CN111879252A - A storage tank tank body online surveying and mapping detection device and method thereof - Google Patents

Abstract

The invention provides an online surveying and mapping detection device for a storage tank, comprising a tripod, a leveling and rotating base, a control circuit mechanism, a tower cap mechanism, a swing arm, a counterweight mechanism, a scanning detection mechanism, a leveling cable and a counterweight cable , The upper end of the tripod is provided with a horizontal adjustment and rotation base, the upper end of the horizontal adjustment and rotation base is provided with a control circuit mechanism, the upper end of the control circuit mechanism is provided with a tower cap mechanism, one side of the control circuit mechanism is provided with a swing arm, and the end of the swing arm is provided with a scanning detection mechanism. The other end of the control circuit mechanism is provided with a counterweight mechanism, a leveling cable is pulled between the upper end of the tower cap mechanism and the swing arm, and a counterweight cable is pulled between the upper end of the tower cap mechanism and the counterweight mechanism; the control circuit mechanism and the scanning detection mechanism Communication connection; the method of using the above device includes: S1) assembling; S2) debugging; S3) scanning detection. The advantages of the present invention are: through the high-precision modeling of the three-dimensional scanning technology, the deformation detection of the tank body is more intuitive, visualized and has high precision.

Description

A storage tank tank body online surveying and mapping detection device and method thereof

technical field

The invention relates to the technical field of surveying and mapping, in particular to an online surveying and mapping detection device for a storage tank and a method thereof.

Background technique

With the rapid development of my country's petrochemical construction, the number of vertical storage tanks has increased dramatically. Because the storage tank is a typical thin-walled structure model, the stability is low, and it is easy to cause bubbling or dent deformation of the storage tank due to factors such as lax quality control in the manufacturing process or failure and improper operation during operation and use. . The deformation phenomenon of the storage tank will have two effects: (1) the overall or local excessive deformation will reduce the anti-instability ability of the storage tank, thereby reducing the safety production reliability during the operation and use of the storage tank; (2) the tank The body deformation affects the normal lifting and sealing effect of the floating roof of the floating roof tank, and the local uneven deformation can easily lead to low-cycle fatigue fracture of the tank wall, which reduces the service life of the storage tank and the reliability of normal operation.

For the static volume measurement verification method of the storage tank, the current vertical tank volume measurement method is based on the premise that the vertical tank is an ideal cylinder model. Under certain conditions of the tank coordinate data sampling point, the larger the overall or local deformation of the vertical storage tank, the more obvious the impact on the accuracy of its volume measurement value. The existing storage tank deformation measurement methods mainly include total station photoelectric method and manual method. The advantages of the total station photoelectric method are that the single-point measurement accuracy is high, and it is easy to use on-site measurement. However, due to the large interval and small number of sampling points, this method is more suitable for the overall deformation measurement of the storage tank, while the local deformation measurement capability needs to be improved. In addition, during the on-site measurement, it is necessary to conduct the opening detection of the storage tank when the tank is shut down, and the deformation data of the storage tank when the tank is full cannot be measured, so that the most practical deformation data of the storage tank when the tank is full cannot be obtained. Increased business operating costs. The manual method is especially suitable for the local deformation measurement of storage tanks, such as the roof deformation measurement of vaulted tanks, but it is not easy to describe the overall deformation of vertical storage tanks. In addition, with the gradual application of laser scanning 3D modeling technology in storage tank mapping, a small number of inspection units have used this technology to inspect horizontal storage tanks and small-volume storage tanks. Disadvantages of station measurement, many influencing factors, and limited measurement accuracy.

Therefore, in view of the above technical difficulties, a synchronous measurement technology should be proposed that can be applied to the online detection of storage tanks without affecting the normal production and operation of storage tanks, and can realize the simultaneous measurement of tank body and local deformation of storage tanks. Technical Support.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an on-line surveying and mapping detection device and method for a storage tank tank body which can perform high-precision modeling through laser scanning three-dimensional technology.

In order to achieve the above object, the present invention realizes through the following technical solutions:

An online surveying and mapping detection device for a tank body, comprising a tripod, a leveling and rotating base, a control circuit mechanism, a tower cap mechanism, a swing arm, a counterweight mechanism, a scanning detection mechanism, a leveling cable and a counterweight cable, and the upper end of the tripod The horizontal adjustment and rotation base is provided, the upper end of the horizontal adjustment and rotation base is provided with a control circuit mechanism, the upper end of the control circuit mechanism is provided with a tower cap mechanism, one side end of the control circuit mechanism is provided with a swing arm, the end of the swing arm is provided with a scanning detection mechanism, and a control circuit mechanism The other end is provided with a counterweight mechanism, a leveling cable is pulled between the upper end of the tower cap mechanism and the swing arm, and a counterweight cable is pulled between the upper end of the tower cap mechanism and the counterweight mechanism; the control circuit mechanism is in communication with the scanning detection mechanism.

