CN111504225A - Pipeline position detection method based on three-dimensional scanning - Google Patents
Pipeline position detection method based on three-dimensional scanning Download PDFInfo
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- CN111504225A CN111504225A CN202010364681.5A CN202010364681A CN111504225A CN 111504225 A CN111504225 A CN 111504225A CN 202010364681 A CN202010364681 A CN 202010364681A CN 111504225 A CN111504225 A CN 111504225A
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- G—PHYSICS
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention relates to a pipeline position detection method based on three-dimensional scanning, which comprises the steps of selecting a plurality of control datum points on a wall body, setting a target mark at the same time, measuring coordinates of the control datum points in a construction coordinate system, scanning the position of a pipeline, scanning the datum point target at the same time, converting scanning data into the construction coordinate system, intercepting scanning data of the pipeline, sorting the pipeline data according to the wall body, selecting a section of section data according to requirements, distributing pipe inner side data and pipe outer side data according to the other row of data, and respectively calculating the coordinates of the center of the pipeline according to an assumed theoretical radius to obtain the actual values of the center and the radius of the pipeline. The invention can obtain accurate detection results, solves the problem of checking the position of the pipeline in nuclear power construction, particularly the position of the pipeline when the quantity of the pipeline is extremely large, improves the checking safety of the pipeline positioned in high altitude, is flexible to detect, is convenient to measure, and is beneficial to meeting the quality control requirement of field construction.
Description
Technical Field
The invention relates to the technical field of nuclear power station construction, in particular to a pipeline position detection method based on three-dimensional scanning.
Background
The nuclear power station factory building equipment and the pipelines are many, the pipelines are reserved on the wall body and the bottom plate many, the inspection is frequent and the measurement times are many in the construction process, the wall body is high, the construction site condition is poor, the inspection is inconvenient, the safety performance is not easy to guarantee, the time spent in the inspection is long, the optimization of the construction period is not facilitated, and the working quality cannot be ensured.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method for inspecting a position of a pipeline based on three-dimensional scanning, which uses scanning measurement, and has high inspection safety, flexible detection, and convenient measurement.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a pipeline position detection method based on three-dimensional scanning comprises the following steps:
step one, arranging a plurality of wall embedded part datum points on a building to be tested,
measuring and determining the original Cartesian coordinate value of the wall embedded part datum point of each mark relative to a construction coordinate system;
three-dimensionally scanning the building to be detected to obtain a three-dimensional scanning image of each pipeline in the building to be detected, wherein the three-dimensional scanning image of each pipeline in the building to be detected is ensured to have a plurality of marked wall embedded part datum points;
step four, carrying out image processing on the three-dimensional scanning image, identifying the marked wall embedded part datum points and the pipelines, and obtaining coordinate values of the marked wall embedded part datum points in a scanner coordinate system and coordinate values of all pipelines in the detected building in the scanner coordinate system;
coupling the scanner coordinate system with the construction coordinate system through the wall embedded part datum point, so that the coordinate values of the detected building in the scanner coordinate system are converted into coordinate values in the construction coordinate system;
step six, intercepting three-dimensional scanning data of a pipeline to be detected in the detected building, outputting a data file,
sorting according to parallel coordinates of the wall surface of the wall body, selecting pipeline section data located on the same plane, and after the section data are taken out, sorting the section data to obtain data on the outer side and the inner side of the pipeline;
combining the data of the outer side and the inner side of the pipeline pipe according to the theoretical radius outside the pipe and the theoretical radius inside the pipe to calculate and obtain an actual pipeline center coordinate, and combining the actual pipeline center coordinate with the data of the outer side and the inner side of the pipeline pipe to calculate and obtain an actual radius outside the pipe and an actual radius inside the pipe so as to obtain position information of the pipeline;
and step nine, comparing the actual center coordinate with the theoretical center coordinate to obtain a deviation value, comparing the actual radius outside the pipe and the actual radius inside the pipe with the theoretical radius outside the pipe and the theoretical radius inside the pipe to obtain a radius deviation value, and determining whether the position of the pipeline meets the requirement.
