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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- CN107036544A CN107036544A CN201710377197.4A CN201710377197A CN107036544A CN 107036544 A CN107036544 A CN 107036544A CN 201710377197 A CN201710377197 A CN 201710377197A CN 107036544 A CN107036544 A CN 107036544A
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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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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Abstract
The invention discloses a kind of large-scale storage tank safety detecting system based on three-dimensional laser scanning technique and method, including three-dimensional scenic visualization model, large-scale storage tank shape changing detection module and analysis method, the three-dimensional scenic visualization model realize the three-dimensional scenic Visualization Platform based on OGRE, the quick renewal of tank area three-dimensional scenic and identical tank body not contemporaneous data while load, the large-scale storage tank shape changing detection module again include section extract, three submodules of curve matching and deformation analysis：The section extraction module realizes the extraction of tank body arbitrary section point cloud slicing；The curve fitting module realizes the indicatrix fitting in tank body section；The deformation analysis module realizes the integral inclined degree of tank body, tank skin perpendicularity, girth sheets mean radius, the analysis of girth sheets ovality.The beneficial effects of the invention are as follows can save data acquisition, data processing time, reduce cost, can also obtain more accurately large-scale storage tank deformation analysis data.
Description
Technical field
The present invention relates to storage tank safety detection technology, particularly a kind of large-scale storage tank peace based on three-dimensional laser scanning technique
Full inspection examining system and method.
Background technology
With the lifting of national energy strategy, Technique for Large Atmospheric Storage Tanks, which turns into, ensures China's petroleum resources and chemical material deposit
Great basic critical equipment, be directly connected to petroleum resources and chemical material safety and stability supply, influence national energy
The strategic equipment of stable and economic security.The most part liquid medium of coal chemical industry and other industries is mostly using vertical in the world
Steel cylinder shape fluid reservoir is stored.With the development of the social economy, tank capacity is increasing, and positive maximization, group's tank
Development.Due to coalification chemical product have it is inflammable, explosive, volatile, be corrosive and the characteristic such as toxicity, make it production, transport,
Exist during storage and use potential dangerous.
However, not enough is paid attention to the safety management both at home and abroad to all kinds of storage tanks for a long time, Large Atmosphere Pressure vertical storage tank
Examine and the also no standard of overall merit and regulation can be according to, large-scale storage tank lacks the science Risk Management System, reliable of system
Safe assessment technology and effective inspection detection means.Current main use of large-scale storage tank detection encloses chi method, optic triangle method, light
Learn the geometric measurement method such as directrix method and inner/outer electronic distance measurement (EDM) of hanging down and carry out volumetric calibration, so as to judge that it is strong safely
Health situation, still, conventional method generally existing that labor intensity is big, easily produces error, it is expensive, time-consuming the shortcomings of.
Three-dimensional laser scanning technique can fast and efficiently obtain high-precision as a New Surveying Technology of newly-developed
The three dimensional point cloud of degree.In recent years, German National metering institute (PTB) and Trimble develop a kind of based on Trimble jointly
The brand-new volumetric calibration method of CX three-dimensional laser scanners, and achieve some preliminary achievements.This method is first to tank body point cloud
Pre-processed, the triangular mesh structure corresponding to tank body is built on this basis, elevation interception tank is then provided every one
The cross section of body, tank volume is asked for according to columnar volume calculation formula.But, this process simplify tank body model, tank body
The cylinder for regarding rule as is handled, it is impossible to is accurately reflected the geometric deformation information of tank body, is deposited with real tank body model
In very big error.
Therefore, in the urgent need to one kind, quickly, easily large-scale storage tank safety detection method is oil, natural gas, chemical industry etc.
The safety in production of similar dangerous industry provides technical guarantee.
The content of the invention
The invention aims to solve the above problems, the large-scale storage tank peace based on three-dimensional laser scanning technique is devised
Full inspection examining system and method.
Realize above-mentioned purpose the technical scheme is that, it is a kind of based on three-dimensional laser scanning technique large-scale storage tank safety
Detecting system and method, including three-dimensional scenic visualization model, large-scale storage tank shape changing detection module and analysis method, wherein：
The three-dimensional scenic visualization model realizes the three-dimensional scenic Visualization Platform based on OGRE, tank area three dimensional field
The quick renewal of scape and identical tank body not contemporaneous data while load；
The large-scale storage tank shape changing detection module includes section extraction, three submodules of curve matching and deformation analysis again；
Wherein：
The section extraction module realizes the extraction of tank body arbitrary section point cloud slicing；
The curve fitting module realizes the indicatrix fitting in tank body section；
The deformation analysis module realizes the integral inclined degree of tank body, tank skin perpendicularity, girth sheets mean radius, girth sheets ellipse
The analysis of degree.