Further, the tripod includes a base, a bracket and a quick release plate. The base is connected to a rubber pad, a magnet and a steel plate in sequence from bottom to top, the base is fixedly connected to the bracket, the bracket is retractable, and the bracket is hinged with the quick release plate. The quick-release bolts provided on the installation plate are connected with the horizontal adjustment and the rotating base.

Further, the horizontal adjustment and rotation base includes a base bottom plate, a leveling nut, a leveling plate, a water bubble level and a sun gear. There are three leveling nuts, which are respectively connected to the base bottom plate through the lower end bolts and through the upper end bolts. The utility model is connected to the horizontal plate, the central area of the horizontal plate is fixedly provided with a sun gear, the upper part of the sun gear is embedded in the first rolling bearing, and the first horizontal plate is also provided with a water bubble level.

Further, the control circuit mechanism comprises a casing, a display screen, a keyboard and an aiming device are arranged on the surface of the casing, a battery, a control circuit board, a servo motor and an SD memory card are arranged in the casing, a reducer is arranged at the bottom of the casing, and the lower end of the reducer rotates. The shaft passes through the bottom of the casing and is fixedly connected to the planetary gear, and the planetary gear is meshed with the sun gear; the battery supplies power for the control circuit board, the servo motor, the display screen, the keyboard, and the reducer, and the control circuit board is respectively connected to the servo Motor, SD memory card, keyboard, reducer-communication connection.

Further, the counterweight mechanism includes two main brackets and reinforcing ribs between the main brackets, one end of the main bracket is connected to the control circuit mechanism, and the other end is provided with counterweight frames with different specifications, and the weight frames with different specifications are placed with different weights. The counterweights are separated by partition plates; one end of the counterweight cable pulls the counterweight mechanism, and the other end is connected to the top of the tower cap mechanism.

Further, the swing arm includes a first-level swing arm and a second-level swing arm. The number of the second-level swing arm can be increased or decreased according to the diameter specification of the inspected storage tank. The first-level swing arm is connected with the second-level swing arm. connected to each other.

Further, the first-level swing arm and the second-level swing arm are both triangular truss structures formed by welding three main beams and a plurality of rib plates. The two main beams at the bottom of one end of the first-level swing arm are connected to the control circuit mechanism, and the other The three main beams at one end are respectively connected with the three main beams of the secondary swing arm; one end of the leveling cable pulls the middle second swing arm or the last second swing arm, and the other end is connected to the top of the tower cap mechanism.

Further, the scanning detection mechanism includes a main frame, a second bubble level set on the main frame, and a video monitor aligned with the second bubble level. The lower side of the main frame is provided with an angle adjustment mechanism, a scanning circuit board, and two parts distributed on the scanning circuit board. The side CCD camera, the angle adjustment mechanism adjusts the angle of the scanning circuit board through the meshing connection of the motor and the gear group, the scanning circuit board is provided with a laser transmitter, a laser receiver and a time counter, and the video monitor, the motor, and the scanning circuit board are respectively connected with the control circuit board communication connection.

An on-line surveying and mapping detection method for a tank body, comprising the following steps:

S1) Assembly stage

The device is adsorbed and fixed to the central area of the vertical cylindrical storage tank vault through the tripod, adjust the bracket to the appropriate height, install the horizontal adjustment and rotation base on the quick-release plate of the tripod through the quick-release bolt, and then connect the control circuit in turn Mechanism, tower cap mechanism, counterweight mechanism, counterweight cable, primary swing arm, secondary swing arm, select an appropriate number of secondary swing arms according to the diameter of the tank to be inspected, and connect to each other at the end of the last secondary swing arm Scan the detection mechanism, and then connect the coarse leveling cable and the fine leveling cable;

S2) Debugging phase

Start the control circuit mechanism, and the system automatically detects the functions and signals of each instrument connected to it in communication to determine that the entire system is normal and ready;

Rotate the three leveling nuts and observe that the bubble level is leveled with a pair of leveling and rotating bases;

Switch the display screen to the second bubble level observed by the video monitor, and level the scanning detection mechanism by adjusting the adjustment plates of the fine leveling cable and the coarse leveling cable;

Determine and mark the starting scan detection position through the sight;

S3) Scanning detection stage

S3-1) Input the relevant parameters at the keyboard according to the specifications of the inspected storage tank. After the input, the control circuit mechanism automatically calculates the horizontal angle required for one rotation of scanning and detection, and converts the required horizontal angle into the rotation of the servo motor. and then drive the planetary gear to rotate around the sun gear through the required horizontal angle once by the reducer to obtain the three-dimensional space coordinates of all points in the scanning detection surface, and complete the scanning detection and acquisition of the tank wall plate in one circle. The CCD camera shoots and scans the detection area in real time and transmits it to the SD memory card in real time;

