CN113064453B - System and method for controlling levelness of upper surface of storage tank in storage tank manufacturing process - Google Patents

System and method for controlling levelness of upper surface of storage tank in storage tank manufacturing process Download PDF

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Publication number
CN113064453B
CN113064453B CN202110194572.8A CN202110194572A CN113064453B CN 113064453 B CN113064453 B CN 113064453B CN 202110194572 A CN202110194572 A CN 202110194572A CN 113064453 B CN113064453 B CN 113064453B
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target
guardrail
hydraulic jack
storage tank
image
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CN113064453A (en
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李沅
赵玉落
余亦斌
陈亮
赵海峰
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Wuhan Gas & Heat Planning And Design Institute Co ltd
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Wuhan Gas & Heat Planning And Design Institute Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Filling Or Discharging Of Gas Storage Vessels (AREA)
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Abstract

The invention discloses a control system and a control method for levelness of the upper surface of a storage tank in the manufacturing process of the storage tank, wherein a first terminal device is arranged at the right center of a platform on the upper surface of the storage tank, the first terminal device is provided with a horizontal 360-degree rotary camera, the edge of the platform on the upper surface is provided with an upper top guardrail, and the upper top guardrail comprises a plurality of guardrail struts which are arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; the guardrail posts provided with the identification labels are in corresponding relation with the wall plates at the corresponding positions of the wall plates of each layer of storage tank; a plurality of hydraulic jacks respectively arranged on different wall plates in the wall plates of the lowest layer of the storage tank are arranged on the platform on the lower surface of the storage tank; each hydraulic jack is connected with the second terminal equipment, and each hydraulic jack is provided with a pressure sensor; the first terminal equipment and the second terminal equipment are matched and transmitted in a radio communication mode, and the second terminal equipment controls the target hydraulic jack to adjust lifting force so as to control the levelness of the upper surface of the storage tank.

Description

System and method for controlling levelness of upper surface of storage tank in storage tank manufacturing process
Technical Field
The invention relates to the field of storage tank manufacturing, in particular to a control system and a control method for levelness of an upper surface of a storage tank in the storage tank manufacturing process.
Background
Liquefied natural gas (Liquefied Natural Gas, LNG for short), whose main component is methane, is recognized as the cleanest fossil energy source on earth. Colorless, odorless, nontoxic and noncorrosive, and has a volume of about 1/625 of the volume of the same amount of gaseous natural gas, and the mass of liquefied natural gas is only about 45% of the same volume of water.
The chemical storage tank is a storage device which can store liquefied natural gas. At present, a plurality of natural gas storage tank installation methods exist, and the inversion method is a more natural gas storage tank installation method. The inversion method generally adopts a hydraulic jack and a lifting frame, and when the hydraulic jack works, the hydraulic jack can lift the lifting rod and the expansion ring, so that the tank body of the natural gas storage tank is driven to lift upwards until the tank body of the natural gas storage tank reaches a preset height.
When the tank wall plate of the lowest layer of the natural gas tank is being installed after butt joint assembly welding, an on-site installer can operate a hydraulic jack, and the hydraulic jack operates a lifting rod and an expansion ring, so that the tank wall plate of the lowest layer is being installed to be lifted. And repeating the steps until the assembly welding of the wall plate of the last layer of the storage tank is completed, and thus, the whole chemical storage tank is installed.
The storage tank is composed of a plurality of layers of wall plates which are transversely spliced, and each wall plate of the lowest layer corresponds to one hydraulic jack; because certain errors exist when different hydraulic jacks are used for jacking the wall plates upwards, after the wall plates are stacked layer by layer, the levelness of the upper surface of the storage tank in the manufacturing process of the storage tank is not smooth enough, and certain errors exist; the levelness of the upper surface of the storage tank is usually observed by naked eyes or manually measured by construction staff on site, and after the observation or the test is finished, the construction staff manually operates a hydraulic jack to adjust the levelness of the upper surface of the storage tank; this kind of conventional manual adjustment mode is more time-consuming and laborious, and the cost of labor is higher, can influence whole storage tank manufacturing progress.
Disclosure of Invention
The invention mainly aims to provide a control system and a control method for the levelness of the upper surface of a storage tank in the manufacturing process of the storage tank, and aims to solve the technical problems of time and labor waste caused by conventional manual adjustment of the levelness of the upper surface of the storage tank in the on-site manufacturing process of installing a natural gas storage tank.
In order to achieve the above purpose, the invention provides a control system for the levelness of the upper surface of a storage tank in the manufacturing process of the storage tank, wherein the storage tank comprises an upper surface platform, a lower surface platform and a plurality of layers of storage tank wall plates, each layer of storage tank wall plates is formed by arranging a plurality of wall plates side by side to form a circle, a first terminal device is arranged at the right center of the upper surface platform, the first terminal device is provided with a horizontal 360-degree rotary camera, the edge of the upper surface platform is provided with an upper top guardrail, and the upper top guardrail comprises a plurality of guardrail struts arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks are deployed on the lower surface platform; wherein the hydraulic jacks are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack is connected with the second terminal equipment respectively, and each hydraulic jack is provided with a pressure sensor;
The first terminal equipment is provided with a radio frequency module which is used for responding to a radio frequency call signal sent by a user caller, starting the horizontal 360-degree rotary camera to acquire images of guardrail posts provided with identification labels, and respectively obtaining different target images containing the heights of the guardrail posts;
the first terminal device is further configured to send different target images to the second terminal device according to a radio communication mode;
the second terminal device is used for respectively analyzing each target image when receiving different target images sent by the first terminal device so as to acquire the height value of the corresponding guardrail support and the corresponding identification label from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
the second terminal device is further configured to obtain, according to the target identification tag, a target wall plate corresponding to the target identification tag from a wall plate of a tank at a lowest layer, and obtain, according to the target identification tag, a target hydraulic jack corresponding to the target wall plate from a hydraulic jack corresponding to the wall plate of the tank at the lowest layer; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
The second terminal equipment is further used for calculating pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, transmitting the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, and enabling the height of the target upper guardrail support corresponding to the target hydraulic jack to reach a set requirement so as to control the levelness of the upper surface of the storage tank.
