Demolition evaluation system and demolition evaluation method

Abstract

To provide a demolition evaluation system and a demolition evaluation method capable of performing labor saving by achieving the safety of work before demolition work.SOLUTION: A demolition evaluation system includes point group acquisition means for acquiring a laser scan point group of an investigation space, point group image creation means for creating a point group image from the acquired laser scan point group, 3D image creation means for creating a 3D image of the investigation space from the point group image, attribute applying means for applying attributes that can discriminate an apparatus to respective apparatuses in the 3D image, calculation means for calculating the bore diameters and lengths of the respective apparatuses from the 3D image, information extraction means for extracting information of attributes, bore diameters and lengths from the 3D image in the respective apparatuses, list creation means for listing the attributes, the bore diameters and the lengths of the respective apparatuses to make a list for the respective apparatuses, and weight calculation means for calculating the weights of the respective apparatuses on the basis of the unit weights of the respective apparatuses, and the list creation means reflects the weights of the respective apparatuses in the created list.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention mainly relates to a disassembly evaluation system and a disassembly evaluation method for disassembled waste.

Background Art

[0002] In plant facilities, a large number of devices such as piping, supports, structures, and cable trays are installed. These devices may be contaminated, for example, by the attachment of radioactive substances to the inner surface of the piping. Patent Document 1 describes a method for calculating the radioactivity of a specific device. The method of Patent Document 1 measures the three-dimensional shape of disassembled waste such as various shapes, sizes, and radioactivity levels, measures the weight of the shape-measured radioactive waste, counts the emitted radiation, and performs radioactivity calculation using a virtual three-dimensional model.

[0003] When performing the disassembly work of plant facilities, if all a large number of devices are to be disassembled, it is common to assign priorities to the devices and perform the work in order from those with a lower contamination level. When trying to rank the contamination levels among the devices in the investigation space, the method of performing calculations for each device as in Patent Document 1 is time-consuming.

[0004] Therefore, conventionally, an operator acquires a 3D image of the site and the operator checks the device information on-site. Then, in the image, all the devices that require disassembly processing are extracted, and based on the respective device information (for example, system information, diameter, total length, material), the respective device weights are calculated. There are many devices to be disassembled in plant facilities, and the operator lists the device information by manual input and assigns a contamination level based on the device weight. Then, a construction plan is created to perform the disassembly work in order from those with a lower contamination level.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, especially at sites that are at high altitudes, in confined spaces, or in a radiation environment, the measurement work becomes particularly dangerous. Also, when there are many devices to be measured, it takes time and effort to list the device information and perform calculations of the device weights. Moreover, there are problems with accuracy in manual work by operators.

[0007] In view of the above problems, the present invention provides a disassembly evaluation system and a disassembly evaluation method that can improve work safety and achieve labor savings when performing an evaluation before disassembly work.

Means for Solving the Problems

[0008] The disassembly evaluation system of the present invention is a disassembly evaluation system that outputs a list of the weights of each device installed in a plant facility before disassembly, and includes a point cloud acquisition means for acquiring a laser scan point cloud of an investigation space, a point cloud image creation means for creating a point cloud image from the acquired laser scan point cloud, a 3D image creation means for creating a 3D image of the investigation space from the point cloud image, an attribute assignment means for assigning an attribute that can identify a device to each device in the 3D image, a calculation means for calculating the diameter and length of each device from the 3D image, an information extraction means for extracting information on attributes, diameters, and lengths from the 3D image for each device, a list creation means for creating a list by listing the attributes, diameters, and lengths for each device, and a weight calculation means for obtaining the weight of each device by calculation based on the unit weight of each device, and reflects the weight of each device in the list created by the list creation means.

[0009] According to the disassembly evaluation system of the present invention, since the diameter and length of a device can be calculated from a 3D image and the weight can be automatically calculated, the diameter, length, and weight can be accurately calculated, and the labor of calculation by an operator can be omitted. Furthermore, in conjunction with the 3D image, for each device, the attributes, diameter, length, and weight of the device can be displayed as a list, which is very convenient for the evaluation before the disassembly work.