S3-2) After completing the scanning detection of the tank wall plate, the control circuit mechanism calculates the required vertical angle of rotation, and converts the required vertical angle into the number of revolutions of the motor, and drives the pinion through the second reducer. Rotate around the large gear through the required vertical angle, and then drive the laser transmitter, laser receiver, time counter and other structures to rotate through the required vertical angle, and repeat step S3-1), so as to realize the next circle of tank wall plates. scan detection;

S3-3) Repeat step S3-2) until all the scanning and detection of the tank wall panels are completed, and store them in the SD memory card in real time;

S3-4) In order to ensure the accuracy of the scanning detection mechanism when scanning the tank wall plate obliquely, the distance between each laser point becomes larger when the laser emitter is slanted, and the dislocation double or dislocation multi-scan detection is adopted. The three-dimensional space coordinates in the detection plane are superimposed on each other and stored in the SD memory card in real time;

S3-5) After the detection is completed, it is imported to the computer through the SD memory card for data processing and analysis.

Further, the spatial coordinates (X _N , Y _N , Z _N ) of each point N on the tank body can be rotated through the spatial horizontal angle α _N and vertical angle β _N of the point calculated by the circuit control mechanism, and through The time counter calculates the time difference between the laser emitted by the laser transmitter and the laser received by the laser receiver. The calculated slope distance R _N from the laser transmitter to the point of the tank is expressed, that is, the spatial coordinates of the point N (X _N , Y _N , Z _N ) can be described by the horizontal angle α _N , the vertical angle β _N and the slope distance R _N , the formula is as follows:

；

;

；

;

；

;

In the formula, L is the horizontal length of the horizontal adjustment and the center of the rotating base from the laser transmitter, which is a fixed value; R _N is the slant distance between the laser transmitter and the N point of the tank; H is the distance between the horizontal adjustment and the rotating base of the laser transmitter. The vertical length of the seat center; α _N is the horizontal angle that the scanning detection mechanism turns from the starting point; β _N is the vertical angle that the scanning detection mechanism turns.

Compared with the prior art, the present invention has the following advantages:

The present invention is a storage tank tank body online surveying and mapping detection device and its method, which solves the technical problem of weak local deformation measurement capability and inability to realize online detection in the existing storage tank deformation detection technology, and achieves high-precision modeling through three-dimensional scanning technology. , which makes the deformation detection of the storage tank more intuitive, visualized and accurate.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of an on-line mapping and detection device for a storage tank according to the present invention.

FIG. 2 is a schematic view of the tripod structure of a storage tank tank body online surveying and mapping detection device of the present invention.

3 is a schematic diagram of a partial structure of a tripod of a storage tank tank body online surveying, mapping and detecting device according to the present invention.

4 is a schematic front view of a horizontal adjustment and rotation base and a control circuit mechanism of a storage tank tank body online surveying and mapping detection device according to the present invention.

5 is a schematic diagram of the backside of a horizontal adjustment and rotation base and a control circuit mechanism of an on-line mapping and detection device for a storage tank according to the present invention.

6 is a schematic structural diagram of a tower cap mechanism and a counterweight mechanism of a storage tank tank body online surveying, mapping and detecting device of the present invention.

7 is a partial structural schematic diagram of a primary swing arm and a secondary swing arm of an on-line mapping and detection device for a storage tank according to the present invention.

FIG. 8 is a schematic structural diagram of a scanning detection mechanism of a storage tank tank body online surveying and mapping detection device according to the present invention.

FIG. 9 is a schematic diagram of the actual operation of an on-line mapping and detection device for a storage tank according to the present invention.

FIG. 10 is a schematic flow chart of an on-line mapping and detection method for a storage tank tank body according to the present invention.

Fig. 11 is a schematic diagram of coordinate establishment of a method for online surveying, mapping and detection of a storage tank according to the present invention.

Reference signs: tripod 1, leveling and rotating base 2, control circuit mechanism 3, counterweight mechanism 4, counterweight cable 5, tower cap mechanism 6, primary swing arm 7, secondary swing arm 8, scanning detection mechanism 9. Fine leveling cable 10, coarse leveling cable 11, rubber pad 101, magnet 102, steel plate 103, support 104, telescopic bracket legs 105, fastening ring 106, bracket legs 107, quick release plate 108, quick release bolts 109, rib plate 110, locking bolt 111, circlip cylindrical pin 112, locking handwheel 113, bolt 114, base plate 201, lower end bolt 202, leveling nut 203, upper end bolt 204, reinforcing ring 205, center Hole 206, bubble level 1 207, horizontal plate 208, hole 209, sun gear 210, rolling bearing 1 211, planetary gear 212, casing 301, display screen 302, keyboard 303, bottom plate 304, SD memory card 305, control circuit board 306, Strut 307, battery 308, sight 309, servo motor 310, reducer one 311, support one 312, support two 313, main bracket 401, reinforcing rib 402, counterweight 403, spacer plate 404, counterweight frame 405, Counterweight support 406, support column 601, beam 602, support three 603, support four 604, main beam one 701, rib plate one 702, main beam two 801, rib plate two 802, support five 803, main frame 901, pulling rod 902, rod 903, video monitor 904, bubble level 2 905, mounting plate 906, bearing 2 907, connecting shaft 908, connecting plate 1 909, motor 910, bearing 3 911, fixing plate 912, CCD camera 913, scanning circuit board 914, laser transmitter 915, laser receiver 916, time counter 917, protection plate 918, reducer two 919, pinion 920, rotating shaft 921, bearing four 922, connecting plate two 923, large gear 924 , fixed shaft 925, cable one 1001, long bolt one 1002, fine adjustment nut 1003, fine adjustment plate 1004, cable two 1101, long bolt two 1102, coarse adjustment nut 1103, coarse adjustment plate 1104.