In order to optimize the technical scheme, the specific measures adopted further comprise:
in the first step, marks are arranged on datum points of wall embedded parts, three points of the datum points of the wall embedded parts form a plane, and the positions of the planes are uniformly distributed; and finding out the datum points of the wall embedded parts during the image processing of the step four.
And in the third step, a three-dimensional scanner is adopted to three-dimensionally scan the building to be detected.
The invention relates to a pipeline position checking method based on a three-dimensional scanner technology, which can be used for randomly placing a scanner at a proper position in the implementation process without calibrating the position of the scanner, and can accurately obtain the coordinate value of the pipeline central point in a construction coordinate system only by randomly selecting three embedded part central points as control reference points and measuring the coordinates of the control reference points, thereby providing a basis for checking and accepting the pipelines of a wall body, a bottom plate and a top plate in nuclear power construction, solving the problem of checking the pipeline position in the nuclear power construction, particularly the pipeline position when the pipeline amount is particularly large, greatly improving the safety, remarkably improving the detection flexibility and remarkably and greatly facilitating the measurement for the checking that the pipeline is positioned in high altitude, and being beneficial to meeting the quality control requirement of field construction.
Simultaneously has the following remarkable advantages:
1. the measuring speed is high, the measurement is convenient, and the quality control of site construction is favorably met;
2. the method has the advantages that accurate detection is carried out according to actual conditions on site, and compared with the original total station inspection method, the detection efficiency is improved;
3. the pipeline does not need to be marked by adopting the method, the radius of the pipeline can be calculated from the theoretical radius hypothesis, the ascending operation is not needed on the site, and the method is reliable and convenient;
4. effectively solve the pipeline detection of different positions, it is nimble convenient to use.
Drawings
FIG. 1 is a schematic view of an inspection of the present invention;
FIG. 2 is a schematic elevation view of a pipe scanned by the method of the present invention.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
The pipeline position inspection method based on the HDS7000 three-dimensional scanner technology provided by this embodiment is, as shown in fig. 1 and fig. 2, where an origin of a construction coordinate system is an intersection point of a ground and a two-sided side wall, an X axis is an intersection line of a parallel ground and a wall, a Y axis is perpendicular to an AX on the ground, and an H axis is upward and conforms to a right-hand coordinate system, a plane formed by an a axis and a B axis of the scanner coordinate system is parallel to the ground, and also conforms to the right-hand coordinate system, and includes the following steps:
firstly, marking, namely marking the datum points of the wall embedded parts, wherein three points form a plane and are uniformly distributed in position;
secondly, fixing points and measuring to determine the original Cartesian coordinate value of each control reference point relative to a construction coordinate system;
thirdly, scanning, namely scanning the building by using a scanner to obtain a scanning image of each pipeline;
