CN204240955U - Based on the measuring volume of tank device of 3 D laser scanning - Google Patents
Based on the measuring volume of tank device of 3 D laser scanning Download PDFInfo
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- CN204240955U CN204240955U CN201420516429.1U CN201420516429U CN204240955U CN 204240955 U CN204240955 U CN 204240955U CN 201420516429 U CN201420516429 U CN 201420516429U CN 204240955 U CN204240955 U CN 204240955U
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Abstract
The utility model discloses a kind of measuring volume of tank device based on 3 D laser scanning.This device is made up of 3 D laser scanning platform, described 3 D laser scanning platform, comprise three-dimensional laser scanner 1, tripod 2, computing machine 3, a 3-6 splicing target 4, described three-dimensional laser scanner 1 is erected on tripod 2, and be connected with computing machine 3, adopt 3 D laser scanning platform collection and obtain the three dimensional point cloud of tank body outside surface, carrying out space three-dimensional modeling, build the three-dimensional model of tank body, and adopt the method for section to calculate the volume of tank body.The volume of the utility model to tank bodies such as tank car, storage tank, tank containers can be measured fast and accurately, simple to operate, security is high, labour intensity is little, greatly reduce data processing time, data convenience of calculation, can meet different working environments, is specially adapted to the volume of quality testing department Fast Calibration repetition measurement tank body.
Description
Technical field
The utility model relates to a kind of measuring volume of tank device based on 3 D laser scanning, belongs to measuring volume of tank technical field.
Background technology
Tank body is the prevailing traffic of the products such as petroleum chemical industry liquid, liquid gas and stores utensil, is also the measurement instrument of trade settlement.According to regulation in JJF 1009-2006 " capacity measurement term and definition ", capacity measuring instrument has tank-truck for liquefied petroleum gas, automobile oil truck, tank and bucket, vertical metal tank, horizontal metal can, Spherical metal tank etc.Wherein, tank wagon, tank wagon are the measurement instruments of state compulsion calibrating, and its volume calibration result is the foundation that national transportation competent authorities formulate safety carrying capacity, also can be used for oil product handing-over, trade settlement.Though adopt water capacity area method to measure tank volume have the high advantage of accuracy, there is series of malpractice, therefore, the repetition measurement staking-out work of tank volume can extensively, effectively not implemented.For ensure transport safely, minimizing accident occur, further standard market, needs the technology studying a kind of Fast And Accurate Determination tank volume.
In recent years, along with the development of national Logistics Market and the construction of basic traffic, shipping speed-raising, heavy duty developed simultaneously, and tank car, tank container manufacturing technology have had large development.The casing of the geometric configuration more complicated such as tank container also has arc board-like except drum.At present, tank volume calibrating mainly contains weighing method, volume relative method and geometric measurement method, and these three kinds of methods also exist the problems in various degree such as hand labor intensity is large, accuracy is low, the calibrating time is long.
At present, in relevant volumetric metering field, domestic employing optical instrument---the volume of total station survey vertical metal tank, the developed countries such as Germany, the U.S. are attempting the volume using three-dimensional laser scanner measurement vertical metal tank.Because tank car and tank container are less relative to volume vertical metal tank, model is various, complex structure, measurement environment is poor, and total powerstation, the three-dimensional laser scanner being applicable to vertical metal tank can not be used for the volumetric measurement of tank car and tank container.In order to improve accuracy of measurement, reducing the security risk of operating personnel and labour intensity, realizing simple to operate, strong adaptability, accuracy is high, new measuring method is always in continuous research and probe.
Existing apparatus one " standard capacity measure ":
Capacity relative method refers to and adopts high-grade standard capacity measure, the liquid in standard capacity measure is injected tested container, measuring vessel liquid level, obtains the method for tested container loading table through temperature adjustmemt etc.Capacity relative method is generally used for arbitration calibrating, calibration method research and the certification of new product volume.The accuracy of capacity relative method is higher, but Measuring Time is long, cost is high, need tested container to be maneuvered into the measurement place of specifying during calibrating, in-site measurement length is that the tank wagon of about 6 meters about needs 12 hours, cannot meet the daily calibrating demand of inspection department.
