CN111486792A - Nuclear power station pipeline thermal displacement measuring method, device, equipment and medium - Google Patents
Nuclear power station pipeline thermal displacement measuring method, device, equipment and medium Download PDFInfo
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- CN111486792A CN111486792A CN202010196592.4A CN202010196592A CN111486792A CN 111486792 A CN111486792 A CN 111486792A CN 202010196592 A CN202010196592 A CN 202010196592A CN 111486792 A CN111486792 A CN 111486792A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to the technical field of nuclear power station equipment management, in particular to a method, a device, equipment and a medium for measuring thermal displacement of a nuclear power station pipeline. Determining a thermal state pipeline to be measured for thermal displacement and a reference object, and marking a first measuring point in the thermal state pipeline; marking the measuring position where the laser three-dimensional scanner is located as a second measuring point; carrying out three-dimensional laser scanning on the thermal state pipeline and the reference object by using a laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model according to the first cloud point diagram; extracting a first three-dimensional coordinate of a first measuring point in the first pipeline three-dimensional model by taking the second measuring point as a coordinate origin; and calling the second three-dimensional coordinate, and comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point. The invention can realize the remote detection of the thermal displacement of the pipeline in areas with high radiation, high altitude, high temperature and the like.
Description
Technical Field
The invention relates to the technical field of nuclear power station equipment management, in particular to a method, a device, equipment and a medium for measuring thermal displacement of a nuclear power station pipeline.
Background
Due to the particularity of the nuclear power station, a plurality of areas with high radiation, high altitude, high temperature and the like exist, nuclear power personnel in a part of areas cannot directly reach the areas, so that the difficulty is brought to the nuclear power personnel for on-site measurement work, but important data such as pipeline thermal displacement in the areas are often needed in the analysis and processing process of some key problems of the nuclear power station. Based on the prior pipeline thermal displacement measurement method, most of the methods are measurement methods by means of manpower or sensors, but the measurement methods by means of the manpower have the problems that the manual measurement cannot be directly reached due to personal risks in areas with high radiation, high altitude, high temperature and the like, and the measurement precision is low in the manual measurement; the method for measuring by using a sensor has a problem that the sensor measurement is easily damaged in areas with high radiation, high altitude, high temperature, etc., and therefore cannot be directly used, and therefore, a new method for measuring the thermal displacement of the nuclear power plant pipeline is urgently needed to be found by the skilled person to solve the existing problems.
Disclosure of Invention
Therefore, it is necessary to provide a method, an apparatus, a device and a medium for measuring thermal displacement of a pipeline in a nuclear power station, which are used for remotely detecting thermal displacement of the pipeline in areas with high radiation, high altitude, high temperature and the like, so as to avoid the limitations of manual detection and sensor detection in the prior art, and also can be used for improving the accuracy of detecting thermal displacement.
A nuclear power station pipeline thermal displacement measurement method comprises the following steps:
determining a thermal state pipeline to be measured for thermal displacement and a reference object located in a preset range of the thermal state pipeline in a nuclear power station, and marking a first measuring point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
marking the measuring position where the laser three-dimensional scanner is located as a second measuring point;
carrying out three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
extracting a first three-dimensional coordinate of a first measuring point in the first pipeline three-dimensional model by taking the second measuring point as a coordinate origin;
calling a second three-dimensional coordinate from a preset database, comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point in the three-dimensional coordinate, and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
A nuclear power plant pipeline thermal displacement measurement device, comprising:
the first marking module is used for determining a thermal state pipeline to be measured for thermal displacement and a reference object located in a preset range of the thermal state pipeline in a nuclear power station, and marking a first measuring point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
the second marking module is used for marking the measuring position where the laser three-dimensional scanner is located as a second measuring point;
the establishing module is used for carrying out three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
the extraction module is used for extracting a first three-dimensional coordinate of a first measurement point in the first pipeline three-dimensional model by taking the second measurement point as a coordinate origin;
the recording module is used for calling a second three-dimensional coordinate from a preset database, comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point in the three-dimensional coordinate, and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
A computer device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the nuclear power plant pipeline thermal displacement measurement method.
A computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the above-described nuclear power plant pipeline thermal displacement measurement method.