Detailed ways

The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

As shown in FIG. 1 , an online surveying and mapping detection device for a storage tank includes a tripod 1 , a horizontal adjustment and rotation base 2 , a control circuit mechanism 3 , a tower cap mechanism 6 , a primary swing arm 7 , and a secondary swing arm 8 , counterweight mechanism 4, scanning detection mechanism 9, fine leveling cable 10, coarse leveling cable 11 and counterweight cable 5, the upper end of the tripod 1 is provided with a horizontal adjustment and a rotating base 2, and the upper end of the horizontal adjustment and rotating base 2 is set to control Circuit mechanism 3, the upper end of the control circuit mechanism 3 is provided with a tower cap mechanism 6, one side of the control circuit mechanism 3 is provided with a swing arm, the end of the swing arm is provided with a scanning detection mechanism 9, the other side of the control circuit mechanism 3 is provided with a counterweight mechanism 4, the tower A leveling cable is pulled between the upper end of the cap mechanism 6 and the swing arm, and a counterweight cable 5 is pulled between the upper end of the tower cap mechanism 6 and the counterweight mechanism 4 ;

As shown in FIGS. 2 and 3 , the tripod 1 includes a base, a bracket and a quick release plate 108 . The base is connected to the rubber pad 101, the magnet 102 and the steel plate 103 in sequence from bottom to top. The bottom of the rubber pad 101 is provided with horizontal and oblique downward convex lines to ensure that the whole device is stably fixed on the arc-shaped dome plate. The upper part of the rubber pad 101 is glued to the magnet 102. The upper part of the magnet 102 is fixedly connected to the steel plate 103, and the center of the steel plate 103 is symmetrically provided with a support 104. The support is retractable, the support includes support legs 107 and telescopic support legs 105, the telescopic support legs 105 are nested in the support legs 107, and the telescopic support legs 105 can be moved up and down in the support legs 107; The ring 106 and the locking bolts 111 are inserted through the fastening ring 106 and the bracket legs 107 to the outside of the telescopic bracket legs 105 for locking the telescopic bracket legs 105 . The top of the bracket leg 107 is hinged with the quick release plate 108 through a pin, the center of the quick release plate 108 is perforated, and two rib plates 110 are symmetrically arranged at the bottom. The lower part is the locking handwheel 113 with vertical ridges on the surface, the upper part of the quick-release bolt 109 is the bolt 114 and the thread diameter of the bolt 114 is slightly larger than the gap between the two rib plates 110 to ensure that the quick-release bolt 109 is stuck in the The two ribs 110 will not fall off, and the bottom of the ribs 110 is provided with a concave groove with the same diameter as the locking handwheel 113 at the lower part of the quick-install bolt 109 to prevent the quick-install bolt 109 from sliding left and right after locking, thereby affecting the scanning. Detection accuracy.

The tripod 1 with the functions of fixed support and coarse leveling is detachably screwed to the leveling and rotating base 2 through quick-release bolts 109 and the central hole 206 of the base bottom plate 201 .

As shown in FIGS. 4 and 5 , the leveling and rotating base 2 includes a base bottom plate 201 , a leveling nut 203 , a leveling plate 208 , a bubble level 1 207 and a sun gear 210 . There are three leveling nuts 203, which are respectively connected to the holes 209 of the base bottom plate 201 through the lower end bolts 202, and are connected to the horizontal plate 208 through the upper end bolts 204. The upper end bolts 204 are provided with a reinforcing ring 205, and the three leveling nuts are adjusted. 203 , to realize the adjustment of the overall device level. A sun gear 210 is fixed in the central area of the horizontal plate 208 . The protruding cylinder at the top of the sun gear 210 is embedded in the rolling bearing 1 211 , and the rolling bearing 1 211 is nested and fixed in the housing 301 of the control circuit mechanism 3 . The horizontal plate 208 is also provided with a bubble level 1 207 .