Existing apparatus two " tank cover chi, steel tape and supersonic thickness meter ":
The calibration method of tank car geometric measurement method is defined in " JJG 140-2008 Capacity of rail tanker vertification regulation ", geometric measurement method mainly utilizes tank to overlap the relevant geometrical characteristic of the instrument acquisition tank bodies such as chi, steel tape and supersonic thickness meter, loading table is applied mechanically after data processing, obtain tank volume, mensuration and tank external pelivimetry method in tank can be divided into again.Internal test method, need manually to enter in tank after oil tank empties to use the operates such as steel tape, have that tank-cleaning operation expense is large, contaminated environment, measuring method automaticity is low, labour intensity is large, residual harmful gas exists the deficiencies such as potential safety hazard to testing person in tank, this produces a very large impact to the personal safety of testing person and verification result.Tank external pelivimetry method requires that tank body has regular geometric shapes, nothing distortion, and should be mounted to horizontality as far as possible.And the tank body of complicated shape increases at present, and the distortion of tank body is irregular, as actual physics three-dimensional geometry feature just can not be embodied as regular geometric body, cause a large amount of loss describing tank body physical geometry model information, between the simplification tank body model that this incomplete Information base is set up and actual physical model, have very big error.
Existing apparatus three " total powerstation ":
Domestic laser surveying instrument, at present for the mainly total powerstation in volumetric measurement field, calculates the volume of container by the coordinate measuring finite point on tank body." the volumetric calibration total powerstation outside measurement method of GB/T 19780-2005 Spherical metal tank " has formulated the method utilizing total powerstation to measure spherical metal tank volume: on ground around the suitable distance of spherical tank, set up at least 3 equally distributed horizontal survey stations.On each survey station, by the horizontal angle in total station survey centre of sphere direction and vertical angle and along centre of sphere direction to the distance of tank skin, aim at just to spherical tank circumferentially equally distributed spherical tank point of contact again, measure corresponding horizontal angle and vertical angle, calculate each point of contact radius, using the arithmetic mean of point of contact radius as survey station radius.Calculate the mean radius of spherical tank according to each survey station radiuscope, and then establishment spherical tank volume table, but due to measurement point limited, when geometric model is irregular or distortion is larger, its measurement result accuracy is lower.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of measuring volume of tank device based on 3 D laser scanning, this device is simple to operate, Measuring Time is short, measurement data accuracy is high, achieves quick, the Measurement accuracy of the volume to tank bodies such as tank car, storage tank, tank containers.
The utility model adopts three-dimensional laser scanner, and the principle that three-dimensional laser scanner mainly make use of laser ranging carrys out quick obtaining object space cloud data, sets up the three-dimensional visualization model of complex structure, irregular object fast.In the site environment that three-dimensional laser scanning system can enter any complexity deeply and space, directly complete for the three-dimensional data of various large-scale, complicated, irregular, standard or the entity such as non-standard or outdoor scene is collected in computer by 3 D laser scanning, and then quick reconfiguration goes out the three-dimensional entity model of target, meanwhile, the partial data of target also can be used for various aftertreatment work by the three-dimensional laser point cloud data gathered.Whole data handling procedure comprises data acquisition, data prediction, Geometric model reconstruction.Data acquisition is the prerequisite of Model Reconstruction, and data prediction provides reliably selected cloud data for Model Reconstruction, reduces the complexity of Model Reconstruction, improves degree of accuracy and the speed of model reconstruction.The content that data preprocessing phase relates to has the filtering of cloud data, level and smooth, the reduction of cloud data of cloud data, the segmentation of cloud data, the registration of different station scans data and fusion etc.; Level and smooth, the process of incomplete data after the reconstruction of three-dimensional model, Model Reconstruction, model simplification and texture etc. is had in model reconstruction stage relates to.In practical application, according to the feature of laser scanning data and modeling requirement, corresponding data processing policy and method should be selected.
