CN112378477B - Large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and measurement method - Google Patents
Large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and measurement method Download PDFInfo
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- CN112378477B CN112378477B CN202011283457.XA CN202011283457A CN112378477B CN 112378477 B CN112378477 B CN 112378477B CN 202011283457 A CN202011283457 A CN 202011283457A CN 112378477 B CN112378477 B CN 112378477B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and a measurement method, belonging to the technical field of laser scanning, wherein the technical scheme comprises a laser scanner and a guide rail arranged along the axial direction of a horizontal tank, and a transmission assembly for driving the laser scanner to slide along the length direction of the guide rail is arranged on the guide rail; splicing targets are respectively arranged in the horizontal tank and at the inlet end and the bottom end which are close to the horizontal tank; and a data processor is arranged outside the horizontal tank and connected with the laser scanner. This scheme adopts laser scanner along circular cross section two-dimensional scanning and adds the mode that removes along guide rail horizontal equidistance when measuring jar body face of cylinder part point cloud data, when jar body both ends point data measurement, through rationally establishing the station, rationally sets up the position of data concatenation target in effective scanning range, guarantees that the some data of end top portion measured data and the point cloud data after the concatenation have same measurement accuracy, realizes big length-diameter ratio horizontal jar of volumetric quick high accuracy measurement.
Description
Technical Field
The invention belongs to the technical field of laser scanning, and particularly relates to a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and a measurement method.
Background
The measurement of the volume of a large tank body has important significance, and the large liquid trade in the world is usually carried out by adopting a tank body container, and whether the volume of the tank body can be accurately measured is directly related to the benefit of China and the image and reputation of China; the volume measurement accuracy of fuel storage tanks of spacecrafts such as rockets directly relates to the quality of flight results, the flight mission is influenced due to insufficient fuel, and the effective load of the spacecrafts is increased due to excessive fuel, so that the carrying capacity is influenced. At present, traditional geometric measurement methods are mainly adopted for measuring the volume of the tank body, and comprise a girth method, an optical reference line method, an optical measurement method with a guide rail and the like, but the measurement methods are generally time-consuming and labor-consuming, and the measurement accuracy is not high. For a large tank body (a tank body with accessories such as ribs, anti-shaking plates and the like inside) with a complex internal structure, such as a fuel storage tank of a spacecraft such as a rocket, a flow method is generally adopted for measurement at present, the measurement precision is high, but the measurement period of a single storage tank is usually 3 days to 5 days, and the measurement efficiency is low.
The Japan suojia TCCS oil tank volume calibration system is used for an internal measurement method of a vertical cylindrical tank (suojia TCCS oil tank volume calibration system, suojia high-end total station system integration white paper (2)), and the principle is as follows: the instrument is installed in the vertical oil tank at a position close to the center of a circle, the total station scans the three-dimensional coordinates on the cross section of each ring plate by certain steps (step angle or step distance), the radius of each ring plate is further fitted, and then the oil tank volume is obtained by further processing through computer software. The technical scheme is characterized in that: (1) According to the method, the volume of each circle of plate is calculated by scanning the horizontal section and fitting the radius of each circle of plate, so that the integral volume is obtained, and for the horizontal tank body, the horizontal section is not a circular section any more, so that the volume measurement can not be carried out on the horizontal tank; (2) The method adopts a total station instrument for sampling, has sparse sampling points, can only carry out volume measurement on the metal can with smooth inner wall, cannot measure the detail characteristics of the metal can with complicated inner part, and influences the measurement precision.
Patent No. CN201210524701.6 discloses a volume measurement method and device based on three-dimensional laser scanning. The technical scheme provides an internal measurement method for rightly or inversely arranging a three-dimensional laser scanner at a manhole of a tank body through an instrument suspension, carrying out space grid modeling on data measured by the laser scanner, and obtaining a plurality of reconstructed slice shapes of the tank body so as to calculate the volume of the tank body. The technical scheme is characterized in that: (1) The method mainly aims at measuring the tank body with a smaller major diameter ratio, and the tank body with a large length-diameter ratio has lower measurement precision far away from a scanner, so that the measurement precision is unequal, and finally, the same weight participates in volume calculation to influence the measurement precision of the tank body volume; (2) For the tank body with a large length-diameter ratio and a complex internal structure, the laser scanner cannot extend into the tank body along the axis of the tank body to measure detailed characteristics; (3) For the tank body with a large length-diameter ratio and a complicated inner structure, outliers with large errors are more easily generated by the method, so that the measurement error is caused.