Preferably, the first terminal device is provided with a first main control board, a first memory and an image sensor, and the first main control board executes a first preset program stored on the first memory during operation; the first preset program characterizes a program that the first terminal device grabs a target image containing the height of the guardrail support through the image sensor when the horizontal 360-degree rotary camera works according to a preset shooting time interval.
Preferably, each guardrail support is positioned at the edge of the upper surface platform by taking the 360-degree rotary camera as a circle center; when the flatness of the upper surface platform meets the set requirement, the relative positions of the horizontal 360-degree rotary camera and each guardrail support are kept constant; the target image comprising the height of the guardrail support comprises a watermark, the watermark represents the preset horizontal line, and the preset horizontal line is generated according to the relative position kept constant.
Preferably, the second terminal device is provided with a second main control board and an image analyzer, and the image analyzer is used for respectively analyzing each target image and identifying the identification tag from the target image; and acquiring a characteristic point set representing the guardrail support column from the target image, selecting an endpoint in the positive direction of the longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column.
Preferably, the second terminal device is further configured to obtain a pressure displacement ratio of the target hydraulic jack and a current lifting stroke of the hydraulic jack, where the pressure displacement ratio represents a ratio of a hydraulic lifting force to a displacement formed by the hydraulic lifting force; and calling a preset data model to calculate the pressure to be compensated, and generating pressure oil to be compensated according to the pressure to be compensated, wherein the preset data model is characterized by the following formula:
wherein ,HGuard bar image deviation value * K represents the displacement to be compensated actually required by the target wallboard in the longitudinal axis direction, K represents the ratio of the displacement to be compensated of the wallboard in the longitudinal axis direction to the image deviation value of the guardrail, I Ratio of pressure to displacement Representing the pressure-displacement ratio, F Currently, the method is that Representing the current lifting force F of the target hydraulic jack Compensation Representing the pressure to be compensated, S Hydraulic ram current lifting stroke And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
In addition, in order to achieve the above purpose, the invention also provides a control method for the levelness of the upper surface of the storage tank in the manufacturing process of the storage tank, the storage tank comprises an upper surface platform, a lower surface platform and a plurality of layers of storage tank wall plates, each layer of storage tank wall plates is formed by arranging a plurality of wall plates side by side to form a circle, a first terminal device is arranged at the right center position of the upper surface platform, the first terminal device is provided with a horizontal 360-degree rotary camera, the edge of the upper surface platform is provided with an upper top guardrail, and the upper top guardrail comprises a plurality of guardrail struts which are arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks are deployed on the lower surface platform; wherein the hydraulic jacks are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack is connected with the second terminal equipment respectively, and each hydraulic jack is provided with a pressure sensor; the control method comprises the following steps:
The first terminal responds to a radio frequency call signal sent by a user caller, and starts the horizontal 360-degree rotary camera to acquire images of guardrail posts provided with identification labels, so as to respectively obtain different target images containing the heights of the guardrail posts; the first terminal equipment sends different target images to the second terminal equipment according to a radio communication mode;
when receiving different target images sent by the first terminal device, the second terminal device analyzes each target image respectively to obtain the height value of the corresponding guardrail support and the corresponding identification label from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
the second terminal equipment obtains a target wallboard corresponding to the target identification tag from the lowest layer of storage tank wallboard according to the target identification tag, and obtains a target hydraulic jack corresponding to the target wallboard from the hydraulic jack corresponding to the lowest layer of storage tank wallboard according to the target identification tag; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
And the second terminal equipment calculates pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, and transmits the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, so that the height of a target upper-top guardrail support corresponding to the target hydraulic jack reaches a set requirement, and the upper surface levelness of the storage tank is controlled.
Preferably, the step that the first terminal starts the 360 degrees rotation type cameras of level carries out image acquisition to each guardrail pillar that is equipped with the identification label includes:
and the first terminal equipment starts the horizontal 360-degree rotary camera to execute shooting work according to a preset shooting time interval, and grabs a target image containing the height of the guardrail support through the image sensor.
Preferably, each guardrail support is positioned at the edge of the upper surface platform by taking the 360-degree rotary camera as a circle center; when the flatness of the upper surface platform meets the set requirement, the relative positions of the horizontal 360-degree rotary camera and each guardrail support are kept constant; the target image comprising the height of the guardrail support comprises a watermark, the watermark represents the preset horizontal line, and the preset horizontal line is generated according to the relative position kept constant.
Preferably, when receiving different target images sent by the first terminal device, the second terminal device respectively analyzes each target image to obtain a height value of a corresponding guardrail support and a corresponding identification label from each target image, and the method comprises the following steps:
the second terminal equipment calls an image analyzer to analyze each target image respectively, and identification tags are identified from the target images; and acquiring a characteristic point set representing the guardrail support column from the target image, selecting an endpoint in the positive direction of the longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column. Preferably, the step of calculating the pressure oil to be compensated by the second terminal device according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value includes:
the second terminal equipment acquires the pressure displacement ratio of the target hydraulic jack and the current lifting stroke of the hydraulic jack, wherein the pressure displacement ratio represents the ratio of the hydraulic lifting force to the displacement formed by the hydraulic lifting force;
The second terminal equipment invokes a preset data model to calculate pressure to be compensated, pressure oil to be compensated is generated according to the pressure to be compensated, and the preset data model is characterized by the following formula:
wherein ,HGuard bar image deviation value * K represents the displacement to be compensated actually required by the target wallboard in the longitudinal axis direction, K represents the ratio of the displacement to be compensated of the wallboard in the longitudinal axis direction to the image deviation value of the guardrail, I Ratio of pressure to displacement Representing the pressure-displacement ratio, F Currently, the method is that Representing the current lifting force F of the target hydraulic jack Compensation Representing the pressure to be compensated, S Hydraulic ram current lifting stroke And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
According to the invention, the levelness of the upper surface of the storage tank can be monitored, and the levelness of the upper surface of the natural gas storage tank can be optimally adjusted by replacing manual operation through communication and automation technology, so that the working efficiency of the on-site process of manufacturing and installing the natural gas storage tank is improved, and the labor cost is reduced.
