CN107036544B - Large storage tank safety detection system and method based on three-dimensional laser scanning technology - Google Patents
Large storage tank safety detection system and method based on three-dimensional laser scanning technology Download PDFInfo
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- CN107036544B CN107036544B CN201710377197.4A CN201710377197A CN107036544B CN 107036544 B CN107036544 B CN 107036544B CN 201710377197 A CN201710377197 A CN 201710377197A CN 107036544 B CN107036544 B CN 107036544B
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- 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 large-scale storage tank safety detection system and a large-scale storage tank safety detection method based on a three-dimensional laser scanning technology, and the system comprises a three-dimensional scene visualization module, a large-scale storage tank deformation detection module and an analysis method, wherein the three-dimensional scene visualization module realizes quick updating of a three-dimensional scene of a storage tank area based on an OGRE (one glass solution reconstruction), and simultaneous loading of different-period data of the same tank body, and the large-scale storage tank deformation detection module comprises three sub-modules of slice extraction, 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 section of the tank body; the deformation analysis module realizes the analysis of the integral inclination of the tank body, the perpendicularity of the tank wall, the average radius of the ring plate and the ovality of the ring plate. The method has the advantages of saving data acquisition and data processing time, reducing cost and obtaining more accurate deformation analysis data of the large storage tank.
Description
Technical Field
The invention relates to a storage tank safety detection technology, in particular to a large storage tank safety detection system and method based on a three-dimensional laser scanning technology.
background
with the promotion of national energy strategy, the large-scale atmospheric storage tank becomes important basic key equipment for guaranteeing the storage of oil gas resources and chemical materials in China, and is strategic equipment which is directly related to the safe and stable supply of the oil gas resources and the chemical materials and influences the national energy stability and economic safety. Most of liquid media in coal chemical industry and other industries in the world are stored by vertical steel cylindrical liquid storage tanks. With the development of social economy, the storage tank capacity is larger and larger, and the large-scale and tank-group development is forward. Because the coal chemical products have the characteristics of flammability, explosiveness, volatility, corrosiveness, toxicity and the like, the coal chemical products have potential danger in the processes of production, transportation, storage and use.
however, the attention on the safety management of various storage tanks at home and abroad is insufficient for a long time, the inspection and the comprehensive evaluation of the large-sized normal-pressure vertical storage tank have no standards and regulations, and the large-sized storage tank lacks a systematic scientific risk management system, a reliable safety evaluation technology and an effective inspection and detection means. At present, the large-scale storage tank is mainly detected by adopting geometric measurement methods such as a girth method, an optical triangulation method, an optical plumb line method, an internal/external electronic distance measurement method (EDM) and the like to calibrate the volume, so that the safety and health conditions of the large-scale storage tank are judged, but the traditional method generally has the defects of high labor intensity, high cost, time consumption and the like, and errors are easy to generate.
the three-dimensional laser scanning technology is a newly developed new mapping technology, and can quickly and efficiently acquire high-precision three-dimensional point cloud data. In recent years, a brand-new volume calibration method based on Trimble CX three-dimensional laser scanner is developed by the German national metrology institute (PTB) and Trimble together, and some preliminary results are obtained. The method comprises the steps of firstly preprocessing the point cloud of the tank body, constructing a triangular net structure corresponding to the tank body on the basis, then intercepting the cross section of the tank body at intervals of a specified elevation, and solving the volume of the tank body according to a column volume calculation formula. However, the 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.
Therefore, a rapid and convenient safety detection method for large storage tanks is urgently needed to provide technical support for safety production of similar dangerous industries such as petroleum, natural gas, chemical engineering and the like.
disclosure of Invention
the invention aims to solve the problems and designs a large storage tank safety detection system and a method based on a three-dimensional laser scanning technology.
The technical scheme of the invention is that a large storage tank safety detection system and method based on three-dimensional laser scanning technology comprises a three-dimensional scene visualization module, a large storage tank deformation detection module and an analysis method, wherein:
The three-dimensional scene visualization module realizes quick update of a three-dimensional scene visualization platform and a storage tank area based on OGRE and simultaneous loading of different-period data of the same tank body;
the large storage tank deformation detection module comprises three sub-modules of slice extraction, curve fitting and deformation analysis; wherein:
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 section of the tank body;
the deformation analysis module realizes the analysis of the integral inclination of the tank body, the perpendicularity of the tank wall, the average radius of the ring plate and the ovality of the ring plate.