The Chinese metrological institute proposes a vertical metal can volume internal measurement method based on three-dimensional laser scanning (dawn snow. Application research of three-dimensional laser scanning technology in vertical metal can volume measurement. Chinese metrological institute, 2014.). The method is a vertical tank volume measurement method, and is suitable for volume measurement with a small length-diameter ratio (generally about 1) and a smooth inner wall without a detailed structure. The technical scheme is that a laser scanner is erected at the bottom of a vertical tank, three measuring stations are distributed in a triangular mode, and three targets distributed in a triangular mode are arranged at the bottom of the tank body to splice data; in the aspect of data processing, the radius of a ring plate is fitted according to point cloud data, the metal can is axially divided into countless small cylinders, and then the volume of the metal can is calculated in a superposition mode. The technical scheme is characterized in that: (1) The problem of light blocking of accessories in the tank is effectively avoided to a certain extent by a mode of completing data splicing by three-station measurement and arranging a target at the bottom of the tank, but for the tank with a larger major diameter, the influence of a light blocking structure at a position far away from a scanner and detailed structures such as gluten and ribs on the inner surface of the tank cannot be solved, and the measurement cannot be carried out; (2) The measuring station and the target are arranged at the bottom of the tank, so that the problem that the error exists in the positioning of the target due to the inclination of laser light when the three-dimensional laser scanner is used for measuring cannot be considered; (3) The measurement precision of the tank body part far away from the scanner is low, and finally, the volume calculation is carried out with the same precision, so that the volume measurement precision is influenced; (4) The measurement scheme, measurement structure and data processing method determine that the method cannot be used for the measurement of the horizontal tank.
In conclusion, the existing three-dimensional laser scanning method is commonly used for measuring the volume of a tank body with a smaller major-diameter ratio, the point cloud data with a large length-diameter ratio have unequal measurement precision, and the point cloud data with unequal measurement precision participate in volume calculation according to equal precision; for the horizontal tank body with a larger major diameter, the detailed characteristics of the measurement cannot extend into the tank body along the axis, and the situation of measurement error caused by outlier is more easily caused; at present, the geometric measurement method and the total station method for measuring the volume of the tank body have low measurement accuracy and low measurement efficiency, and although the flow method can obtain high measurement accuracy, the measurement efficiency is low. Therefore, a high-precision and high-efficiency continuous laser scanning internal measurement device and a measurement method for the volume of a horizontal tank with a complex structure and a large length-diameter ratio are urgently needed to meet the requirements of China on oil tank measurement, rapid high-precision measurement of the volume of a fuel storage tank of a spacecraft and the like.
Disclosure of Invention
The invention aims to solve the problem that the prior art cannot realize rapid and high-precision volume measurement of a horizontal tank with a large length-diameter ratio and a complex structure, and provides a device and a method for continuously scanning and measuring the volume of the horizontal tank with the large length-diameter ratio by laser, so as to realize rapid and high-precision volume measurement of the horizontal tank with the large length-diameter ratio, particularly the horizontal tank with the large length-diameter ratio and a complex internal structure.
In order to achieve the above object, the present invention provides a technical solution as follows:
a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device comprises a laser scanner and a guide rail arranged along the axial direction of a horizontal tank, wherein a transmission assembly for driving the laser scanner to slide along the length direction of the guide rail is arranged on the guide rail; splicing targets are respectively arranged in the horizontal tank and at the inlet end and the bottom end which are close to the horizontal tank; a data processor is arranged outside the horizontal tank and connected with the laser scanner; the data processor receives the point cloud data of the laser scanner, filters and splices the received point cloud data, and calculates a volume value based on the spliced point cloud data; the mounting position of the splicing target is positioned on the middle section and is positioned in an effective scanning range of the laser scanner when the laser scanner scans at two ends of the middle section, the effective scanning range is determined by the minimum grazing angle alpha of the horizontal tank cylindrical surface bus and the laser beam of the laser scanner, and the included angle between the laser beam and the bus is larger than or equal to the minimum grazing angle alpha; the minimum grazing angle α = arctan (d/e), where d is the laser ray diameter of the laser scanner and e is the measured deviation, and the units are millimeters.
Preferably, the transmission assembly comprises a precision transmission lead screw rotatably arranged on the guide rail and a precision servo motor fixed at one end of the guide rail in the length direction and driving the precision transmission lead screw to rotate, a sliding block is slidably arranged on the guide rail, and the sliding block is in threaded connection with the precision transmission lead screw; the laser scanner is arranged on the sliding block.
Preferably, the outer side of the horizontal tank is provided with a controller connected with the precise servo motor, and the controller controls the precise servo motor to drive the laser scanner to move equidistantly and intermittently.
Preferably, the concatenation target is provided with two sets ofly along slide rail length side interval, the concatenation target includes a plurality of targets, just a plurality of targets are located different straight lines.