fourthly, reading, namely identifying the center of the reference point through image processing, and obtaining the coordinate value of the reference center point in the coordinate system of the scanner;
fifthly, converting, namely converting the coordinate value of the scanner into the coordinate value of a construction coordinate system through a control datum point;
sixthly, intercepting-intercepting the pipeline data to be detected and outputting a data file;
seventh step, sorting, data sorting respectively, and sorting according to parallel coordinates of wall surfaces of the wall bodies; selecting section data, and sorting the data on the outer side and the inner side of the branch pipe after the section data is taken out;
the total points after output are 2359, and only the partial data before and after Y value is 5985.034 are selected
| Point number | Y（m） | X（m） | H（m） |
| 2220 | 5985.033481 | 3021.198448 | 9.501677 |
| 2221 | 5985.033498 | 3021.175228 | 9.318438 |
| 2222 | 5985.033508 | 3021.249929 | 9.533715 |
| 2223 | 5985.033515 | 3021.186872 | 9.302545 |
| 2224 | 5985.033516 | 3021.434974 | 9.489499 |
| 2225 | 5985.033516 | 3021.215711 | 9.515207 |
| 2226 | 5985.033686 | 3021.227082 | 9.268677 |
| 2227 | 5985.033812 | 3021.439938 | 9.481956 |
| 2228 | 5985.033831 | 3021.198166 | 9.29107 |
| 2229 | 5985.033835 | 3021.180724 | 9.310542 |
| 2230 | 5985.033963 | 3021.180546 | 9.479667 |
| 2231 | 5985.034056 | 3021.20943 | 9.510773 |
| 2232 | 5985.034063 | 3021.450159 | 9.462489 |
| 2233 | 5985.034156 | 3021.215157 | 9.276068 |
| 2234 | 5985.03417 | 3021.220886 | 9.272401 |
| 2235 | 5985.034186 | 3021.156912 | 9.363489 |
| 2236 | 5985.034197 | 3021.460443 | 9.355175 |
| 2237 | 5985.034226 | 3021.266161 | 9.538919 |
| 2238 | 5985.034239 | 3021.429146 | 9.292402 |
| 2239 | 5985.034241 | 3021.444783 | 9.474039 |
| 2240 | 5985.034253 | 3021.455187 | 9.450554 |
| 2241 | 5985.034302 | 3021.156777 | 9.42726 |
| 2242 | 5985.034317 | 3021.16267 | 9.342951 |
| 2243 | 5985.034331 | 3021.455148 | 9.338658 |
| 2244 | 5985.034337 | 3021.449955 | 9.326494 |
| 2245 | 5985.034341 | 3021.465475 | 9.391355 |
| 2246 | 5985.034422 | 3021.370541 | 9.246672 |
| 2247 | 5985.034436 | 3021.428916 | 9.497499 |
| 2248 | 5985.034469 | 3021.174218 | 9.471004 |
| 2249 | 5985.034476 | 3021.465359 | 9.387396 |
| 2250 | 5985.03452 | 3021.465318 | 9.395399 |
| 2251 | 5985.034572 | 3021.418268 | 9.509236 |
| 2252 | 5985.034592 | 3021.460078 | 9.435078 |
| 2253 | 5985.034698 | 3021.465163 | 9.399426 |
| 2254 | 5985.03476 | 3021.15632 | 9.423103 |
| 2255 | 5985.034783 | 3021.162173 | 9.444842 |
| 2256 | 5985.0348 | 3021.16806 | 9.330775 |
| 2257 | 5985.034871 | 3021.465011 | 9.403454 |
| 2258 | 5985.034879 | 3021.191281 | 9.493161 |
| 2259 | 5985.034927 | 3021.464967 | 9.383503 |
| 2260 | 5985.034974 | 3021.402122 | 9.266143 |
| 2261 | 5985.034981 | 3021.156114 | 9.367881 |
| 2262 | 5985.035022 | 3021.407376 | 9.270553 |
| 2263 | 5985.035041 | 3021.464862 | 9.407483 |
| 2264 | 5985.035068 | 3021.167755 | 9.457972 |
| 2265 | 5985.035173 | 3021.380585 | 9.251833 |
| 2266 | 5985.035349 | 3021.369612 | 9.543966 |
| 2267 | 5985.035361 | 3021.412359 | 9.275185 |
| 2268 | 5985.035375 | 3021.464579 | 9.379609 |
| 2269 | 5985.035401 | 3021.396347 | 9.528774 |
| 2270 | 5985.035443 | 3021.438548 | 9.305883 |
| 2271 | 5985.035472 | 3021.155621 | 9.372218 |
| 2272 | 5985.03549 | 3021.417514 | 9.279786 |
| 2273 | 5985.035526 | 3021.464439 | 9.411583 |
| 2274 | 5985.035579 | 3021.459239 | 9.35146 |
Selecting data with Y value of 5985.034
| Point number | Y（m） | X（m） | H（m） |
| 2231 | 5985.034056 | 3021.20943 | 9.510773 |
| 2232 | 5985.034063 | 3021.450159 | 9.462489 |
| 2233 | 5985.034156 | 3021.215157 | 9.276068 |
