CN111879252A - Online surveying and mapping detection device and method for storage tank body - Google Patents
Online surveying and mapping detection device and method for storage tank body Download PDFInfo
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- CN111879252A CN111879252A CN202010835618.5A CN202010835618A CN111879252A CN 111879252 A CN111879252 A CN 111879252A CN 202010835618 A CN202010835618 A CN 202010835618A CN 111879252 A CN111879252 A CN 111879252A
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- 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 provides an online surveying and mapping detection device for a storage tank body, which comprises a tripod, a horizontal adjusting 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, wherein the horizontal adjusting and rotating base is arranged at the upper end of the tripod; the control circuit mechanism is in communication connection with the scanning detection mechanism; the method adopting the device comprises the following steps: s1) assembling; s2) debugging; s3) scanning detection. The invention has the advantages that: through the high-precision modeling of the three-dimensional scanning technology, the deformation detection of the storage tank body is more visual and has high precision.
Description
Technical Field
The invention relates to the technical field of surveying and mapping, in particular to a storage tank body online surveying and mapping detection device and a method thereof.
Background
With the rapid development of petrochemical engineering construction in China, the number of vertical storage tanks is increased rapidly. Because the storage tank belongs to a typical thin-wall structure model, the stability is low, and the phenomenon of bubbling or sinking deformation of the tank body of the storage tank is easily caused by factors such as poor quality control in the manufacturing process or faults, improper operation and the like in the operation and use process. The deformation phenomenon of the storage tank can bring about two effects: (1) the integral or local excessive deformation can reduce the instability resistance of the storage tank, thereby reducing the safety production reliability of the storage tank in the running and using process; (2) the normal lifting and sealing effects of the floating roof tank are influenced after the tank body is deformed, the low-cycle fatigue fracture of the tank wall is easily caused by local concave-convex deformation, and the service life and the normal working reliability of the storage tank are reduced.
For the static volume metrological verification method of the storage tank, the existing vertical tank volume measurement method is established on the premise that the vertical tank is an ideal cylinder model. Under the condition that the sampling point of the coordinate data of the tank body is fixed, the larger the integral or local deformation of the vertical storage tank is, the more obvious the influence on the accuracy of the volume metering value is. The existing storage tank deformation measuring method mainly comprises a total station photoelectric method and a manual method. The total station photoelectric method has the advantages that the single-point measurement precision is high, the total station photoelectric method is easy to use for field measurement, but due to the fact that sampling points are large in interval and small in quantity, the method is suitable for overall deformation measurement of the storage tank, the local deformation measurement capacity needs to be improved, in addition, in the field measurement process, the storage tank needs to be stopped for tank opening detection, the storage tank deformation data in the full tank cannot be measured, the storage tank deformation data in the full tank with the most practical significance cannot be obtained, and meanwhile, the tank opening detection increases the enterprise operation cost. The manual method is particularly suitable for measuring the local deformation of the storage tank, such as the deformation of the top of a vault tank, but cannot easily describe the overall deformation of the vertical storage tank. In addition, with the gradual application of the laser scanning three-dimensional modeling technology in the aspect of storage tank surveying and mapping, a small number of detection units utilize the technology to detect horizontal storage tanks and small-volume storage tanks, but the defects of tank opening detection, multi-station measurement, multiple influence factors, limited measurement precision and the like still exist.
Therefore, aiming at the technical problems, a synchronous measurement technology which can be applied to the on-line detection of the storage tank, does not influence the normal production operation of the storage tank, can realize the deformation of the tank body and the local part of the storage tank and provides technical support for the safe operation of the storage tank is provided.
Disclosure of Invention
The invention aims to provide a storage tank body online surveying and mapping detection device and a method thereof, which perform high-precision modeling through a laser scanning three-dimensional technology.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an online surveying and mapping detection device for a storage tank body comprises a tripod, a horizontal adjusting and rotating base, a control circuit mechanism, a tower cap mechanism, a swing arm, a counterweight mechanism, a scanning detection mechanism, a leveling cable rope and a counterweight cable rope, wherein the horizontal adjusting and rotating base is arranged at the upper end of the tripod, the control circuit mechanism is arranged at the upper end of the horizontal adjusting and rotating base, the tower cap mechanism is arranged at the upper end of the control circuit mechanism, the swing arm is arranged at one side end of the control circuit mechanism, the scanning detection mechanism is arranged at the tail end of the swing arm, the counterweight mechanism is arranged at the other side end of the control circuit mechanism, the leveling cable rope is pulled between the upper end of the tower cap mechanism and the swing arm; the control circuit mechanism is in communication connection with the scanning detection mechanism.
Further, the tripod comprises a base, a support and a fast-assembly plate, the base is sequentially connected with a rubber pad, a magnet and a steel plate from bottom to top, the base is fixedly connected with the support, the support is telescopic, the support is hinged with the fast-assembly plate, and the tripod is connected with the rotary base through a fast-assembly bolt arranged on the fast-assembly plate and a horizontal adjustment.