In order to achieve the above object, the present invention provides another technical solution as follows:
a large length-diameter ratio horizontal tank volume continuous laser scanning measurement method uses the large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device, and comprises the following steps:
step 2, controlling a precise servo motor to work, driving a laser scanner to move into the horizontal tank, and scanning point cloud data at an inlet end and point cloud data of a tank section where the middle section comprises the first splicing target by the laser scanner when the laser scanner is positioned at a boundary surface of the inlet end and the middle section;
step 3, controlling the laser scanner to move equidistantly and intermittently along the guide rail, and after each movement is stopped, controlling the laser scanner to scan for a circle along the direction vertical to the axis of the horizontal tank to obtain three-dimensional point cloud data of the middle section;
step 4, when the laser scanner moves to the boundary surface of the bottom end and the middle section along the guide rail, point cloud data of the bottom end and point cloud data of the middle section containing a tank section where the second splicing target is located are obtained;
step 5, splicing the point cloud data of the inlet end, the bottom end and the middle section;
step 6, calculating the volume based on the acquired point cloud data of the horizontal tank;
the method for acquiring the three-dimensional point cloud data of the middle section comprises the following steps:
and when the laser scanner stops moving every time, acquiring two-dimensional point cloud data of the circumferential direction of the horizontal tank, and splicing to form the three-dimensional point cloud data based on the distance value of every movement of the laser scanner and the two-dimensional point cloud data.
Preferably, the step of splicing the point cloud data of the inlet end, the bottom end and the middle section comprises splicing the point cloud data of the inlet end and the middle section based on the point cloud data of the inlet end and the point cloud data of the first splicing target to form local point cloud data; and splicing the point cloud data of the bottom end and the local point cloud data based on the point cloud data of the bottom end and the point cloud data of the second splicing target to form integral point cloud data of the horizontal tank.
Preferably, concatenation target mounted position is located respectively the laser scanner is located on the interlude, and is located the laser scanner is in effective scanning range when the interlude both ends are scanned.
Preferably, the step of determining the effective scanning range includes: calculating a minimum grazing angle alpha, wherein the minimum grazing angle alpha is an included angle between a bus of the cylindrical surface of the horizontal tank and laser light of the laser scanner; in the effective scanning range, the included angle between the laser ray of the laser scanner and the generatrix of the cylindrical surface of the horizontal tank is larger than or equal to the minimum grazing angle alpha.
Preferably, the step of calculating the minimum grazing angle α includes acquiring a laser beam diameter d of the laser scanner, and presetting a measurement deviation value e, where the minimum grazing angle α = arctan (d/e), and the diameter d and the measurement deviation value e are both in millimeters.
The invention provides a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and a measurement method, which have the following advantages:
1. the invention can be applied to the volume measurement of the horizontal tank body with large length-diameter ratio and complex internal structure. The existing laser scanning measurement method cannot measure the tank body with large length-diameter ratio; this measuring device can carry out the volume measurement to the horizontal tank of big length-diameter ratio, passes through the guide rail with laser scanner, drive assembly erects near the axis of horizontal tank, during the measurement, laser scanner removes along the guide rail, scans the measurement to horizontal tank inside at intermittent movement in-process, acquires the three-dimensional point cloud data of interlude, simultaneously, through rationally establishing the station at both ends, acquires the point cloud data at both ends, obtains the jar body measured data of high accuracy through the mode of data concatenation. The problem of prior art can not be to the horizontal tank body volume measurement of big length ratio footpath is solved.
2. According to the invention, through reasonably setting stations for measurement, high-precision measurement of point cloud data of the tank body can be realized, the point cloud data has the same precision, and the calculation precision of the tank body volume can be effectively improved. When the point cloud data of the part of the cylindrical surface of the tank body is measured, a laser scanner is adopted to scan along a circular section in a two-dimensional mode and move horizontally along a guide rail, the point cloud data measured by the cylindrical surface of the tank body has the characteristics of high precision and equal precision, when the data of the top part of the tank body is measured, the position of a data splicing target is reasonably set by controlling a minimum glancing angle, and the same measurement precision of the measured data of the top part of the tank body and the point cloud data after splicing is ensured.
3. The technical scheme provided by the invention can be used for measuring the volume of the large horizontal tank body with a complex internal structure with high efficiency and high precision. The existing measuring method does not measure the tank body with the inner surface having the detailed structures such as ribs, anti-shaking plates and the like; according to the invention, mass point cloud data are obtained by fast scanning of the laser scanner, an accurate three-dimensional model of the tank body can be constructed, and compared with the traditional measuring method, the measuring precision and the measuring efficiency are higher; for a large horizontal tank body with a complex internal structure, a laser scanning method usually needs several stations for measurement, manual operation is needed in each station changing process, the measurement efficiency is low, the method can break through the limitation, all measurement data are obtained through motor driving, compared with the traditional measurement of a single measurement station group, the working procedures of manual operation, station changing, multiple frequency modulation and the like are avoided, the measurement efficiency is improved by more than sixty percent, and the measurement precision is improved by more than twenty percent.