The method, the device, the equipment and the medium for measuring the thermal displacement of the pipeline of the nuclear power station can be used for remotely detecting the thermal displacement of the pipeline in other severe areas such as high radiation, high altitude, high temperature and the like, and the measurement limitation of the areas such as high radiation, high altitude, high temperature and the like on the prior art is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a flow chart of a method for measuring thermal displacement of a nuclear power plant pipeline according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a nuclear power plant pipeline thermal displacement measurement device according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In an embodiment, as shown in fig. 1, a method for measuring thermal displacement of a pipeline in a nuclear power plant is provided, which includes the following steps:
s10, determining a thermal state pipeline to be measured for thermal displacement and a reference object located in a preset range of the thermal state pipeline in the nuclear power station, and marking a first measuring point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
understandably, a thermal state pipeline refers to a pipeline located in other severe areas such as high radiation, high altitude and high temperature of a nuclear power plant, and the thermal state pipeline in the area is under the action of thermal stress (when the temperature changes, an object cannot be completely expanded and contracted freely due to external constraint and mutual constraint among internal parts to generate stress); the thermal displacement refers to the axial telescopic displacement of the thermal state pipeline under the action of thermal stress (the telescopic directional axes comprise an X axis, a Y axis and a Z axis); the selection of the reference object should be based on an element located within a preset range of the thermal state pipeline (the reference object should not affect the result of measuring the thermal displacement of the thermal state pipeline at this time, and therefore the reference object should not generate thermal displacement or thermal deformation in other severe areas such as high radiation, high altitude, high temperature and the like), as preferable, the reference object may be selected as an element integrated with the thermal state pipeline or an element used in cooperation with the thermal state pipeline, the structure of the selected reference object should not be too complex, and the selected reference object should be simply used as a reference object according to a shape rule, and the selected reference object is only used for referencing the thermal state pipeline, so as to better determine the position of the thermal state pipeline; the preset marking point position refers to a position of a first measuring point to be marked in the thermal state pipeline, and based on the central position of the head or the tail of the pipeline in the pipeline, the first measuring point can be marked (an image containing the thermal state pipeline can be marked) manually by using a marking device or laser in the embodiment.
S20, marking the measuring position where the laser three-dimensional scanner is located as a second measuring point;
understandably, the model of the laser three-dimensional scanner is not required to be selected, but the modeling or drawing software connected with the laser three-dimensional scanner can display three-dimensional coordinates and a three-dimensional coordinate system, and the embodiment can mark a second measuring point (can mark an image containing a thermal state pipeline and the laser three-dimensional scanner) by manually using a marking device or laser; the measuring position of the laser three-dimensional scanner is in the maximum scanning range of the laser three-dimensional scanner capable of scanning the thermal state pipeline, wherein the laser three-dimensional scanner is mainly constructed as a laser range finder and a reflecting prism capable of guiding laser and scanning at an angular speed, the principle of the laser three-dimensional scanner is that the laser range finder actively emits laser, and simultaneously receives signals reflected by the surface of a natural object so as to realize distance measurement, the slant distance from a measuring station (taking a second measuring point corresponding to the measuring position of the laser three-dimensional scanner as a reference) to the scanning point can be measured aiming at each scanning point, then the relative coordinates of the scanning point and the measuring station can be obtained by matching with the horizontal and vertical direction angles of scanning, and the three-dimensional coordinates of each scanning point can be obtained when the space coordinates of the measuring station are known; it should be noted that the second measurement point mentioned here may be a placement position where a positioning ball (for pointing) is located.
S30, performing three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
understandably, the first cloud point map includes point cloud data, the point cloud data refers to a set of vectors in a three-dimensional coordinate, and the vectors are usually represented in the form of three-dimensional coordinates of an X axis, a Y axis and a Z axis, and a first pipeline three-dimensional model including a thermal pipeline can be established according to the first cloud point map, wherein the pipeline three-dimensional model may not include a reference object, but the first pipeline three-dimensional model necessarily includes a position point corresponding to the first measuring point, and it can also be stated that the first pipeline three-dimensional model includes the first measuring point; the first pipeline three-dimensional model is obtained by performing surface reconstruction on point cloud data in a first cloud point diagram in modeling or drawing software connected with a laser three-dimensional scanner; in addition, the first measurement point and the second measurement point marked by a manual use of a marking device or a laser may be acquired by modeling or mapping software connected to a laser three-dimensional scanner to determine the first measurement point included in the first pipe three-dimensional model. In the embodiment, the scanning precision of the laser three-dimensional scanner can also reach 2mm/1000 mm.
