CN107036544A - A kind of large-scale storage tank safety detecting system and method based on three-dimensional laser scanning technique - Google Patents
A kind of large-scale storage tank safety detecting system and method based on three-dimensional laser scanning technique Download PDFInfo
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Abstract
本发明公开了一种基于三维激光扫描技术的大型储罐安全检测系统及方法，包括三维场景可视化模块、大型储罐形变检测模块以及分析方法，所述三维场景可视化模块实现了基于OGRE的三维场景可视化平台、储罐区三维场景的快速更新和相同罐体不同期数据的同时加载，所述大型储罐形变检测模块又包括切片提取、曲线拟合和形变分析三个子模块：所述切片提取模块实现了罐体任意截面点云切片的提取；所述曲线拟合模块实现了罐体截面的特征曲线拟合；所述形变分析模块实现了罐体整体倾斜度、罐壁垂直度、圈板平均半径、圈板椭圆度的分析。本发明的有益效果是，可以节省数据采集、数据处理时间，降低成本，还可以得到更准确的大型储罐形变分析数据。
The invention discloses a large storage tank safety detection system and method based on three-dimensional laser scanning technology, including a three-dimensional scene visualization module, a large storage tank deformation detection module and an analysis method. The three-dimensional scene visualization module realizes a three-dimensional scene based on OGRE Visualization platform, rapid update of the 3D scene of the storage tank area and simultaneous loading of data of the same tank in different periods. The large storage tank deformation detection module also includes three sub-modules: slice extraction, curve fitting and deformation analysis: the slice extraction module The extraction of point cloud slices of any cross-section of the tank is realized; the curve fitting module realizes the characteristic curve fitting of the tank cross-section; the deformation analysis module realizes the overall inclination of the tank body, the verticality of the tank wall, and the average Analysis of radius and ellipticity of ring plate. The beneficial effect of the invention is that the time for data collection and data processing can be saved, the cost can be reduced, and more accurate deformation analysis data of large storage tanks can be obtained.
Description
技术领域technical field
本发明涉及储罐安全检测技术，特别是一种基于三维激光扫描技术的大型储罐安全检测系统与方法。The invention relates to storage tank safety detection technology, in particular to a large storage tank safety detection system and method based on three-dimensional laser scanning technology.
背景技术Background technique
随着国家能源战略的提升，大型常压储罐成为保障我国油气资源及化工物料储备的重大基础性关键装备，是直接关系到油气资源及化工物料安全稳定供应，影响国家能源稳定和经济安全的战略设备。世界上煤化工和其它行业的绝大部分液体介质大都采用立式钢制圆筒形储液罐储存。随着社会经济的发展，储罐容量越来越大，且正向大型化、群罐化发展。由于煤化工产品具有易燃、易爆、易挥发、有腐蚀性及毒性等特性，使它在生产、运输、储存及使用过程中存在潜在的危险。With the improvement of the national energy strategy, large-scale atmospheric storage tanks have become a major basic key equipment to protect my country's oil and gas resources and chemical material reserves. They are directly related to the safe and stable supply of oil and gas resources and chemical materials, and affect national energy stability and economic security. strategic equipment. Most of the liquid media in the coal chemical industry and other industries in the world are stored in vertical steel cylindrical liquid storage tanks. With the development of social economy, the capacity of storage tanks is getting larger and larger, and it is developing towards large-scale and group tanks. Because coal chemical products are flammable, explosive, volatile, corrosive and toxic, there are potential dangers in the process of production, transportation, storage and use.
然而，长期以来对国内外对各类储罐的安全管理重视不足，大型常压立式储罐的检验及综合评价还没有标准和法规可依，大型储罐缺少系统的科学风险管理体系、可靠的安全评定技术和有效的检验检测手段。目前大型储罐检测主要采用围尺法、光学三角法、光学垂准线法和内部/外部电子测距法(EDM)等几何测量法进行容积标定，从而判断其安全健康状况，但是，传统方法普遍存在着劳动强度大、容易产生误差、费用大、耗时等缺点。However, for a long time, insufficient attention has been paid to the safety management of various storage tanks at home and abroad. There are no standards and regulations for the inspection and comprehensive evaluation of large atmospheric vertical storage tanks. Large storage tanks lack a systematic scientific risk management system, reliable Advanced safety assessment technology and effective inspection and testing methods. At present, large-scale storage tanks mainly use geometric measurement methods such as girth method, optical triangulation method, optical vertical line method and internal/external electronic distance measurement (EDM) for volume calibration, so as to judge their safety and health status. However, traditional methods There are generally disadvantages such as high labor intensity, easy to produce errors, high cost, and time-consuming.