Drawings
FIG. 1 is a schematic diagram of a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device according to the invention;
FIG. 2 is a schematic view of the continuous laser scanning internal measurement device for the volume of the horizontal tank with a large length-diameter ratio for measuring each tank section;
FIG. 3 is a partial schematic view of a protruded transmission component of the continuous laser scanning internal measurement device for the volume of a horizontal tank with a large length-diameter ratio according to the present invention;
FIG. 4 is a schematic view of the grazing angle of the invention with the laser beam perpendicular to the horizontal can inner wall;
FIG. 5 is a schematic view of the minimum glancing angle of the laser light of the present invention as it is tilted with the inner wall of the canister.
Reference numbers in the figures:
100. a laser scanner; 110. laser light; 200. a guide rail; 300. a transmission assembly; 310. a precision drive lead screw; 320. A precision servo motor; 330. a slider; 400. splicing targets; 410. a first splice target; 420. a second splice target; 500. A controller; 600. a data processor; 700. a horizontal tank; 710. a middle section; 720. an inlet end; 730. a bottom end;
A. an end face A; B. section B; C. section C; D. section D; E. section E; F. an end face F; d. the diameter of the laser beam; e. measuring a deviation value; α, minimum glancing angle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1
The invention provides a large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device, which comprises a laser scanner 100, a guide rail 200 and a transmission assembly 300, and is characterized in that the transmission assembly 300 is arranged on the guide rail 200 and can slide along the length direction of the guide rail 200, and the laser scanner 100 is arranged on the transmission assembly 300, referring to fig. 1-3. When the device is used, the arranged transmission assembly 300 drives the laser scanner 100 to move along the length direction of the guide rail 200, the horizontal tank 700 is scanned in the moving process to obtain point cloud data, and the volume of the horizontal tank 700 is calculated based on the point cloud data; the mounting position of the splicing target 400 is located on the middle section 710 and is located in an effective scanning range of the laser scanner 100 when the laser scanner scans at two ends of the middle section 710, the effective scanning range is determined by a minimum grazing angle alpha of a bus of a cylindrical surface of the horizontal tank 700 and a laser beam of the laser scanner 100, and an included angle between the laser beam and the bus is larger than or equal to the minimum grazing angle alpha; the minimum grazing angle α = arctan (d/e), where d is the diameter of the laser ray 110 of the laser scanner 100 and e is the measured deviation, and the units are millimeters.
The guide rail 200 is disposed in a direction parallel to the axis of the horizontal tank 700, and particularly, when the horizontal tank 700 is used, the guide rail 200 can be erected along the vicinity of the axis of the tank, and then the transmission assembly 300 can drive the laser scanner 100 to move along the axis of the tank, so as to precisely scan the inside of the horizontal tank 700.
Wherein, the guide rail 200 adopts a precise linear guide rail 200.
The drive assembly 300 includes a precision drive screw 310, a precision servo motor 320, and a slider 330. The precision transmission lead screw 310 is arranged on the guide rail 200, the precision transmission lead screw 310 is parallel to the length direction of the guide rail 200, one end of the precision transmission lead screw 310 is rotatably connected to the guide rail 200, the other end of the precision transmission lead screw is connected with an output shaft of the precision servo motor 320, and when the precision transmission lead screw 310 is used, the precision transmission lead screw 310 can rotate relative to the guide rail 200. The precision servo motor 320 is installed at one end of the guide rail 200. Specifically, when the precision servo motor 320 is used, the precision servo motor 320 is located at the outer end of the horizontal tank 700, and when the precision servo motor 320 is used, the precision transmission screw 310 is driven to rotate.
The slider 330 slides and sets up on guide rail 200, and slider 330 and accurate drive screw 310 threaded connection, and is concrete, sets up the screw hole that runs through on slider 330, and accurate drive screw 310 passes the screw hole, and when accurate drive screw 310 rotated, drive slider 330 along guide rail 200 length direction slip. One side surface of the slider 330 is a working surface and the side surface faces outward, and faces a side of the inner wall of the canister 700 on which the laser scanner 100 is mounted in use.