[0010] The attributes are preferably the device name and system information. In this case, the weight and system information in the list can be used for the evaluation of the amount of radioactive waste or the exposure evaluation. Also, the evaluation of the amount of radioactive waste or the exposure evaluation based on the weight and system information in the list can be used for assigning the disassembly order of the devices.

[0011] The device is preferably any one of piping, supports, structures, and cable trays.

[0012] The disassembly evaluation method of the present invention is a disassembly evaluation method for list-outputting the quantity of each device installed in a plant facility before disassembly. It includes acquiring the laser scan point cloud of the survey space, creating a point cloud image from the acquired laser scan point cloud, creating a 3D image of the survey space from the point cloud image, assigning attributes that can identify the device to each device in the 3D image, calculating the diameter and length of each device from the 3D image, extracting information on attributes, diameter, and length from the 3D image for each device, creating a list by listing the attributes, diameter, and length for each device, calculating the weight of each device by calculation based on the unit weight of each device, and reflecting the weight of each device in the list created by the list creation means.

Effects of the Invention

[0013] In the disassembly evaluation system and the disassembly evaluation method of the present invention, when performing the evaluation before the disassembly work, the safety of the work can be ensured and labor can be saved.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 5.

[0016] FIG. 1 shows the disassembly evaluation system of the present invention. This disassembly evaluation system mainly outputs a list of the weights of each device installed in the plant equipment before disassembly, and the output list is mainly used for the amount of radioactive waste and exposure evaluation. Further, the device is any one of piping, support, structure, and cable tray in the present embodiment.

[0017] The disassembly evaluation system of the present embodiment includes a point cloud acquisition means 1, a point cloud image creation means 2, a 3D image creation means 3, an attribute assignment means 4, an arithmetic means 5, a list output means 6, a unit weight input means 7, and a weight arithmetic means 8.

[0018] The point cloud acquisition means 1 is a 3D laser scanner, which is a measuring instrument capable of acquiring 3D coordinates of the surface shape by irradiating the measurement target with a laser radially. It can measure non-contact at a speed of tens of thousands of points per second (varying depending on the model), and high-density and planar point cloud data can be obtained. The 3D coordinates are calculated based on the distance to the measurement target obtained from the laser reflection time and the irradiation angle. Also, the point cloud data can be colored according to the color of the photo taken by the built-in digital camera and the laser reflection intensity (the degree of laser reflection that varies depending on the material and color of the measurement target). Furthermore, for the back side or a wide area of the measurement target that cannot be measured from a single location, the targets can be made common points and synthesized or coordinated among multiple scan data, enabling safe measurement without entering dangerous locations.

[0019] A point cloud is a collection of points, generally represented in three-dimensional orthogonal coordinates (x, y, z). The point cloud data is composed of 3D coordinate values (X, Y, Z) and color information (R, G, B).

[0020] The data of the laser scan point cloud acquired by the point cloud acquisition means 1 is processed by a computer (not shown). Basically, a computer is composed of an input means having an input function, an output means having an output function, a storage means having a storage function, an arithmetic means having an arithmetic function, and a control means having a control function. The input function is for reading information from the outside into the computer, and the read data and programs are converted into signals in a format suitable for the computer system. The output function is for displaying the calculation results, stored data, etc. to the outside. The storage means stores and saves programs, data, processing results, etc. The arithmetic function processes data by performing calculations and comparisons according to the instructions of the program. The control function decodes the instructions of the program and issues instructions to each means, and this control function oversees all the means of the computer. Examples of the input means include a keyboard, a mouse, a tablet, a microphone, a joystick, a scanner, a capture board, etc. Examples of the output means include a monitor, a speaker, a printer, etc. Examples of the storage means include a memory, a hard disk, a CD·CD-R, a PD·MO, etc. Examples of the arithmetic means include a CPU, etc., and examples of the control means include a CPU, a motherboard, etc.

[0021] Hereinafter, each means in the computer will be described. The point cloud image creation means 2 creates a point cloud image 10 as shown in FIG. 2 from the data of the point cloud acquired by the point cloud acquisition means 1. As described above, in the point cloud data, tens of millions of points or more are gathered, and the coordinate values of "X, Y, Z" are stored for each point, and the color information of "R, G, B" is also stored. Therefore, when the points are gathered, an image like a photograph is formed.