S40, taking the second measuring point as a coordinate origin, extracting a first three-dimensional coordinate of a first measuring point in the first pipeline three-dimensional model;
understandably, this embodiment defines a coordinate point (origin of coordinates) for the above-mentioned measuring station, so that the three-dimensional coordinates (first three-dimensional coordinates) of each scanning point (the first measuring point is one of the scanning points) in the three-dimensional model of the first pipeline can be obtained.
S50, calling a second three-dimensional coordinate from a preset database, comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point in the three-dimensional coordinate, and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
Understandably, the second three-dimensional coordinate is associated with the cold-state pipeline, the second three-dimensional coordinate is detected in advance and stored in a preset database, wherein the cold-state pipeline and the hot-state pipeline are the same pipeline, the cold-state pipeline is not under the action of thermal stress, namely the pipeline is not under the action of thermal stress and does not axially extend and retract, a first measuring point at the same position also exists in the cold-state pipeline, the distance between the cold-state pipeline and the laser three-dimensional scanner is the same as the distance between the hot-state pipeline and the laser three-dimensional scanner, a reference object selected by the cold-state pipeline is also the same as a reference object selected by the hot-state pipeline, and it needs to be noted that when the positioning ball is used as the origin of coordinates, the placing position of the positioning ball on the reference object must keep the cold-state pipeline consistent; the current thermal displacement (the data corresponding to the current thermal displacement can be stored in a database, so that the retrospective verification of the detected thermal displacement data is convenient) is obtained by comparing a first three-dimensional coordinate with a second three-dimensional coordinate (the current thermal displacement is the telescopic displacement of the thermal state pipeline on an X axis, a Y axis and a Z axis; concretely, the displacement comparison in the same axial direction is carried out on the pipelines in two states, the difference comparison is carried out on the numerical value on the X axis corresponding to the first three-dimensional coordinate and the numerical value on the X axis corresponding to the second three-dimensional coordinate, and the directions of other axes are similar) so as to reflect whether the same pipeline is subjected to thermal deformation or thermal displacement under the influence of a temperature environment, wherein the finally obtained current thermal displacement can also be used for analyzing the generation reasons of pipeline fatigue, pipeline cracks and pipeline perforations. In this embodiment, the detection precision is consistent with the scanning precision, and can also reach 2mm/1000 mm.
In the embodiments from step S10 to step S40, the thermal displacement can be remotely detected in other severe areas (equivalent to severe measurement environments) such as high radiation, high altitude, and high temperature, so as to avoid the measurement limitation of the above areas such as high radiation, high altitude, and high temperature on the prior art, and in the thermal displacement detection process, the invention realizes remote detection by using a laser three-dimensional scanner, and the detection precision is high and can reach 2mm/1000mm, so the finally obtained thermal displacement also has the advantage of high precision.
Further, the preset range is less than or equal to 50 cm. Understandably, it is difficult to locate the thermal state pipe if the preset range is too large.
Further, the first measuring point and the second measuring point are both located in the positive scanning direction of the laser three-dimensional scanner. Understandably, the forward scanning direction of the laser three-dimensional scanner in the embodiment can improve the efficiency and the precision of scanning.
Further, before the calling the second three-dimensional coordinate from the preset database, the method further includes:
and storing the second three-dimensional coordinate, the first pipeline information of the cold pipeline corresponding to the second three-dimensional coordinate and the second pipeline information of the hot pipeline of the same type as the cold pipeline corresponding to the second three-dimensional coordinate in a preset database in an associated manner so as to establish the association relationship between the cold pipeline and the hot pipeline. Understandably, the second three-dimensional coordinate corresponding to the thermal state pipeline can be directly called from the preset database through the incidence relation so as to improve the speed of comparing the three-dimensional coordinates.
Further, the first three-dimensional coordinate takes the center position of the first measurement point as an extraction point. It can be understood that, in the embodiment, the first three-dimensional coordinate of the first measurement point can be better determined by taking the central position of the first measurement point as a standard. The first measuring point can be an area in a preset range, not only a coordinate point, at the moment, the first three-dimensional coordinate takes the central position of the area corresponding to the first measuring point as an extraction point to extract the first three-dimensional coordinate; of course, the first measurement point may also be a coordinate point, and in this case, the coordinate point is used as the first three-dimensional coordinate.