Drawings
FIG. 1 is a block diagram of an in situ embodiment of a control system for tank upper surface levelness in a tank manufacturing process in accordance with the present invention;
FIG. 2 is a top view of the upper surface platform of the storage tank of the present invention;
fig. 3 is a block diagram of a first terminal device according to the present invention;
fig. 4 is a block diagram of a second terminal device according to the present invention;
FIG. 5 is a schematic diagram of the connection relationship of the control system of the present invention;
FIG. 6 is a schematic view of a target image captured by a horizontal 360 degree rotation camera according to the present invention;
FIG. 7 is a flow chart of an embodiment of a method for controlling the levelness of the upper surface of a tank during the manufacturing process of the tank according to the present invention.
Detailed Description
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an embodiment of a control system for levelness of an upper surface of a tank in a tank manufacturing process according to the present invention.
In this embodiment, referring to fig. 1, the storage tank includes an upper surface platform, a lower surface platform, and multiple layers of storage tank wall boards distributed from bottom to top, each layer of storage tank wall board is formed by arranging multiple wall boards side by side to form a circle, referring to fig. 2, a first terminal device 10 is arranged at the right center position of the upper surface platform, the first terminal device 10 is provided with a horizontal 360-degree rotation type camera 11, and an upper top guardrail is arranged at the edge of the upper surface platform, and the upper top guardrail includes multiple guardrail posts arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks 30 are deployed on the lower surface platform; wherein the hydraulic jacks 30 are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack 30 is connected with the second terminal equipment 20, and each hydraulic jack 30 is provided with a pressure sensor;
The first terminal device 10 is provided with a radio frequency module 13, which is used for responding to a radio frequency call signal sent by a user caller, starting the horizontal 360-degree rotation type camera to collect images of guardrail posts provided with identification labels, and respectively obtaining different target images containing the heights of the guardrail posts;
specifically, referring to fig. 3, the first terminal device is provided with a first main control board 12, a first memory 14, a network communication module 16, and an image sensor 15, and the first main control board 12 executes a first preset program stored on the first memory at the time of operation; the first preset program characterizes that when the horizontal 360-degree rotation type camera of the first terminal device works according to a preset shooting time interval, a target image containing the height of the guardrail support is captured by the image sensor 15.
It can be understood that the upper surface platform of the storage tank is very high away from the ground in the middle and later stages of storage tank construction, and the flatness of the upper surface platform of the storage tank is inconvenient to artificially observe by field constructors through high-altitude operation at this time; in this embodiment, the on-site constructor still needs to perform an overhead operation, for example, the constructor may take a construction crane and keep parallel to the upper surface platform of the storage tank, after the wall plate of the storage tank is built for each circle to make the storage tank rise for one layer, the constructor may hold the user caller to send a radio frequency call signal to the first terminal device, where the first terminal device is provided with a radio frequency module; the radio frequency module can adopt an electronic tag RFID (Radio Frequency Identification) radio frequency module; specifically, a radio frequency module is arranged on the first terminal equipment, the radio frequency module comprises an RFID reader, the user caller is correspondingly provided with an RFID radio frequency module, and the RFID reader of the first terminal equipment is used for reading a radio frequency call signal sent by the user caller through the RFID radio frequency module;
In a specific implementation, after the first preset program is set up to respond to a radio frequency call signal sent by a user caller, the horizontal 360-degree rotary camera rotationally shoots each target image containing the height of the guardrail support according to a preset shooting time interval; the position and interval time of the rotation shooting of the camera are preset by a programmer, that is to say, the programmer can set shooting interval time nodes according to the position points of the on-site guardrail posts, and referring to fig. 6, the black frame of fig. 6 is a target image, in a specific implementation, the programmer can preset the shooting image length and width of the horizontal 360-degree rotation type camera, so that only one guardrail post exists in each target image, the camera horizontally moves to a preset position point each time to align to the target guardrail post, the target guardrail post is positioned at the center position of the shot image, the bottom edge of the shot image is used as a preset horizontal line which can be referred, and the height of the upper end point of the target guardrail post from the upper surface platform of the storage tank is conveniently calculated; the image sensor is an image sensor with high resolution, and the horizontal 360-degree rotation type camera has a picture electronic stability enhancement function;
Specifically, assuming that there are 6 guardrail posts, the identification labels of the 6 guardrail posts are respectively denoted as G1, G2, G3, G4, G5, G6, a target image (the 6mm being the length of the guardrail post in the target image) of the guardrail post having a height of 6mm, a target image (the 5.5mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.5mm, a target image (the 5.7mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.7mm, a target image (the 6.1mm being the length of the guardrail post in the target image) of the guardrail post having a height of 6.1mm, a target image (the 5.6mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.6mm, and a target image (the 6.15mm being the length of the target image) of the guardrail post having a height of 6.15mm are sequentially obtained;
the first terminal device 10 is further configured to send different target images to the second terminal device according to a radio communication manner; in a specific implementation, the second terminal device is provided with a network communication module, and referring to fig. 5, the network communication module of the second terminal device cooperates with the network communication module of the first terminal device to implement radio communication transmission; the second terminal device may receive image information data from the first terminal device through radio communication with a wireless communication system or network, for example: receiving image information data from the first terminal device via a broadcast channel, which may include a satellite channel and/or a terrestrial channel; alternatively, the image information data from the first terminal device may be received by a radio signal forwarded by a base station, which may be implemented in various forms, for example: cellular stations, mobile switching centers, etc.
The second terminal device 20 is configured to, when receiving different target images sent by the first terminal device, respectively parse each target image to obtain a height value of a corresponding guardrail support and a corresponding identification tag from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
specifically, referring to fig. 4, the second terminal device 20 is further provided with a second main control board 21, a second memory 22, an image parser 23, and a network communication module 24, where the second memory 22 stores a second preset program, and the second terminal device 20 executes a corresponding functional operation by calling the second preset program;
the image analyzer 23 is configured to analyze each target image, and identify an identification tag from the target image; acquiring a characteristic point set representing a guardrail support column from the target image, selecting an endpoint in the positive direction of a longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column; referring to fig. 6, in fig. 6, the region in the black frame is a target image, and the bottom edge of the black frame is the preset horizontal line;
In a specific implementation, the image analyzer 23 may determine, by a speckle detection method, a region in the target image that is different in color and gray from the surrounding, and use the region as the feature point set. The spot detection method mainly comprises a method for detecting by utilizing a Gaussian Laplace operator, and the method comprises the steps of using a preset template background, utilizing convolution to calculate a spot-shaped structure in a target image, and searching peak values of characteristic point set response in a position space and a scale space of the target image.