Further, horizontal adjustment and rotating base include base bottom plate, leveling nut, horizontal plate, bubble spirit level and sun gear, and the leveling nut is three, connects in base bottom plate and through upper end bolted connection in horizontal plate through lower extreme bolted connection respectively, and the central region of horizontal plate is fixed and is set up sun gear, and antifriction bearing is inlayed and is located on sun gear upper portion, and the horizontal plate still sets up bubble spirit level.
Furthermore, the control circuit mechanism comprises a shell, a display screen, a keyboard and a sighting device are arranged on the surface of the shell, a battery, a control circuit board, a servo motor and an SD storage card are arranged in the shell, a first speed reducer is arranged at the bottom of the shell, a rotating shaft at the lower end of the first speed reducer penetrates through the bottom of the shell and is fixedly connected with a planetary gear, and the planetary gear is meshed with a sun gear; the battery supplies power for the control circuit board, the servo motor, the display screen, the keyboard and the first speed reducer, and the control circuit board is in communication connection with the servo motor, the SD storage card, the keyboard and the first speed reducer respectively.
Furthermore, the counterweight mechanism comprises two main supports and reinforcing ribs between the main supports, one end of each main support is connected to the control circuit mechanism, the other end of each main support is provided with counterweight frames with different specifications, the counterweight frames with different specifications are used for placing counterweights with different weights, and the counterweight frames are separated by partition plates; one end of the counterweight cable pulls the counterweight mechanism, and the other end of the counterweight cable is connected to the top end of the tower cap mechanism.
Further, the swing arm includes one-level swing arm and second grade swing arm, and the second grade swing arm can be according to the increase and decrease number of the storage tank diameter specification of examining, and one-level swing arm is connected with the second grade swing arm, interconnect between the second grade swing arm.
Furthermore, the primary swing arm and the secondary swing arm are both triangular truss structures formed by mutually welding three main beams and a plurality of rib plates, two main beams at the bottom of one end of the primary swing arm are connected with the control circuit mechanism, and three main beams at the other end are respectively connected with three main beams of the secondary swing arm; one end of the leveling cable pulls the middle second-stage swing arm or the last second-stage swing arm, and the other end of the leveling cable is connected to the top end of the tower cap mechanism.
Further, scanning detection mechanism includes the second and video monitor ware of aiming at the second bubble level of setting on body frame, the body frame downside sets up angle adjustment mechanism, scanning circuit board and distributes in scanning circuit board both sides CCD camera, angle adjustment mechanism connects the angle of adjusting scanning circuit board through motor and gear train meshing, scanning circuit board sets up laser emitter, laser receiver and time counter, video monitor ware, motor, scanning circuit board respectively with control circuit board communication connection.
An on-line mapping detection method for a storage tank body comprises the following steps:
s1) assembly phase
The device is fixed in the center area of the vault of a vertical cylindrical storage tank in an adsorption manner through a tripod, a support is adjusted to a proper height, a horizontal adjustment and rotation base is installed on a quick installation plate of the tripod through a quick installation bolt, then a control circuit mechanism, a tower cap mechanism, a counterweight cable rope, a primary swing arm and a secondary swing arm are sequentially connected, a proper number of secondary swing arms are selected according to the diameter of the detected storage tank to be mutually connected, the tail end of the last secondary swing arm is connected with a scanning detection mechanism, and then a coarse leveling cable rope and a fine leveling cable rope are connected;
s2) debugging phase
Starting a control circuit mechanism, and automatically detecting the functions and signals of each instrument in communication connection with the system by the system to determine that the whole system is normal and ready;
rotating the three leveling nuts and observing the bubble level to level the horizontal adjustment and the rotating base;
switching the display screen to a second bubble level instrument observed by the video monitor, and leveling the scanning detection mechanism by adjusting an adjusting plate of the fine leveling cable and the coarse leveling cable;
determining and marking a starting scanning detection position through the sighting device;
s3) scanning detection phase
S3-1) inputting relevant parameters at a keyboard according to the specification of a storage tank to be detected, automatically calculating a horizontal angle required to rotate for one time of scanning detection by a control circuit mechanism after inputting the relevant parameters, converting the horizontal angle required to rotate into the number of turns of a servo motor, further driving a planetary gear to rotate for one time by a first speed reducer around a sun gear to obtain three-dimensional space coordinates of all points in the scanning detection surface, completing scanning detection and acquisition of a circle of tank wall plates, and simultaneously shooting a scanning detection area in real time by a CCD camera and transmitting the scanning detection area to an SD memory card in real time;
s3-2) after scanning detection of a circle of tank wall plates is completed, the control circuit mechanism calculates a vertical angle required to rotate, converts the vertical angle required to rotate into the number of turns of rotation of the motor, drives the pinion to rotate around the bull gear by the second speed reducer by the required vertical angle, further drives the structures such as the laser transmitter, the laser receiver, the time counter and the like to rotate by the required vertical angle, and repeats the step S3-1), thereby realizing scanning detection of the next circle of tank wall plates;
s3-3) repeating the step S3-2) until all the scanning detection of the wall plate of the storage tank is finished, and storing the wall plate of the storage tank into an SD memory card in real time;
s3-4) in order to ensure the precision of the scanning detection mechanism when obliquely scanning the wall plate of the storage tank, aiming at the fact that the intervals of all laser point positions are increased when the laser emitter obliquely emits, staggered double-time or staggered multiple-time scanning detection is adopted, three-dimensional space coordinates in multiple-time scanning detection surfaces are mutually overlapped and stored in an SD storage card in real time;
s3-5) after detection, the data is imported into a computer through an SD memory card for data processing and analysis.
