CN105865368B - A kind of pressure vessel form variations detection method based on 3 D laser scanning - Google Patents
A kind of pressure vessel form variations detection method based on 3 D laser scanning Download PDFInfo
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- CN105865368B CN105865368B CN201610298525.7A CN201610298525A CN105865368B CN 105865368 B CN105865368 B CN 105865368B CN 201610298525 A CN201610298525 A CN 201610298525A CN 105865368 B CN105865368 B CN 105865368B
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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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Abstract
The present invention relates to form variations detections, it is desirable to provide a kind of pressure vessel form variations detection method based on 3 D laser scanning.The pressure vessel form variations detection method based on 3 D laser scanning around pressure vessel comprising steps of arrange there-dimensional laser scanning device；3 D laser scanning is carried out to pressure vessel, obtains point cloud data amount；Point cloud data is handled, the threedimensional model being made of tri patch is obtained；It extracts and carries out contour line required for form variations detect in threedimensional model；The contour line of extraction and design shape contour line are compared, form variations testing result is evaluated.The present invention can it is accurate, quick, non-contact and comprehensively measure ellipsoidal head form variations, and collection point bit density of the present invention is big, accuracy of measurement is high, measuring speed is fast, it economizes labor time, labor intensity is low, is easy to implement automatic measurement, so as to accurately and rapidly measure the form variations of pressure vessel.
Description
Technical field
The present invention relates to form variations detection field, in particular to a kind of pressure vessel shape based on 3 D laser scanning
Shape deviation detecting method.
Background technique
Part true form has differences with design shape after processing, and here it is form variations.Pressure vessel manufacturers
The problem of various modifications can be encountered in Pressure Vessel Manufacture Process, mainly include two major classes: the first kind is caused by stress
Deformation, wherein having gas flame cuttiug deformation, processing buckling deformation and welding deformation and heat-treatment distortion etc.；Second class be then due to
It is deformed caused by human error, wherein having drafting error deformation, forming errors deformation, assembly error deformation etc..In short, in pressure
It in container manufacturing operation, will appear the overproof situation of shape due to various reasons, deviate canonical form including cylinder or end socket
Shape is excessive, also includes that pressure vessel excessive form variations locally occurs.The presence of form variations does not only result in assembly difficulty, and
And reduce the bearing capacity of pressure vessel.The presence of form variations can cause end socket stress to increase, and it is strong to may cause local stress
Degree is more than allowable stress intensity, may cause end socket failure, causes casualties or economic loss.
Cylinder and end socket are the main pressure-containing members of pressure vessel.Defined in standard GB/T 150 cylinder roundness detection and
End socket form variations method, pressure vessel and end socket manufactory must endure strict scrutiny according to national standard, guarantee for pressing
The cylinder and end socket of force container meet the requirement of relevant criterion and specification.
For cylinder roundness, currently, using the difference inspection for measuring maximum inner diameter and minimum diameter on the same section of shell
Cylinder roundness (saves) referring to GB150.4-2011 6.5.10.Existing two methods can be detected.First method uses
Scalable internal diameter measuring rod measures.Internal diameter measuring rod one end is fixation measuring head, and the other end is adjustable length and can read
Several measuring heads.End left and right pendulum in shell axial plane is adjusted in any that fixation measuring head is first located in detection section
It is dynamic to measure least count, it is then swung left and right in the cross section and measures full-scale reading, when two numerical value are equal, as institute's measuring point
Interior diameter.It is in same cross section to survey several points more, the maximum inner diameter and minimum diameter in the cross section are found out, their difference is
For cylinder roundness.Second method is measured using laser range finder.An interior round template is made, its center line is found, and
It is marked on template；Center measurement point is found on laser range finder, and marks center line along laser range finder fuselage；It will
Template center line is overlapped with laser range finder center line, and laser range finder contour line is drawn on template, tightly by interior round template
It is put into the contour line finished in advance against inner wall, then by laser range finder；It is measured using laser range finder, reads data；It looks for
The maximum inner diameter and minimum diameter in the cross section, their difference are cylinder roundness out.
Using scalable internal diameter measuring rod measure method, for the pressure vessel of major diameter, such as internal diameter 2000mm with
On big equipment, when detection, is quite inconvenient, and an inspector is difficult to complete to detect；The internal diameter measuring rod of long length is by gravity itself
, itself there are the Form and position errors such as straightness, verticality, influences to measure in deformation.When measuring using laser range finder, need to match
Standby interior round template may cause measurement so if the production of template, template and laser range finder deviation occur close to degree
Error.