Specifically, the above 6 target images are respectively analyzed to obtain a height value of 6mm of a corresponding guardrail post from a target image with an identification tag of G1, to obtain a height value of 5.5mm of a corresponding guardrail post from a target image with an identification tag of G2, to obtain a height value of 5.7mm of a corresponding guardrail post from a target image with an identification tag of G3, to obtain a height value of 6.1mm of a corresponding guardrail post from a target image with an identification tag of G4, to obtain a height value of 5.6mm of a corresponding guardrail post from a target image with an identification tag of G5, and to obtain a height value of 6.15mm of a corresponding guardrail post from a target image with an identification tag of G6;
Comparing the height values of the guardrail posts with the preset horizontal line heights respectively, and assuming that the preset horizontal line height is 6mm in the embodiment, selecting a target identification label corresponding to the top guardrail post on a target with the height lower than the preset horizontal line by 6 mm: g2 (5.5 mm), G3 (5.7 mm), G5 (5.6 mm), and calculating a target guard bar image deviation value "G2" of the target overhead guard bar post from the preset horizontal line of 0.5mm below the preset horizontal line "," G3 "of 0.3mm below the preset horizontal line", "G5" of 0.4mm below the preset horizontal line.
The second terminal device 20 is further configured to obtain, according to the target identification tag, a target wall plate corresponding to the target identification tag from a wall plate of a tank at a lowest layer, and obtain, according to the target identification tag, a target hydraulic jack corresponding to the target wall plate from a hydraulic jack corresponding to the wall plate of the tank at the lowest layer; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
it can be understood that the hydraulic jack, the lifting frame and the lifting rod form a hydraulic lifting machine, when the hydraulic jack is used for oil feeding, the lifting rod and the expansion ring are clamped and lifted by the upper clamping head, so that the wall plate of the lowest circle of the natural gas storage tank is driven to lift upwards, and the whole tank body is lifted upwards; when the jack returns oil, the upper clamping head returns along with the piston rod, and at the moment, the lower clamping head automatically clamps the lifting rod and does not slide downwards, so that the jack repeatedly moves to enable the lifting rod to continuously lift along with the storage tank until reaching a preset height. After the next-layer wallboard of the natural gas storage tank is in butt joint assembly welding, the upper and lower loosening clamping devices of the hydraulic jack are opened, the upper and lower clamping devices are loosened to lower the lifting rod and the expansion ring to the lower part of the next-layer wallboard, the force transmission rib plate is welded, and then the lifting rod and the expansion ring are lifted. And repeating the steps until the last layer of wall plate is assembled and welded, and then, installing the whole chemical storage tank.
In specific implementation, each hydraulic jack on the site of the embodiment is provided with a pressure sensor and a displacement sensor, the displacement sensor can be fixed on a base of the hydraulic jack through a threaded compression ring, and the base is also provided with the pressure sensor, an oil return valve rod and an oil return control button; the hydraulic jack measures the current lifting force through the pressure sensor and transmits the measured current lifting force to the second terminal equipment connected with the hydraulic jack.
Specifically, the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G2 is 1053N, the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G3 is 1056N, and the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G5 is 1055N;
the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G2 is 105.5cm, the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G3 is 105.7cm, and the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G5 is 105.6cm.
The second terminal device 20 is further configured to calculate pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, and transmit the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, so that the height of the target upper-top guardrail support corresponding to the target hydraulic jack reaches a set requirement, so as to control the levelness of the upper surface of the storage tank.
In a specific implementation, a ratio K of the displacement to be compensated of the wall plate in the longitudinal axis direction and the guard rail image deviation value is stored in a second memory of the second terminal device in advance, wherein K belongs to a constant, and K is determined by a constant relative position between the horizontal 360-degree rotary camera and the guard rail support. In this example, K was set to 10cm/mm.
In addition, the second memory is also provided with a pressure displacement ratio I Ratio of pressure to displacement ，I Ratio of pressure to displacement Representing the transmission ratio between the lifting force of the hydraulic jack and the actual displacement produced by the hydraulic jack operation, I Ratio of pressure to displacement Determined by the hydraulic jack in the field. It can be understood that in order to facilitate the implementation of the scheme, the specification and model of each hydraulic jack on site are the same, I in the embodiment Ratio of pressure to displacement Set to 1000N/m.
The second terminal equipment is also provided with an interface module, and is respectively connected with each hydraulic jack through the interface module;
in a specific implementation, the second terminal device may operate the second main control board to call a preset data model from the second memory to calculate the pressure to be compensated, and generate pressure oil to be compensated according to the pressure to be compensated, where the preset data model is represented by the following formula:
wherein ,HGuard bar image deviation value * K represents the displacement to be compensated actually required by the target wallboard in the longitudinal axis direction, K represents the ratio of the displacement to be compensated of the wallboard in the longitudinal axis direction to the image deviation value of the guardrail, I Ratio of pressure to displacement Representing the pressure-displacement ratio, F Currently, the method is that Representing the current lifting force F of the target hydraulic jack Compensation Representing the pressure to be compensated, S Hydraulic ram current lifting stroke And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
Specifically, the displacement to be compensated of G2 is H Guard bar image deviation value *K＝0.5mm*10cm/mm＝5cm；
The displacement to be compensated of G3 is H Guard bar image deviation value *K＝0.3mm*10cm/mm＝3cm；
The displacement to be compensated of G5 is H Guard bar image deviation value *K＝0.4mm*10cm/mm＝4cm；
Understandable thatIn an ideal case, the pressure to be compensated can be calculated by the formula I Ratio of pressure to displacement ×(H Guard bar image deviation value X K) is directly obtained, but in the actual operation, due to various external factors, is obtained by the formula I Ratio of pressure to displacement ×(H Guard bar image deviation value X K) is not accurate enough, e.g. the pressure-displacement ratio of the hydraulic ram during actual operation may be compared with the pressure-displacement ratio I stored in the second reservoir Ratio of pressure to displacement Certain errors exist between the two; in the embodiment, the pressure displacement ratio of the hydraulic ram in the actual working process is represented by the formula It is calculated that the pressure to be compensated during actual operation can be calculated by the formula +.>To be able to reduce the error, the final calculation of the pressure to be compensated for generating the pressure oil to be compensated is carried out in two ways Ratio of pressure to displacement ×(H Guard bar image deviation value X K) minus oneThe height of the target upper top guardrail support corresponding to the target hydraulic jack reaches more ideal setting requirements, and the levelness of the upper surface of the storage tank can be better controlled to reach an ideal state.