Further, the space coordinate (X) of each point N on the tank bodyN，YN，ZN) The spatial horizontal angle alpha of the rotation passing the point can be calculated by the circuit control mechanismNPerpendicular angle betaNAnd calculating the time difference between the laser emitted by the laser emitter and the laser received by the laser receiver through the time counter to calculate the slant distance R between the laser emitter and the tank body at the pointNIs expressed, i.e. the spatial coordinate (X) of the point NN，YN，ZN) Can pass through a horizontal angle alphaNPerpendicular angle betaNAnd the pitch RNDescribed, the formula is as follows:
in the formula, L is the horizontal length between the horizontal adjustment and the center of the rotating base and the laser emitter, and is a fixed value; rNThe slant distance of the laser emitter from the tank body N points is obtained; h is the vertical length between the horizontal adjustment of the distance of the laser transmitter and the center of the rotating base; alpha is alphaNThe horizontal angle rotated by the starting point for scanning the detection mechanism; beta is aNIs the vertical angle through which the scanning detection mechanism rotates.
Compared with the prior art, the invention has the following advantages:
the invention relates to a storage tank body online surveying and mapping detection device and a method thereof, which solve the technical problems that the local deformation measurement capability is weak and online detection cannot be realized in the existing storage tank deformation detection technology, and enable the storage tank body deformation detection to be more visual and visualized and have high precision through high-precision modeling of a three-dimensional scanning technology.
Drawings
FIG. 1 is a schematic view of the overall structure of an on-line mapping and detecting device for a storage tank body according to the present invention.
FIG. 2 is a schematic view of a tripod structure of the on-line surveying and mapping detection device for the storage tank body.
FIG. 3 is a schematic view of a partial structure of a tripod of the online mapping and detecting device for the tank body of the storage tank.
FIG. 4 is a schematic front view of the horizontal adjustment and rotation base and the control circuit mechanism of the on-line mapping detection device for the tank body of the storage tank.
FIG. 5 is a schematic diagram of the back side of the horizontal adjustment and rotation base and control circuit mechanism of the on-line mapping detection device for the tank body of the storage tank.
FIG. 6 is a schematic structural diagram of a tower cap mechanism and a counterweight mechanism of the online mapping detection device for the storage tank body.
FIG. 7 is a schematic view of a partial structure of a primary swing arm and a secondary swing arm of the storage tank on-line surveying and mapping detection apparatus of the present invention.
FIG. 8 is a schematic structural diagram of a scanning detection mechanism of the on-line mapping detection device for the storage tank body according to the present invention.
FIG. 9 is a schematic diagram of the actual operation of the on-line mapping and detecting device for the storage tank body of the invention.
FIG. 10 is a schematic flow chart of an on-line mapping and detecting method for a storage tank body according to the present invention.
FIG. 11 is a schematic diagram of coordinate establishment in the method for on-line mapping and detecting a tank body of a storage tank according to the invention.
Reference numerals: tripod 1, a horizontal adjustment and rotation base 2, a control circuit mechanism 3, a counterweight mechanism 4, a counterweight cable 5, a tower cap mechanism 6, a primary swing arm 7, a secondary swing arm 8, a scanning detection mechanism 9, a fine leveling cable 10, a coarse leveling cable 11, a rubber pad 101, a magnet 102, a steel plate 103, a support 104, a telescopic support leg 105, a fastening ring 106, a support leg 107, a quick-mounting plate 108, a quick-mounting bolt 109, a rib plate 110, a locking bolt 111, a clamp spring cylindrical pin shaft 112, a locking hand wheel 113, a bolt 114, a base bottom plate 201, a lower end bolt 202, a leveling nut 203, an upper end bolt 204, a reinforcing ring 205, a central hole 206, a bubble level gauge I207, a horizontal plate 208, a hole 209, a sun gear 210, a rolling bearing I211, a planet gear 212, a shell 301, a display screen 302, a keyboard 303, a bottom plate 304, an SD 305, a control circuit board 306, a support, The device comprises a servo motor 310, a first speed reducer 311, a first support 312, a second support 313, a main support 401, a reinforcing rib 402, a balance weight 403, a partition plate 404, a balance weight frame 405, a balance weight support 406, a support column 601, a cross beam 602, a third support 603, a fourth support 604, a first main beam 701, a first rib plate 702, a second main beam 801, a second rib plate 802, a fifth support 803, a main frame 901, a lifting rod 902, a rod 903, a video monitor 904, a second bubble level 905, a mounting plate 906, a second bearing 907, a connecting shaft 908, a connecting plate 909, a motor 910, a third bearing 911, a fixing plate 912, a CCD camera 913, a scanning circuit board 914, a laser transmitter 915, a laser receiver, a time counter 917, a protecting plate 918, a second speed reducer 919, a small gear 920, a rotating shaft 921, a fourth bearing 922, a second connecting plate 924, a large gear, a fixing shaft 925, a cable 1001, Cable two 1101, long bolt two 1102, coarse adjusting nut 1103 and coarse adjusting plate 1104.