三维激光扫描技术作为新近发展的一项测绘新技术，可以快速、高效的获取高精度的三维点云数据。近年来，德国国家计量院(PTB)和Trimble共同研发出一种基于TrimbleCX三维激光扫描仪的全新容积标定法，并取得了一些初步的成果。该方法首先对罐体点云进行预处理，在此基础上构建相应于罐体的三角网状结构，然后每隔一个规定高程截取罐体的横断面，根据柱体体积计算公式求取罐体容积。但是，该方法简化了罐体模型，把罐体看作规则的圆柱体进行处理，不能准确的反映罐体的几何形变信息，与真实的罐体模型存在着很大的误差。As a newly developed surveying and mapping technology, 3D laser scanning technology can quickly and efficiently obtain high-precision 3D point cloud data. In recent years, the German National Institute of Metrology (PTB) and Trimble have jointly developed a new volumetric calibration method based on the TrimbleCX 3D laser scanner, and achieved some preliminary results. This method firstly preprocesses the point cloud of the tank body, builds a triangular network structure corresponding to the tank body on this basis, and then intercepts the cross-section of the tank body at every other specified elevation, and calculates the tank body volume according to the calculation formula of the cylinder volume volume. However, this method simplifies the tank model, treats the tank as a regular cylinder, cannot accurately reflect the geometric deformation information of the tank, and has a large error with the real tank model.
因此，迫切需要一种快速、便捷的大型储罐安全检测方法为石油、天然气、化工等类似危险行业的安全生产提供技术保障。Therefore, there is an urgent need for a fast and convenient safety detection method for large storage tanks to provide technical support for safe production in oil, natural gas, chemical and other similar dangerous industries.
发明内容Contents of the invention
本发明的目的是为了解决上述问题，设计了基于三维激光扫描技术的大型储罐安全检测系统与方法。The object of the present invention is to solve the above problems, and a large storage tank safety detection system and method based on three-dimensional laser scanning technology is designed.
实现上述目的本发明的技术方案为，一种基于三维激光扫描技术的大型储罐安全检测系统与方法，包括三维场景可视化模块、大型储罐形变检测模块以及分析方法，其中：To achieve the above object, the technical solution of the present invention is a large-scale storage tank safety detection system and method based on three-dimensional laser scanning technology, including a three-dimensional scene visualization module, a large-scale storage tank deformation detection module and an analysis method, wherein:
所述三维场景可视化模块实现了基于OGRE的三维场景可视化平台、储罐区三维场景的快速更新和相同罐体不同期数据的同时加载；The three-dimensional scene visualization module realizes the OGRE-based three-dimensional scene visualization platform, the rapid update of the three-dimensional scene of the storage tank area, and the simultaneous loading of different period data of the same tank body;
所述大型储罐形变检测模块又包括切片提取、曲线拟合和形变分析三个子模块；其中：The large storage tank deformation detection module further includes three sub-modules of slice extraction, curve fitting and deformation analysis; wherein:
所述切片提取模块实现了罐体任意截面点云切片的提取；The slice extraction module realizes the extraction of point cloud slices of any section of the tank body;
所述曲线拟合模块实现了罐体截面的特征曲线拟合；The curve fitting module realizes the characteristic curve fitting of the tank body section;
所述形变分析模块实现了罐体整体倾斜度、罐壁垂直度、圈板平均半径、圈板椭圆度的分析。The deformation analysis module realizes the analysis of the overall inclination of the tank body, the verticality of the tank wall, the average radius of the ring plate, and the ellipticity of the ring plate.
所述分析方法如下：The analysis method is as follows:
切片提取模块首先利用KD-Tree对原始点云数据建立拓扑关系，然后定义垂直于Z轴的平面为切片方向，并选择合适的截面点云厚度，实现罐体任意截面点云切片的提取。The slice extraction module first uses KD-Tree to establish the topological relationship of the original point cloud data, then defines the plane perpendicular to the Z axis as the slice direction, and selects the appropriate cross-section point cloud thickness to realize the extraction of any cross-section point cloud slice of the tank.