Further, before the three-dimensional laser scanning is performed on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, the method further includes:
and calibrating the laser three-dimensional scanner, starting the laser three-dimensional scanner, and setting the equipment parameters of the laser three-dimensional scanner adaptive to the three-dimensional scanning. Understandably, after determining the thermal state pipeline and the reference object to be measured for thermal displacement in the nuclear power plant, the embodiment calibrates the laser three-dimensional scanner, so as to ensure the detection precision of the laser three-dimensional scanner.
Further, before the obtaining the first cloud point map of the thermal state pipeline and the reference object, the method further includes:
and filtering the point cloud data of a plurality of position points of the thermal state pipeline and the reference object obtained by three-dimensional laser scanning of the laser three-dimensional scanner, and splicing all the filtered point cloud data into a first cloud point diagram of the thermal state pipeline and the reference object. Understandably, the present embodiment can filter unstable and erroneous point cloud data (due to blocking and masking of the thermal pipeline by external environmental factors and uneven reflection characteristics of the thermal pipeline itself, the unstable and erroneous point cloud data are generated), so as to obtain a more accurate first point cloud diagram.
Further, the establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point map further includes:
and repairing and adjusting the shape of a preset region in the pipeline three-dimensional model according to a preset mode. Understandably, because the point cloud data has the characteristic of discreteness, the embodiment needs to use a preset mode (including linear interpolation, quadric surface interpolation, and the like) to perform operations such as repairing and adjusting on the shape (polygonal stage) of a preset area, so that a more accurate pipeline three-dimensional model can be obtained.
Further, after obtaining the thermal displacement of the first measurement point in the three-dimensional coordinate and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured for thermal displacement, the method further includes:
generating a current measurement result of the thermal state pipeline according to the current thermal displacement;
calling historical measurement results of a preset number of the thermal state pipelines from the preset database; the historical measurement result comprises the historical thermal displacement of the thermal state pipeline measured before the current time point;
when the measurement error of the current thermal displacement is determined to be within a preset error range according to the current thermal displacement and each historical thermal displacement, determining that the current measurement result is correct;
and when the measurement error of the current thermal displacement is determined not to be within a preset error range according to the current thermal displacement and each historical thermal displacement, sending a prompt message that the current thermal displacement contained in the first measurement result is incorrect to a preset data receiver.
Understandably, in the embodiment, the historical measurement results which are measured for multiple times and correspond to the thermal state pipeline and the current thermal displacement are verified to determine whether the current measurement result corresponding to the current thermal displacement is normal or not, so that the current thermal displacement is prevented from being wrong due to errors.
In summary, the method for measuring the thermal displacement of the pipeline of the nuclear power station can be used for remotely detecting the thermal displacement of the pipeline in other severe areas such as high radiation, high altitude, high temperature and the like, and the measurement limitation of the areas such as high radiation, high altitude, high temperature and the like on the prior art is avoided.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In an embodiment, a nuclear power plant pipeline thermal displacement measurement device is provided, and the nuclear power plant pipeline thermal displacement measurement device corresponds to the nuclear power plant pipeline thermal displacement measurement method in the embodiment one to one. As shown in fig. 2, the nuclear power plant pipeline thermal displacement measuring device includes a first marking module 11, a second marking module 12, an establishing module 13, an extracting module 14 and a recording module 15. The functional modules are explained in detail as follows:
the first marking module 11 is configured to determine a thermal state pipeline to be measured for thermal displacement and a reference object located within a preset range of the thermal state pipeline in a nuclear power plant, and mark a first measurement point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
the second marking module 12 is configured to mark the measurement position where the laser three-dimensional scanner is located as a second measurement point;
the establishing module 13 is configured to perform three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquire a first cloud point diagram of the thermal state pipeline and the reference object, and establish a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
the extracting module 14 is configured to extract a first three-dimensional coordinate of a first measurement point in the first pipeline three-dimensional model by using the second measurement point as a coordinate origin;
the recording module 15 is configured to call a second three-dimensional coordinate from a preset database, perform three-dimensional coordinate comparison on the first three-dimensional coordinate and the second three-dimensional coordinate, obtain a thermal displacement of the first measurement point in the three-dimensional coordinate, and record the thermal displacement as a current thermal displacement of the thermal state pipeline to be measured for the thermal displacement; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
Further, the nuclear power station pipeline thermal displacement measuring device further comprises:
and the storage module is used for storing the second three-dimensional coordinate, the first pipeline information of the cold pipeline corresponding to the second three-dimensional coordinate and the second pipeline information of the hot pipeline of the same type as the cold pipeline corresponding to the second three-dimensional coordinate in a preset database in an associated manner so as to establish the association relationship between the cold pipeline and the hot pipeline.