Detailed Description
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 body comprises a tripod 1, a horizontal adjustment and rotation base 2, a control circuit mechanism 3, a tower cap mechanism 6, a first-stage swing arm 7, a second-stage swing arm 8, a counterweight mechanism 4, a scanning detection mechanism 9, a fine leveling cable 10, a coarse leveling cable 11 and a counterweight cable 5, wherein the horizontal adjustment and rotation base 2 is arranged at the upper end of the tripod 1, the control circuit mechanism 3 is arranged at the upper end of the horizontal adjustment and rotation base 2, the tower cap mechanism 6 is arranged at the upper end of the control circuit mechanism 3, the swing arm is arranged at one side end of the control circuit mechanism 3, the scanning detection mechanism 9 is arranged at the tail end of the swing arm, the counterweight mechanism 4 is arranged at the other side end of the control circuit mechanism 3, the leveling cable is arranged between the upper end of the tower cap mechanism 6 and the swing arm; the control circuit mechanism 3 is in communication connection with the scanning detection mechanism 9.
As shown in fig. 2 and 3, the tripod 1 includes a base, a bracket and a quick-mounting plate 108. The base connects gradually rubber pad 101, magnet 102 and steel sheet 103 from bottom to top, and rubber pad 101 bottom is equipped with horizontal, the lower ripple of slant, guarantees that the whole device is stably fixed in the arc and encircles the roof, and rubber pad 101 upper portion cementing magnet 102 guarantees that the instrument can not overturn because of misoperation off-centre, and magnet 102 upper portion fixed connection steel sheet 103, steel sheet 103 central symmetry are equipped with support 104, and support 104 passes through jump ring cylindric lock axle 112 with the support and articulates. The support is telescopic and comprises a support leg 107 and a telescopic support leg 105, the telescopic support leg 105 is nested in the support leg 107, and the telescopic support leg 105 can be moved up and down in the support leg 107; the outer side of the bottom end of the support leg 107 is provided with a fastening ring 106, and a locking bolt 111 penetrates through the fastening ring 106 and the support leg 107 to the outer side of the telescopic support leg 105 and is used for locking the telescopic support leg 105. The top of the support leg 107 is hinged to the quick-mounting plate 108 through a pin shaft, the center of the quick-mounting plate 108 is perforated, two rib plates 110 are symmetrically arranged at the bottom of the quick-mounting plate, a quick-mounting bolt 109 penetrates through the middle of the two rib plates 110, the lower portion of the quick-mounting bolt 109 is a locking hand wheel 113 with vertical convex patterns on the surface, the upper portion of the quick-mounting bolt 109 is a bolt 114, the diameter of a thread of the bolt 114 is slightly larger than the gap between the two rib plates 110, the quick-mounting bolt 109 is guaranteed to be clamped between the two rib plates 110 and cannot fall off, concave grooves with the diameter equal to that of the locking hand wheel 113 at the lower portion of the quick-.
The tripod 1 with the functions of fixed support and rough leveling is detachably screwed with the leveling and rotating base 2 through the quick-assembling bolt 109 and the central hole 206 of the base bottom plate 201.
As shown in fig. 4 and 5, the horizontal adjustment and rotation base 2 includes a base bottom plate 201, a leveling nut 203, a horizontal plate 208, a bubble level one 207, and a sun gear 210. Three leveling nuts 203 are respectively connected with the holes 209 of the base bottom plate 201 in a penetrating mode through the lower end bolts 202 and connected with the horizontal plate 208 through the upper end bolts 204, the upper end bolts 204 are provided with reinforcing rings 205, and the three leveling nuts 203 are adjusted to achieve horizontal adjustment of the whole device. The central region of the horizontal plate 208 is fixedly provided with a sun gear 210, a cylinder protruding from the upper part of the sun gear 210 is embedded in a rolling bearing I211, and the rolling bearing I211 is embedded and fixed on the shell 301 of the control circuit mechanism 3. The horizontal plate 208 is also provided with a bubble level one 207.
As shown in fig. 4 and 5, the control circuit mechanism 3 includes a housing 301, the housing 301 includes a bottom plate 304 and pillars 307 arranged at four corners of the bottom plate 304, a display 302 and a keyboard 303 are arranged on the front surface of the housing 301, a battery 308, a control circuit board 306, a servo motor 310 and an SD memory card 305 are arranged on the upper portion of the bottom plate 304 of the housing 301, the SD memory card 305 is used for storing detection data and can be led to a computer end for analysis, a sighting device 309 is arranged at a middle position of the pillar 307 near one side of the SD memory card 305, the sighting device 309 is used for positioning and marking a starting point detection position, a reducer 311 is screwed on the bottom plate 304 of the housing 301, the upper portion of the reducer 311 is connected with the servo motor 310, a rotating shaft at the lower end of the reducer 311 penetrates through the bottom plate. The outer sides of the upper ends of the four support columns 307 are provided with a first support 312, the top ends of the four support columns 307 are provided with a second support 313, the control circuit mechanism 3 is respectively in threaded connection with the bottoms of the four support columns 601 of the tower cap mechanism 6 through the second support 313, the two first supports 312 on one side of the control circuit mechanism 3 are in threaded connection with the counterweight mechanism 4, and the two first supports 312 on the other side of the control circuit mechanism are in threaded connection with the first-stage 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 first speed reducer 311, and the control circuit board 306 is in communication connection with the servo motor 310, the SD memory card 305, the display screen 302, the keyboard 303 and the first speed reducer 311 respectively.