| 2234 | 5985.03417 | 3021.220886 | 9.272401 |
| 2235 | 5985.034186 | 3021.156912 | 9.363489 |
| 2236 | 5985.034197 | 3021.460443 | 9.355175 |
| 2237 | 5985.034226 | 3021.266161 | 9.538919 |
| 2238 | 5985.034239 | 3021.429146 | 9.292402 |
| 2239 | 5985.034241 | 3021.444783 | 9.474039 |
| 2240 | 5985.034253 | 3021.455187 | 9.450554 |
| 2241 | 5985.034302 | 3021.156777 | 9.42726 |
| 2242 | 5985.034317 | 3021.16267 | 9.342951 |
| 2243 | 5985.034331 | 3021.455148 | 9.338658 |
| 2244 | 5985.034337 | 3021.449955 | 9.326494 |
| 2245 | 5985.034341 | 3021.465475 | 9.391355 |
| 2246 | 5985.034422 | 3021.370541 | 9.246672 |
| 2247 | 5985.034436 | 3021.428916 | 9.497499 |
| 2248 | 5985.034469 | 3021.174218 | 9.471004 |
| 2249 | 5985.034476 | 3021.465359 | 9.387396 |
| 2250 | 5985.03452 | 3021.465318 | 9.395399 |
| 2251 | 5985.034572 | 3021.418268 | 9.509236 |
| 2252 | 5985.034592 | 3021.460078 | 9.435078 |
| 2253 | 5985.034698 | 3021.465163 | 9.399426 |
| 2254 | 5985.03476 | 3021.15632 | 9.423103 |
| 2255 | 5985.034783 | 3021.162173 | 9.444842 |
| 2256 | 5985.0348 | 3021.16806 | 9.330775 |
| 2257 | 5985.034871 | 3021.465011 | 9.403454 |
| 2258 | 5985.034879 | 3021.191281 | 9.493161 |
| 2259 | 5985.034927 | 3021.464967 | 9.383503 |
| 2260 | 5985.034974 | 3021.402122 | 9.266143 |
| 2261 | 5985.034981 | 3021.156114 | 9.367881 |
Sorting the X values:
| point number | New serial number | Y（m） | X（m） | H（m） |
| 2261 | 1 | 5985.034981 | 3021.156114 | 9.367881 |
| 2254 | 2 | 5985.03476 | 3021.15632 | 9.423103 |
| 2241 | 3 | 5985.034302 | 3021.156777 | 9.42726 |
| 2235 | 4 | 5985.034186 | 3021.156912 | 9.363489 |
| 2255 | 5 | 5985.034783 | 3021.162173 | 9.444842 |
| 2242 | 6 | 5985.034317 | 3021.16267 | 9.342951 |
| 2256 | 7 | 5985.0348 | 3021.16806 | 9.330775 |
| 2248 | 8 | 5985.034469 | 3021.174218 | 9.471004 |
| 2258 | 9 | 5985.034879 | 3021.191281 | 9.493161 |
| 2231 | 10 | 5985.034056 | 3021.20943 | 9.510773 |
| 2233 | 11 | 5985.034156 | 3021.215157 | 9.276068 |
| 2234 | 12 | 5985.03417 | 3021.220886 | 9.272401 |
| 2237 | 13 | 5985.034226 | 3021.266161 | 9.538919 |
| 2246 | 14 | 5985.034422 | 3021.370541 | 9.246672 |
| 2260 | 15 | 5985.034974 | 3021.402122 | 9.266143 |
| 2251 | 16 | 5985.034572 | 3021.418268 | 9.509236 |
| 2247 | 17 | 5985.034436 | 3021.428916 | 9.497499 |
| 2238 | 18 | 5985.034239 | 3021.429146 | 9.292402 |
| 2239 | 19 | 5985.034241 | 3021.444783 | 9.474039 |
| 2244 | 20 | 5985.034337 | 3021.449955 | 9.326494 |
| 2232 | 21 | 5985.034063 | 3021.450159 | 9.462489 |
| 2243 | 22 | 5985.034331 | 3021.455148 | 9.338658 |
| 2240 | 23 | 5985.034253 | 3021.455187 | 9.450554 |
| 2252 | 24 | 5985.034592 | 3021.460078 | 9.435078 |
| 2236 | 25 | 5985.034197 | 3021.460443 | 9.355175 |
| 2259 | 26 | 5985.034927 | 3021.464967 | 9.383503 |
| 2257 | 27 | 5985.034871 | 3021.465011 | 9.403454 |
| 2253 | 28 | 5985.034698 | 3021.465163 | 9.399426 |
| 2250 | 29 | 5985.03452 | 3021.465318 | 9.395399 |
| 2249 | 30 | 5985.034476 | 3021.465359 | 9.387396 |
| 2245 | 31 | 5985.034341 | 3021.465475 | 9.391355 |
Theoretical radius of No. 1 to No. 13 points is 0.1505, and theoretical radius of No. 14 to No. 31 points is 0.16195
And eighthly, calculating, namely combining the data of the outer side and the inner side of the pipeline pipe according to the theoretical radius outside the pipe and the theoretical radius inside the pipe to calculate and obtain the center coordinate of the actual pipeline, and combining the data of the outer side and the inner side of the pipeline pipe according to the center coordinate of the actual pipeline to calculate and obtain the actual radius outside the pipe and the actual radius inside the pipe so as to obtain the position information of the pipeline.