曲线拟合模块首先对点云切片进行排序，然后采用三次B样条曲线拟合截面特征曲线。其原理如下：The curve fitting module first sorts the point cloud slices, and then uses a cubic B-spline curve to fit the section characteristic curve. The principle is as follows:
式中Pi+k为控制顶点，n为曲线次数。由上式可以看出，B样条曲线是分段的。若给定m+n+1个顶点，就可以定义m+1段n次参数曲线。式中Fk.n(t)是B样条基函数，表达式为：In the formula, P i+k is the control vertex, and n is the curve order. It can be seen from the above formula that the B-spline curve is segmented. If m+n+1 vertices are given, m+1 segments of n-degree parametric curves can be defined. In the formula, F kn (t) is the B-spline basis function, and the expression is:
从特征点集中每次取相邻的4个顶点，就可以构造一条三次B样条曲线，相邻的两段三次B样条曲线在连接处达到二阶连续。Taking four adjacent vertices from the feature point set each time, a cubic B-spline curve can be constructed, and two adjacent cubic B-spline curves can reach the second-order continuity at the connection.
形变分析模块采用最小二乘拟合点云切片中心，并将其拟合成直线，该直线与Z轴的夹角即为罐体的整体倾斜度。The deformation analysis module uses least squares to fit the point cloud slice center and fit it into a straight line. The angle between the straight line and the Z axis is the overall inclination of the tank.
形变分析模块在拟合的圈板特征曲线上等间隔选取n个特征点，并计算切片中心到这些特征点的距离r，通过计算r的平均值求得圈板的平均半径R和特征点所对应的直径为D，然后找出这些特征点对应直径的最小值和最大值，并计算它们的平均值D，最后根据椭圆度计算公式计算其椭圆度。其椭圆度计算公式如下：The deformation analysis module selects n feature points at equal intervals on the fitted ring plate characteristic curve, and calculates the distance r from the center of the slice to these feature points, and calculates the average radius R of the ring plate and the distance between the feature points by calculating the average value of r. The corresponding diameter is D, then find out the minimum and maximum values of the corresponding diameters of these feature points, and calculate their average value D, and finally calculate its ellipticity according to the ellipticity calculation formula. The formula for calculating the ellipticity is as follows:
三维场景可视化模块可以采用数字地面模型作为搭建真实储罐区的底图，利用三维激光扫描技术获得的点云数据并进行模型构建实现储罐的真实分布。The 3D scene visualization module can use the digital ground model as the base map for building a real storage tank area, and use the point cloud data obtained by 3D laser scanning technology to build a model to realize the real distribution of storage tanks.
所述三维场景可视化模块采用八叉树场景管理器管理各个罐体，不仅可以快速定位罐体的绝对位置，而且可以根据生产实际增加、删减储油罐，实现储油罐区场景的快速更新。The 3D scene visualization module uses an octree scene manager to manage each tank body, not only can quickly locate the absolute position of the tank body, but also can increase or delete oil storage tanks according to the actual production, so as to realize the rapid update of the scene of the oil storage tank area .
所述三维场景可视化模块可以在每个罐的节点下加入该罐体的不同期的扫描数据，比较分析该罐体的变形趋势。The three-dimensional scene visualization module can add the scanning data of the tank body in different periods under the node of each tank body, and compare and analyze the deformation trend of the tank body.
利用本发明的技术方案制作的一种基于三维激光扫描技术的大型储罐安全检测系统与方法，将三维激光扫描技术应用于大型储罐安全检测中，相比传统储罐检测时使用的几何测量方法，该技术不再局限于只分析每层圈板的1/4和3/4处，充分利用扫描到的稠密罐体点云数据，不仅能大大提高外业数据采集的效率和精度，节省人力物力，降低成本，也节省了数据处理时间，该技术的应用，为行业推广以及制定内部行业规范提供准确可靠的罐体检定方法。A large-scale storage tank safety detection system and method based on three-dimensional laser scanning technology produced by the technical solution of the present invention, the three-dimensional laser scanning technology is applied to large-scale storage tank safety detection, compared with the geometric measurement used in traditional storage tank detection method, this technology is no longer limited to only analyzing 1/4 and 3/4 of each layer of the ring plate, making full use of the scanned dense tank point cloud data, not only can greatly improve the efficiency and accuracy of field data collection, save Manpower and material resources, cost reduction, and data processing time are also saved. The application of this technology provides an accurate and reliable tank verification method for industry promotion and the formulation of internal industry specifications.