[0022] The 3D image creation means 3 creates a 3D image 11 of the inspection space as shown in FIG. 3 from the point cloud image 10. That is, the 3D image creation means 3 meshes the point cloud data (converts it into polygon data), fills in the holes in the areas that could not be scanned, and creates mesh data without holes. Then, a surface is generated from the mesh data, and the number of faces is reduced to create 3D CAD data. With the 3D image 11 obtained by imaging this, the operator can identify each device on the image.

[0023] The attribute assignment means 4 assigns (registers) attributes that can identify each device to each device in the 3D image 11. In this embodiment, the attributes are the device name and system information. The device name is the general name of the device, such as "pipe, straight pipe, angle steel, H-shaped steel", etc. The system information (power system) is information on the facilities from power generation to consumption, including power generation (such as thermal power plants and solar power plants), power transformation (such as substations), power transmission (such as transmission lines), and power distribution (such as distribution lines and service drops). For example, in the 3D image 11, the operator selects and designates the device 12a by clicking or the like, and inputs the device name and system information into a predetermined input field (such as a property). Further, the same operation is performed for the devices 12b, 12c, ···. As a result, attributes (the general name of the device and which power system it belongs to) are assigned as data to each device in the 3D image 11, and each device in the 3D image 11 can be identified.

[0024] The calculation means 5 calculates the diameter and length of each device from the 3D image 11. That is, the calculation means 5 determines the dimensions in the length direction and the dimensions in the direction orthogonal to the length direction of each device in the 3D image 11, and calculates the actual length and diameter of the device from them. As a result, in the 3D image 11, in addition to the attributes (device name and system information), the length and diameter are assigned as data to each device.

[0025] The information extraction means 6 extracts information on attributes, diameters, and lengths from the 3D image 11 for each device, and the list creation means 7 creates a list by listing the attributes, diameters, and lengths for each device. That is, in the 3D image 11, for each device, the device name, system information, diameter, and length are registered as data. The information extraction means 6 extracts only this data for each device, and the list creation means 7 arranges and displays it as a list as shown in FIG. 4.

[0026] The weight calculation means 8 calculates the weight of each device by calculation based on the unit weight of each device, and reflects the weight of each device in the list created by the list creation means. As the weight calculation means 8, for example, calculation software such as Excel can be used. That is, by pasting the list created by the list creation means 7 into Excel and having the operator input the unit weight of each device, the weight calculation means 8 calculates the weight of each device by calculation.

[0027] In this list, the device name, system information, diameter, length, and weight are listed as information. This list can have items added later. The weight and system information in this list are used for radioactive waste volume evaluation or exposure evaluation. That is, if the system information is known, it is possible to estimate the presence or absence of contamination from the enclosed fluid and the contamination level for each device. Thereby, for example, a disassembly ranking is assigned in ascending order of the contamination level, and disassembly is performed according to the disassembly ranking. In this case, the disassembly work can be performed in ascending order of the contamination level, and it becomes possible to plan the disassembly work according to the contamination level.

[0028] Next, a method for evaluating the weight using this disassembly evaluation system will be described. For example, a method for outputting a list of the weights of each device (piping, support, structure, cable tray) installed in the plant equipment before disassembly will be described.

[0029] First, a point cloud acquisition means 1, which is a laser scanner, is installed in the space to be investigated (investigation space). The laser scanner is installed via a tripod at, for example, the central position of the investigation space to acquire the point cloud of the investigation space (step S1). This acquisition of the point cloud may be performed by a single shot, or the investigation space may be divided into multiple locations for shooting. Also, multiple laser scanners may be installed in one investigation space.

[0030] The point cloud image creation means 2 creates a point cloud image 10 as shown in FIG. 2 from the data of the laser scan point cloud acquired by the point cloud acquisition means 1 (step S2). Next, the 3D image creation means 3 creates a 3D image 11 of the investigation space as shown in FIG. 3 from the point cloud image 10 (step S3).

[0031] The attribute assignment means 4 assigns attributes (equipment name and system information) that can identify the equipment to each equipment in the 3D image 11 (step S4). As a result, in the 3D image, attributes are assigned (registered) as data to each equipment.

