CN105823414A - Three-dimensional scanner technology-based embedded part position detection method - Google Patents
Three-dimensional scanner technology-based embedded part position detection method Download PDFInfo
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- CN105823414A CN105823414A CN201510007709.9A CN201510007709A CN105823414A CN 105823414 A CN105823414 A CN 105823414A CN 201510007709 A CN201510007709 A CN 201510007709A CN 105823414 A CN105823414 A CN 105823414A
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Abstract
The invention relates to a three-dimensional scanner technology-based embedded part position detection method. The method comprises steps: all embedded part central points are marked, three or more than three control reference points are selected from the embedded part central points, coordinates of the control reference points in a construction coordinate system are measured, a scanner is erected, positions with the embedded part central points are scanned, data of the scanner are read, numbers of the embedded part central points are marked according to the scanned data, a file is used for outputting coordinates of each point of the embedded part central points, the scanned data are converted into the construction coordinate system through the control reference points, and coordinate values of the embedded part central points in the construction coordinate system are obtained. According to the method of the invention, an accurate detection result can be obtained, a basis can be provided for detection and acceptance of a nuclear power construction wall and a bottom plate embedded part, the difficult problem of detecting positions of embedded parts, especially when the number of embedded parts is large, in the case of nuclear power construction can be solved, safety of detecting an overhead embedded part is improved, the detection is flexible, and field construction quality control requirements can be met.
Description
Technical field
The present invention relates to a kind of embedded part position inspecting method based on spatial digitizer technology, belong to technical field of nuclear power station construction.
Background technology
Nuclear Power Station Factory Building equipment, pipeline are many, body of wall, that base plate reserves embedded part is many, in work progress, inspection is frequent, pendulous frequency is many, body of wall is high, construction site condition is poor, check that inconvenience, security performance are difficult to ensure, check that the time spent is long, be unfavorable for the optimization of construction period, it is impossible to guarantee work quality.
Summary of the invention
The technical problem to be solved is, the shortcoming overcoming prior art, proposes embedded part position inspecting method based on spatial digitizer technology, uses scanning survey, checks that safety is high, detection is flexible, it is convenient to measure.
In order to solve above technical problem, the present invention provides a kind of embedded part position inspecting method based on spatial digitizer technology, comprises the following steps:
The first step, mark will be embedded in the color identification that building (room body of wall, top board and ground) needs the embedded part center difference surrounding of labelling point；
Second step, fixed point selection at least three embedded part center are as controlling datum mark, and measurement determines the original cartesian coordinate value in each relatively primitive construction coordinate system of control datum mark；
3rd step, scanning use building described in scanner scanning, obtain the scanogram at each embedded part center；
4th step, reading, by image procossing, identify each embedded part center, and obtain the coordinate figure that embedded part central point is positioned in scanner coordinate system,
Each embedded part is centrally located at, by controlling datum mark, the coordinate figure that the coordinate figure at scanner center is converted in construction coordinate system by the 5th step, conversion, comprises the steps of,
(1) construction coordinate system azimuth angle alpha is calculated according to the coordinate controlling datum mark1, control, according to corresponding, the coordinate calculating scanner azimuth angle alpha that datum mark exports in scanner2, pass through α1And α2Draw the azimuth difference Δ of two coordinate systems, Δ=α1-α2；
(2) scanner center point coordinate (X is calculated0, Y0, Z0),X0=A1-X1*COSΔ+Y1* SIN Δ, Y0=B1-X1*SINΔ-Y1* COS Δ, Z0=H1-Z1, wherein (A1, B1, H1) it is a control datum mark coordinate, (X1, Y1, Z1) it is that scanner scanning controls datum mark (A1, B1, H1) point coordinates；
(3) by the coordinate (X of scanner output pointi, Yi, Zi) be converted to the coordinate (A of construction coordinate systemi, Bi, HI), wherein Ai=A0+Xi*COSΔ-Yi*SINΔ,Bi=B0+Xi*SINΔ+Yi* COS Δ, Hi=Zi+Z0。
Further, black and white paint mark in embedded part center in described first step mark.
