基于激光轮廓扫描的核电站管道管径测量方法

A Pipe Measurement Method for Nuclear Power Station on Laser Scan

核电站停堆检修维护中,需进行管道检测,管道检测机器人实现核电站管道检测自动化作业的时候需对管道管径进行测量,确定使用对应的产品工具。本文研究了一种基于激光轮廓扫描的核电站管道管径检测方法。该方法采用高精度激光轮廓扫描仪,对检测管道进行扫描,通过RANSAC优化算法,对扫描得到的点云进行圆拟合,得到管道的精确管径。实验表明,该方法能去除数据点云中的干扰和采样误差,能精确测量管道的管径,绝对误差小于±0. 1mm,满足核电站自动化检测的需要。

After fuel reloading in the nuclear reactor,pipeline inspection is necessary for the maintenance of nuclear power plant.When pipeline inspection robot processes the automatic operation of nuclear power plant pipeline inspection,pipeline diameter measurement is important to the use of corresponding product tools.A method of pipe diameter measurement based on laser scan is studied in the paper.The method uses a high precision laser profile scanner to scan the pipeline,and uses the RANSAC optimization algorithm to fit the scanning cloud points to get the precise diameter of the pipeline.Experiments show that this method can eliminate noises and sampling errors in the cloud points,and can accurately measure the pipe diameter.The absolute error is within 0.1 mm,which meets the needs of nuclear power plant automation detection.