The utility model is for solving the problems of the technologies described above by the following technical solutions:
Based on a measuring volume of tank device for 3 D laser scanning, it is characterized in that this measurement mechanism is made up of 3 D laser scanning platform; Wherein 3 D laser scanning platform is made up of three-dimensional laser scanner 1, tripod 2, computing machine 3 and splicing target 4, and described three-dimensional laser scanner 1 is erected on tripod 2, is connected with computing machine 3 by wire.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described three-dimensional laser scanner 1 is made up of generating laser, prism, the receiver synchronous with prism, main frame and pedestal.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described splicing target 4 is laid in tank body 5 around, and 3-6 splicing target 4 forms closed hoop, and the distance between different survey station splicing target 4 is roughly equal.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described survey station is made up of three-dimensional laser scanner 1, tripod 2 and computing machine 3.
Described a kind of quick high accuracy measuring volume of tank device based on 3 D laser scanning, is characterized in that described tank body 5 comprises tank car, storage tank, tank container.
The utility model provides a kind of quick high accuracy method for measuring volume of tank based on 3 D laser scanning, comprises following concrete steps:
Step 1, formulate corresponding experimental program according to the precision that the features of shape of tank body, locus and scanning need etc., wherein experimental program comprises the model determining scanner, the position determining survey station point, scanning distance, scanning angle, sweep span etc.; Control data acquisition quality, to obtain efficient cloud data within the shortest time;
Step 2, adopts the collection of above-mentioned 3 D laser scanning platform and obtains the three dimensional point cloud of tank body outside surface;
Step 3, the three dimensional point cloud of the tank body outside surface utilizing step 2 to obtain carries out space three-dimensional modeling, build the three-dimensional model of tank body, be specially: the data prediction first cloud data gathered being carried out to elimination of rough difference, mixed pixel removal, cavity repairing; Then the data processing of a cloud filtering, the segmentation of some cloud, surface fitting is carried out; Finally carry out space three-dimensional modeling, obtain the accurate three-dimensional model of tank body;
Step 4, utilizes the three-dimensional model of volume computing element analysis tank body, is set to closed space Ω, according to three dimension laser scanning surreying coordinate system, builds series of parallel in the plane of xoy plane, and adopt the method for section to calculate the volume of tank body, concrete formula is as follows:
In formula, V
nfor tank volume; F (x, y) is for closed space Ω is at plane L
nfollowing surface equation; D is the view field of closed space Ω in xoy plane; L
nfor being parallel to the plane equation of xoy plane; N is constructed series of parallel in the plane number of xoy plane; N=1,2 ..., N.
The utility model adopts above technical scheme compared with prior art, provides the technology that a kind of quick high accuracy based on 3 D laser scanning measures tank volume, can measure fast and accurately the volume of the tank bodies such as tank car, storage tank, tank container.The utility model is simple to operate, and security is high, and labour intensity is little, the various complex geometric shapes such as tank car, storage tank, tank container can be adapted to, different working environments can be met, reduce the impact of tank body material etc., data convenience of calculation, Measuring Time is short, and accuracy is high.
Accompanying drawing explanation
Fig. 1 is the quick high accuracy measuring volume of tank device schematic diagram based on 3 D laser scanning;
Fig. 2 is tank car scanning survey station position view;
Fig. 3 is storage tank scanning survey station position view;
Reference numeral: 1-three-dimensional laser scanner, 2-tripod, 3-computing machine, 4-splice target, 5-tank body.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail:
As shown in Figure 1, a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that this measurement mechanism is made up of 3 D laser scanning platform; Wherein 3 D laser scanning platform is made up of three-dimensional laser scanner 1, tripod 2, computing machine 3 and splicing target 4, and described three-dimensional laser scanner 1 is erected on tripod 2, is connected with computing machine 3 by wire.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described three-dimensional laser scanner 1 is made up of generating laser, prism, the receiver synchronous with prism, main frame and pedestal.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described splicing target 4 is laid in tank body 5 around, and 3-6 splicing target 4 forms closed hoop, and the distance between different survey station splicing target 4 is roughly equal.
Described a kind of measuring volume of tank device based on 3 D laser scanning, is characterized in that described survey station is made up of three-dimensional laser scanner 1, tripod 2 and computing machine 3.
Described a kind of quick high accuracy measuring volume of tank device based on 3 D laser scanning, is characterized in that described tank body 5 comprises tank car, storage tank, tank container.