HDS7000 three-dimensional laser scanner is by information such as the three-dimensional coordinates of the substantial amounts of intensive point in record testee surface, the various map data such as threedimensional model and line, face, the body of quickly rebuilding out measured target, identification point is painted according to black and white, by interior industry software part, identify the embedded part coordinate information of embedded part central point and scanner coordinate system
The invention has the beneficial effects as follows: a kind of embedded part position inspecting method based on spatial digitizer technology of the present invention, during implementing, welcome by scanner place in place, need not the position of calibration scan instrument, have only to select three embedded part central points as controlling datum mark and measuring the coordinate of control datum mark arbitrarily, just can draw the coordinate figure that embedded part central point is positioned in construction coordinate system accurately, thus be nuclear power construction body of wall, base plate built-in fitting is inspected for acceptance offer foundation, solve embedded part position in nuclear power construction, an inspection difficult problem for embedded part position when particularly embedded part amount is the biggest, and embedded part is positioned to the inspection in high-altitude, safety is greatly improved, detection significantly improves flexibly, measure the most convenient a lot, result contributes to meeting the quality control needs of site operation.
Accompanying drawing explanation
Fig. 1 is that a kind of of the present invention checks schematic diagram；
Fig. 2 is that schematic diagram is arranged in the embedded part central point position of the inventive method scanning.
Detailed description of the invention
Embodiment 1
A kind of based on HDS7000 spatial digitizer technology the embedded part position inspecting method that the present embodiment provides, as depicted in figs. 1 and 2, wherein, construction coordinate system initial point is the point of intersection on ground and two sides side wall, and A axle is the intersection on parallel ground and body of wall, B axle vertical A axle on the ground, on H is axial, meeting right-handed coordinate system, the plane that the X-axis of scanner coordinate system forms with Y-axis is parallel to the ground, and also comply with right-handed coordinate system, comprise the following steps:
The first step, six embedded part central points black and white paint mark on room body of wall, top board and ground, will be distributed；
Second step, selecting three to control datum marks 1,2,3 at six embedded part central points, three point coordinates are respectively
1(A5010.3242,B2989.6018,H7.7572),
2(A5016.4000,B2996.4401,H7.7588),
3(A5006.5248,B2999.4000,H7.7105)；
Building described in 3rd step, use scanner scanning, obtains the scanogram at each embedded part center；
4th step, by image procossing, identify each embedded part center, and obtain the coordinate figure that embedded part central point is positioned in scanner coordinate system, output embedded part central point center and establishment period, the coordinate of six center points is as follows,
1(X-0.9706,Y5.2849,Z0.1472),
2(X-9.5770,Y2.1854,Z0.1458),
3(X-2.3202,Y-5.1371,Z0.1005),
4(X-6.1034,Y-3.3095,Z3.4513),
5(X-5.1400,Y-3.8350,Z3.4518),
6 (X-6.4530, Y-3.1360, Z2.0100),
Wherein 1 (X-0.9706, Y5.2849, Z0.1472), 2 (X-9.5770, Y2.1854, Z0.1458) and 3 (X-2.3202, Y-5.1371, Z0.1005) are three and control datum mark 1,2,3 correspondence coordinate in scanner；
5th step, by control datum mark scan data is transformed into construction coordinate system, comprise the following steps that,
1, the construction coordinate system azimuth of No. 2 points is
α1=ASIN ((B2-B1)/SQRT ((A1-A2) ^2+ (B1-B2) ^2))=48.37905 °
1, the scanner coordinate system azimuth of No. 2 points is
α2=ASIN ((X2-X1)/SQRT ((X1-X2) ^2+ (Y1-Y2) ^2))=199.80592 °
Two coordinate system azimuth difference is Δ=α1-α2=48.37905-199.80592=-151.42687 °
X0=A1-X1*COSΔ+Y1* SIN Δ=5006.9442
Y0=B1-X1*SINΔ-Y1* COS Δ=2993.7788
Z0=H1-Z1=7.7572-0.1472=7.6100
Ai=A0+Xi*COSΔ-Yi*SINΔ,
Bi=B0+Xi*SINΔ+Yi*COSΔ
Hi=Zi+Z0
Then each point construction coordinate is changed out
Can show that the azimuth difference Δ of above-mentioned calculating gained and scanner center point coordinate are correct by the coordinate of No. three control datum marks in table, can change accordingly.