The analysis method is as follows：
Section extraction module, to original point cloud data building topology relation, is then defined perpendicular to Z first with KD-Tree
The plane of axle is slice direction, and selects suitable Section Point Cloud thickness, realizes the extraction of tank body arbitrary section point cloud slicing.
Curve fitting module is ranked up to point cloud slicing first, is then fitted section feature using B-spline Curve
Curve.Its principle is as follows：
P in formulai+kFor control vertex, n is degree of curve.As can be seen from the above equation, B-spline curves are segmentations.If given
M+n+1 summit, it is possible to define m+1 sections of n subparameter curves.F in formulak.n(t) it is B-spline basic function, expression formula is：
Take 4 adjacent summits every time from feature point set, it is possible to construct a B-spline Curve, adjacent two
Section B-spline Curve reaches Second Order Continuous in junction.
Deformation analysis module uses least square fitting point cloud slicing center, and is fitted and is in line, the straight line and Z axis
Angle be tank body integral inclined degree.
Deformation analysis module chooses n characteristic point at equal intervals on the girth sheets indicatrix of fitting, and calculates centre of slice
To these characteristic points apart from r, diameter corresponding to the mean radius R and characteristic point of girth sheets is tried to achieve by calculating r average value
For D, the minimum value and maximum of these characteristic points correspondence diameter are then found out, and calculates their average value D, finally according to ellipse
Roundness calculation formula calculates its ovality.Its ovality calculation formula is as follows：
Three-dimensional scenic visualization model can utilize three using digital terrain model as the base map for building true tank area
The cloud data of dimension laser scanner technique acquisition simultaneously carries out the true distribution that model construction realizes storage tank.
The three-dimensional scenic visualization model manages each tank body using Octree scene manager, not only can quickly determine
The absolute position of position tank body, and can increase according to produce reality, delete oil storage tank, realize Oil Tank Area scene it is quick more
Newly.
The three-dimensional scenic visualization model can add asynchronous scanning number of the tank body under the node of each tank
According to the deformation tendency of the comparative analysis tank body.
A kind of large-scale storage tank safety detection based on three-dimensional laser scanning technique made using technical scheme
System and method for, three-dimensional laser scanning technique is applied in large-scale storage tank safety detection, used when being detected compared to traditional storage tank
Dimensional measurement method, the technology is no longer limited to only analyze at the 1/4 and 3/4 of every layer of girth sheets, and make full use of that scanning arrives is thick
Close tank body cloud data, can not only greatly improve the efficiency and precision of field data collection, use manpower and material resources sparingly, reduce cost,
Data processing time is also saved, the application of the technology is promoted and formulated for industry internal industry standard and provides accurately and reliably
Tank body calibration method.
Brief description of the drawings
Fig. 1 is a kind of large-scale storage tank safety detecting system and method based on three-dimensional laser scanning technique of the present invention
Cross-sectional slice extracts flow chart；
Embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in figure 1, a kind of based on three-dimensional laser scanning technique
Large-scale storage tank safety detecting system and method, including three-dimensional scenic visualization model, large-scale storage tank shape changing detection module and point
Analysis method, the three-dimensional scenic visualization model realizes the three-dimensional scenic Visualization Platform based on OGRE, tank area three dimensional field
The loading of the quick renewal of scape and identical tank body not contemporaneous data, the large-scale storage tank shape changing detection module is carried including section again
Take, three submodules of curve matching and deformation analysis：The section extraction module realizes tank body arbitrary section point cloud slicing
Extract；The curve fitting module realizes the indicatrix fitting in tank body section；The deformation analysis module realizes tank body
Integral inclined degree, tank skin perpendicularity, girth sheets mean radius, the analysis of girth sheets ovality；The analysis method is as follows：Section is extracted
Module is first with KD-Tree to original point cloud data building topology relation, and the plane then defined perpendicular to Z axis is section side
To, and suitable Section Point Cloud thickness is selected, realize the extraction of tank body arbitrary section point cloud slicing；Curve fitting module is right first
Point cloud slicing is ranked up, and is then fitted Feature Curve using B-spline Curve.Its principle is as follows：
