CN-121972957-A - Volute intelligent installation method based on three-dimensional laser scanning

CN121972957ACN 121972957 ACN121972957 ACN 121972957ACN-121972957-A

Abstract

The invention relates to the technical field of hydropower station construction and discloses an intelligent volute installation method based on three-dimensional laser scanning, which comprises the following steps of S1, establishing a three-dimensional coordinate measurement control network and a plurality of adjusting piles; the method comprises the steps of S2, placing a volute section on a corresponding adjusting pile to obtain an initial installation posture, S3, obtaining point cloud data of an installed volute section and initial coordinate sets of a plurality of adjusting pile supporting points, S4, obtaining point cloud data of the volute section, S5, obtaining first optimal transformation and target point coordinates of the center of a target of the volute section to be installed, S6, taking the finally obtained target point coordinates of the center of the target of the volute section to be installed as a first installation instruction, S7, obtaining second optimal transformation, S8, obtaining a second installation instruction through the second optimal transformation and the initial coordinates of the adjusting pile supporting points, S9, repeating S2-S8, and installing the rest volute sections to be installed to complete volute installation. The invention can improve the installation efficiency and the installation precision of the volute section.

Inventors

LU QINGXIAN
WANG BAO
Dong Linlu
LIU CHAO
Lai Jiasi
Zi Zhengluo
QI YANQING
YAN DONG
LI GAOFENG
TANG JIANMING
WANG QINGLONG
ZHANG XIAOFEI
LI JIN
HU TAO

Assignees

华能西藏雅鲁藏布江水电开发投资有限公司
中国水利水电第十四工程局有限公司

Dates

Publication Date: 20260505
Application Date: 20260206

Claims (9)