As shown in fig. 6, the counterweight mechanism 4 includes two main supports 401 and two reinforcing ribs 402 between the main supports 401, one end of each main support 401 is connected to the control circuit mechanism 3, the other end is provided with counterweight supports 405 of different specifications, counterweight 403 of different weights are placed on the counterweight supports 405 of different specifications, and the counterweight supports 405 are separated by a partition plate 404. Place counter weight 403 that weight is different to satisfy when detecting different diameter specification storage tanks, make second grade swing arm 8 one side weight increase because of the quantity change of second grade swing arm 8, add the counter weight 403 of corresponding quantity, and then make entire system be in the stress balance state, guarantee the safe operation of whole device. One end of the counterweight cable 5 pulls the counterweight mechanism 4, namely, the counterweight support 406 is connected with a bolt, and the other end is screwed with a support third 603 at the top end of the tower cap mechanism 6. The tower cap mechanism 6 comprises four support columns 601, a cross beam 602 is arranged between every two support columns 601, and the bottoms of the four support columns 601 are respectively screwed with two support seats 313 at four corners of the top end of the control circuit mechanism 3.
As shown in fig. 7, the swing arm includes a first-stage swing arm 7 and a second-stage swing arm 8, the first-stage swing arm 7 is screwed with the second-stage swing arm 8, and the second-stage swing arms 8 are screwed with each other. The first-level swing arm 7 is of a triangular truss structure formed by mutually welding a first three main beams 701 and a first plurality of rib plates 702, the first two main beams 701 at the bottom of the first-level swing arm 7 are in threaded connection with the first two supports 312 on one side of the control circuit mechanism 3, only the first two main beams 701 are in threaded connection, so that the adjustment of the vertical amplitude of the first-level swing arm 7 in the later period can be horizontal, the condition that the vertical amplitude of the first-level swing arm 7 cannot be adjusted after the first-level swing arm 7 is connected is prevented, and the first three main beams 701 at the other end of the first-level. Similarly, the second-stage swing arm 8 is a triangular truss structure formed by mutually welding three second main beams 801 and a plurality of second rib plates 802, the number of the second-stage swing arm 8 can be increased or decreased according to the diameter specification of the detected storage tank, and the scanning detection mechanism 9 can be ensured to extend out of the tank body by about one meter, so that the detection of the storage tanks with different diameter specifications is met. The levelling cables comprise fine levelling cables 10 and coarse levelling cables 11. One end of the fine leveling cable 10 and one end of the coarse leveling cable 11 are connected to the top of the tower cap mechanism 6 through clamp spring pin shafts, and the other ends are respectively screwed with the secondary swing arms 8. The fine leveling cable 10 comprises a first cable 1001 and a first long bolt 1002 fixedly connected with the first cable 1001, the first long bolt 1002 is in threaded connection with a fine adjusting nut 1003, the fine adjusting nut 1003 is fixed on a fine adjusting plate 1004, one end of the fine leveling cable 10 is hinged to the tower cap mechanism 6 through a fourth support 604, and the other end of the fine leveling cable is hinged to the last secondary swing arm 8. Similarly, the coarse adjustment flat cable 11 comprises 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 adjustment flat cable 11 is hinged to the tower cap mechanism 6 through a fourth support 604, and the other end of the coarse adjustment flat cable is hinged to the middle second-stage swing arm 8 through a fifth support 803. The main beams on one sides of the first-level swing arm 7 and the second-level swing arm 8 are provided with hooks, so that communication cables can be placed conveniently.