As shown in FIGS. 4 and 5 , the control circuit mechanism 3 includes a casing 301 . The casing 301 includes a bottom plate 304 and pillars 307 arranged at four corners of the bottom plate 304 . The battery 308, the control circuit board 306, the servo motor 310 and the SD memory card 305, the SD memory card 305 is used to store the detection data and can be imported into the computer for analysis, and the sight is set in the middle of the pillar 307 near the side of the SD memory card 305 309. The sight 309 is used to locate and mark the starting point detection position. The bottom plate 304 of the housing 301 is screwed with the reducer 1 311, the upper part of the reducer 1 311 is connected to the servo motor 310, and the rotating shaft at the lower end of the reducer 1 311 passes through the bottom plate 304 and is connected to the servo motor 310. The planetary gear 212 is fixedly connected, and the planetary gear 212 is meshed with the sun gear 210 . The outer side of the upper end of the four pillars 307 is provided with a support one 312, and the top of the four pillars 307 is provided with a support two 313. The control circuit mechanism 3 is respectively screwed with the bottom of the four support columns 601 of the tower cap mechanism 6 through the four supports two The two supports 1 312 on one side of the control circuit mechanism 3 are screwed to the counterweight mechanism 4 , and the two supports 1 312 on the other side are screwed to the primary swing arm 7 . The battery 308 supplies power to the control circuit board 306 , the servo motor 310 , the display screen 302 , the keyboard 303 , and the reducer 1 311 . The control circuit board 306 is connected to the servo motor 310 , the SD memory card 305 , the display screen 302 and the keyboard 303 respectively. , Reducer-311 communication connection.

As shown in FIG. 6 , the counterweight mechanism 4 includes two main brackets 401 and reinforcing ribs 402 between the main brackets 401 . One end of the main bracket 401 is connected to the control circuit mechanism 3 , and the other end is provided with a counterweight frame 405 of different specifications. , the counterweight racks 405 with different specifications are placed with counterweights 403 with different weights, and the counterweight racks 405 are separated by a partition plate 404 . Place counterweights 403 with different weights to meet the requirements of adding a corresponding number of counterweights 403 when the weight of one side of the secondary swing arm 8 increases due to the change in the number of secondary swing arms 8 when testing storage tanks with different diameter specifications, so as to make The whole system is in a state of force balance to ensure the safe operation of the whole device. One end of the counterweight cable 5 pulls the counterweight mechanism 4 , that is, it is bolted to the counterweight support 406 , and the other end is bolted to the support three 603 at the top of the tower cap mechanism 6 . The tower cap mechanism 6 includes four support columns 601 , and each two support columns 601 is provided with a beam 602 in the middle.

As shown in FIG. 7 , the swing arm includes a first-level swing arm 7 and a second-level swing arm 8 , the first-level swing arm 7 is screwed with the second-level swing arm 8 , and the second-level swing arms 8 are screwed with each other. The first-level swing arm 7 is a triangular truss structure formed by welding three main beams one 701 and a plurality of rib plates one 702 to each other. Each support-312 is screwed together, and only two main beams-701 are screwed together so that the first-stage swing arm 7 can be adjusted up and down to a level in the later stage, preventing the first-stage swing arm 7 from being unable to be adjusted up and down after it is connected. The three main beams 1 701 at the other end of the swing arm 7 are respectively bolted to the three main beams 801 of the secondary swing arm 8 . Similarly, the secondary swing arm 8 is a triangular truss structure formed by welding three main beams 2 801 and a plurality of rib plates 802 to each other. The scanning detection mechanism 9 can extend out of the tank by about one meter, so as to meet the detection of storage tanks with different diameter specifications. The leveling cables include fine leveling cables 10 and coarse leveling cables 11 . One end of the fine leveling cable 10 and the coarse leveling cable 11 is connected to the top of the tower cap mechanism 6 through a circlip pin, and the other ends are screwed to the secondary swing arm 8 respectively. The fine leveling cable 10 includes a cable one 1001 and a long bolt one 1002 fixedly connected with the cable one 1001, the long bolt one 1002 is screwed with a fine adjustment nut 1003, the fine adjustment nut 1003 is fixed on the fine adjustment plate 1004, and one end of the fine leveling cable 10 is It is hinged to the tower cap mechanism 6 through the support four 604 , and the other end is hinged to the last stage of the secondary swing arm 8 . Similarly, the coarse leveling cable 11 includes a second cable 1101, a second long bolt 1102, a coarse adjustment nut 1103, and a coarse adjustment plate 1104. One end of the coarse leveling cable 11 is hinged to the tower cap mechanism 6 through a support four 604, and the other end is connected to the tower cap mechanism 6 through a support The fifth seat 803 is hinged to the middle section of the secondary swing arm 8 . The main beams on one side of the primary swing arm 7 and the secondary swing arm 8 are provided with hooks, which are convenient for placing communication cables.