附图说明Description of drawings
图1是本发明所述一种基于三维激光扫描技术的大型储罐安全检测系统与方法的截面切片提取流程图；Fig. 1 is a kind of sectional slice extracting flowchart of the large-scale storage tank safety inspection system and method based on three-dimensional laser scanning technology described in the present invention;
具体实施方式detailed description
下面结合附图对本发明进行具体描述，如图1所示，一种基于三维激光扫描技术的大型储罐安全检测系统与方法，包括三维场景可视化模块、大型储罐形变检测模块以及分析方法，所述三维场景可视化模块实现了基于OGRE的三维场景可视化平台、储罐区三维场景的快速更新和相同罐体不同期数据的加载，所述大型储罐形变检测模块又包括切片提取、曲线拟合和形变分析三个子模块：所述切片提取模块实现了罐体任意截面点云切片的提取；所述曲线拟合模块实现了罐体截面的特征曲线拟合；所述形变分析模块实现了罐体整体倾斜度、罐壁垂直度、圈板平均半径、圈板椭圆度的分析；所述分析方法如下：切片提取模块首先利用KD-Tree对原始点云数据建立拓扑关系，然后定义垂直于Z轴的平面为切片方向，并选择合适的截面点云厚度，实现罐体任意截面点云切片的提取；曲线拟合模块首先对点云切片进行排序，然后采用三次B样条曲线拟合截面特征曲线。其原理如下：The present invention will be described in detail below in conjunction with the accompanying drawings. As shown in Figure 1, a large storage tank safety detection system and method based on three-dimensional laser scanning technology includes a three-dimensional scene visualization module, a large storage tank deformation detection module and an analysis method. The 3D scene visualization module realizes the OGRE-based 3D scene visualization platform, the rapid update of the 3D scene in the storage tank area, and the loading of data of the same tank in different periods. The large storage tank deformation detection module also includes slice extraction, curve fitting and Three sub-modules of deformation analysis: the slice extraction module realizes the extraction of point cloud slices of any section of the tank; the curve fitting module realizes the characteristic curve fitting of the tank cross section; the deformation analysis module realizes the overall Analysis of inclination, verticality of tank wall, average radius of ring and plate, and ellipticity of ring and plate; the analysis method is as follows: the slice extraction module first uses KD-Tree to establish a topological relationship for the original point cloud data, and then defines the The plane is the slice direction, and the appropriate section point cloud thickness is selected to realize the extraction of point cloud slices of any section of the tank; the curve fitting module first sorts the point cloud slices, and then uses the cubic B-spline curve to fit the section characteristic curve. The principle is as follows:
式中Pi+k为控制顶点，n为曲线次数。由上式可以看出，B样条曲线是分段的。若给定m+n+1个顶点，就可以定义m+1段n次参数曲线。式中Fk.n(t)是B样条基函数，表达式为：In the formula, P i+k is the control vertex, and n is the curve order. It can be seen from the above formula that the B-spline curve is segmented. If m+n+1 vertices are given, m+1 segments of n-degree parametric curves can be defined. In the formula, F kn (t) is the B-spline basis function, and the expression is:
从特征点集中每次取相邻的4个顶点，就可以构造一条三次B样条曲线，相邻的两段三次B样条曲线在连接处达到二阶连续；所述形变分析模块采用最小二乘拟合点云切片中心，并将其拟合成直线，该直线与Z轴的夹角即为罐体的整体倾斜度；形变分析模块在拟合的圈板特征曲线上等间隔选取n个特征点，并计算切片中心到这些特征点的距离r，通过计算r的平均值求得圈板的平均半径R和特征点所对应的直径为D，然后找出这些特征点对应直径的最小值和最大值，并计算它们的平均值D，最后根据椭圆度计算公式计算其椭圆度；三维场景可视化模块可以采用数字地面模型作为搭建真实储罐区的底图，利用三维激光扫描技术获得的点云数据并进行模型构建实现储罐的真实分布；所述三维场景可视化模块采用八叉树场景管理器管理各个罐体，不仅可以快速定位罐体的绝对位置，而且可以根据生产实际增加、删减储油罐，实现储油罐区场景的快速更新；所述三维场景可视化模块可以在每个罐的节点下加入该罐体的不同期的扫描数据，比较分析该罐体的变形趋势。Take 4 adjacent vertices each time from the feature point set, you can construct a cubic B-spline curve, and the two adjacent cubic B-spline curves reach the second-order continuity at the connection; the deformation analysis module uses the least squares Multiply the center of the fitted point cloud slice and fit it into a straight line. The angle between the straight line and the Z axis is the overall inclination of the tank; the deformation analysis module selects n points at equal intervals on the fitted ring plate characteristic curve Feature points, and calculate the distance r from the center of the slice to these feature points, calculate