As shown in fig. 8, the scanning detection mechanism 9 includes a main frame 901, a lifting rod 902, and a video monitor 904 disposed on the main frame 901 and aligned with the second bubble level 905, one end of the main frame 901 is bolted to the second-stage swing arm 8, and the video monitor 904 is fixedly mounted on the main frame 901 through a rod 903. The main frame 901 is symmetrically provided with mounting plates 906 at both sides, a fixing shaft 925 is arranged between the inner sides of the two mounting plates 906, a big gear 924 is fixedly arranged in the middle of the fixing shaft 925, the outer sides of the two mounting plates 906 are respectively provided with a connecting shaft 908, the outer side of the connecting shaft 908 is nested with a second bearing 907, the second bearing 907 is fixedly mounted at one end of a first connecting plate 909, the other end of the first connecting plate 909 is also provided with a third bearing 911, a motor 910 is nested in the third bearing 911, the motor 910 is in threaded connection with a second reducer 919, a rotating shaft 921 penetrating through the second reducer 919 is mounted at a fourth bearing 922, the fourth bearing 922 is fixed on a second connecting plate 923, a small gear 920 is arranged in the area, corresponding to the large gear 924, of the rotating shaft 921, the large gear 924 and the small gear 920 are in meshed connection, the large gear 924 is fixed during working, the small gear 920 can rotate along the circumferential. A protection plate 918 is arranged at the bottom of the first connecting plate 909 and the second connecting plate 923, a fixing plate 912 is screwed on the lower part of the protection plate 918, CCD cameras 913 are symmetrically distributed at two sides of the fixing plate 912, lenses of the CCD cameras 913 are obliquely focused on a central laser scanning area, a scanning circuit board 914 is arranged in the middle of the fixing plate 912, and a laser transmitter 915, a laser receiver 916 and a time counter 917 are in communication connection with the scanning circuit board 914. Video monitor 904, motor 910, and scan circuit board 914 are communicatively coupled to control circuit board 306.
A storage tank body online mapping detection method is disclosed, as shown in FIG. 9, a detection device is placed in the center area of a vertical cylindrical storage tank vault for detection, as shown in FIG. 10, and the method specifically comprises the following steps:
s1) assembly phase
The device is fixed in the center area of the vault of a vertical cylindrical storage tank in an adsorption manner through a tripod 1, a support is adjusted to a proper height, a horizontal adjusting and rotating base 2 is installed on a quick installing plate 108 of the tripod 1 through a quick installing bolt 109, then a control circuit mechanism 3, a tower cap mechanism 6, a counterweight mechanism 4, a counterweight cable 5, a primary swing arm 7 and a secondary swing arm 8 are sequentially connected, a proper number of secondary swing arms 8 are selected according to the diameter of the storage tank to be detected to be connected with one another, the tail end of the last secondary swing arm 8 is connected with a scanning detection mechanism 9, and then a coarse leveling cable 11 and a fine leveling cable 10 are connected;
s2) debugging phase
Starting the control circuit mechanism 3, and automatically detecting the functions and signals of each instrument in communication connection with the system by the system to determine that the whole system is normal and ready;
rotating the three leveling nuts 203 and observing the bubble level gauge I207 to level the horizontal adjustment and the rotating base 2;
the display screen 302 is switched to a second bubble level 905 observed by the video monitor 904, and the scanning detection mechanism 9 is leveled by adjusting the adjusting plates of the fine leveling cable 10 and the coarse leveling cable 11;
the starting scan detection position is determined and marked by the sight 309;
s3) scanning detection phase
S3-1) inputting relevant parameters at the keyboard 303 according to the specification of the storage tank to be inspected, and after inputting, the control circuit mechanism 3 automatically calculates a horizontal angle required to rotate for one time of scanning and inspection, and converts the horizontal angle required to rotate into the number of turns of the servo motor 310, and further drives the planetary gear 212 to rotate for one time by the horizontal angle required to rotate around the sun gear 210 through the first reducer 311, so as to obtain three-dimensional space coordinates of all points in the scanning and inspection plane, thereby completing scanning, inspection and acquisition of a circle of tank wall panels, and simultaneously shooting a scanning and inspection area in real time through the CCD camera 913 and transmitting the scanning and inspection area to the SD memory card 305 in real time;
s3-2) after scanning detection of a circle of tank wall plates is completed, the control circuit mechanism 3 calculates a vertical angle required to rotate, converts the vertical angle required to rotate into the number of turns of rotation of the motor 910, drives the pinion 920 to rotate by the required vertical angle around the bull gear 924 through the second reducer 919, further drives the structures such as the laser transmitter 915, the laser receiver 916 and the time counter 917 to rotate by the required vertical angle, and repeats the step S3-1), thereby realizing scanning detection of the next circle of tank wall plates;
s3-3) repeating the step S3-2) until all the scanning detection of the storage tank wall plate is finished, and storing the wall plate in the SD memory card 305 in real time;
s3-4) in order to ensure the precision of the scanning detection mechanism 9 when obliquely scanning the tank wall panel of the storage tank, the interval of each laser point when obliquely emitting the laser emitter 915 is increased, dislocation double-time or dislocation multi-time scanning detection is adopted, namely after the scanning detection of the tank wall panel of a circle is returned to the initial position, a small horizontal angle and a small vertical angle are properly rotated, the scanning detection of the tank wall panel of the circle is properly staggered with the laser point in the first scanning detection plane, the scanning detection of the tank wall panel of the circle is started for the second time until the scanning detection of the tank wall panel of the circle is completed for multiple times, three-dimensional space coordinates in the scanning detection planes of the multiple times are mutually superposed, and the three-;
s3-5) and then is imported into the computer through the SD memory card 305 for data processing and analysis.
Scanning detection theory of operation: the storage tank body surveying and mapping device is installed and placed in the center area of the vault of the vertical cylindrical storage tank, debugging and leveling are carried out, and a space coordinate system is established by taking the horizontal adjustment and the center of the rotating base 2 as an original point, taking a plumb line as a Z axis, and taking the initial point position of a swing arm mechanism formed by the primary swing arm 7 and the secondary swing arm 8 as an X axis, as shown in figure 11.
