CN105823414B - A kind of embedded part position inspecting method based on spatial digitizer technology - Google Patents
A kind of embedded part position inspecting method based on spatial digitizer technology Download PDFInfo
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- CN105823414B CN105823414B CN201510007709.9A CN201510007709A CN105823414B CN 105823414 B CN105823414 B CN 105823414B CN 201510007709 A CN201510007709 A CN 201510007709A CN 105823414 B CN105823414 B CN 105823414B
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Abstract
The present invention relates to a kind of embedded part position inspecting methods based on spatial digitizer technology, including by all embedded part center point identifications, three or more control datum marks are selected in embedded part central point, measure coordinate of the control datum mark in construction coordinate system, set up scanner, the position for having embedded part central point is scanned, reading scan instrument data, embedded part center period is identified according to scan data, with each point coordinates of text output embedded part central point, scan data is transformed into construction coordinate system by controlling datum mark, show that embedded part central point is located at the coordinate value of construction coordinate system.The present invention can not only obtain accurate testing result, to inspect for acceptance for nuclear power construction wall, bottom plate built-in fitting and provide foundation, solves the problems, such as the inspection of embedded part position when embedded part position in nuclear power construction, particularly especially big embedded part amount, and the inspection in high-altitude is located at for embedded part the safety is improved, detection is flexible, contribute to the quality control needs for meeting site operation.
Description
Technical field
The present invention relates to a kind of embedded part position inspecting methods based on spatial digitizer technology, belong to nuclear power station construction technology
Field.
Background technology
Nuclear Power Station Factory Building equipment, pipeline are more, and the reserved embedded part of wall, bottom plate is more, are checked in work progress frequently, pendulous frequency
More, wall is high, construction site condition is poor, checks that inconvenient, security performance is not easy to ensure, checks that the time it takes is long, is unfavorable for
The optimization of construction period, is unable to ensure work quality.
Invention content
The technical problem to be solved by the present invention is to the shortcomings that overcoming the prior art, proposes to be based on spatial digitizer technology
Embedded part position inspecting method, using scanning survey, check safe, detection flexibly, measure it is convenient.
In order to solve the above technical problems, the present invention provides a kind of embedded part position detection side based on spatial digitizer technology
Method includes the following steps：
The first step, mark --- will be embedded in building (room wall, top plate and ground) needs the embedded part center of mark point
With the color identification of difference ambient enviroment；
Second step, fixed point --- it selects at least three embedded part centers as control datum mark, and measures and determine each control base
Original cartesian coordinate value in relatively primitive construction coordinate system on schedule；
Third step, scanning --- using building described in scanner scanning, obtain the scan image at each embedded part center；
4th step is read --- and it by image procossing, identifies each embedded part center, and obtains embedded part central point and be located at scanning
Coordinate value in instrument coordinate system；
5th step, conversion --- the coordinate value that each embedded part center is located to scanner center by control datum mark is converted to
Coordinate value in construction coordinate system.
Further, each embedded part center is located at the coordinate value turn at scanner center by control datum mark by the 5th step
The coordinate value being changed in construction coordinate system comprises the steps of,
(1) construction coordinate system azimuth angle alpha is calculated according to the coordinate of control datum mark1, according to corresponding control datum mark
The coordinate exported in scanner calculates scanner azimuth angle alpha2, pass through α1And α2Obtain the azimuth difference Δ of two coordinate systems,
Δ=α1-α2；
(2) scanner central point coordinate (A in construction coordinate system is calculated0, B0, H0), A0=A1-X1*COSΔ+Y1*SIN
Δ, B0=B1-X1*SINΔ-Y1* COS Δs, H0=H1-Z1, wherein (A1, B1, H1) it is a control benchmark point coordinates, (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 Δs, Hi=Zi+H0。
HDS7000 three-dimensional laser scanners are by recording the letters such as a large amount of intensive three-dimensional coordinate of point in testee surface
Breath, quickly rebuilds out the various graph data such as threedimensional model and line, face, body of measured target, paints identification point according to black and white, leads to
Interior industry software part is crossed, the embedded part coordinate information of embedded part central point and scanner coordinate system is identified,
The beneficial effects of the invention are as follows：The present invention is based on the embedded part position inspecting methods of spatial digitizer technology, are implementing
During, it is welcome to place scanner in place, do not need the position of calibration scan instrument, it is only necessary to arbitrary
It selects three embedded part central points as control datum mark and measures the coordinate of control datum mark, so that it may be buried with accurately obtaining
Part central point is located at the coordinate value in construction coordinate system, to inspect for acceptance for nuclear power construction wall, bottom plate built-in fitting provide according to
According to, the inspection problem of embedded part position when solving embedded part position in nuclear power construction, particularly especially big embedded part amount, and for burying
Part is located at the inspection in high-altitude, and safety greatly improves, detects and flexibly significantly improves, measures apparent convenient very much, as a result contributes to
Meet the quality control needs of site operation.
Description of the drawings
Fig. 1 is a kind of inspection schematic diagram of the present invention；
Fig. 2 is the embedded part center point arrangement schematic diagram of the method for the present invention scanning.