Calculating the center of a circle according to the theoretical radius by the X value and the H value
| Starting point | Terminal point | Type (distance) | Theoretical radius (m) | Priori accuracy (cm) | Correction value V (cm) | Calculating radius (m) |
| A | 1 | S | 0.1505 | 0.10 | 0.04 | 0.1509 |
| A | 2 | S | 0.1505 | 0.10 | 0.03 | 0.1508 |
| A | 3 | S | 0.1505 | 0.10 | 0.07 | 0.1512 |
| A | 4 | S | 0.1505 | 0.10 | 0.05 | 0.1510 |
| A | 5 | S | 0.1505 | 0.10 | 0.03 | 0.1508 |
| A | 6 | S | 0.1505 | 0.10 | 0.07 | 0.1512 |
| A | 7 | S | 0.1505 | 0.10 | 0.04 | 0.1509 |
| A | 8 | S | 0.1505 | 0.10 | 0.03 | 0.1508 |
| A | 9 | S | 0.1505 | 0.10 | -0.07 | 0.1498 |
| A | 10 | S | 0.1505 | 0.10 | -0.08 | 0.1497 |
| A | 11 | S | 0.1505 | 0.10 | -0.16 | 0.1489 |
| A | 12 | S | 0.1505 | 0.10 | -0.19 | 0.1486 |
| A | 13 | S | 0.1505 | 0.10 | -0.17 | 0.1488 |
| Roll call | X(m) | Y(m) | X precision MX (cm) | Y precision MY (cm) | Point precision MP (cm) |
| Circle center A | 3021.3046 | 9.3952 | 0.03 | 0.05 | 0.06 |
| Starting point | Terminal point | Type (distance) | Theoretical radius (m) | Priori accuracy (cm) | Correction value V (cm) | Calculating radius (m) |
| A | 14 | S | 0.1620 | 0.10 | 0.05 | 0.1625 |
| A | 15 | S | 0.1620 | 0.10 | 0.01 | 0.1621 |
| A | 16 | S | 0.1620 | 0.10 | 0.03 | 0.1623 |
| A | 17 | S | 0.1620 | 0.10 | 0.03 | 0.1623 |
| A | 18 | S | 0.1620 | 0.10 | 0.01 | 0.1621 |
| A | 19 | S | 0.1620 | 0.10 | 0.02 | 0.1622 |
| A | 20 | S | 0.1620 | 0.10 | -0.03 | 0.1617 |
| A | 21 | S | 0.1620 | 0.10 | -0.03 | 0.1617 |
| A | 22 | S | 0.1620 | 0.10 | -0.02 | 0.1618 |
| A | 23 | S | 0.1620 | 0.10 | -0.02 | 0.1618 |
| A | 24 | S | 0.1620 | 0.10 | -0.01 | 0.1619 |
| A | 25 | S | 0.1620 | 0.10 | -0.00 | 0.1620 |
| A | 26 | S | 0.1620 | 0.10 | 0.00 | 0.1620 |
| A | 27 | S | 0.1620 | 0.10 | -0.01 | 0.1619 |
| A | 28 | S | 0.1620 | 0.10 | -0.01 | 0.1619 |
| A | 29 | S | 0.1620 | 0.10 | 0.05 | 0.1625 |
| A | 30 | S | 0.1620 | 0.10 | 0.01 | 0.1621 |
| A | 31 | S | 0.1620 | 0.10 | 0.03 | 0.1623 |
| Roll call | X(m) | Y(m) | X precision MX (cm) | Y precision MY (cm) | Point precision MP (cm) |
| Circle center A | 3021.3033 | 9.3946 | 0.03 | 0.05 | 0.06 |
And ninthly, comparing the actual center coordinates with the theoretical center coordinates to obtain deviation values, comparing the actual radius outside the pipe and the actual radius inside the pipe with the theoretical radius outside the pipe and the theoretical radius inside the pipe to obtain radius deviation values, and determining whether the position of the pipeline meets the requirements.