Further, the nuclear power station pipeline thermal displacement measuring device further comprises:
and the setting module is used for calibrating the laser three-dimensional scanner, starting the laser three-dimensional scanner and setting the equipment parameters of the laser three-dimensional scanner adaptive to the three-dimensional scanning.
Further, the nuclear power station pipeline thermal displacement measuring device further comprises:
and the splicing module is used for filtering the point cloud data of the plurality of position points of the thermal pipeline and the reference object obtained by the three-dimensional laser scanning of the laser three-dimensional scanner, and splicing all the filtered point cloud data into a first cloud point diagram of the thermal pipeline and the reference object.
Further, the nuclear power station pipeline thermal displacement measuring device further comprises:
and the repairing and adjusting module is used for repairing and adjusting the shape of the preset region in the pipeline three-dimensional model according to a preset mode.
Further, the nuclear power station pipeline thermal displacement measuring device further comprises:
the generating module is used for generating a current measuring result of the thermal state pipeline according to the current thermal displacement;
the calling module is used for calling historical measurement results of the preset number of the thermal state pipelines from the preset database; the historical measurement result comprises the historical thermal displacement of the thermal state pipeline measured before the current time point;
the determining module is used for determining that the current measuring result is correct when the measuring error of the current thermal displacement is determined to be within a preset error range according to the current thermal displacement and each historical thermal displacement;
and the sending module is used for sending a prompt message that the current thermal displacement is wrong contained in the first measurement result to a preset data receiving party when the measurement error of the current thermal displacement is determined not to be within a preset error range according to the current thermal displacement and each historical thermal displacement.
For specific limitations of the grouping processing device, reference may be made to the above limitations on the nuclear power plant pipeline thermal displacement measurement method, and details are not described here. All or part of the modules in the nuclear power plant pipeline thermal displacement measuring device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing data related to the nuclear power station pipeline thermal displacement measurement method. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a nuclear power plant pipeline thermal displacement measurement method.
In one embodiment, a computer device is provided, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method for measuring the thermal displacement of the nuclear power plant pipeline in the above embodiments, such as the steps S10 to S50 shown in fig. 1. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units of the nuclear power plant pipeline thermal displacement measurement apparatus in the above-described embodiment, such as the functions of the modules 11 to 15 shown in fig. 2. To avoid repetition, further description is omitted here.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the steps of the method for measuring the thermal displacement of the pipeline in the nuclear power plant in the above-described embodiments, such as the steps S10 to S50 shown in fig. 1. Alternatively, the computer program is executed by the processor to implement the functions of the modules/units of the nuclear power plant pipeline thermal displacement measurement apparatus in the above-described embodiment, for example, the functions of the modules 11 to 15 shown in fig. 2. To avoid repetition, further description is omitted here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM
(DDRSDRAM), enhanced sdram (esdram), synchronous link (synclink) DRAM (S L DRAM), Rambus (Rambus) direct ram (rdram), direct memory bus dynamic ram (drdram), and memory bus dynamic ram (rdram), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (12)
1. A nuclear power station pipeline thermal displacement measurement method is characterized by comprising the following steps:
determining a thermal state pipeline to be measured for thermal displacement and a reference object located in a preset range of the thermal state pipeline in a nuclear power station, and marking a first measuring point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
marking the measuring position where the laser three-dimensional scanner is located as a second measuring point;
carrying out three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
extracting a first three-dimensional coordinate of a first measuring point in the first pipeline three-dimensional model by taking the second measuring point as a coordinate origin;
calling a second three-dimensional coordinate from a preset database, comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point in the three-dimensional coordinate, and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
2. The method as claimed in claim 1, wherein the predetermined range is less than or equal to 50 cm.
3. The method as claimed in claim 1, wherein the first measurement point and the second measurement point are both located in a positive scanning direction of the laser three-dimensional scanner.