Wherein the utility model adopts Leica ScanStation C10 three-dimensional laser scanner, its sweep limit is 300m@90%, 134m@18% reflectivity, nearest sweep limit 0.1m, scanning density at 100 meters of can reach 0.3mm, scanning distance controls within 100m, and sweep span controls between 0.3mm-30mm according to specific requirement.
Tripod is the tripod supporting with three-dimensional laser scanner; The configuration of computing machine need reach more than internal memory 2G, display card; Splicing target can adopt spherical target or the plane target of standard model.
The present embodiment adopts the special tank car in oil field to be specifically described, and this tank car physical dimension is 9860mm × 2495mm × 3700mm, and design volume is 30m
3.
Based on the quick high accuracy method for measuring volume of tank of 3 D laser scanning, data acquisition concrete steps are:
A. the precision etc. needed according to the features of shape of tank body, locus and scanning formulates corresponding experimental program, wherein experimental program comprises the model determining scanner, the position determining survey station point, scanning distance, scanning angle, sweep span etc., control data acquisition quality, to obtain efficient cloud data within the shortest time, wherein tank body comprises tank car, storage tank, tank container;
The reason affecting the precision of 3 D laser scanning is a lot, wherein the size of scanning distance is the key factor affecting scanning accuracy, therefore the necessary strict gated sweep distance of scanning accuracy will be improved, the increase of scanning distance, sweep limit can be increased, reduce and establish station number of times, but precision is also in reduction simultaneously, when practical application, should according to the object of scanning, optimize under the prerequisite meeting precision and establish station, scanning distance can not be widened blindly to increase work efficiency, when there is angle in laser scanning direction and scanned object, big error may be added, therefore when laying scanning website, when should avoid scanning testee, inclination angle is excessive as far as possible, in the angle of scanning, angular range is generally to be not more than 50 ° of the bests,
Generally, scanning is set to 2-4 survey station; First the laying of splicing target should ensure sighting condition, is preferably laid in the junction of scanning plane, on two different survey stations, should has three public splicing targets at least, and should not be located on the same line; If four splicing targets, then they should not be in the same plane, noting the intervisibility that the position of splicing target should ensure to scan between website or putting too concentrated, drawing scan plan sketch according to actual conditions when arranging splicing target; The laying of survey station and splicing target is generally carried out in the volumetric measurement of tank car by Fig. 3;
The selection of three-dimensional laser scanner considers according to the actual conditions and instrument self performance that scan target to determine, the index affecting point cloud data quality is positional accuracy, model accuracy, spot size and angular resolution, the index of Influential cases cloud data acquisition efficiency is ranging, speed and visual angle, the specific tasks that therefore will calculate for tank volume, select three-dimensional laser scanner, for large tank scan task, select ranging far away, wide visual field, the three-dimensional laser scanner of high speed effectively can ensure the efficiency of data acquisition, and higher model accuracy index can ensure quality and the volumetric calibration precision of tank body cloud data,
B. adopt 3 D laser scanning platform collection and obtain the three dimensional point cloud of tank body outside surface;
According to scan plan sketch, set up instrument at assigned address and guarantee that instrument erection is firm, splicing target is placed on the position preset simultaneously, after placing scanner and splicing target, determine scanning area, arrange correct resolution, namely scanning work starts, scanning process full automation, obtains the three dimensional point cloud on tank car surface; Start instrument, adjustment instrument state, determines scanning area, arrange rational resolution and analyzing spot cloud quality, namely scanning work starts, Overlap-scanning target while carrying out data acquisition, for guaranteeing splicing target scanning accuracy, independent frame choosing can be carried out to splicing target, and carrying out high-resolution scanning, after the one station end of scan, with scanning software inspection with or without the drain sweep of splicing target, close instrument, move to the next stop, repeat this step, until complete the scanning of all survey stations;
Scan tank car, scanning survey station is generally set to 2 stations, lays respectively at both sides, tank car rear, as shown in Figure 2; For there being the situation of blocking, 3 stations being set to tank car scanning, laying respectively at tank car headstock both sides and tank car rear; Scan storage tank and tank container, scanning survey station is generally set to 3 stations, and survey station is evenly distributed in the surrounding of storage tank and tank container, as shown in Figure 3; Specifically set with the intervisibility situation of tank body periphery.