The analysis method is as follows:
the slice extraction module firstly establishes a topological relation for original point cloud data by using the KD-Tree, then defines a plane perpendicular to the Z axis as a slice direction, and selects a proper section point cloud thickness to realize the extraction of any section point cloud slice of the tank body.
the curve fitting module firstly sorts the point cloud slices and then adopts cubic B-spline curve fitting section characteristic curve. The principle is as follows:
Wherein Pi + k is the control vertex and n is the curve degree. As can be seen from the above equation, the B-spline curve is segmented. Given m + n +1 vertices, m +1 n parameter curves can be defined. Where Fk.n (t) is a B-spline basis function, the expression:
and (3) taking 4 adjacent vertexes from the feature point set each time to construct a cubic B spline curve, wherein two adjacent cubic B spline curves reach second-order continuity at the joint.
and the deformation analysis module adopts least square fitting point cloud slice centers and fits the point cloud slice centers into a straight line, and the included angle between the straight line and the Z axis is the integral gradient of the tank body.
the deformation analysis module selects n characteristic points at equal intervals on the fitted ring plate characteristic curve, calculates the distance R from the center of the slice to the characteristic points, obtains the average radius R of the ring plate and the diameter corresponding to the characteristic points as D by calculating the average value of R, then finds out the minimum value and the maximum value of the corresponding diameters of the characteristic points, calculates the average value D of the characteristic points, and finally calculates the ellipticity of the ring plate according to an ellipticity calculation formula. The ellipticity calculation formula is as follows:
The three-dimensional scene visualization module can adopt a digital ground model as a base map for building a real storage tank area, and utilizes point cloud data obtained by a three-dimensional laser scanning technology to build a model so as to realize real distribution of the storage tank.
The three-dimensional scene visualization module adopts an octree scene manager to manage each tank body, so that the absolute position of the tank body can be quickly positioned, the oil storage tanks can be increased and deleted according to actual production, and the scene of the oil storage tank area can be quickly updated.
the three-dimensional scene visualization module can add scanning data of the tank body in different periods under the nodes of each tank, and compare and analyze the deformation trend of the tank body.
The large-scale storage tank safety detection system and method based on the three-dimensional laser scanning technology, which are manufactured by the technical scheme of the invention, apply the three-dimensional laser scanning technology to the large-scale storage tank safety detection, compared with a geometric measurement method used in the traditional storage tank detection, the technology is not limited to analyzing only 1/4 and 3/4 positions of each layer of ring plate, and the scanned dense tank point cloud data is fully utilized, so that the efficiency and the precision of field data acquisition can be greatly improved, manpower and material resources are saved, the cost is reduced, and the data processing time is also saved.
Drawings
FIG. 1 is a cross-sectional slice extraction flow chart of a large storage tank safety detection system and method based on three-dimensional laser scanning technology according to the present invention;
Detailed Description
The invention is described in detail below with reference to the accompanying drawings, and as shown in fig. 1, a system and a method for detecting the safety of a large storage tank based on a three-dimensional laser scanning technology includes a three-dimensional scene visualization module, a large storage tank deformation detection module and an analysis method, wherein the three-dimensional scene visualization module realizes quick update of a three-dimensional scene of a storage tank area based on OGRE and loading of different-period data of the same tank, and the large storage tank deformation detection module further includes three sub-modules of slice extraction, 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 section of the tank body; the deformation analysis module realizes the analysis of the integral inclination of the tank body, the perpendicularity of the tank wall, the average radius of the ring plate and the ovality of the ring plate; the analysis method is as follows: the slice extraction module firstly establishes a topological relation for original point cloud data by using the KD-Tree, then defines a plane perpendicular to a Z axis as a slice direction, and selects a proper section point cloud thickness to realize the extraction of any section point cloud slice of the tank body; the curve fitting module firstly sorts the point cloud slices and then adopts cubic B-spline curve fitting section characteristic curve. The principle is as follows:
wherein Pi + k is the control vertex and n is the curve degree. As can be seen from the above equation, the B-spline curve is segmented. Given m + n +1 vertices, m +1 n parameter curves can be defined. Where Fk.n (t) is a B-spline basis function, the expression:
Taking 4 adjacent vertexes from the feature point set each time, constructing a cubic B spline curve, and enabling two adjacent sections of cubic B spline curves to be continuous in a second order at a connection position; the deformation analysis module adopts least square fitting point cloud slice center and fits the point cloud slice center into a straight line, and the included angle between the straight line and the Z axis is the integral gradient of the tank body; the deformation analysis module selects n characteristic points at equal intervals on the fitted ring plate characteristic curve, calculates the distance R from the center of the slice to the characteristic points, obtains the average radius R of the ring plate and the diameter corresponding to the characteristic points as D by calculating the average value of R, finds out the minimum value and the maximum value of the diameters corresponding to the characteristic points, calculates the average value D of the minimum value and the maximum value, and finally calculates the ellipticity of the ring plate according to an ellipticity calculation formula; the three-dimensional scene visualization module can adopt a digital ground model as a base map for building a real storage tank area, and utilizes point cloud data obtained by a three-dimensional laser scanning technology and carries out model building to realize real distribution of the storage tank; the three-dimensional scene visualization module adopts an octree scene manager to manage each tank body, so that the absolute position of the tank body can be quickly positioned, and the oil storage tanks can be increased and reduced according to actual production, so that the scene of the oil storage tank area can be quickly updated; the three-dimensional scene visualization module can add scanning data of the tank body in different periods under the nodes of each tank, and compare and analyze the deformation trend of the tank body.
the characteristics of this embodiment do, three-dimensional scene visualization module has realized that the quick update of three-dimensional scene of OGRE based three-dimensional scene visualization platform, storage tank district three-dimensional scene and the loading of the same jar body different phase data, and large-scale storage tank deformation detection module includes again that the section draws, curve fitting and deformation analysis three submodule piece: 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 section of the tank body; the deformation analysis module realizes the analysis of the integral inclination of the tank body, the perpendicularity of the tank wall, the average radius of the ring plate and the ovality of the ring plate, the system can save the data acquisition and processing time, reduce the cost, obtain more accurate deformation analysis data of the large storage tank and meet the requirements of the industries such as metering, petroleum and chemical engineering.