As shown in FIG. 8 , the scanning detection mechanism 9 includes a main frame 901, a pulling rod 902, a second bubble level 905 and a video monitor 904 aligned with the second bubble level 905 on the main frame 901. One end of the main frame 901 is bolted to The secondary swing arm 8 and the video monitor 904 are fixedly mounted on the main frame 901 through the rod 903 . Mounting plates 906 are arranged symmetrically on both sides of the main frame 901, a fixed shaft 925 is arranged between the inner sides of the two mounting plates 906, a large gear 924 is fixed in the middle of the fixed shaft 925, and a connecting shaft 908 is arranged on the outer sides of the two mounting plates 906 for connecting The second bearing 907 is nested on the outside of the shaft 908. The second bearing 907 is fixedly installed on one end of the connecting plate 1 909. The other end of the connecting plate 1 909 is also provided with a third bearing 911. The third bearing 911 is nested with a motor 910, and the motor 910 is screwed to the second reducer. 919, the rotating shaft 921 through the second reducer 919 is installed on the fourth bearing 922, the fourth bearing 922 is fixed on the second connecting plate 923, the rotating shaft 921 corresponding to the large gear 924 area is provided with a pinion 920, the large gear 924 and the pinion 920 The large gear 924 remains fixed during operation, and the pinion 920 can rotate along the circumferential direction of the large gear 924, thereby adjusting the angle of the lower scanning mechanism to complete the full coverage scanning detection of the entire device. A protection plate 918 is provided at the bottom of the first connecting plate 909 and the second connecting plate 923. The lower part of the protection plate 918 is screwed with the fixing plate 912, and the CCD cameras 913 are symmetrically distributed on both sides of the fixing plate 912, and the lenses of the CCD camera 913 are obliquely focused on the central laser. In the scanning area, a scanning circuit board 914 is arranged in the middle of the fixing plate 912 , and the laser transmitter 915 , the laser receiver 916 and the time counter 917 are communicatively connected to the scanning circuit board 914 . The video monitor 904 , the motor 910 , and the scanning circuit board 914 are connected in communication with the control circuit board 306 .

An online surveying and mapping detection method for a storage tank, as shown in Figure 9, the detection device is placed in the central area of the vertical cylindrical storage tank dome for detection, as shown in Figure 10, and specifically includes the following steps:

S1) Assembly stage

The device is adsorbed and fixed to the central area of the vertical cylindrical storage tank vault through the tripod 1, the bracket is adjusted to an appropriate height, and the horizontal adjustment and rotation base 2 is installed on the quick-release plate 108 of the tripod 1 through the quick-release bolts 109, Then connect the control circuit mechanism 3, the tower cap mechanism 6, the counterweight mechanism 4, the counterweight cable 5, the primary swing arm 7, and the secondary swing arm 8 in sequence, and select an appropriate number of secondary swing arms 8 according to the diameter of the inspected storage tank. Connect to each other, connect the scanning detection mechanism 9 at the end of the last secondary swing arm 8, and then connect the coarse leveling cable 11 and the fine leveling cable 10;

S2) Debugging phase

Start the control circuit mechanism 3, the system automatically detects the functions and signals of each instrument connected to it in communication, and determines that the entire system is normal and ready;

Rotate the three leveling nuts 203 and observe the bubble level 1 207 to level the level adjustment and the rotating base 2;

Switch the display screen 302 to the bubble level 2 905 observed by the video monitor 904, and level the scanning detection mechanism 9 by adjusting the adjustment plates of the fine leveling cable 10 and the coarse leveling cable 11;

Determine and mark the starting scan detection position by the sight 309;

S3) Scanning detection stage

S3-1) Input the relevant parameters at the keyboard 303 according to the specifications of the inspected storage tank. After the input, the control circuit mechanism 3 automatically calculates the horizontal angle required for one rotation of scanning detection, and converts the required horizontal angle into the servo motor 310. The number of rotations, and then drive the planetary gear 212 to rotate around the sun gear 210 through the required horizontal angle once through the reducer 1 311 to obtain the three-dimensional space coordinates of all points in the scanning detection plane, and then complete a circle of the tank wall plate. At the same time, the scanning detection area is captured by the CCD camera 913 in real time and transmitted to the SD memory card 305 in real time;

S3-2) After completing the scanning and detection of a circle of the tank wall plate, the control circuit mechanism 3 calculates the required vertical angle of rotation, and converts the required vertical angle into the number of revolutions of the motor 910, through the second reducer 919 Drive the pinion 920 to rotate around the large gear 924 through the required vertical angle, and then drive the laser transmitter 915, the laser receiver 916, the time counter 917 and other structures to rotate through the required vertical angle, and repeat step S3-1), thereby Realize the scanning detection of the next circle tank wall;

S3-3) Repeat step S3-2) until all the scanning and detection of the tank wall panels are completed, and store them in the SD memory card 305 in real time;

S3-4) In order to ensure the accuracy when the scanning detection mechanism 9 scans the tank wall plate obliquely, the distance between the laser points when the laser transmitter 915 is obliquely emitted is increased, and the dislocation double or dislocation multi-scan detection is adopted, that is, After completing a circle of can wall plate scanning and detection and returning to the starting position, rotate a small horizontal angle and vertical angle appropriately, and then properly stagger from the laser point in the first scanning detection surface, and start the second circle. Scanning detection of the tank wall plate, until the scanning detection of the tank wall plate is completed multiple times, the three-dimensional space coordinates in the multiple scanning detection planes are superimposed on each other and stored in the SD memory card 305 in real time;

S3-5) After the detection is completed, it is imported into the computer through the SD memory card 305 for data processing and analysis.