Wherein, the scanning range of the laser scanner 100 along the horizontal direction is 0-180 degrees, and the scanning range of the vertical direction is 0-360 degrees. The horizontal direction and the vertical direction are described with reference to the horizontal tank 700: the horizontal direction refers to a direction parallel to the axis of the canister 700, i.e., a direction parallel to the length of the guide rail 200; the vertical direction refers to a direction perpendicular to the axis of the canister 700, i.e., perpendicular to the length of the guide rail 200.
Wherein, the interlude 710 of horizontal jar 700 is cylindrical jar section, and the cross-section is circular, and entry end 720 and bottom 730 are the cambered surface respectively. At both ends of the middle section 710, and near the inlet end 720 and the bottom end 730, the splice targets 400 are disposed, respectively. Specifically, the splice targets 400 include a first splice target 410 near the entrance end 720 and a second splice target 420 near the bottom end 730.
During operation, the laser scanner 100 moves on the guide rail 200 and moves to the two ends of the middle section 710, and scans the point cloud data of the entrance end 720, the point cloud data of the middle section 710 including a section of the first target 410, that is, the point cloud data of the EF section and the DE section of the scanning figure and the point cloud data of the bottom 730, and the point cloud data of the middle section 710 including a section of the second target 420, specifically, the point cloud data of the AB section and the BC section. The point cloud data at the inlet end 720 and the bottom end 730 are then stitched with the point cloud data at the middle segment 710 by the stitching target 400 to form the overall point cloud data of the canister 700.
The explanation is as follows: the top of the inlet end 720 of the horizontal tank 700 is set to be an end surface F, the bottom of the bottom end 730 is set to be an end surface A, one end of the middle section 710 close to the inlet end 720 is a section E, and one end close to the bottom end 730 is a section B. In scanning, when the laser scanner 100 is located on the section E, the effective scanning range of the laser scanner 100 at this time is a tank section between the section D and the end face F, and the splicing target 410 is located between the section D and the section E. When the laser scanner 100 is located on the section B, the effective scanning range of the laser scanner 100 at this time is a tank section between the section a and the end surface C, and the splice target 420 is located between the section B and the section C.
The effective scan range in the above is determined based on the minimum grazing angle α. The minimum grazing angle α is an included angle between a generatrix of the cylindrical surface of the horizontal tank 700 and the laser beam 110 of the laser scanner 100. In the effective scanning range, the included angle between the laser ray 110 of the laser scanner 100 and the generatrix of the cylindrical surface of the horizontal tank 700 is greater than or equal to the minimum grazing angle α.
The error is relatively larger when the minimum grazing angle is smaller. The position of the splice target 400 is determined by calculating the minimum glancing angle.
The inlet end 720 and the bottom end 730 of the horizontal tank 700 have arc-shaped arc surfaces, respectively, and when the volume in the arc surfaces is calculated, the laser scanners 100 are arranged at the two ends of the middle section 710, and the middle section 710 refers to the cylindrical tank section part of the horizontal tank 700.
And the splicing target 400 is positioned in the range that the included angle between the laser ray 110 of the laser scanner 100 and the generatrix of the cylindrical surface of the tank body is larger than or equal to the minimum grazing angle.
The splicing targets 400 are provided at two sets at intervals along the length direction of the guide rail 200, and the splicing targets 400 include a plurality of targets positioned on different straight lines.
A controller 500 is disposed at one end of the guide rail 200 and outside the horizontal tank 700, and the controller 500 controls the precise servo motor 320 to operate so as to drive the laser scanner 100 to move equidistantly and intermittently. Specifically, the laser scanner 100 stops for a certain time after moving for the same distance each time, and after stopping, the laser scanner 100 scans, and when the laser scanner 100 is located in the middle section 710 of the horizontal tank 700, the laser scanner 100 scans in the horizontal direction, and the scanning range is 0 to 360 degrees. The three-dimensional point cloud data of the middle section 710 can be reasonably calculated by scanning the acquired two-dimensional point cloud data and the moving distance value of the laser scanner 100.
A data processor 600 is arranged at one end of the guide rail 200 and outside the horizontal tank 700, the data processor 600 receives the point cloud data scanned by the laser scanner 100, and splices the point cloud data at the inlet end 720 and the bottom end 730 with the point cloud data at the middle section 710, so as to obtain the complete point cloud data of the horizontal tank 700, and the volume data of the tank body is obtained through a subsequent volume calculation algorithm.
It should be noted that the data processor 600 and the controller 500 may be integrated into a computer or other electronic devices.
Example 2
A continuous laser scanning measurement method for a large length-diameter ratio horizontal tank volume is characterized in that the continuous laser scanning internal measurement device for the large length-diameter ratio horizontal tank volume is used, and is shown in a combined graph of 2-5, and comprises the following steps:
And 2, controlling the precision servo motor 320 to work, driving the laser scanner 100 to move to an interface between the middle section 710 and the inlet end 720, and scanning the point cloud data of the inlet end 720 by the laser scanner 100 and the point cloud data of the tank section where the middle section 710 contains the first splicing target 410.