Specific implementation mode
Embodiment 1
A kind of embedded part position inspecting method based on HDS7000 spatial digitizer technologies provided in this embodiment, such as Fig. 1 and
Shown in Fig. 2, wherein construction coordinate system origin is the point of intersection on ground and two sides side wall, and A axis is the friendship on parallel ground and wall
Line, B axle vertical A axis on the ground in H axial directions, meet right-handed coordinate system, the plane of the X-axis and Y-axis composition of scanner coordinate system
It is parallel to the ground, and right-handed coordinate system is also complied with, include the following steps：
The first step will be distributed six embedded part central points black and white paint mark on room wall, top plate and ground；
Second step selects three to control datum marks 1,2,3 in six embedded part central points, and 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)；
Third walks, using building described in scanner scanning, obtains the scan image at each embedded part center；
4th step, by image procossing, identify each embedded part center, and obtain embedded part central point and be located at scanner coordinate system
In coordinate value, export 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, Y 5.2849, Z0.1472), 2 (X-9.5770, Y2.1854, Z0.1458) and 3 (X-
2.3202, Y-5.1371, Z0.1005) it is that three control datum marks 1,2,3 correspond to the coordinate in scanner；
Scan data is transformed into construction coordinate system by the 5th step by controlling datum mark, is as follows,
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=ACOS ((X2-X1)/SQRT ((X1-X2) ^2+ (Y1-Y2) ^2))=199.80592 °
Two coordinate system azimuth difference is Δ=α1- α 2=48.37905-199.80592=-151.42687 °
A0=A1-X1*COSΔ+Y1* Δ=5006.9442 SIN
B0=B1-X1*SINΔ-Y1* Δ=2993.7788 COS
H0=H1-Z1=7.7572-0.1472=7.6100
Ai=A0+Xi*COSΔ-Yi*SINΔ,
Bi=B0+Xi*SINΔ+Yi*COSΔ
Hi=Zi+H0
Then each point construction coordinate is converted out
Azimuth difference Δ obtained by above-mentioned calculating can be obtained as the coordinate of No. three in table control datum marks and is swept
It is correct to retouch instrument center point coordinate, can be converted accordingly.
Transformed point be located at coordinate value in construction coordinate system and theoretical coordinate, compared with obtain deviation, such as following table.
Show that the numerical value after conversion differs very little with theoretical value from upper table, maximum is no more than 20mm, and precision is high, has
Effect solves the problems, such as embedded part position detection, while having following remarkable advantage：
1, measuring speed is fast, it is convenient to measure, and contributes to the quality control for meeting site operation；
2, it is accurately detected according to on-site actual situations, compared with original total powerstation inspection method, improves detection effect
Rate；
3, using simple embedded part center identification, embedded part can be just identified when workshop processes, and scene is not required to operation of ascending a height,
It is reliable convenient；
4, the embedded part detection for effectively solving different location, using flexible and convenient.
In addition to the implementation, the present invention can also have other embodiment.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (1)
1. a kind of embedded part position inspecting method based on spatial digitizer technology, it is characterised in that include the following steps：
The first step, mark --- by be embedded in building need mark point embedded part center distinguish ambient enviroment color identification；
Second step, fixed point --- it selects at least three embedded part centers as control datum mark, and measures and determine each control datum mark
Original cartesian coordinate value in relatively primitive construction coordinate system；
Third step, scanning --- using building described in scanner scanning, obtain the scan image at each embedded part center；
4th step is read --- and it by image procossing, identifies each embedded part center, and obtains embedded part central point and be located at scanner seat
Coordinate value in mark system；
5th step, conversion --- each embedded part center is located at the coordinate value at scanner center through following step by controlling datum mark
Be converted to the coordinate value in construction coordinate system：
(1) construction coordinate system azimuth angle alpha is calculated according to the coordinate of control datum mark1, scanned according to corresponding control datum mark
The coordinate exported in instrument calculates scanner azimuth angle alpha2, pass through α1And α2Obtain the azimuth difference Δ of two coordinate systems, Δ=
α1-α2；
(2) scanner central point coordinate (A in construction coordinate system is calculated0, B0, H0),A0=A1-X1*COSΔ+Y1* SIN Δs, B0
=B1-X1*SINΔ-Y1* COS Δs, H0=H1-Z1, wherein (A1, B1, H1) it is that No.1 control datum mark is located in construction coordinate system
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 Δs, Hi=Zi+H0。
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| CN108747041B (en) * | 2018-04-19 | 2021-10-26 | 广州广汽荻原模具冲压有限公司 | Reference correction method for three-dimensional 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 |
| CN111504225B (en) * | 2020-04-30 | 2022-05-31 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN112177332B (en) * | 2020-09-26 | 2022-03-18 | 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 |
| CN115329450B (en) * | 2022-10-14 | 2023-04-25 | 三一筑工科技股份有限公司 | Buried part copying method and device |
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| CN201463888U (en) * | 2009-07-17 | 2010-05-12 | 上海市安装工程有限公司 | Guide plate embedded part detecting tooling |
| CN101825452A (en) * | 2010-04-20 | 2010-09-08 | 中国第一冶金建设有限责任公司 | Method for performing inter-conversion between survey coordinates and construction coordinates |
| CN102134879A (en) * | 2011-01-12 | 2011-07-27 | 陕西建工集团第六建筑工程有限公司 | Embedding accuracy control construction method for embedded part of overlong equipment foundation platform |
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