Specifically, the pressure to be compensated for of G2 of the present embodiment:
pressure to be compensated for by G3:
pressure to be compensated for by G5:
it should be noted that, in this embodiment, a remote hydraulic control manner is adopted. The second terminal equipment inputs pressure oil from low to high to a proportional oil cylinder of the main oil pump through operating a hydraulic proportional pilot valve, so that a stroke regulator of the main oil pump acts, the flow rate of the main oil pump is changed by changing the inclination angle of a swinging cylinder body of the main oil pump, the rotating speed of a hydraulic motor is changed, and a lifting machine is started and runs at an accelerated speed.
The constructor can also operate the second terminal equipment and make hydraulic oil get into the hydro-cylinder through a single valve through manual pressure-increasing pole, the principle of hydraulic lifting device transmission: the hydraulic lifting device transmits the principle that the pressure is unchanged. At the moment, the hydraulic oil entering the oil cylinder can not back up again due to the single valve, the cylinder rod is forced to be upward, and then working is continued to enable the hydraulic oil to enter the hydraulic cylinder from time to time.
The control system provided by the embodiment can realize the monitoring of the levelness of the upper surface of the storage tank, and can replace manual operation to optimally adjust the levelness of the upper surface of the natural gas storage tank through communication and automation technology, so that the working efficiency of the on-site manufacturing and installing process of the natural gas storage tank is improved, and the labor cost is reduced.
Further, referring to fig. 7, fig. 7 is a flow chart illustrating an embodiment of a method for controlling the levelness of the upper surface of the tank in the manufacturing process of the tank according to the present invention.
In this embodiment, referring to fig. 1, the storage tank includes an upper surface platform, a lower surface platform, and multiple layers of storage tank wall boards, each layer of storage tank wall boards is formed by arranging multiple wall boards side by side to form a circle, referring to fig. 2, a first terminal device is arranged at the center of the upper surface platform, the first terminal device is provided with a horizontal 360-degree rotation camera, an upper top guardrail is arranged at the edge of the upper surface platform, and the upper top guardrail includes multiple guardrail posts arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks are deployed on the lower surface platform; wherein the hydraulic jacks are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack is connected with the second terminal equipment respectively, and each hydraulic jack is provided with a pressure sensor; accordingly, the control method comprises the following steps:
Step S10, a radio frequency module is arranged on the first terminal equipment, responds to a radio frequency call signal sent by a user caller, and starts the horizontal 360-degree rotary camera to acquire images of guardrail posts provided with identification labels, so as to respectively obtain different target images containing the heights of the guardrail posts;
specifically, referring to fig. 3, the first terminal device is provided with a first main control board, a first memory, a network communication module, and an image sensor, and the first main control board executes a first preset program stored on the first memory during operation; the first preset program is used for executing step S10 and step S20;
in the step S10, the first terminal device starts the horizontal 360-degree rotation camera to perform shooting according to a preset shooting time interval, and captures a target image including the height of the guardrail support through the image sensor.
It can be understood that the upper surface platform of the storage tank is very high away from the ground in the middle and later stages of storage tank construction, and the flatness of the upper surface platform of the storage tank is inconvenient to artificially observe by field constructors through high-altitude operation at this time; in this embodiment, the field constructor may need to perform an overhead operation, for example, the constructor may take a construction crane and keep parallel with the upper surface platform of the storage tank, after the wall plate of the storage tank is built for each circle to make the storage tank rise for one layer, the constructor may hold the user caller to send a radio frequency call signal to the first terminal device, where the first terminal device is provided with a radio frequency module; the radio frequency module can adopt an electronic tag RFID (Radio Frequency Identification) radio frequency module; specifically, a radio frequency module is arranged on the first terminal equipment, the radio frequency module comprises an RFID reader, the user caller is correspondingly provided with an RFID radio frequency module, and the RFID reader of the first terminal equipment is used for reading a radio frequency call signal sent by the user caller through the RFID radio frequency module;
In a specific implementation, after the first preset program is set up to respond to a radio frequency call signal sent by a user caller, the horizontal 360-degree rotary camera rotationally shoots each target image containing the height of the guardrail support according to a preset shooting time interval; the position and interval time of the rotation shooting of the camera are preset by a programmer, that is to say, the programmer can set shooting interval time nodes according to the position points of the on-site guardrail posts, and referring to fig. 6, the black frame of fig. 6 is a target image, in a specific implementation, the programmer can preset the shooting image length and width of the horizontal 360-degree rotation type camera, so that only one guardrail post exists in each target image, the camera horizontally moves to a preset position point each time to align to the target guardrail post, the target guardrail post is positioned at the center position of the shot image, the bottom edge of the shot image is used as a preset horizontal line which can be referred, and the height of the upper end point of the target guardrail post from the upper surface platform of the storage tank is conveniently calculated; the image sensor is an image sensor with high resolution, and the horizontal 360-degree rotation type camera has a picture electronic stability enhancement function;
Specifically, assuming that there are 6 guardrail posts, the identification labels of the 6 guardrail posts are respectively denoted as G1, G2, G3, G4, G5, G6, a target image (the 6mm being the length of the guardrail post in the target image) of the guardrail post having a height of 6mm, a target image (the 5.5mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.5mm, a target image (the 5.7mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.7mm, a target image (the 6.1mm being the length of the guardrail post in the target image) of the guardrail post having a height of 6.1mm, a target image (the 5.6mm being the length of the guardrail post in the target image) of the guardrail post having a height of 5.6mm, and a target image (the 6.15mm being the length of the target image) of the guardrail post having a height of 6.15mm are sequentially obtained;
step S20, the first terminal equipment sends different target images to the second terminal equipment according to a radio communication mode;
in a specific implementation, the second terminal device is provided with a network communication module, and referring to fig. 5, the network communication module of the second terminal device cooperates with the network communication module of the first terminal device to implement a radio communication mode; the second terminal device may receive image information data from the first terminal device through radio communication with a wireless communication system or network, for example: receiving image information data from the first terminal device via a broadcast channel, the broadcast channel including a satellite channel and/or a terrestrial channel; alternatively, the image information data from the first terminal device may be received by a radio signal forwarded by a base station, which may be implemented in various forms, for example: cellular stations, mobile switching centers, etc.