P in formulai+kFor control vertex, n is degree of curve.As can be seen from the above equation, B-spline curves are segmentations.If given
M+n+1 summit, it is possible to define m+1 sections of n subparameter curves.F in formulak.n(t) it is B-spline basic function, expression formula is：
Take 4 adjacent summits every time from feature point set, it is possible to construct a B-spline Curve, adjacent two
Section B-spline Curve reaches Second Order Continuous in junction；The deformation analysis module uses least square fitting point cloud slicing
Center, and be fitted and be in line, the angle of the straight line and Z axis is the integral inclined degree of tank body；Deformation analysis module is being intended
N characteristic point is chosen on the girth sheets indicatrix of conjunction at equal intervals, and calculates centre of slice to these characteristic points apart from r, is passed through
Calculating r average value tries to achieve a diameter of D corresponding to the mean radius R and characteristic point of girth sheets, then finds out these characteristic points pair
The minimum value and maximum of diameter are answered, and calculates their average value D, it is oval to calculate it finally according to ovality calculation formula
Degree；Three-dimensional scenic visualization model can be swashed using digital terrain model as the base map for building true tank area using three-dimensional
The cloud data of optical scanning technology acquisition simultaneously carries out the true distribution that model construction realizes storage tank；The three-dimensional scenic visualizes mould
Block manages each tank body using Octree scene manager, not only can quickly position the absolute position of tank body, and can root
Increase according to produce reality, delete oil storage tank, realize the quick renewal of Oil Tank Area scene；The three-dimensional scenic visualization model can
To add asynchronous scan data of the tank body, the deformation tendency of the comparative analysis tank body under the node of each tank.
The characteristics of the present embodiment is that it is flat that three-dimensional scenic visualization model realizes the three-dimensional scenic visualization based on OGRE
The loading of platform, the quick renewal of tank area three-dimensional scenic and identical tank body not contemporaneous data, large-scale storage tank shape changing detection module is again
Including section extraction, three submodules of curve matching and deformation analysis：Section extraction module realizes tank body arbitrary section point cloud
The extraction of section；Curve fitting module realizes the indicatrix fitting in tank body section；It is whole that deformation analysis module realizes tank body
Body gradient, tank skin perpendicularity, girth sheets mean radius, the analysis of girth sheets ovality, the system can not only save data acquisition,
Data processing time, reduces cost, can also obtain more accurately large-scale storage tank deformation analysis data, meets metering, oil, change
The demand of the industries such as work.
In the present embodiment, specific implementation step and calculating process are as follows：
(1) multistation scan data is pre-processed, sets up tank body point cloud model；
(2) tank body point cloud model is imported into the large-scale storage tank safety detecting system, set cutting axially, slice position with
And slice thickness, realize the extraction of tank body arbitrary section point cloud slicing；
(3) curve matching degree is set, B-spline Curve fitting is carried out to tank body arbitrary section point cloud slicing, tank is obtained
The indicatrix of body section；
(4) characteristic point position of tank body arbitrary section point cloud slicing is set, and it is overall to calculate tank body by deformation analysis module
Gradient, tank skin perpendicularity, girth sheets mean radius and girth sheets ovality.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
Some of which part may be made some variation embodies the present invention principle, belong to protection scope of the present invention it
It is interior.
Claims (4)
1. a kind of large-scale storage tank safety detecting system and method based on three-dimensional laser scanning technique, it is characterised in that including three
Environment Visualization module, large-scale storage tank shape changing detection module and analysis method are tieed up, wherein：
The three-dimensional scenic visualization model realizes three-dimensional scenic Visualization Platform based on OGRE, tank area three-dimensional scenic
It is quick update and identical tank body not contemporaneous data loading；
The large-scale storage tank shape changing detection module includes section extraction, three submodules of curve matching and deformation analysis again；Wherein：
The section extraction module realizes the extraction of tank body arbitrary section point cloud slicing；
The curve fitting module realizes the indicatrix fitting in tank body section；
The deformation analysis module realizes tank body integral inclined degree, tank skin perpendicularity, girth sheets mean radius, girth sheets ovality
Analysis.