1. The intelligent volute installing method based on three-dimensional laser scanning is characterized by comprising the following steps of: S1, taking a central line in the width direction of a hydropower station unit as an X axis, taking a central line in the length direction of the hydropower station unit as a Y axis, taking an elevation datum point of the hydropower station unit as a Z axis, establishing a three-dimensional coordinate measurement control network, and establishing a plurality of adjusting piles by taking the measurement control network as a coordinate system; S2, giving a preliminary elevation of the adjusting pile according to a design theoretical value, and then placing the volute section to be installed on the corresponding adjusting pile to obtain an initial installation posture; S3, scanning the pipe orifice of the installed volute section and the supporting points of the adjusting piles through a three-dimensional laser scanner to obtain actual manufacturing form point cloud data of the pipe orifice of the installed volute section, and acquiring initial coordinate sets of the supporting points of the adjusting piles; S4, attaching at least three targets on the outer surface of the volute section to be installed at intervals, and performing multi-station scanning on the volute section to be installed by using a three-dimensional laser scanner so as to obtain volute section point cloud data containing the targets and the geometric information of the pipe orifice of the volute section to be installed; s5, obtaining first optimal transformation and target point coordinates of the target center of the volute section to be installed through point cloud data of the nozzle of the installed volute section and point cloud data of the nozzle of the volute section to be installed; S6, taking the finally obtained target center target point coordinates of the volute segment to be installed as a first installation instruction; S7, obtaining second optimal transformation through a target center scanning point set under the initial posture of the volute section to be installed and a target center target point set of the volute section to be installed, which is finally obtained; S8, obtaining a second installation instruction through second optimal transformation and adjustment of initial coordinates of pile supporting points, wherein the second installation instruction is used for guiding three-dimensional adjustment of the adjustment pile, and therefore the adjustment of the position of the volute section to be installed is guided; And S9, repeating the steps S2-S8, and installing the rest volute sections to be installed to finish the volute installation.
2. The intelligent volute mounting method based on three-dimensional laser scanning of claim 1, wherein S5 further comprises the following steps: s51, taking point cloud data of the pipe orifice of the installed volute section as a target reference standard of an ICP algorithm; S52, searching a point corresponding to a nozzle scanning point of the volute section to be installed in the target reference standard; s53, constructing a covariance matrix through the corresponding coordinate points of the searched spiral case section pipe orifice scanning points to be installed in the target reference standard and the spiral case section pipe orifice scanning points to be installed, and carrying out singular value decomposition on the covariance matrix to obtain a rotation matrix and a translation vector; S54, updating the position and the posture of the nozzle of the volute section to be installed and the center point cloud of the target through a rotation matrix and a translation vector; S55, repeating S53-S54, wherein the average change amount of the difference between the coordinates of the nozzle scanning points of the volute section to be installed after the current iteration and the coordinates of the nozzle scanning points of the volute section to be installed after the next iteration is smaller than a preset threshold value, or stopping when 100 iterations are reached, and taking the obtained first optimal transformation as the final first optimal transformation.
3. The intelligent volute installing method based on three-dimensional laser scanning of claim 2, wherein in S51, point cloud data of the pipe orifice of the installed volute section is constructed into a structured point cloud set through data integration, spatial alignment, redundancy and noise removal and attribute fusion, as shown in formulas (1) and (2), and the point cloud set of the pipe orifice of the installed volute section is used as a target reference standard of an ICP algorithm; (1), (2), In the formulas (1) and (2), The point coordinates are scanned for installed volute segment nozzles, For the abscissa of the installed volute segment nozzle scan point, For the ordinate of the installed volute segment nozzle scan point, The vertical coordinates of the points are scanned for installed volute segment nozzles.
4. The method for intelligent installation of a volute based on three-dimensional laser scanning of claim 2, wherein in S52, a point corresponding to the point of scanning the nozzle of the segment of the volute to be installed is searched for in the target reference standard, as shown in formula (3), (3), In the formula (3), For the corresponding coordinates of the searched nozzle scanning point of the volute section to be installed in the target reference standard, First to be provided with the orifice of the volute section The coordinates of the points of the scan, First to the nozzle of the installed volute section And scanning the point coordinates.
5. The intelligent volute mounting method based on three-dimensional laser scanning of claim 1, wherein S53 further comprises the following steps: S531, respectively obtaining the decentralised coordinates of the corresponding coordinate point of the searched spiral case section pipe orifice scanning point to be installed in the target reference standard and the decentralised coordinates of the spiral case section pipe orifice scanning point to be installed through the corresponding coordinate point of the searched spiral case section pipe orifice scanning point to be installed in the target reference standard and the corresponding coordinate point of the spiral case section pipe orifice scanning point to be installed in the target reference standard, as shown in formulas (4) and (5), (4), (5), In the formulas (4) and (5), For the searched corresponding coordinate point of the nozzle scanning point of the volute section to be installed in the target reference standard to be subjected to the centering coordinate, For the corresponding coordinate point coordinates of the searched nozzle scanning point of the volute section to be installed in the target reference standard, For the searched corresponding coordinate point set centroid of the nozzle scanning point of the volute section to be installed in the target reference standard, The coordinates are decentered for the scan points of the nozzle of the volute section to be installed, Scanning a point coordinate set for a nozzle of a volute section to be installed, Scanning the point set centroid for the orifice of the volute section to be installed; S532, constructing a covariance matrix through the decentralization coordinates of the nozzle scanning points of the installed volute section and the decentralization coordinates of the nozzle scanning points of the volute section to be installed, and carrying out singular value decomposition on the covariance matrix to obtain a rotation matrix and a translation vector, wherein the rotation matrix and the translation vector are shown in formulas (6), (7), (8) and (9), (6), (7), (8), (9), In the formulas (6), (7), (8) and (9), In the form of a covariance matrix, For the searched corresponding coordinate point of the nozzle scanning point of the volute section to be installed in the target reference standard to be subjected to the centering coordinate, The coordinates are decentered for the scan points of the nozzle of the volute section to be installed, Is the transpose of the matrix and, 、 The left singular vector and the right singular vector are respectively adopted, In the form of a diagonal matrix, In order to rotate the matrix is rotated, Is a translation vector.