Working principle of scanning detection: Install and place the tank body surveying and mapping device in the central area of the vertical cylindrical storage tank dome, and carry out debugging and leveling. The starting point position of the swing arm mechanism formed by the Z axis, the primary swing arm 7 and the secondary swing arm 8 is the X axis to establish a space coordinate system, as shown in FIG. 11 .

The spatial coordinates (X _N , Y _N , Z _N ) of each point N on the tank body can be rotated through the spatial horizontal angle α _N , the vertical angle β _N of the point calculated by the circuit control mechanism 3, and the time counter 917 calculates the time difference between the laser emitted by the laser transmitter 915 and the laser received by the laser receiver 916. The calculated slope distance R _N from the laser transmitter 915 to the tank is expressed, that is, the spatial coordinates of the point N (X _N , Y _N , Z _N ) can be described by the horizontal angle α _N , the vertical angle β _N and the slope distance R _N , the formula is as follows:

（1）；

(1);

（2）；

(2);

（3）；

(3);

In the formula, L is the horizontal length between the horizontal adjustment and the center of the rotating base 2 from the laser transmitter 915, which is a fixed value; R _N is the slant distance between the laser transmitter 915 and the N point of the tank; H is the horizontal distance from the laser transmitter 915. Adjust the vertical length with the center of the rotating base 2; α _N is the horizontal angle rotated by the scanning detection mechanism 9 from the starting point; β _N is the vertical angle rotated by the scanning detection mechanism 9 .

The above are only preferred embodiments of the present invention, it should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims (10)