Space coordinate (X) of each point N on storage tank bodyN，YN，ZN) The spatial horizontal angle alpha of rotation through the point can be calculated by the circuit control means 3NPerpendicular angle betaNAnd the slope distance R of the laser transmitter 915 from the point of the tank body is calculated by calculating the time difference between the laser emitted by the laser transmitter 915 and the laser received by the laser receiver 916 through the time counter 917NIs expressed, i.e. the spatial coordinate (X) of the point NN，YN，ZN) Can pass through a horizontal angle alphaNPerpendicular angle betaNAnd the pitch RNDescribed, the formula is as follows:
in the formula, L is the horizontal length from the center of the rotating base 2 to the laser emitter 915, and is a fixed value; rNThe slant distance of the laser emitter 915 from the tank body N points; h is the vertical length of the laser transmitter 915 from the horizontal adjustment to the center of the rotating base 2; alpha is alphaNIs the horizontal angle rotated by the scanning detection mechanism 9 from the starting point; beta is aNFor scanning and detectingThe vertical angle through which the mechanism 9 is turned.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the spirit of the present invention, and these modifications and improvements should also be considered as within the scope of the present invention.
Claims (10)
1. The utility model provides a storage tank jar body online survey and drawing detection device which characterized in that: the device comprises a tripod, a horizontal adjusting 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, wherein the horizontal adjusting and rotating base is arranged at the upper end of the tripod, the control circuit mechanism is arranged at the upper end of the horizontal adjusting and rotating base, the tower cap mechanism is arranged at the upper end of the control circuit mechanism, the swing arm is arranged at one side end of the control circuit mechanism, the scanning detection mechanism is arranged at the tail end of the swing arm, the counterweight mechanism is arranged at the other side end of the control circuit mechanism, the leveling cable is pulled between the upper end of the tower cap mechanism and the swing arm, and the counterweight; the control circuit mechanism is in communication connection with the scanning detection mechanism.
2. The on-line mapping detection device for the storage tank body according to claim 1, characterized in that: the tripod comprises a base, a support and a quick-mounting plate, the base is sequentially connected with a rubber pad, a magnet and a steel plate from bottom to top, the base is fixedly connected with the support, the support is telescopic, the support is hinged with the quick-mounting plate, and the tripod is connected with a rotary base through a quick-mounting bolt arranged on the quick-mounting plate.
3. The on-line mapping detection device for the storage tank body according to claim 1, characterized in that: the horizontal adjusting and rotating base comprises a base bottom plate, three leveling nuts, a horizontal plate, a first bubble level and a sun gear, the three leveling nuts are connected to the base bottom plate through lower end bolts and connected to the horizontal plate through upper end bolts, the sun gear is fixedly arranged in the central region of the horizontal plate, the first rolling bearing is embedded in the upper portion of the sun gear, and the first bubble level is further arranged on the horizontal plate.
4. The on-line mapping detection device for the storage tank body according to claim 1 or 3, characterized in that: the control circuit mechanism comprises a shell, a display screen, a keyboard and a sighting device are arranged on the surface of the shell, a battery, a control circuit board, a servo motor and an SD storage card are arranged in the shell, a first speed reducer is arranged at the bottom of the shell, a rotating shaft at the lower end of the first speed reducer penetrates through the bottom of the shell and is fixedly connected with a planetary gear, and the planetary gear is meshed with a sun gear; the battery supplies power for the control circuit board, the servo motor, the display screen, the keyboard and the first speed reducer, and the control circuit board is in communication connection with the servo motor, the SD storage card, the keyboard and the first speed reducer respectively.
5. The on-line mapping detection device for the storage tank body according to claim 1, characterized in that: the counterweight mechanism comprises two main supports and reinforcing ribs between the main supports, one end of each main support is connected to the control circuit mechanism, the other end of each main support is provided with counterweight frames with different specifications, counterweights with different weights are placed on the counterweight frames with different specifications, and the counterweight frames are separated by partition plates; one end of the counterweight cable pulls the counterweight mechanism, and the other end of the counterweight cable is connected to the top end of the tower cap mechanism.
6. The on-line mapping detection device for the storage tank body according to claim 1, characterized in that: the swing arm includes one-level swing arm and second grade swing arm, and the second grade swing arm can be according to examining storage tank diameter specification increase and decrease number, and one-level swing arm is connected with the second grade swing arm, interconnect between the second grade swing arm.
7. The on-line mapping detection device for the storage tank body according to claim 6, characterized in that: the primary swing arm and the secondary swing arm are of triangular truss structures formed by mutually welding three main beams and a plurality of rib plates, two main beams at the bottom of one end of the primary swing arm are connected with the control circuit mechanism, and three main beams at the other end of the primary swing arm are respectively connected with three main beams of the secondary swing arm; one end of the leveling cable pulls the middle second-stage swing arm or the last second-stage swing arm, and the other end of the leveling cable is connected to the top end of the tower cap mechanism.