[0032] The calculation means 5 calculates the diameter and length of each equipment from the 3D image 11 (step S5). As a result, in the 3D image 11, in addition to the attributes, the length and diameter are assigned as data to each equipment.

[0033] The information extraction means 6 extracts information on attributes, diameter, and length from the 3D image 11 for each equipment, and the list creation means 7 creates a list by listing the attributes, diameter, and length for each equipment (step S6).

[0034] The operator pastes this list into calculation software such as Excel, for example, and further inputs the unit weight for each equipment. Then, the calculation software (weight calculation means 8) calculates the weight of each equipment based on the unit weight of each equipment, and reflects the weight of each equipment in the list (step S7).

[0035] This list provides information on equipment names, system information, calibers, lengths, and weights. Based on this list, the operator conducts an evaluation of the disassembly work (step S8). That is, based on the weight and system information, a radioactive waste volume evaluation or a radiation exposure evaluation is performed, and the disassembly work is carried out in order from the equipment with less contamination.

[0036] In the disassembly evaluation system and method of the present invention, since the caliber and length of the equipment can be calculated from the 3D image and the weight can be automatically calculated, the caliber, length, and weight can be accurately calculated, and the labor of the operator for calculation can be omitted. Furthermore, in conjunction with the 3D image, for each piece of equipment, the attributes, caliber, length, and weight of the equipment can be displayed as a list, so that the safety of the work can be ensured and labor savings can be achieved when conducting the evaluation before the disassembly work.

[0037] As described above, the embodiments of the present invention have been explained, but the present invention is not limited to the above embodiments and various modifications are possible. For example, the attributes are preferably the equipment name and system information, but are not limited thereto as long as the information can identify each annular equipment. In the embodiment, the equipment was any one of piping, supports, structures, and cable trays, but is not limited thereto. The weight calculation means is not limited to Excel, and any calculation software may be used. The unit weight can also be input when assigning attributes in the 3D image.

[0038] The point cloud acquisition means (laser scanner) can be mounted on the moving means. As the moving means, for example, a vehicle, a drone, etc. can be used.

Explanation of Reference Numerals

[0039] 1 Point cloud acquisition means 2 Point cloud image creation means 3 3D image creation means 4 Attribute assignment means 5 Calculation means 6 Information extraction means 7 List creation means 8 Weight calculation means

Claims

1. In a disassembly evaluation system for listing the weights of individual devices installed in a plant facility before disassembly, a point cloud acquisition means for acquiring a laser scan point cloud of the survey space; a point cloud image creation means for creating a point cloud image from the acquired laser scan point cloud; a 3D image creation means for creating a 3D image of the survey space from the point cloud image; an attribute assignment means for assigning an attribute capable of discriminating a device to each device in the 3D image; a calculation means for calculating the diameter and length of each device from the 3D image; an information extraction means for extracting information on attributes, diameter, and length from the 3D image for each device; a list creation means for creating a list by listing attributes, diameter, and length for each device; a weight calculation means for obtaining the weight of each device by calculation based on the unit weight of each device, and characterized in that the weight of each device is reflected in the list created by the list creation means.

2. The disassembly evaluation system according to claim 1, wherein the attribute is a device name and system information.

3. The disassembly evaluation system according to claim 2, wherein the weight and system information in the list are used for radioactive waste amount evaluation or exposure evaluation.

4. The disassembly evaluation system according to claim 2, wherein the radioactive waste amount or exposure evaluation based on the weight and system information in the list is used for assigning a disassembly order to the devices.

5. The disassembly evaluation system according to claim 1, wherein the device is any one of piping, supports, structures, and cable trays.

6. In a disassembly evaluation method for listing the quantity of each device installed in a plant facility before disassembly, acquire a laser scan point cloud of the survey space, create a point cloud image from the acquired laser scan point cloud, create a 3D image of the survey space from the point cloud image, assign an attribute capable of discriminating a device to each device in the 3D image, calculate the diameter and length of each device from the 3D image, extract information on attributes, diameter, and length from the 3D image for each device, create a list by listing attributes, diameter, and length for each device, obtain the weight of each device by calculation based on the unit weight of each device, A disassembly evaluation method characterized by reflecting the weight of each device in the list created by the list creation means.

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