Pipe center coordinate data (on Y section, Y values are not equal)
The difference between the converted numerical value and the theoretical value obtained from the table is very small, the maximum value is not more than 10mm, the precision is high, and the problem of pipeline position detection is effectively solved.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (3)
1. A pipeline position detection method based on three-dimensional scanning is characterized in that: the method comprises the following steps:
step one, arranging a plurality of wall embedded part datum points on a building to be tested,
measuring and determining the original Cartesian coordinate value of the wall embedded part datum point of each mark relative to a construction coordinate system;
three-dimensionally scanning the building to be detected to obtain a three-dimensional scanning image of each pipeline in the building to be detected, wherein the three-dimensional scanning image of each pipeline in the building to be detected is ensured to have a plurality of marked wall embedded part datum points;
step four, carrying out image processing on the three-dimensional scanning image, identifying the marked wall embedded part datum points and the pipelines, and obtaining coordinate values of the marked wall embedded part datum points in a scanner coordinate system and coordinate values of all pipelines in the detected building in the scanner coordinate system;
coupling the scanner coordinate system with the construction coordinate system through the wall embedded part datum point, so that the coordinate values of the detected building in the scanner coordinate system are converted into coordinate values in the construction coordinate system;
step six, intercepting three-dimensional scanning data of a pipeline to be detected in the detected building, outputting a data file,
sorting according to parallel coordinates of the wall surface of the wall body, selecting pipeline section data located on the same plane, and after the section data are taken out, sorting the section data to obtain data on the outer side and the inner side of the pipeline;
combining the data of the outer side and the inner side of the pipeline pipe according to the theoretical radius outside the pipe and the theoretical radius inside the pipe to calculate and obtain an actual pipeline center coordinate, and combining the actual pipeline center coordinate with the data of the outer side and the inner side of the pipeline pipe to calculate and obtain an actual radius outside the pipe and an actual radius inside the pipe so as to obtain position information of the pipeline;
and step nine, comparing the actual center coordinate with the theoretical center coordinate to obtain a deviation value, comparing the actual radius outside the pipe and the actual radius inside the pipe with the theoretical radius outside the pipe and the theoretical radius inside the pipe to obtain a radius deviation value, and determining whether the position of the pipeline meets the requirement.
2. The pipeline position detection method based on three-dimensional scanning as claimed in claim 1, wherein: in the first step, marks are arranged on datum points of wall embedded parts, three points of the datum points of the wall embedded parts form a plane, and the positions of the planes are uniformly distributed; and finding out the datum points of the wall embedded parts during the image processing of the step four.
3. The pipeline position detection method based on three-dimensional scanning as claimed in claim 1, wherein: and in the third step, a three-dimensional scanner is adopted to three-dimensionally scan the building to be detected.
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| CN113310472B (en) * | 2021-05-25 | 2022-04-29 | 中国核工业华兴建设有限公司 | Method for checking position of prestressed pipeline of containment |
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| CN111504225B (en) | 2022-05-31 |
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