In this embodiment, the specific implementation steps and operation process are as follows:
(1) Preprocessing multi-station scanning data and establishing a tank point cloud model;
(2) Importing the tank point cloud model into the large-scale storage tank safety detection system, setting a cutting axial direction, a slicing position and a slicing thickness, and realizing extraction of any section point cloud slices of the tank body;
(3) setting curve fitting degree, and carrying out cubic B-spline curve fitting on the point cloud slices of any section of the tank body to obtain a characteristic curve of the section of the tank body;
(4) And setting the position of the characteristic point of the point cloud slice of any section of the tank body, and calculating the integral gradient of the tank body, the perpendicularity of the tank wall, the average radius of the ring plate and the ovality of the ring plate by a deformation analysis module.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (3)
1. A large storage tank safety detection method based on a three-dimensional laser scanning technology is characterized by comprising three-dimensional scene visualization, large storage tank deformation detection and analysis methods, wherein:
The three-dimensional scene visualization adopts a three-dimensional scene visualization method based on OGRE, quick updating of a three-dimensional scene of a storage tank area and a superposition analysis method of different-phase data of the same tank body;
The large storage tank deformation detection method comprises a slice extraction method and a curve fitting and deformation analysis method, and the method comprises the following steps:
the slice extraction method comprises the steps of firstly establishing a topological relation on original point cloud data by using a KD-Tree, then defining a plane perpendicular to a Z axis as a slice direction, and selecting a proper section point cloud thickness to realize the extraction of any section point cloud slice of a tank body;
The curve fitting method comprises the steps of firstly sequencing point cloud slices, and then fitting a section characteristic curve by adopting a cubic B-spline curve, wherein the principle is as follows:
pi + k is the control vertex and n is the curve degree, and as can be seen from the above equation, the B-spline curve is segmented. If m + n +1 vertexes are given, m +1 n-degree parameter curves can be defined, wherein Fk.n (t) is a B spline basis function, and the expression is as follows:
Taking 4 adjacent vertexes from the feature point set each time, constructing a cubic B spline curve, and enabling two adjacent sections of cubic B spline curves to be continuous in a second order at a connection position;
The deformation analysis method adopts least square fitting point cloud slice center, and fits the point cloud slice center into a straight line, and the included angle between the straight line and the Z axis is the integral gradient of the tank body;
The deformation analysis method comprises the steps of selecting n characteristic points at equal intervals on a fitted ring plate characteristic curve, calculating the distance R from the center of a slice to the characteristic points, calculating the average radius R of the ring plate and the diameter corresponding to the characteristic points as D through calculating the average value of the R, finding out the minimum value and the maximum value of the diameters corresponding to the characteristic points, calculating the average value D of the minimum value and the maximum value, and finally calculating the ellipticity according to an ellipticity calculation formula, wherein the ellipticity calculation formula is as follows:
The three-dimensional scene visualization method can adopt a digital ground model as a base map for building a real storage tank area, and utilizes point cloud data obtained by a three-dimensional laser scanning technology to build a model so as to realize real distribution of the storage tank.
2. the method for safely detecting the large-sized storage tank based on the three-dimensional laser scanning technology as claimed in claim 1, wherein the three-dimensional scene visualization method adopts an octree scene manager to manage each tank body, so that not only can the absolute position of the tank body be quickly located, but also storage tanks can be added or deleted according to actual production, and the scene of the storage tank area can be quickly updated.
3. the method for safely detecting the large-sized storage tank based on the three-dimensional laser scanning technology as claimed in claim 1, wherein the three-dimensional scene visualization method can add scanning data of different stages of the tank body under the node of each tank, and compare and analyze the deformation trend of the tank body.
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| CN107230246B (en) * | 2016-12-29 | 2020-04-03 | 上海大学 | Three-dimensional scanning point cloud data slicing processing method for sole profile |
| US11118733B2 (en) * | 2017-12-13 | 2021-09-14 | China National Offshore Oil Corp. | Three-dimensional layoutlayout method for splicing vault plates of large LNG storage tank |
| 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 |
| CN111681313B (en) * | 2020-05-18 | 2023-04-28 | 云南迅测科技有限公司 | Space vision analysis method based on digital topography and electronic equipment |
| CN113763529B (en) * | 2020-06-02 | 2024-05-14 | 国网江苏省电力有限公司电力科学研究院 | Substation modeling method based on three-dimensional scanning |
| 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 |
| CN115096202B (en) * | 2022-08-26 | 2022-11-15 | 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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