For end socket form variations, currently, checking ellipse, dish and spherical envelope using the full-scale interior template of band gap
Head inner surface configuration deviation (saves) referring to GB150.4-2011 6.4.2.First method: using plank, galvanized iron sheet or
Aluminium sheet makes interior template according to end socket inner surface design shape, and template is aligned with end socket inner surface using ruler or clearance gauge measurement
Whether interior template and end socket gap, evaluate meet the requirements according to national standards.Second method: using the interior sample of three kinds of models
Plate, No. zero be tested end socket inner surface regulation shape, No. 1 and No. 2 be respectively the limit upper deviation and limit lower deviation regulation
Shape.No. zero template, which puts in just or slightly loosens, shows that end socket geomery deviation is high-quality；No. 1 template puts in the pine that is recessed
It is unqualified that dynamic and No. 2 templates are not placed into all surface end socket geomery deviations.
End socket form variations are detected using interior template, although exist following insufficient: testing result is inadequate convenient for operation
Intuitively；There are errors, such as interior template mismachining tolerance, ruler measurement error and error in reading for multiple working procedure；Large labor intensity, no
Easily realize automatic measurement；Since end socket size and shape are ever-changing, if each end socket makes interior template, resource will cause
Waste.
There are disadvantages mentioned above and deficiency for existing pressure vessel form variations detection technique, urgently propose that one kind can be quasi- at present
Really, quickly, it is non-contact and comprehensively measure pressure vessel form variations technical solution.
Summary of the invention
It is a primary object of the present invention to overcome deficiency in the prior art, providing one kind can accurately and rapidly be measured
The method based on 3 D laser scanning of the form variations of pressure vessel.In order to solve the above technical problems, solution party of the invention
Case is:
A kind of pressure vessel form variations detection method based on 3 D laser scanning is provided, for detecting pressure vessel
Form variations, the pressure vessel form variations detection method based on 3 D laser scanning specifically include the following steps:
(1) there-dimensional laser scanning device is arranged around pressure vessel；The there-dimensional laser scanning device includes three-dimensional sharp
Photoscanner, three-dimensional laser scanner mounting platform, tripod, target object and the computer that wireless signal can be received；
(2) 3 D laser scanning is carried out to pressure vessel, obtains point cloud data amount；
(3) step (2) resulting point cloud data is handled, obtains the threedimensional model being made of tri patch；
(4) contour line required for form variations detect is carried out in the threedimensional model that extraction step (3) obtains；
(5) contour line for extracting step (4), i.e. form variations true form contour line obtained by 3 D laser scanning, with
The comparison of design shape contour line, evaluates form variations testing result referring to GB150.
In the present invention, in the step (1), the method for arranging of there-dimensional laser scanning device are as follows:
Three-dimensional laser scanner mounting platform is laid around pressure vessel, is pacified using tripod in three-dimensional laser scanner
Three-dimensional laser scanner (guaranteeing that three-dimensional laser scanner mounting platform and tripod are firm) is laid on assembling platform, is swashed as three-dimensional
One three-dimensional laser scanner (can be in turn mounted to each survey station, done site by site scanning by optical scanning survey station；It can also be in each survey
It stands and a three-dimensional laser scanner is installed, scan simultaneously)；3 D laser scanning survey station is evenly arranged in using pressure vessel as the center of circle
Circumference on, and guarantee the scanning range covering of 3 D laser scanning survey station entirely tested pressure vessel；
Target object is arranged around pressure vessel, and guarantees that adjacent two station three-dimensional laser scanner can be scanned simultaneously to extremely
Few three target objects, and measurement process acceptance of the bid target body is not blocked；
Three-dimensional laser scanner passes through reception of wireless signals three to the computer that should be able to receive WIFI wireless signal, computer
Tie up result (three-dimensional laser scanner while one or more corresponding computer of laser scanning；More 3 D laser scannings
Instrument cannot correspond to a computer simultaneously).
In the present invention, the target object includes target paper, target ball, target disk.
In the present invention, when pressure vessel is cylinder and end socket (and size is larger), at least two station three-dimensional lasers are laid
Scan survey station.