1. A storage tank tank body online surveying and mapping detection device is characterized in that: comprising a tripod, a horizontal adjustment and a rotating base, a control circuit mechanism, a tower cap mechanism, a swing arm, a counterweight mechanism, a scanning detection mechanism, a leveling cable and The upper end of the tripod is equipped with a horizontal adjustment and rotation base, the upper end of the horizontal adjustment and rotation base is equipped with a control circuit mechanism, the upper end of the control circuit mechanism is equipped with a tower cap mechanism, one side of the control circuit mechanism is equipped with a swing arm, and the end of the swing arm is equipped with a scanning Detection mechanism, the other end of the control circuit mechanism is provided with a counterweight mechanism, a leveling cable is drawn between the upper end of the tower cap mechanism and the swing arm, and a counterweight cable is drawn between the upper end of the tower cap mechanism and the counterweight mechanism; Scanning inspection agency communication connection. 2. A storage tank tank body online surveying and mapping detection device according to claim 1, characterized in that: the tripod comprises a base, a bracket and a quick-release plate, and the base is sequentially connected to a rubber pad, a magnet and a steel plate from bottom to top, and the base It is fixedly connected with the bracket, the bracket is retractable, the bracket is hinged with the quick release plate, and the tripod is connected with the horizontal adjustment and the rotating base through the quick release bolts arranged on the quick release plate. 3. A storage tank tank body online surveying and mapping detection device according to claim 1, characterized in that: the horizontal adjustment and rotation base comprises a base bottom plate, a leveling nut, a horizontal plate, a bubble level and a sun gear There are three leveling nuts, which are respectively connected to the base plate through the lower end bolts and connected to the horizontal plate through the upper end bolts. The central area of the horizontal plate is fixed with a sun gear, and the upper part of the sun gear is embedded in the rolling bearing 1. one. 4. A storage tank tank body online surveying and mapping detection device according to claim 1 or 3, characterized in that: the control circuit mechanism comprises a casing, a display screen, a keyboard and a sight are arranged on the surface of the casing, and a battery, Control circuit board, servo motor and SD memory card. A reducer is set at the bottom of the casing. The rotating shaft of the lower end of the reducer passes through the bottom of the casing and is fixedly connected to the planetary gear. The planetary gear is meshed with the sun gear. The battery is the control circuit The board, servo motor, display screen, keyboard and reducer are powered, and the control circuit board is respectively connected with the servo motor, SD memory card, keyboard and reducer in communication. 5 . The online surveying, mapping and detecting device for a storage tank according to claim 1 , wherein the counterweight mechanism comprises two main brackets and a reinforcing rib between the main brackets, and one end of the main bracket is connected to the control circuit. 6 . The other end is provided with counterweight frames with different specifications. Counterweight frames with different specifications are placed with counterweights with different weights, and the counterweight frames are separated by spacers; one end of the counterweight cable pulls the counterweight mechanism, and the other end is connected to the tower. Top of cap mechanism. 6 . The online surveying and mapping detection device for a storage tank according to claim 1 , wherein the swing arm comprises a first-level swing arm and a second-level swing arm, and the second-level swing arm can be adjusted according to the diameter of the storage tank to be inspected. 7 . The number of specifications increases or decreases, the first-level swing arm is connected with the second-level swing arm, and the second-level swing arms are connected with each other. 7 . The online surveying and mapping detection device for storage tank body according to claim 6 , wherein the first-level swing arm and the second-level swing arm are triangles formed by welding three main beams and a plurality of rib plates to each other. 8 . In the truss structure, the two main beams at the bottom of one end of the primary swing arm are connected with the control circuit mechanism, and the three main beams at the other end are respectively connected with the three main beams of the secondary swing arm; one end of the leveling cable pulls the middle section of the secondary pendulum The arm or the last stage of the secondary swing arm, the other end is connected to the top of the tower cap mechanism. 8 . The online surveying and mapping detection device for storage tank body according to claim 1 , wherein the scanning detection mechanism comprises a main frame, a second bubble level set on the main frame, and a video monitoring device for aligning the second bubble level. 9 . The lower side of the main frame is provided with an angle adjustment mechanism, a scanning circuit board, and CCD cameras distributed on both sides of the scanning circuit board. , laser receiver and time counter, video monitor, motor and scanning circuit board are respectively connected with the control circuit board for communication. 9. A storage tank tank body online surveying and mapping detection method is characterized in that comprising the following steps: S1) Assembly stage The device is adsorbed and fixed to the central area of the vertical cylindrical storage tank vault through the tripod, adjust the bracket to the appropriate height, install the horizontal adjustment and rotation base on the quick-release plate of the tripod through the quick-release bolt, and then connect the control circuit in turn Mechanism, tower cap mechanism, counterweight mechanism, counterweight cable, primary swing arm, secondary swing arm, select an appropriate number of secondary swing arms according to the diameter of the tank to be inspected, and connect to each other at the end of the last secondary swing arm Scan the detection mechanism, and then connect the coarse leveling cable and the fine leveling cable; S2) Debugging phase Start the control circuit mechanism, and the system automatically detects the functions and signals of each instrument connected to it in communication to determine that the entire system is normal and ready; Rotate the three leveling nuts and observe that the bubble level is leveled with a pair of leveling and rotating bases; Switch the display screen to the second bubble level observed by the video monitor, and level the scanning detection mechanism by adjusting the adjustment plates of the fine leveling cable and the coarse leveling cable; Determine and mark the starting scan detection position through the sight; S3) Scanning detection stage S3-1) Input the relevant parameters at the keyboard according to the specifications of the inspected storage tank. After the input, the control circuit mechanism automatically calculates the horizontal angle required for one rotation of scanning and detection, and converts the required horizontal angle into the rotation of the servo motor. and then drive the planetary gear to rotate around the sun gear through the required horizontal angle once by the reducer to obtain the three-dimensional space coordinates of all points in the scanning detection surface, and complete the scanning detection and acquisition of the tank wall plate in one circle. The CCD camera shoots and scans the detection area in real time and transmits it to the SD memory card in real time; S3-2) After completing the scanning detection of the tank wall plate, the control circuit mechanism calculates the required vertical angle of rotation, and converts the required vertical angle into the number of revolutions of the motor, and drives the pinion through the second reducer. Rotate around the large gear through the required vertical angle, and then drive the laser transmitter, laser receiver, time counter and other structures to rotate through the required vertical angle, and repeat step S3-1), so as to realize the next circle of tank wall plates. scan detection; S3-3) Repeat step S3-2) until all the scanning and detection of the tank wall panels are completed, and store them in the SD memory card in real time; S3-4) In order to ensure the accuracy of the scanning detection mechanism when scanning the tank wall plate obliquely, the distance between each laser point becomes larger when the laser emitter is slanted, and the dislocation double or dislocation multi-scan detection is adopted. The three-dimensional space coordinates in the detection plane are superimposed on each other and stored in the SD memory card in real time; S3-5) After the detection is completed, it is imported to the computer through the SD memory card for data processing and analysis. 10. The method for on-line surveying and mapping of a storage tank body according to claim 9, wherein: The spatial coordinates (X _N , Y _N , Z _N ) of each point N on the tank body can be calculated by the circuit control mechanism through the spatial horizontal angle α _N and the vertical angle β _N of the point rotated through the point, and calculated by the time counter The time difference between the laser transmitter and the laser receiver can be used to express the slant distance R _N between the laser transmitter and the point of the tank, that is, the spatial coordinates of the point N (X _N , Y _N , Z _N ) It can be described by the horizontal angle α _N , the vertical angle β _N and the slope distance R _N , the formula is as follows:

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; In the formula, L is the horizontal length of the horizontal adjustment and the center of the rotating base from the laser transmitter, which is a fixed value; R _N is the slant distance between the laser transmitter and the N point of the tank; H is the distance between the horizontal adjustment and the rotating base of the laser transmitter. The vertical length of the seat center; α _N is the horizontal angle that the scanning detection mechanism turns from the starting point; β _N is the vertical angle that the scanning detection mechanism turns.

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