The coordinate figure that point after conversion is positioned in construction coordinate system and theoretical coordinate, compare to deviate value, such as following table.
Show that the numerical value after conversion differ the least with theoretical value from upper table, the maximum 20mm that is less than, precision height, efficiently solve embedded part position test problems, there is following remarkable advantage simultaneously:
1, measuring speed is fast, it is convenient to measure, and contributes to meeting the quality control of site operation；
2, accurately detect according to on-site actual situations, compared with original total powerstation inspection method, improve detection efficiency；
3, using simple embedded part center identification, embedded part can add in workshop and is just identified man-hour, and scene is not required to operation of ascending a height, and reliably facilitates；
4, the embedded part detection of efficient solution never co-located, application is flexible.
In addition to the implementation, the present invention can also have other embodiments.The technical scheme that all employing equivalents or equivalent transformation are formed, all falls within the protection domain of application claims.
Claims (3)
1. an embedded part position inspecting method based on spatial digitizer technology, it is characterised in that comprise the following steps:
The first step, mark will be embedded in the color identification that building (room body of wall, top board and ground) needs the embedded part center difference surrounding of labelling point；
Second step, fixed point selection at least three embedded part center are as controlling datum mark, and measurement determines the original cartesian coordinate value in each relatively primitive construction coordinate system of control datum mark；
3rd step, scanning use building described in scanner scanning, obtain the scanogram at each embedded part center；
4th step, reading, by image procossing, identify each embedded part center, and obtain the coordinate figure that embedded part central point is positioned in scanner coordinate system；
Each embedded part is centrally located at, by controlling datum mark, the coordinate figure that the coordinate figure at scanner center is converted in construction coordinate system by the 5th step, conversion, comprises the following steps:
5.1, construction coordinate system azimuth angle alpha is calculated according to the coordinate controlling datum mark1, control, according to corresponding, the coordinate calculating scanner azimuth angle alpha that datum mark exports in scanner2, pass through α1And α2Draw the azimuth difference Δ of two coordinate systems, Δ=α1-α2；
5.2, scanner center point coordinate (X is calculated0, Y0, Z0),X0=A1-X1*COSΔ+Y1* SIN Δ, Y0=B1-X1*SINΔ-Y1* COS Δ, Z0=H1-Z1, wherein (A1, B1, H1) be one and control the coordinate that is positioned in construction coordinate system of datum mark, (X1, Y1, Z1) it is that scanner scanning controls datum mark (A1, B1, H1) point coordinates；
5.3, by the coordinate (X of scanner output pointi, Yi, Zi) be converted to the coordinate (A of construction coordinate systemi, Bi, HI), wherein Ai=A0+Xi*COSΔ-Yi*SINΔ,Bi=B0+Xi*SINΔ+Yi* COS Δ, Hi=Zi+Z0。
Embedded part position inspecting method based on spatial digitizer technology the most according to claim 1: black and white paint mark in embedded part center in described first step mark.
Embedded part position inspecting method based on spatial digitizer technology the most according to claim 1: in described 3rd step, scanner uses HDS7000 three-dimensional laser scanner.
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| CN108747041A (en) * | 2018-04-19 | 2018-11-06 | 广州广汽荻原模具冲压有限公司 | A kind of N Reference Alignment method of dimension laser cutting plate |
| CN111380475A (en) * | 2020-03-24 | 2020-07-07 | 中国核工业华兴建设有限公司 | Truss hanging rail inspection method based on three-dimensional scanner technology |
| CN111504225A (en) * | 2020-04-30 | 2020-08-07 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN112177332A (en) * | 2020-09-26 | 2021-01-05 | 广东恒锋装饰工程有限公司 | Energy-saving and environment-friendly construction method for building exterior wall |
| CN114645550A (en) * | 2022-03-31 | 2022-06-21 | 中国核工业华兴建设有限公司 | Mounting and positioning method for embedded part of main pump evaporator |
| CN115329450A (en) * | 2022-10-14 | 2022-11-11 | 三一筑工科技股份有限公司 | Embedded part copying method and device |
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