Step S30, when receiving different target images sent by the first terminal equipment, respectively analyzing each target image to acquire the height value of the corresponding guardrail support and the corresponding identification label from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
specifically, referring to fig. 4, the second terminal device is further provided with a second main control board, a second memory, and an image parser, where the second memory stores a second preset program, and the second terminal device executes step S30, step S40, and step S50 by calling the second preset program;
specifically, in the process of executing the step S30, the second terminal device invokes an image analyzer to analyze each target image, and identifies an identification tag from the target image; acquiring a characteristic point set representing a guardrail support column from the target image, selecting an endpoint in the positive direction of a longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column; referring to fig. 6, in fig. 6, the region in the black frame is a target image, and the bottom edge of the black frame is the preset horizontal line;
In a specific implementation, the image analyzer can determine a region with color and gray scale difference from the surrounding in the target image through a spot detection method, and the region is taken as a characteristic point set. The spot detection method mainly comprises a method for detecting by utilizing a Gaussian Laplace operator, and the method comprises the steps of using a preset template background, utilizing convolution to calculate a spot-shaped structure in a target image, and searching peak values of characteristic point set response in a position space and a scale space of the target image.
Specifically, the above 6 target images are respectively analyzed to obtain a height value of 6mm of a corresponding guardrail post from a target image with an identification tag of G1, to obtain a height value of 5.5mm of a corresponding guardrail post from a target image with an identification tag of G2, to obtain a height value of 5.7mm of a corresponding guardrail post from a target image with an identification tag of G3, to obtain a height value of 6.1mm of a corresponding guardrail post from a target image with an identification tag of G4, to obtain a height value of 5.6mm of a corresponding guardrail post from a target image with an identification tag of G5, and to obtain a height value of 6.15mm of a corresponding guardrail post from a target image with an identification tag of G6;
Comparing the height values of the guardrail posts with the preset horizontal line heights respectively, and assuming that the preset horizontal line height is 6mm in the embodiment, selecting a target identification label corresponding to the top guardrail post on a target with the height lower than the preset horizontal line by 6 mm: g2 (5.5 mm), G3 (5.7 mm), G5 (5.6 mm), and calculating a target guard bar image deviation value "G2" of the target overhead guard bar post from the preset horizontal line of 0.5mm below the preset horizontal line "," G3 "of 0.3mm below the preset horizontal line", "G5" of 0.4mm below the preset horizontal line.
Step S40: acquiring a target wallboard corresponding to the target identification tag from the lowest layer of storage tank wallboard according to the target identification tag, and acquiring a target hydraulic jack corresponding to the target wallboard from the hydraulic jack corresponding to the lowest layer of storage tank wallboard according to the target identification tag; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
it can be understood that the hydraulic jack, the lifting frame and the lifting rod form a hydraulic lifting machine, when the hydraulic jack is used for oil feeding, the lifting rod and the expansion ring are clamped and lifted by the upper clamping head, so that the wall plate of the lowest circle of the natural gas storage tank is driven to lift upwards, and the whole tank body is lifted upwards; when the jack returns oil, the upper clamping head returns along with the piston rod, and at the moment, the lower clamping head automatically clamps the lifting rod and does not slide downwards, so that the jack repeatedly moves to enable the lifting rod to continuously lift along with the storage tank until reaching a preset height. After the next-layer wallboard of the natural gas storage tank is in butt joint assembly welding, the upper and lower loosening clamping devices of the hydraulic jack are opened, the upper and lower clamping devices are loosened to lower the lifting rod and the expansion ring to the lower part of the next-layer wallboard, the force transmission rib plate is welded, and then the lifting rod and the expansion ring are lifted. And repeating the steps until the last layer of wall plate is assembled and welded, and then, installing the whole chemical storage tank.
In specific implementation, each hydraulic jack on the site of the embodiment is provided with a pressure sensor and a displacement sensor, the displacement sensor can be fixed on a base of the hydraulic jack through a threaded compression ring, and the base is also provided with the pressure sensor, an oil return valve rod and an oil return control button; the hydraulic jack measures the current lifting force through the pressure sensor and transmits the measured current lifting force to the second terminal equipment connected with the hydraulic jack.
Specifically, the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G2 is 1053N, the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G3 is 1056N, and the current lifting force obtained by the pressure sensor corresponding to the hydraulic jack of G5 is 1055N;
the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G2 is 105.5cm, the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G3 is 105.7cm, and the current lifting stroke of the hydraulic jack measured by the displacement sensor corresponding to the hydraulic jack of G5 is 105.6cm;
step S50: and the second terminal equipment calculates pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, and transmits the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, so that the height of a target upper-top guardrail support corresponding to the target hydraulic jack reaches a set requirement, and the upper surface levelness of the storage tank is controlled.
In a specific implementation, a ratio K of the displacement to be compensated of the wall plate in the longitudinal axis direction and the image deviation value of the guardrail is stored in a second memory of the second terminal device in advance, where K belongs to a constant, and K is determined by a constant relative position between the horizontal 360-degree rotary camera and the guardrail support, and in this embodiment, K is set to 10cm/mm.