the average radius R of the circle plate and the diameter corresponding to the feature points as D by calculating the average value of r, and then find the minimum value of the diameter corresponding to these feature points and the maximum value, and calculate their average value D, and finally calculate its ellipticity according to the ellipticity calculation formula; the 3D scene visualization module can use the digital ground model as the base map for building a real storage tank farm, and use the points obtained by 3D laser scanning technology Cloud data and model building to realize the real distribution of storage tanks; the 3D scene visualization module uses an octree scene manager to manage each tank body, not only can quickly locate the absolute position of the tank body, but also can increase or delete according to the actual production The oil storage tank realizes the rapid update of the scene of the oil storage tank area; the three-dimensional scene visualization module can add the scanning data of the tank body in different periods under the node of each tank, and compare and analyze the deformation trend of the tank body.
本实施方案的特点为，三维场景可视化模块实现了基于OGRE的三维场景可视化平台、储罐区三维场景的快速更新和相同罐体不同期数据的加载，大型储罐形变检测模块又包括切片提取、曲线拟合和形变分析三个子模块：切片提取模块实现了罐体任意截面点云切片的提取；曲线拟合模块实现了罐体截面的特征曲线拟合；形变分析模块实现了罐体整体倾斜度、罐壁垂直度、圈板平均半径、圈板椭圆度的分析，该系统不仅可以节省数据采集、数据处理时间，降低成本，还可以得到更准确的大型储罐形变分析数据，满足计量、石油、化工等行业的需求。The characteristics of this implementation plan are that the 3D scene visualization module realizes the OGRE-based 3D scene visualization platform, the rapid update of the 3D scene of the storage tank area, and the loading of data of the same tank in different periods. The large storage tank deformation detection module also includes slice extraction, Three sub-modules of curve fitting and deformation analysis: the slice extraction module realizes the extraction of point cloud slices of any section of the tank body; the curve fitting module realizes the characteristic curve fitting of the tank body section; the deformation analysis module realizes the overall inclination of the tank body , the verticality of the tank wall, the average radius of the ring plate, and the analysis of the ellipticity of the ring plate. , chemical and other industries.
在本实施方案中，具体实施步骤及运算过程如下：In this embodiment, the specific implementation steps and calculation process are as follows:
(1)对多站扫描数据进行预处理，建立罐体点云模型；(1) Preprocessing the multi-station scanning data to establish a tank point cloud model;
(2)将罐体点云模型导入所述大型储罐安全检测系统，设置切割轴向、切片位置以及切片厚度，实现罐体任意截面点云切片的提取；(2) Import the point cloud model of the tank body into the large-scale storage tank safety detection system, set the cutting axis, slice position and slice thickness, and realize the extraction of point cloud slices of any section of the tank body;
(3)设置曲线拟合度，对罐体任意截面点云切片进行三次B样条曲线拟合，得到罐体截面的特征曲线；(3) Set the degree of curve fitting, perform cubic B-spline curve fitting on any section point cloud slice of the tank body, and obtain the characteristic curve of the tank body section;
(4)设置罐体任意截面点云切片的特征点位置，通过形变分析模块计算罐体整体倾斜度、罐壁垂直度、圈板平均半径和圈板椭圆度。(4) Set the feature point position of the point cloud slice of any section of the tank body, and calculate the overall inclination of the tank body, the verticality of the tank wall, the average radius of the ring plate, and the ellipticity of the ring plate through the deformation analysis module.
上述技术方案仅体现了本发明技术方案的优选技术方案，本技术领域的技术人员对其中某些部分所可能做出的一些变动均体现了本发明的原理，属于本发明的保护范围之内。The above-mentioned technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention, and some changes that those skilled in the art may make to certain parts reflect the principles of the present invention and fall within the protection scope of the present invention.
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