8. The on-line mapping detection device for the storage tank body according to claim 1, characterized in that: scanning detection mechanism includes the second and video watch-dog of aiming at the second bubble level of setting on body frame, the body frame downside sets up angle adjustment mechanism, scanning circuit board and distributes in scanning circuit board both sides CCD camera, angle adjustment mechanism connects the angle of adjusting scanning circuit board through motor and gear train meshing, scanning circuit board sets up laser emitter, laser receiver and time counter, video watch-dog, motor, scanning circuit board respectively with control circuit board communication connection.
9. An on-line mapping detection method for a storage tank body is characterized by comprising the following steps:
s1) assembly phase
The device is fixed in the center area of the vault of a vertical cylindrical storage tank in an adsorption manner through a tripod, a support is adjusted to a proper height, a horizontal adjustment and rotation base is installed on a quick installation plate of the tripod through a quick installation bolt, then a control circuit mechanism, a tower cap mechanism, a counterweight cable rope, a primary swing arm and a secondary swing arm are sequentially connected, a proper number of secondary swing arms are selected according to the diameter of the detected storage tank to be mutually connected, the tail end of the last secondary swing arm is connected with a scanning detection mechanism, and then a coarse leveling cable rope and a fine leveling cable rope are connected;
s2) debugging phase
Starting a control circuit mechanism, and automatically detecting the functions and signals of each instrument in communication connection with the system by the system to determine that the whole system is normal and ready;
rotating the three leveling nuts and observing the bubble level to level the horizontal adjustment and the rotating base;
switching the display screen to a second bubble level instrument observed by the video monitor, and leveling the scanning detection mechanism by adjusting an adjusting plate of the fine leveling cable and the coarse leveling cable;
determining and marking a starting scanning detection position through the sighting device;
s3) scanning detection phase
S3-1) inputting relevant parameters at a keyboard according to the specification of a storage tank to be detected, automatically calculating a horizontal angle required to rotate for one time of scanning detection by a control circuit mechanism after inputting the relevant parameters, converting the horizontal angle required to rotate into the number of turns of a servo motor, further driving a planetary gear to rotate for one time by a first speed reducer around a sun gear to obtain three-dimensional space coordinates of all points in the scanning detection surface, completing scanning detection and acquisition of a circle of tank wall plates, and simultaneously shooting a scanning detection area in real time by a CCD camera and transmitting the scanning detection area to an SD memory card in real time;
s3-2) after scanning detection of a circle of tank wall plates is completed, the control circuit mechanism calculates a vertical angle required to rotate, converts the vertical angle required to rotate into the number of turns of rotation of the motor, drives the pinion to rotate around the bull gear by the second speed reducer by the required vertical angle, further drives the structures such as the laser transmitter, the laser receiver, the time counter and the like to rotate by the required vertical angle, and repeats the step S3-1), thereby realizing scanning detection of the next circle of tank wall plates;
s3-3) repeating the step S3-2) until all the scanning detection of the wall plate of the storage tank is finished, and storing the wall plate of the storage tank into an SD memory card in real time;
s3-4) in order to ensure the precision of the scanning detection mechanism when obliquely scanning the wall plate of the storage tank, aiming at the fact that the intervals of all laser point positions are increased when the laser emitter obliquely emits, staggered double-time or staggered multiple-time scanning detection is adopted, three-dimensional space coordinates in multiple-time scanning detection surfaces are mutually overlapped and stored in an SD storage card in real time;
s3-5) after detection, the data is imported into a computer through an SD memory card for data processing and analysis.
10. The on-line mapping detection method for the storage tank body according to claim 9, characterized in that:
space coordinate (X) of each point N on storage tank bodyN，YN，ZN) Accessible circuit control machineConstructing the calculated spatial horizontal angle alpha of rotation through the pointNPerpendicular angle betaNAnd calculating the time difference between the laser emitted by the laser emitter and the laser received by the laser receiver through the time counter to calculate the slant distance R between the laser emitter and the tank body at the pointNIs expressed, i.e. the spatial coordinate (X) of the point NN，YN，ZN) Can pass through a horizontal angle alphaNPerpendicular angle betaNAnd the pitch RNDescribed, the formula is as follows:
in the formula, L is the horizontal length between the horizontal adjustment and the center of the rotating base and the laser emitter, and is a fixed value; rNThe slant distance of the laser emitter from the tank body N points is obtained; h is the vertical length between the horizontal adjustment of the distance of the laser transmitter and the center of the rotating base; alpha is alphaNThe horizontal angle rotated by the starting point for scanning the detection mechanism; beta is aNIs the vertical angle through which the scanning detection mechanism rotates.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459430A (en) * | 2022-04-14 | 2022-05-10 | 厚普清洁能源股份有限公司 | Storage tank settlement inclination monitoring method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459430A (en) * | 2022-04-14 | 2022-05-10 | 厚普清洁能源股份有限公司 | Storage tank settlement inclination monitoring method and system |
| CN114459430B (en) * | 2022-04-14 | 2022-07-12 | 厚普清洁能源股份有限公司 | Storage tank settlement and inclination monitoring method and system |
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