 3D model of the anchoring device and its components. Thus, the analysis step 105 may comprise a measurement on the 3D digital model constructed in the previous construction step of particular dimensions and a manual comparison of the measurements made with the corresponding dimensions of the specification. The analysis step 105 may also comprise an automated comparison of the digital 3D model, constructed in the previous construction step, with a reference digital 3D model included in the specification.

[0037] According to an exemplary implementation, the acquisition step 103 comprises the acquisition of at least two images, at least one image of the surface portion of the anchoring device being acquired along an acquisition direction A1 and at least one other image of the surface portion or another surface portion of the anchoring device being acquired along another acquisition direction A2, the construction of the digital 3D model of the anchoring device being carried out from the at least two images; thus, the other image, acquired along the other acquisition direction A2, by making it possible to acquire another portion of the surface of the anchoring device which was masked on the first image, makes it possible to obtain at the construction step a more complete, and / or more precise, digital 3D model.

[0038] According to a particular example of implementation, the 3D scanning device further comprises a pole 3, the 3D scanner being mounted on one end of the pole 3, the pole being held by another end of the pole 3, by an operator located at a distance from the 3D scanner in a direction of extension of the pole 3. An example of embodiment of a 3D scanner 1 mounted on a pole 3 according to the invention is presented in FIGS. 2, 3 and 4. Thus, thanks to the pole the operator can access anchoring devices that are directly inaccessible to an operator.

[0039] According to one embodiment, the pole is telescopic.

[0040] According to a more particular example of implementation, the 3D scanner is mounted pivoting around the end of the pole, so that the acquisition direction of the 3D scanner forms a variable angle A1, A2 with the extension direction of the pole, the other end part of the pole being provided with a device for controlling a orientation of the acquisition direction of the 3D scanner. An example of the production of a 3D scanner 1 mounted on a pole 3 at a variable angle A1, A2 with the extension direction of the pole, is presented in figures 3 and 4.

[0041] According to these provisions, the operator can acquire images from different angles of different portions of the surface of an anchoring device, remote and out of direct range of the operator, in order to access shadow areas of the surface of an anchoring device, without modifying the direction of extension of the pole.

[0042] According to one embodiment, the operator uses a harness to help hold the pole. The operator equipped with this harness can place the base of the pole in a housing on the harness allowing him to free up one hand to orient the scanner with a control lever and to gain precision in handling the 3D scanner remotely, and to limit his fatigue as much as possible.

[0043] According to one embodiment, the 3D scanner can be installed in a semi-fixed position on a tripod.

[0044] According to one aspect, the invention also relates to a 3D scanning device comprising a 3D scanner 1, the 3D scanner 1 comprising a projector, an imager, and a digital data processing processor, the 3D scanning device further comprising a pole 3, the 3D scanner being mounted on an end portion of the pole 3, the pole 3 being held by another end portion of the pole 3, by an operator located at a distance from the 3D scanner in a direction of extension of the pole, the 3D scanner being pivotally mounted around the end portion of the pole 3, so that the acquisition direction of the 3D scanner forms a variable angle A1, A2 with the direction of extension of the pole, the other end portion of the pole being provided with a device for controlling an orientation of the acquisition direction of the 3D scanner,the 3D scanner being configured to implement the steps of the method according to one of the implementation modes described previously.,

Claims

Claims

1. Method (100) for verifying conformity of an anchoring device (2) of equipment of a nuclear power plant, comprising the following steps: - providing (101) a 3D scanning device comprising a 3D scanner (1), the 3D scanner (1) comprising a projector, an imager, and a digital data processing processor, - projection (102), by the projector, of a light pattern comprising a set of light points, the light pattern being projected onto a portion of a surface of the anchoring device, according to at least one projection direction; - acquisition (103), by the imager, of at least one image of the portion of the surface of the anchoring device with the light pattern projected onto the portion of the surface of the anchoring device, the acquisition of the at least one image being carried out according to an acquisition direction (A1, A2), defined as a function of the at least one projection direction;- construction (104), by the processing processor, of a digital 3D model of the anchoring device from the at least one image; - analysis (105) of the digital 3D model (4) to identify a non-conformity of the anchoring device with respect to a reference specification of the anchoring device, the conformity being determined when the analysis does not identify any non-conformity characterized in that the 3D scanning device further comprises a pole (3), the 3D scanner being mounted on an end portion of the pole (3), the pole (3) being held, at another end portion of the pole (3), by an operator located at a distance from the 3D scanner in a direction of extension of the pole.;

2. A method according to claim 1, wherein the light pattern forms a line of light spots, or a grid of light spots, when projected onto a plane.

3. A method according to claim 1 or 2, wherein the analysis comprises comparing the digital 3D model with a reference digital 3D model.

4. Method according to one of the preceding claims, in which the acquisition step (103) comprises the acquisition of at least two images, at least one image of the surface portion of the device anchoring being acquired along an acquisition direction (Al) and at least one other image of the surface portion or another surface portion of the anchoring device, being acquired along another acquisition direction (A2), the construction of the digital 3D model of the anchoring device being carried out from the at least two images;

5. The method of claim 1, wherein the 3D scanner is pivotally mounted around the end portion of the pole, such that the acquisition direction of the 3D scanner forms a variable angle with the extension direction of the pole, the other end portion of the pole being provided with a device for controlling an orientation of the acquisition direction of the 3D scanner.

6. A 3D scanning device comprising a 3D scanner (1), the 3D scanner (1) comprising a projector, an imager, and a digital data processing processor, the 3D scanning device further comprising a pole (3), the 3D scanner being mounted on one end portion of the pole (3), another end portion of the pole (3) being configured so that the pole (3) can be held by an operator located at a distance from the 3D scanner in a direction of extension of the pole, the 3D scanner being pivotally mounted around the end portion of the pole (3), such that the acquisition direction of the 3D scanner forms a variable angle (A1, A2) with the direction of extension of the pole, the other end portion of the pole being provided with a device for controlling an orientation of the acquisition direction of the 3D scanner,the 3D scanner being configured to implement the steps of the method according to one of the preceding claims.,

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