In addition, the second storage is also provided with a pressure displacement ratio which represents the transmission ratio between the lifting force of the hydraulic jack and the actual displacement generated by the working of the hydraulic jack, and the transmission ratio is determined by the hydraulic jack on site. It can be understood that in order to facilitate the implementation of the scheme, the specification and model of each hydraulic jack on site are the same, and the setting of the embodiment is 1000N/m.
The second terminal equipment is also provided with an interface module, and is respectively connected with each hydraulic jack through the interface module;
in a specific implementation, the second terminal device may operate the second main control board to call a preset data model from the second memory to calculate the pressure to be compensated, and generate pressure oil to be compensated according to the pressure to be compensated, where the preset data model is represented by the following formula:
wherein ,HGuard bar image deviation value * K represents the displacement to be compensated actually required by the target wallboard in the longitudinal axis direction, K represents the ratio of the displacement to be compensated of the wallboard in the longitudinal axis direction to the image deviation value of the guardrail, I Ratio of pressure to displacement Representing the pressure-displacement ratio, F Currently, the method is that Representing the current lifting force F of the target hydraulic jack Compensation Representing the pressure to be compensated, S Hydraulic ram current lifting stroke And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
Specifically, the displacement to be compensated of G2 is H Guard bar image deviation value *K＝0.5mm*10cm/mm＝5cm；
The displacement to be compensated of G3 is H Guard bar image deviation value *K＝0.3mm*10cm/mm＝3cm；
The displacement to be compensated of G5 is H Guard bar image deviation value *K＝0.4mm*10cm/mm＝4cm；
It will be appreciated that in an ideal case, the pressure to be compensated can be calculated by the formula I Ratio of pressure to displacement ×(H Guard bar image deviation value X K) is directly obtained, but in the actual operation, due to various external factors, is obtained by the formula I Ratio of pressure to displacement ×(H Guard bar image deviation value X K) is not accurate enough, for example, a certain error exists between the pressure displacement ratio of the hydraulic ram and the pressure displacement ratio stored in the second storage in the actual working process; in the embodiment, the pressure displacement ratio of the hydraulic ram in the actual working process is represented by the formula It is calculated that the pressure to be compensated during actual operation can be calculated by the formula +.>Calculating, in order to be able to reduce errors, the calculation of the pressure to be compensated, which is ultimately used to generate the pressure oil to be compensatedFor two I Ratio of pressure to displacement ×(H Guard bar image deviation value X K) minus oneThe height of the target upper top guardrail support corresponding to the target hydraulic jack reaches more ideal setting requirements, and the levelness of the upper surface of the storage tank can be better controlled to reach an ideal state.
Specifically, the pressure to be compensated for of G2 of the present embodiment:
pressure to be compensated for by G3:
pressure to be compensated for by G5:
it should be noted that, in this embodiment, a remote hydraulic control manner is adopted. The second terminal equipment inputs pressure oil from low to high to a proportional oil cylinder of the main oil pump through operating a hydraulic proportional pilot valve, so that a stroke regulator of the main oil pump acts, the flow rate of the main oil pump is changed by changing the inclination angle of a swinging cylinder body of the main oil pump, the rotating speed of a hydraulic motor is changed, and a lifting machine is started and runs at an accelerated speed.
The constructor can also operate the second terminal equipment and make hydraulic oil get into the hydro-cylinder through a single valve through manual pressurization stalk, the principle of hydraulic lifting device transmission: the hydraulic lifting device transmits the principle that the pressure is unchanged. The hydraulic oil entering the oil cylinder can not back up due to the single valve, the cylinder rod is forced to be upward, and then the hydraulic oil enters the hydraulic cylinder at intervals when the work is done continuously.
According to the control method provided by the embodiment, the levelness of the upper surface of the storage tank can be monitored, the levelness of the upper surface of the natural gas storage tank can be optimally adjusted by replacing manual operation through communication and automation technology, the working efficiency of the site in the process of manufacturing and installing the natural gas storage tank is improved, and the labor cost is reduced.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.

Claims (10)

1. The utility model provides a control system of storage tank upper surface levelness in storage tank manufacturing process, the storage tank includes upper surface platform, lower surface platform and multilayer storage tank wallboard, and every layer of storage tank wallboard is set up by a plurality of wallboards side by side and is formed the round, its characterized in that, the positive center position of upper surface platform is equipped with first terminal equipment, first terminal equipment is equipped with 360 degrees rotation cameras of level, the border of upper surface platform is equipped with the top guardrail, the top guardrail includes a plurality of guardrail posts that set up side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks are deployed on the lower surface platform; wherein the hydraulic jacks are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack is connected with the second terminal equipment respectively, and each hydraulic jack is provided with a pressure sensor;
The first terminal equipment is provided with a radio frequency module which is used for responding to a radio frequency call signal sent by a user caller, starting the horizontal 360-degree rotary camera to acquire images of guardrail posts provided with identification labels, and respectively obtaining different target images containing the heights of the guardrail posts;
the first terminal device is further configured to send different target images to the second terminal device according to a radio communication mode;
the second terminal device is used for respectively analyzing each target image when receiving different target images sent by the first terminal device so as to acquire the height value of the corresponding guardrail support and the corresponding identification label from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
the second terminal device is further configured to obtain, according to the target identification tag, a target wall plate corresponding to the target identification tag from a wall plate of a tank at a lowest layer, and obtain, according to the target identification tag, a target hydraulic jack corresponding to the target wall plate from a hydraulic jack corresponding to the wall plate of the tank at the lowest layer; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
The second terminal equipment is further used for calculating pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, transmitting the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, and enabling the height of the target upper guardrail support corresponding to the target hydraulic jack to reach a set requirement so as to control the levelness of the upper surface of the storage tank.
2. The control system according to claim 1, wherein the first terminal device is provided with a first main control board, a first memory, and an image sensor, the first main control board executing a first preset program stored on the first memory at the time of operation; the first preset program characterizes a program that the first terminal device grabs a target image containing the height of the guardrail support through the image sensor when the horizontal 360-degree rotary camera works according to a preset shooting time interval.
3. The control system of claim 2, wherein each guardrail post is positioned at the edge of the upper surface platform with the 360-degree rotating camera as a center; when the flatness of the upper surface platform meets the set requirement, the relative positions of the horizontal 360-degree rotary camera and each guardrail support are kept constant; the target image comprising the height of the guardrail support comprises a watermark, the watermark represents the preset horizontal line, and the preset horizontal line is generated according to the relative position kept constant.