And 3, controlling the laser scanner 100 to move intermittently along the guide rail 200 at equal intervals, and after each movement is stopped, controlling the laser scanner 100 to scan for a circle along the axis direction of the vertical horizontal tank 700 to obtain three-dimensional point cloud data of the middle section 710.
Step 4, when the laser scanner 100 moves along the guide rail 200 to the interface between the bottom end 730 and the middle section 710, the point cloud data of the bottom end 730 and the point cloud data of the tank section where the middle section 710 includes the second stitching target 420 are measured.
And 5, splicing the point cloud data of the inlet end 720, the bottom end 730 and the middle section 710 of the horizontal tank 700.
Step 6, calculating the volume based on the acquired point cloud data of the horizontal tank 700;
the step of acquiring the three-dimensional point cloud data of the middle segment 710 includes:
when the laser scanner 100 stops moving each time, two-dimensional point cloud data of the horizontal tank 700 in the circumferential direction is acquired, and three-dimensional point cloud data is formed by splicing based on the distance value of each movement of the laser scanner 100 and the two-dimensional point cloud data.
It should be noted that the point cloud data of the first stitching target 410 and the point cloud data of the second stitching target 420 specifically refer to identifying the stitching targets and obtaining the central coordinate values of the targets in the stitching targets. And splicing the point cloud data of each tank section according to the central coordinate value of each target in the splicing targets.
Specifically, in step 1, the target assembly target 400 includes a first assembly target 410 located at both ends of the middle segment 710 and near the entrance end 720 and a second assembly target 420 located near the bottom end 730.
The mounting positions of the stitching targets 400 are located on the middle section 710 and respectively located within the effective scanning range of the laser scanner 100 when scanning at both ends of the middle section 710.
Wherein the step of determining the effective scanning range comprises:
the minimum grazing angle α is calculated, and the minimum grazing angle α is an included angle between a generatrix of the cylindrical surface of the horizontal tank 700 and the laser ray 110 of the laser scanner 100. In the effective scanning range, the included angle between the laser ray 110 of the laser scanner 100 and the generatrix of the cylindrical surface of the horizontal tank 700 is greater than or equal to the minimum grazing angle α.
The error is relatively larger when the minimum grazing angle is smaller. The position of the splice target 400 is determined by calculating the minimum glancing angle.
The step of calculating the minimum grazing angle includes acquiring a diameter d of the laser ray 110 of the laser scanner 100, and presetting a measurement deviation value e, wherein the minimum grazing angle α = arctan (d/e). The measurement deviation value refers to the measurement deviation side caused by oblique laser irradiation; the diameter d, the measurement deviation e is in mm. For example, if the laser diameter =1mm and the measurement deviation value e =1mm, the minimum grazing angle α = arctan (d/e) =45 °. When the minimum glancing angle is 45 °, the position where the splice target 400 is laid is located in a range where the glancing angle is greater than 45 °, where the glancing angle is an angle between a generatrix of the cylindrical surface of the horizontal tank 700 and the laser ray 110 of the laser scanner 100.
The specific explanation is as follows: the top of the inlet end 720 of the horizontal tank 700 is set to be an end surface F, the bottom of the bottom end 730 is set to be an end surface A, one end of the middle section 710 close to the inlet end 720 is a section E, and one end close to the bottom end 730 is a section B. During scanning, when the laser scanner 100 is located on the cross section E, the range determined by the minimum grazing angle α at this time is the cross section D and the end face F, the effective scanning range of the laser scanner 100 at this time is a tank section between the cross section D and the end face F, and the splicing target 410 is located between the cross section D and the cross section E. When the laser scanner 100 is located on the section B, the minimum grazing angle α is defined in the range between the section a and the end face C, the effective scanning range of the laser scanner 100 is defined in the range between the section a and the end face C, and the splice target 420 is located between the section B and the section C.
In step 3, the step of controlling the laser scanner 100 to move equidistantly and intermittently along the guide rail 200 includes controlling the laser scanner 100 to stop after moving a certain distance each time. After each movement is stopped, the laser scanner 100 is controlled to scan for one circle along the axis direction of the vertical horizontal tank 700, and the three-dimensional point cloud data of the middle section 710 is obtained.