6. The intelligent volute mounting method based on three-dimensional laser scanning of claim 2, wherein in S54, the positions of the nozzle of the volute section to be mounted and the target center point cloud are updated through a rotation matrix and a translation vector as shown in formulas (10) and (11), (10), (11), In the formulas (10) and (11), After the (k+1) th iteration, the coordinates of the ith scanning point of the orifice of the volute section to be installed after coordinate transformation, Is a rotation matrix; After the kth iteration, the coordinates of the ith scanning point of the nozzle of the volute section to be installed after the coordinate transformation, Is a translation vector; after the k+1th iteration, the ith scanning point coordinate of the target center of the volute section to be installed after coordinate transformation, And after the kth iteration, the ith scanning point coordinate of the target center of the volute section to be installed after coordinate transformation.
7. The method for intelligently installing the volute based on the three-dimensional laser scanning of claim 2, wherein in S55, the average variation of the difference between the coordinates of the scanning point of the nozzle of the volute section to be installed after the current iteration and the coordinates of the scanning point of the nozzle of the volute section to be installed after the subsequent iteration is smaller than a preset threshold, as shown in a formula (12), or is terminated when 100 iterations are reached, and the obtained first optimal transformation is used as the final first optimal transformation; (12), In the formula (12) of the present invention, In order to be able to average the amount of variation, For the number of scan points, After the (k+1) th iteration, the coordinates of the ith scanning point of the orifice of the volute section to be installed after coordinate transformation, And (5) correspondingly coordinates in a target reference standard for the searched nozzle scanning point of the volute section to be installed.
8. The intelligent volute mounting method based on three-dimensional laser scanning of claim 1, wherein S7 further comprises the following steps: s71, taking a target center target point set under the target posture of the volute section to be installed as a target reference standard of an ICP algorithm, as shown in formulas (13) and (14), (13), (14), In the formulas (13) and (14), The coordinates of a target center target point under the target posture of the volute section to be installed, Respectively an abscissa, an ordinate and an ordinate of the target center target point coordinate under the target posture of the volute section to be installed; s72, searching for a point corresponding to the target center scanning point in the initial installation state of the volute section to be installed in the target reference standard, as shown in formula (15), (15), In the formula (15) of the present invention, For the corresponding coordinate point of the target center scanning point in the target reference standard under the searched initial posture of the volute section to be installed, Scanning point coordinates for the center of the target in the initial posture of the volute section to be installed, The target center target point coordinates under the target posture of the volute section to be installed; S73, respectively obtaining the searched coordinate of the target center scanning point of the initial posture of the volute section to be installed in the target reference standard and the coordinate of the target center scanning point of the initial posture of the volute section to be installed in the target reference standard by the corresponding coordinate point of the target center scanning point of the initial posture of the volute section to be installed in the target reference standard and the coordinate of the target center scanning point of the volute section to be installed in the initial installation state of the volute section to be installed in the target reference standard, as shown in formulas (16) and (17), (16), (17), In the formulas (16) and (17), For the searched corresponding coordinate point of the target center scanning point in the target reference standard under the initial posture of the volute section to be installed, the center coordinates are removed, For the corresponding coordinate point of the target center scanning point in the target reference standard under the searched initial posture of the volute section to be installed, For the corresponding coordinate point set centroid of the target center scanning point in the target reference standard under the initial posture of the searched volute section to be installed, The center scanning point of the target is subjected to the centering coordinate removal in the initial installation state of the volute section to be installed, For the target center scan point in the initial installed state of the volute segment to be installed, Scanning the center of a point set centroid for a target in an initial installation state of a volute section to be installed; S74, constructing a covariance matrix through the corresponding coordinate point decentralization coordinates of the target center scanning point in the target reference standard of the searched target center scanning point under the initial posture of the volute section to be installed and the decentralization coordinates of the target center scanning point under the initial installation state of the volute section to be installed, performing singular value decomposition on the covariance matrix to obtain a rotation matrix and a translation matrix, as shown in formulas (18), (19), (20) and (21), (18), (19), (20), (21), In the formulas (18), (19), (20), (21), In the form of a covariance matrix, The center scanning point of the target is subjected to the centering coordinate removal in the initial installation state of the volute section to be installed, For the searched corresponding coordinate point of the target center scanning point in the target reference standard under the initial posture of the volute section to be installed, the center coordinates are removed, Is the transpose of the matrix and, 、 The left singular vector and the right singular vector are respectively adopted, In the form of a diagonal matrix, In order to rotate the matrix is rotated, Is a translation matrix.
9. The intelligent volute mounting method based on three-dimensional laser scanning of claim 1, wherein S8 further comprises the following steps: S81, calculating the target coordinates of the supporting points of the adjusting piles through the second optimal transformation and the initial coordinates of the supporting points of the adjusting piles, as shown in formulas (22), (23), (24) and (25), (22), (23), (24), (25), In the formulas (22), (23), (24), (25), For a plurality of sets of adjustment pile support point coordinates, For each adjustment of the initial coordinates of the pile-supporting point, In order to adjust the target coordinates of the pile supporting points, For each adjustment of the initial coordinates of the pile-supporting point, In order to rotate the matrix is rotated, In order to translate the vector of the vector, Respectively adjusting the initial horizontal coordinate, the vertical coordinate and the vertical coordinate of the pile supporting point, Respectively adjusting the abscissa, the ordinate and the vertical coordinate of the target coordinates of the pile supporting points; s82, obtaining an adjustment amount of the elevation of the adjusting pile through the target coordinates of the supporting point of the adjusting pile and the initial coordinates of the supporting point of the adjusting pile, obtaining an adjustment amount of the plane of the adjusting pile through the XY coordinates of the middle plane of the target coordinates of the supporting point of the adjusting pile and the XY coordinates of the middle plane of the initial coordinates of the supporting point of the adjusting pile, as shown in formulas (26) and (27), (26), (27), In the formulas (26) and (27), In order to adjust the amount of elevation that the pile should adjust, The plane adjustment amount in XY coordinates is adjusted for adjusting the pile; and S83, taking the height adjustment amount and the plane adjustment amount of the adjusting pile as a second installation instruction for guiding the three-dimensional adjustment of the adjusting pile, thereby guiding the position adjustment of the volute section to be installed.