In the present invention, in the step (2), when carrying out 3 D laser scanning to pressure vessel, according to measurement accuracy, really
The sweep time of fixed every station 3 D laser scanning (sweep time of such as every three-dimensional laser scanner is 8 minutes).
In the present invention, in the step (3), to the processing method of point cloud data are as follows: delete invalid point cloud data, noise
Data carry out fairing processing, cavity repairing, boundary adjustment using effective point cloud data.
In the present invention, in the step (4), the extracting method of contour line are as follows: extract shape using Geomagic software
The true form contour line of pressure vessel at separate-blas estimation position, and imported into AutoCAD software.
In the present invention, the three-dimensional laser scanner includes laser beam emitting device, prism, the reception synchronous with prism
Device, wireless network card, horizontal and vertical motor, level compensating device, internal battery and pedestal.
In the present invention, the laser measurement required precision of the three-dimensional laser scanner is higher than 2mm.
Compared with prior art, the beneficial effects of the present invention are:
The present invention can it is accurate, quick, non-contact and comprehensively measure ellipsoidal head form variations, and the present invention
Collection point bit density is big, and accuracy of measurement is high, and measuring speed is fast, economizes labor time, and labor intensity is low, is easy to implement automation
Measurement, so as to accurately and rapidly measure the form variations of pressure vessel.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the layout of equipment that pressure vessel form variations are measured using three-dimensional laser scanning technique.
Fig. 3 is the schematic diagram that cylinder roundness is measured using three-dimensional laser scanning technique.
Fig. 4 is the schematic diagram that end socket form variations are measured using three-dimensional laser scanning technique.
Appended drawing reference in figure are as follows: 1 three-dimensional laser scanner；2 end sockets；3 cylinders；4 target balls；5 target disks；6 computers；
7 tripods；8 three-dimensional laser scanner mounting platforms；9 cylinder contour line maximum inscribed circles；What 10 three-dimensional laser scanners measured
Cylinder contour line；11 cylinder contour line minimum inscribed circles.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
The following examples can make the professional technician of this profession that the present invention be more fully understood, but not with any side
The formula limitation present invention.
A kind of pressure vessel form variations detection method based on 3 D laser scanning as shown in Figure 1, for detecting cylinder
The form variations of body circularity and ellipsoidal head, specifically include the following steps:
(1) there-dimensional laser scanning device is arranged around cylinder 3 and end socket 2.There-dimensional laser scanning device includes three-dimensional sharp
Photoscanner 1, tripod 7, three-dimensional laser scanner mounting platform 8, target paper, target ball 4, target disk 5 and it can receive wireless
The computer 6 of signal；Wherein, three-dimensional laser scanner 1 includes laser beam emitting device, prism, the receiver synchronous with prism, nothing
Gauze card, horizontal and vertical motor, level compensating device, internal battery and pedestal.
As shown in Fig. 2, the method for arranging of there-dimensional laser scanning device are as follows: lay three-dimensional laser around cylinder 3 and end socket 2
Scanner mounting platform 8, using tripod 7 cylinder 3 and end socket 2 around lay three station three-dimensional laser scanner survey stations, and
120 ° are spaced between every station 3 D laser scanning survey station, is successively completed in three survey stations using a three-dimensional laser scanner 1
Target paper, target ball 4, target disk 5 are laid in scanning around cylinder 3 and end socket 2.
(2) 3 D laser scanning is carried out to cylinder 3 and end socket 2, obtains point cloud data amount.In the present embodiment, every instrument
Device sweep time is 8 minutes, and it is 1,760,000 that three station laser scanning instrumentations obtain point cloud data amount on cylinder 3 and end socket 2 altogether, laser
Measurement accuracy is 2mm, obtains point cloud data.
(3) step (2) resulting point cloud data is handled, invalid point cloud data, noise data is deleted, using effective
Point cloud data carries out fairing processing, cavity repairing, boundary adjustment, obtains the threedimensional model being made of tri patch.
(4) contour line required for form variations detect is carried out in the threedimensional model that extraction step (3) obtains；It uses
Geomagic software extracts the true form contour line of form variations inspection positions pressure vessel, and it is soft to imported into AutoCAD
In part.
(5) contour line for extracting step (4), i.e. form variations true form and design shape obtained by 3 D laser scanning
Comparison, evaluates referring to form variations testing result of the GB150 to cylinder roundness and ellipsoidal head, can refer to Fig. 3, Fig. 4.