The step of acquiring the three-dimensional point cloud data of the middle segment 710 includes: when the laser scanner 100 stops moving each time, two-dimensional point cloud data of the horizontal tank 700 in the circumferential direction are acquired, and three-dimensional point cloud data of the middle section are formed by splicing based on the distance value and the two-dimensional point cloud data of the laser scanner 100 moving each time. Since the moving distance is the same along the direction of the guide rail 200 every time, and the two-dimensional point cloud data of the horizontal tank 700 is obtained by scanning, the three-dimensional point cloud data of the middle section 710 can be calculated.
In step 5, the step of stitching the point cloud data of the entrance end 720, the bottom end 730 and the middle section 710 includes stitching the point cloud data of the entrance end 720 and the middle section 710 based on the point cloud data of the entrance end 720 and the point cloud data of the first stitching target 410 to form local point cloud data. Since the position of the first stitching target 410 is relatively fixed, the point cloud data at the entrance end 720 and the point cloud data at the middle segment 710 can be stitched according to the first stitching target 410.
And splicing the point cloud data of the bottom 730 and the local point cloud data based on the point cloud data of the bottom 730 and the point cloud data of the second splicing target 420 to form the integral point cloud data of the horizontal tank.
Through the splicing process of the point cloud data, the point cloud data of the middle section, the bottom end and the inlet end are spliced to form the integral point cloud data of the horizontal tank.
By adopting the above embodiment, the volume of the horizontal tank 700 with a large length-diameter ratio can be measured, the laser scanner 100 is erected at the axial position of the horizontal tank 700 through the guide rail 200 and the transmission assembly 300, during measurement, the laser scanner 100 moves along the guide rail 200, the interior of the horizontal tank 700 is scanned and measured in the intermittent movement process, and simultaneously, high-precision measurement data is obtained by splicing multi-station measurement data at both ends. The problem of prior art can not be directed against the horizontal tank volume measurement of big length ratio footpath at present is solved.
According to the invention, through reasonably setting stations for measurement, high-precision measurement of point cloud data of the tank body can be realized, the point cloud data has the same precision, and the calculation precision of the tank body volume can be effectively improved. When the point cloud data of the part of the cylindrical surface of the tank body is measured, a laser scanner is adopted to scan along a circular section in a two-dimensional mode and move horizontally along the guide rail 200, the point cloud data measured by the cylindrical surface of the tank body has the characteristics of high precision and equal precision, when the data of the top part of the tank body is measured, the position of the data splicing target 400 is reasonably set by controlling the minimum grazing angle, and the same measurement precision of the data of the top part of the tank body and the point cloud data after splicing is ensured.
The existing measuring method cannot measure the tank body with the inner surface having detailed structures such as ribs, anti-shaking plates and the like; according to the invention, mass point cloud data are obtained by fast scanning of the laser scanner, an accurate three-dimensional model of the tank body can be constructed, and compared with the traditional measuring method, the measuring precision and the measuring efficiency are higher; for a large horizontal tank body with a complex internal structure, a laser scanning method usually needs several stations for measurement, manual operation is needed in each station changing process, and the measurement efficiency is low.
The above-mentioned embodiments only express the implementation manner of the present invention, and the description thereof is specific and detailed, but not to be understood as the limitation of the patent scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.
Claims (9)
1. The utility model provides a survey device in big length-diameter ratio horizontal tank volume continuous laser scanning which characterized in that: the horizontal type tank cleaning device comprises a laser scanner (100) and a guide rail (200) arranged along the axial direction of a horizontal tank (700), wherein a transmission assembly (300) for driving the laser scanner (100) to slide along the length direction of the guide rail (200) is arranged on the guide rail (200);
splicing targets (400) are respectively arranged in the horizontal tank (700) and at the inlet end (720) and the bottom end (730) which are close to the horizontal tank (700);
a data processor (600) is arranged on the outer side of the horizontal tank (700), the data processor (600) is connected with the laser scanner (100), the data processor (600) receives point cloud data of the laser scanner (100), filters and splices the received point cloud data, and calculates a volume value based on the spliced point cloud data;
the mounting position of the splicing target (400) is positioned on the middle section (710) and is positioned in an effective scanning range of the laser scanner (100) when the laser scanner scans at two ends of the middle section (710), the effective scanning range is determined by a generatrix of a cylindrical surface of the horizontal tank (700) and a minimum grazing angle alpha of laser light of the laser scanner (100), and an included angle between the laser light and the generatrix is larger than or equal to the minimum grazing angle alpha;
the minimum grazing angle α = arctan (d/e), wherein d is a diameter of the laser light ray (110) of the laser scanner (100) and e is a measurement deviation value, and the units are millimeters.
2. The large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device according to claim 1, characterized in that: the transmission assembly (300) comprises a precision transmission lead screw (310) rotatably arranged on the guide rail (200) and a precision servo motor (320) fixed at one end of the guide rail (200) in the length direction and driving the precision transmission lead screw (310) to rotate, a sliding block (330) is slidably arranged on the guide rail (200), and the sliding block (330) is in threaded connection with the precision transmission lead screw (310); the laser scanner (100) is arranged on the sliding block (330).