4. The method for measuring the thermal displacement of the pipeline in the nuclear power plant according to claim 1, wherein before the step of calling the second three-dimensional coordinate from the preset database, the method further comprises the following steps:
and storing the second three-dimensional coordinate, the first pipeline information of the cold pipeline corresponding to the second three-dimensional coordinate and the second pipeline information of the hot pipeline of the same type as the cold pipeline corresponding to the second three-dimensional coordinate in a preset database in an associated manner so as to establish the association relationship between the cold pipeline and the hot pipeline.
5. The method as claimed in claim 1, wherein the first three-dimensional coordinate is extracted from a center position of the first measurement point.
6. The method for measuring the thermal displacement of the pipeline in the nuclear power plant according to claim 1, wherein before the three-dimensional laser scanning of the thermal state pipeline and the reference object by the laser three-dimensional scanner, the method further comprises:
and calibrating the laser three-dimensional scanner, starting the laser three-dimensional scanner, and setting the equipment parameters of the laser three-dimensional scanner adaptive to the three-dimensional scanning.
7. The method as claimed in claim 1, wherein before the obtaining the first cloud point map of the thermal state pipeline and the reference object, the method further comprises:
and filtering the point cloud data of a plurality of position points of the thermal state pipeline and the reference object obtained by three-dimensional laser scanning of the laser three-dimensional scanner, and splicing all the filtered point cloud data into a first cloud point diagram of the thermal state pipeline and the reference object.
8. The method for measuring the thermal displacement of the pipeline in the nuclear power plant according to claim 1, wherein the establishing of the first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point map further comprises:
and repairing and adjusting the shape of a preset region in the pipeline three-dimensional model according to a preset mode.
9. The method for measuring the thermal displacement of the pipeline in the nuclear power plant according to claim 1, wherein after obtaining the thermal displacement of the first measurement point in three-dimensional coordinates and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured, the method further comprises:
generating a current measurement result of the thermal state pipeline according to the current thermal displacement;
calling historical measurement results of a preset number of the thermal state pipelines from the preset database; the historical measurement result comprises the historical thermal displacement of the thermal state pipeline measured before the current time point;
when the measurement error of the current thermal displacement is determined to be within a preset error range according to the current thermal displacement and each historical thermal displacement, determining that the current measurement result is correct;
and when the measurement error of the current thermal displacement is determined not to be within a preset error range according to the current thermal displacement and each historical thermal displacement, sending a prompt message that the current thermal displacement contained in the first measurement result is incorrect to a preset data receiver.
10. A nuclear power station pipeline thermal displacement measuring device comprises the following modules:
the first marking module is used for determining a thermal state pipeline to be measured for thermal displacement and a reference object located in a preset range of the thermal state pipeline in a nuclear power station, and marking a first measuring point located in the thermal state pipeline at a preset marking point position; the reference object is an object which cannot generate thermal displacement or thermal deformation along with the change of the external temperature;
the second marking module is used for marking the measuring position where the laser three-dimensional scanner is located as a second measuring point;
the establishing module is used for carrying out three-dimensional laser scanning on the thermal state pipeline and the reference object by using the laser three-dimensional scanner, acquiring a first cloud point diagram of the thermal state pipeline and the reference object, and establishing a first pipeline three-dimensional model of the thermal state pipeline according to the first cloud point diagram; the first pipeline three-dimensional model comprises the first measuring point;
the extraction module is used for extracting a first three-dimensional coordinate of a first measurement point in the first pipeline three-dimensional model by taking the second measurement point as a coordinate origin;
the recording module is used for calling a second three-dimensional coordinate from a preset database, comparing the first three-dimensional coordinate with the second three-dimensional coordinate to obtain the thermal displacement of the first measuring point in the three-dimensional coordinate, and recording the thermal displacement as the current thermal displacement of the thermal state pipeline to be measured; the second three-dimensional coordinate is a three-dimensional coordinate of a first measuring point extracted from a second pipeline three-dimensional model of the cold pipeline, and the second pipeline three-dimensional model is a second pipeline three-dimensional model of the cold pipeline, which is established according to a second cloud point image, wherein the second pipeline three-dimensional model is obtained by performing three-dimensional laser scanning on the cold pipeline and the reference object by using the laser three-dimensional scanner, and acquiring the second cloud point image of the cold pipeline and the reference object.
11. A computer arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the nuclear power plant pipe thermal displacement measurement method of any one of claims 1 to 9.
12. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the method for measuring thermal displacement of a pipeline in a nuclear power plant according to any one of claims 1 to 9.
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