4. The control system according to claim 3, wherein the second terminal device is provided with a second main control board and an image analyzer, and the image analyzer is configured to analyze each target image, and identify an identification tag from the target image; and acquiring a characteristic point set representing the guardrail support column from the target image, selecting an endpoint in the positive direction of the longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column.
5. The control system according to any one of claims 1-4, wherein the second terminal device is further configured to obtain a pressure displacement ratio of the target hydraulic jack and a current lifting stroke of the hydraulic jack, the pressure displacement ratio representing a ratio of a hydraulic lifting force to a displacement formed by the hydraulic lifting force; and calling a preset data model to calculate the pressure to be compensated, and generating pressure oil to be compensated according to the pressure to be compensated, wherein the preset data model is characterized by the following formula:
wherein ,representing the displacement to be compensated actually required by the target wall plate in the longitudinal axis direction, KRepresenting the ratio of the displacement of the wall plate to be compensated in the direction of the longitudinal axis to the image deviation value of the guardrail +.>Representing the ratio of the pressure to displacement,representing the current lifting force of the target hydraulic jack,/>representing the pressure to be compensated->And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
6. The method is characterized in that a first terminal device is arranged at the right center of the upper surface platform, a horizontal 360-degree rotary camera is arranged at the first terminal device, an upper guardrail is arranged at the edge of the upper surface platform, and the upper guardrail comprises a plurality of guardrail supports arranged side by side at intervals; the part of the appointed upper top guardrail posts are provided with identification labels; a preset corresponding relation exists between the guardrail posts provided with the identification labels and the corresponding position of each layer of storage tank wall plate; a plurality of hydraulic jacks are deployed on the lower surface platform; wherein the hydraulic jacks are respectively arranged on different wall plates in the wall plates of the lowest layer of storage tank; each hydraulic jack is connected with the second terminal equipment respectively, and each hydraulic jack is provided with a pressure sensor; the control method comprises the following steps:
The first terminal responds to a radio frequency call signal sent by a user caller, and starts the horizontal 360-degree rotary camera to acquire images of guardrail posts provided with identification labels, so as to respectively obtain different target images containing the heights of the guardrail posts;
the first terminal equipment sends different target images to the second terminal equipment according to a radio communication mode;
when receiving different target images sent by the first terminal device, the second terminal device analyzes each target image respectively to obtain the height value of the corresponding guardrail support and the corresponding identification label from each target image; selecting a target top guardrail support lower than a preset horizontal line from all guardrail supports, and calculating a target guardrail image deviation value of the target top guardrail support from the preset horizontal line; determining a target identification label corresponding to the top guardrail support of the target;
the second terminal equipment obtains a target wallboard corresponding to the target identification tag from the lowest layer of storage tank wallboard according to the target identification tag, and obtains a target hydraulic jack corresponding to the target wallboard from the hydraulic jack corresponding to the lowest layer of storage tank wallboard according to the target identification tag; determining the current lifting force of the target hydraulic jack, wherein the current lifting force is fed back to the second terminal equipment after being measured by the target hydraulic jack through the pressure sensor;
And the second terminal equipment calculates pressure oil to be compensated according to the current lifting force of the target hydraulic jack and the target guardrail image deviation value, and transmits the pressure oil to be compensated to the target hydraulic jack to adjust the current lifting force of the target hydraulic jack, so that the height of a target upper-top guardrail support corresponding to the target hydraulic jack reaches a set requirement, and the upper surface levelness of the storage tank is controlled.
7. The control method according to claim 6, wherein the step of the first terminal starting the horizontal 360-degree rotation camera to perform image acquisition on each guardrail post provided with the identification tag comprises the steps of:
and the first terminal equipment starts the horizontal 360-degree rotary camera to execute shooting work according to a preset shooting time interval, and grabs a target image containing the height of the guardrail support through the image sensor.
8. The control method of claim 7, wherein each guardrail post is positioned at the edge of the upper surface platform with the 360-degree rotary camera as a center; when the flatness of the upper surface platform meets the set requirement, the relative positions of the horizontal 360-degree rotary camera and each guardrail support are kept constant; the target image comprising the height of the guardrail support comprises a watermark, the watermark represents the preset horizontal line, and the preset horizontal line is generated according to the relative position kept constant.
9. The control method according to claim 8, wherein the step of the second terminal device, when receiving different target images sent by the first terminal device, respectively parsing each target image to obtain the height value of the corresponding guardrail posts and the corresponding identification tag from each target image, includes:
the second terminal equipment calls an image analyzer to analyze each target image respectively, and identification tags are identified from the target images; and acquiring a characteristic point set representing the guardrail support column from the target image, selecting an endpoint in the positive direction of the longitudinal axis from the characteristic point set, taking the endpoint as a vertical line in the negative direction of the longitudinal axis, and acquiring a corresponding vertical line segment, wherein the foot of the vertical line segment is positioned at the edge of the target image, and taking the vertical line segment as a height value of the guardrail support column.
10. The control method according to any one of claims 6 to 9, wherein the step of the second terminal device calculating the pressure oil to be compensated based on the current lifting force of the target hydraulic jack and the target guardrail image deviation value includes:
the second terminal equipment acquires the pressure displacement ratio of the target hydraulic jack and the current lifting stroke of the hydraulic jack, wherein the pressure displacement ratio represents the ratio of the hydraulic lifting force to the displacement formed by the hydraulic lifting force;
The second terminal equipment invokes a preset data model to calculate pressure to be compensated, pressure oil to be compensated is generated according to the pressure to be compensated, and the preset data model is characterized by the following formula:
wherein ,representing the displacement to be compensated actually required by the target wall plate in the longitudinal axis direction,Krepresenting the ratio of the displacement of the wall plate to be compensated in the direction of the longitudinal axis to the image deviation value of the guardrail +.>Representing the ratio of the pressure to displacement,representing the current lifting force of said target hydraulic jack, < >>Representing the pressure to be compensated->And the current lifting stroke of the hydraulic jack of the target hydraulic jack is represented.
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