Description

Volute intelligent installation method based on three-dimensional laser scanning Technical Field The invention relates to the technical field of hydropower station construction, in particular to an intelligent volute installation method based on three-dimensional laser scanning. Background In a hydroelectric turbine pipeline system, a volute is used as a key end component of a diversion system, and the function of the volute is to uniformly and smoothly guide water flow into a turbine runner chamber. The volute is usually formed by splicing a spiral pipe section formed by rolling and welding a plurality of sections of steel plates on site. The spiral pipe section is the spiral casing section, and adjacent spiral casing sections are bonded and welded, and the uniformity of water flow state, the efficiency of unit operation and the level of structural vibration are directly determined by the adjacent spiral casing section bonding and mounting precision, so that the spiral pipe section is a core link for guaranteeing safe, stable and efficient operation of the hydropower station. However, the traditional on-site installation method of the volute section has the obvious defects that firstly, the process is highly dependent on the experience of an installer to carry out trial-and-error repeated adjustment, so that the volute section moves up, down, left, right, front and back, the adjacent volute section is attached, the time and the labor are wasted, and the single-section positioning efficiency is low; Secondly, after the adjacent volute sections are jointed by naked eyes of an installer, welding the jointed adjacent volute sections, jointing the next adjacent volute sections according to the method, and then installing the volute, wherein the diameter of the volute section is several meters to more than ten meters, manufacturing errors exist in the manufacturing of the volute sections, and the situation of jointing the adjacent volute sections is judged by naked eyes, so that the installation errors of the volute sections are continuously transmitted and accumulated in the installation process (for example, the outer edge of a pipe orifice of the front volute section and the outer edge of a pipe orifice of the next volute section are staggered by a few centimeters, the joint of the adjacent volute section of the front section has a few centimeters of errors, compared with the design position, the installation position of the adjacent volute section of the front section is in and out of the design position, the next volute section is continuously installed in the joint of the adjacent volute section of the front section, and the installation position of the next volute section is continuously in the error), and the tail volute section on the volute section is deviated from the preset position, so that a large amount of on-site repair and welding adjustment are forced, the construction progress is greatly influenced, the inner flow channel is easily caused, and the long-term running safety and economical efficiency of a machine set are threatened. Disclosure of Invention In order to overcome the defects of the prior art, the invention aims to provide an intelligent volute installation method based on three-dimensional laser scanning, which can improve the installation efficiency and the installation precision of volute sections. The technical scheme adopted by the invention is as follows, the intelligent volute installing method based on three-dimensional laser scanning comprises the following steps: S1, taking a central line in the width direction of a hydropower station unit as an X axis, taking a central line in the length direction of the hydropower station unit as a Y axis, taking an elevation datum point of the hydropower station unit as a Z axis, establishing a three-dimensional coordinate measurement control network, and establishing a plurality of adjusting piles by taking the measurement control network as a coordinate system; S2, giving a preliminary elevation of the adjusting pile according to a design theoretical value, and then placing the volute section to be installed on the corresponding adjusting pile to obtain an initial installation posture; S3, scanning the pipe orifice of the installed volute section and the supporting points of the adjusting piles through a three-dimensional laser scanner to obtain actual manufacturing form point cloud data of the pipe orifice of the installed volute section, and acquiring initial coordinate sets of the supporting points of the adjusting piles; S4, attaching at least three targets on the outer surface of the volute section to be installed at intervals, and performing multi-station scanning on the volute section to be installed by using a three-dimensional laser scanner so as to obtain volute section point cloud data containing the targets and the geometric information of the pipe orifice of the volute section to be installed; s5, obtaining first optimal t