In the present embodiment, the Superhigh in the following table 1 is the precision used in the present embodiment, 3 D laser scanning
When instrument 1 is 10m at a distance from end socket 2, precision 3.1mm, this test three-dimensional laser scanner 1 is 6m, essence at a distance from end socket 2
Degree can achieve 3.1*6/10=1.86mm.
Three-dimensional laser scanner precision in 1 the present embodiment of table
| Super high | High | Middle | |
| 10m | 3.1mm | 6.3mm | 12.6mm |
| 25m | 7.9mm | 15.7mm | 31.4mm |
| Sweep time | 6.6min | 3.3min | 1.6min |
In the present embodiment, the internal diameter of cylinder 3 is 4797mm, carries out form variations measurement to cylinder 3,3 profile of cylinder
The difference of minimum circumcircle and maximum inscribed circle diameter is 23mm, as shown in figure 3, therefore, the difference of minimax internal diameter is 23mm.
In the present embodiment, internal diameter is that 4797mm ellipsoidal head transition region is spliced by 14 limbs, to each valve
Piece carries out form variations measurement, as shown in figure 4, measurement result are as follows: maximum evagination is 22.8mm, and maximum indent is 20.8.Meet
Requirement of the GB150.4 to ellipsoidal head form variations, maximum evagination are no more than 59.96mm, and maximum indent is no more than
29.98mm。
Finally it should be noted that the above enumerated are only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above embodiments can also have many variations.Those skilled in the art can directly lead from present disclosure
Out or all deformations for associating, it is considered as protection scope of the present invention.
Claims (2)
1. a kind of pressure vessel form variations detection method based on 3 D laser scanning, the shape for detecting pressure vessel are inclined
Difference, pressure vessel refer to cylinder and end socket；It is characterized in that, the pressure vessel form variations inspection based on 3 D laser scanning
Survey method specifically include the following steps:
(1) arrange there-dimensional laser scanning device around pressure vessel, there-dimensional laser scanning device include three-dimensional laser scanner,
Three-dimensional laser scanner mounting platform, tripod, target object and the computer that wireless signal can be received；Wherein, target object
Including target paper, target ball, target disk, three-dimensional laser scanner includes laser beam emitting device, prism, the reception synchronous with prism
Device, wireless network card, horizontal and vertical motor, level compensating device, internal battery and pedestal；
The method for arranging of there-dimensional laser scanning device are as follows: three-dimensional laser scanner mounting platform, benefit are laid around pressure vessel
Three-dimensional laser scanner is laid on three-dimensional laser scanner mounting platform with tripod, as 3 D laser scanning survey station, and
Guarantee that three-dimensional laser scanner mounting platform and tripod are firm, and lays at least two station 3 D laser scanning survey stations；Three-dimensional swashs
Optical scanning survey station is evenly arranged in using pressure vessel as on the circumference in the center of circle, and guarantees the scanning range of 3 D laser scanning survey station
Covering is entirely tested pressure vessel；
Target object is arranged around pressure vessel, and guarantees that adjacent two station three-dimensional laser scanner can be scanned simultaneously at least three
A target object, and measurement process acceptance of the bid target body is not blocked；
Three-dimensional laser scanner swashs the computer that should be able to receive WIFI wireless signal, computer by reception of wireless signals three-dimensional
The result of optical scanning；
(2) 3 D laser scanning being carried out to pressure vessel, the sweep time of every station 3 D laser scanning determines according to measurement accuracy,
Obtain point cloud data amount；
(3) step (2) resulting point cloud data is handled, obtains the threedimensional model being made of tri patch；
To the processing method of point cloud data are as follows: delete invalid point cloud data, noise data, carry out fairing using effective point cloud data
Processing, cavity repairing, boundary adjustment；
(4) contour line required for form variations detect is carried out in the threedimensional model that extraction step (3) obtains, and can be extracted complete
Meridian profiles line or weft contour line；
The extracting method of contour line are as follows: the practical shape of form variations inspection positions pressure vessel is extracted using Geomagic software
Shape contour line, and imported into AutoCAD software；
(5) contour line for extracting step (4), i.e. form variations true form contour line obtained by 3 D laser scanning, with design
The comparison of shaped wheel profile, evaluates form variations testing result referring to GB150.
2. a kind of pressure vessel form variations detection method based on 3 D laser scanning according to claim 1, special
Sign is that the laser measurement required precision of the three-dimensional laser scanner is higher than 2mm.
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