2. a kind of large-scale storage tank safety detecting system and side based on three-dimensional laser scanning technique according to claim 1
Method, it is characterised in that the analysis method is as follows：
Section extraction module, to original point cloud data building topology relation, is then defined perpendicular to Z axis first with KD-Tree
Plane is slice direction, and selects suitable Section Point Cloud thickness, realizes the extraction of tank body arbitrary section point cloud slicing；
Curve fitting module is ranked up to point cloud slicing first, is then fitted Feature Curve using B-spline Curve；
Its principle is as follows：
P in formulai+kFor control vertex, n is degree of curve；As can be seen from the above equation, B-spline curves are segmentations；If given m+n+
1 summit, it is possible to define m+1 sections of n subparameter curves；F in formulak.n(t) it is B-spline basic function, expression formula is：
Take 4 adjacent summits every time from feature point set, it is possible to construct a B-spline Curve, adjacent two section three
Secondary B-spline curves reach Second Order Continuous in junction；
Deformation analysis module uses least square fitting point cloud slicing center, and is fitted and is in line, the folder of the straight line and Z axis
Angle is the integral inclined degree of tank body；
Deformation analysis module chooses n characteristic point at equal intervals on the girth sheets indicatrix of fitting, and calculates centre of slice and arrive this
A little characteristic points apart from r, try to achieve a diameter of D corresponding to the mean radius R and characteristic point of girth sheets by calculating r average value,
Then the minimum value and maximum of these characteristic points correspondence diameter are found out, and calculates their average value D, finally according to ovality
Calculation formula calculates its ovality；Its ovality calculation formula is as follows：
Three-dimensional scenic visualization model can be swashed using digital terrain model as the base map for building true tank area using three-dimensional
The cloud data of optical scanning technology acquisition simultaneously carries out the true distribution that model construction realizes storage tank.
3. a kind of large-scale storage tank safety detecting system and side based on three-dimensional laser scanning technique according to claim 1
Method, it is characterised in that the three-dimensional scenic visualization model manages each tank body using Octree scene manager, not only can be with
The absolute position of quick positioning tank body, and can be increased according to produce reality, delete oil storage tank, realize Oil Tank Area scene
It is quick to update.
4. a kind of large-scale storage tank safety detecting system and side based on three-dimensional laser scanning technique according to claim 1
Method, it is characterised in that the three-dimensional scenic visualization model can add the asynchronous of the tank body under the node of each tank
Scan data, the deformation tendency of the comparative analysis tank body.
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| CN108053477A (en) * | 2017-12-20 | 2018-05-18 | 北京华航无线电测量研究所 | The Numerical Methods of deformation in a kind of pipeline |
| US20190178443A1 (en) * | 2017-12-13 | 2019-06-13 | China National Offshore Oil Corp. | Three-dimensional layoutlayout method for splicing vault plates of large lng storage tank |
| CN111681313A (en) * | 2020-05-18 | 2020-09-18 | 云南迅测科技有限公司 | Digital topographic map-based space vision field analysis method and electronic equipment |
| CN111750794A (en) * | 2020-06-11 | 2020-10-09 | 长江三峡通航管理局 | Ship chamber deformation monitoring method of ship lift based on point cloud data analysis |
| CN113763529A (en) * | 2020-06-02 | 2021-12-07 | 国网江苏省电力有限公司电力科学研究院 | Transformer substation modeling method based on three-dimensional scanning |
| CN113808093A (en) * | 2021-09-10 | 2021-12-17 | 中铁一局集团第五工程有限公司 | Tunnel primary support shotcrete thickness detection method based on 3D laser scanner |
| CN114419132A (en) * | 2022-01-14 | 2022-04-29 | 福州大学 | System and method for measuring inclination of vertical cylindrical oil storage tank body based on point cloud |
| CN115096202A (en) * | 2022-08-26 | 2022-09-23 | 苏州华智诚精工科技有限公司 | Method for detecting deformation defect of cylindrical surface to-be-detected body |
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Cited By (14)
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| CN108053477B (en) * | 2017-12-20 | 2021-07-02 | 北京华航无线电测量研究所 | Numerical processing method for deformation in pipeline |
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| CN111681313A (en) * | 2020-05-18 | 2020-09-18 | 云南迅测科技有限公司 | Digital topographic map-based space vision field analysis method and electronic equipment |
| CN113763529A (en) * | 2020-06-02 | 2021-12-07 | 国网江苏省电力有限公司电力科学研究院 | Transformer substation modeling method based on three-dimensional scanning |
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| CN111750794B (en) * | 2020-06-11 | 2022-03-11 | 长江三峡通航管理局 | Ship chamber deformation monitoring method of ship lift based on point cloud data analysis |
| CN113808093A (en) * | 2021-09-10 | 2021-12-17 | 中铁一局集团第五工程有限公司 | Tunnel primary support shotcrete thickness detection method based on 3D laser scanner |
| CN114419132A (en) * | 2022-01-14 | 2022-04-29 | 福州大学 | System and method for measuring inclination of vertical cylindrical oil storage tank body based on point cloud |
| CN115096202A (en) * | 2022-08-26 | 2022-09-23 | 苏州华智诚精工科技有限公司 | Method for detecting deformation defect of cylindrical surface to-be-detected body |
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