3. The large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device according to claim 2, characterized in that: a controller (500) connected with the precision servo motor (320) is arranged on the outer side of the horizontal tank (700), and the controller (500) controls the precision servo motor (320) to drive the laser scanner (100) to move equidistantly and intermittently; the data processor (600) acquires point cloud data of the middle section (710) of the horizontal tank (700) based on the laser scanner (100) and the moving distance of the laser scanner (100).
4. The large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device according to claim 1, characterized in that: the splicing target (400) is provided with two groups along the interval of the length direction of the sliding rail, the splicing target (400) comprises a plurality of targets, and the targets are positioned on different straight lines.
5. A continuous laser scanning measurement method for a horizontal tank with a large length-diameter ratio uses the continuous laser scanning internal measurement device for the horizontal tank with the large length-diameter ratio, which is disclosed by any one of claims 1-4, and is characterized in that: the method comprises the following steps:
step 1, one end of a guide rail (200) is installed inside a horizontal tank (700) along the axial direction, and a splicing target (400) is installed inside the horizontal tank (700) and comprises a first splicing target (410) close to an inlet end (720) and a second splicing target (420) close to a bottom end (730);
step 2, controlling a precise servo motor (320) to work, driving a laser scanner (100) to move into the horizontal tank (700), and when the laser scanner (100) is located at the interface of the inlet end (720) and the middle section (710), scanning point cloud data of the inlet end (720) by the laser scanner (100) and the middle section (710) containing the point cloud data of the tank section where the first splicing target (410) is located;
step 3, controlling the laser scanner (100) to move along the guide rail (200) at equal intervals and intermittently, and after each movement is stopped, controlling the laser scanner (100) to scan for a circle along the direction vertical to the axis of the horizontal tank (700) to obtain three-dimensional point cloud data of the middle section (710);
step 4, when the laser scanner (100) moves to the interface between the bottom end (730) and the middle section (710) along the guide rail (200), point cloud data of the bottom end (730) and point cloud data of a tank section where the middle section (710) contains the second splicing target (420) are obtained;
step 5, splicing the point cloud data of the inlet end (720), the bottom end (730) and the middle section (710);
step 6, calculating the volume based on the acquired point cloud data of the horizontal tank (700);
a step of acquiring three-dimensional point cloud data of the intermediate segment (710), comprising:
the method comprises the steps that when the laser scanner (100) stops moving every time, two-dimensional point cloud data of the circumferential direction of the horizontal tank (700) are obtained, and the three-dimensional point cloud data are formed by splicing based on a distance value of every movement of the laser scanner (100) and the two-dimensional point cloud data.
6. The continuous laser scanning measurement method for the volume of the horizontal tank with the large length-diameter ratio according to claim 5 is characterized in that: the step of splicing the point cloud data of the inlet end (720), the bottom end (730) and the middle section (710) comprises the step of splicing the point cloud data of the inlet end (720) and the middle section (710) based on the point cloud data of the inlet end (720) and the point cloud data of the first splicing target (410) to form local point cloud data;
and splicing the point cloud data of the bottom end (730) and the local point cloud data based on the point cloud data of the bottom end (730) and the point cloud data of the second splicing target (420) to form the integral point cloud data of the horizontal tank.
7. The continuous laser scanning measurement method for the volume of the horizontal tank with the large length-diameter ratio according to claim 5, characterized in that: the splice target (400) mounting position is located on the middle section (710) and within an effective scanning range of the laser scanner (100) when scanning across the middle section (710).
8. The continuous laser scanning measurement method for the volume of the horizontal tank with the large length-diameter ratio according to claim 7 is characterized in that: the step of determining the effective scanning range comprises:
calculating a minimum grazing angle alpha, wherein the minimum grazing angle alpha is an included angle between a bus of the cylindrical surface of the horizontal tank (700) and a laser ray (110) of the laser scanner (100);
in the effective scanning range, the included angle between the laser ray of the laser scanner (100) and the generatrix of the cylindrical surface of the horizontal tank (700) is larger than or equal to the minimum glancing angle alpha.
9. The continuous laser scanning measurement method for the volume of the horizontal tank with the large length-diameter ratio according to claim 8, characterized in that: the step of calculating the minimum grazing angle α comprises:
acquiring the diameter d of a laser ray (110) of a laser scanner (100), presetting a measurement deviation value e, and enabling the minimum grazing angle alpha = arctan (d/e); wherein the diameter d and the measurement deviation value e are both in millimeter.
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