The present embodiment scans the special tank car in oil field, and 3 D laser scanning platform sets up two stations, and distribution is positioned at both sides, tank car rear, and arranging sweep span is 10mm × 10mm, original point cloud totally 462896 points of the survey station obtained, scanning used time 15s.
The utility model application example relates to a kind of quick high accuracy measuring volume of tank device based on 3 D laser scanning, belong to measuring volume of tank technical field, the utility model application example is also applicable to the volumetric measurement of the similar materials such as tank car, storage tank, tank container, size, shape tank body.
The above; be only the embodiment in the utility model; but protection domain of the present utility model is not limited thereto; any people being familiar with this technology is in the technical scope disclosed by the utility model; the conversion or replacement expected can be understood; all should be encompassed in and of the present utility modelly comprise within scope, therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (5)
1., based on a measuring volume of tank device for 3 D laser scanning, it is characterized in that this measurement mechanism is made up of 3 D laser scanning platform; Wherein 3 D laser scanning platform is made up of three-dimensional laser scanner (1), tripod (2), computing machine (3) and splicing target (4), and described three-dimensional laser scanner (1) is erected on tripod (2), is connected with computing machine (3) by wire.
2. a kind of measuring volume of tank device based on 3 D laser scanning according to claim 1, is characterized in that described three-dimensional laser scanner (1) is made up of generating laser, prism, the receiver synchronous with prism, main frame and pedestal.
3. a kind of measuring volume of tank device based on 3 D laser scanning according to claim 1, it is characterized in that described splicing target (4) is laid in tank body (5) around, 3-6 splicing target (4) forms closed hoop, and the distance between different survey station splicing target (4) is roughly equal.
4. a kind of measuring volume of tank device based on 3 D laser scanning according to claim 3, is characterized in that described survey station is made up of three-dimensional laser scanner (1), tripod (2) and computing machine (3).
5. a kind of quick high accuracy measuring volume of tank device based on 3 D laser scanning according to claim 3, is characterized in that described tank body (5) comprises tank car, storage tank, tank container.
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| CN108731615A (en) * | 2018-03-19 | 2018-11-02 | 苏州玻色智能科技有限公司 | The detection device and method of curved glass panel |
| CN105865368B (en) * | 2016-05-06 | 2019-01-11 | 浙江大学 | A kind of pressure vessel form variations detection method based on 3 D laser scanning |
| CN110345866A (en) * | 2019-06-03 | 2019-10-18 | 武汉中观自动化科技有限公司 | A kind of measuring device and method for hand held scanner gaging hole |
| CN112378477A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and measurement method |
| CN112378475A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Large length-diameter ratio vertical tank volume continuous laser scanning internal measurement device and measurement method |
| CN112665675A (en) * | 2021-01-04 | 2021-04-16 | 北京果枝众合科技有限公司 | Drinking cup capacity detection method based on three-dimensional volume measurement and application |
| CN114858093A (en) * | 2022-06-09 | 2022-08-05 | 中国十七冶集团有限公司 | Using method of rapid three-dimensional scanner |
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| CN105865368B (en) * | 2016-05-06 | 2019-01-11 | 浙江大学 | A kind of pressure vessel form variations detection method based on 3 D laser scanning |
| CN108731615A (en) * | 2018-03-19 | 2018-11-02 | 苏州玻色智能科技有限公司 | The detection device and method of curved glass panel |
| CN108731615B (en) * | 2018-03-19 | 2020-12-25 | 苏州玻色智能科技有限公司 | Equipment and method for detecting curved glass panel |
| CN110345866A (en) * | 2019-06-03 | 2019-10-18 | 武汉中观自动化科技有限公司 | A kind of measuring device and method for hand held scanner gaging hole |
| CN110345866B (en) * | 2019-06-03 | 2021-05-07 | 武汉中观自动化科技有限公司 | Measuring device and method for hole measurement of handheld scanner |
| CN112378477A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Large length-diameter ratio horizontal tank volume continuous laser scanning internal measurement device and measurement method |
| CN112378475A (en) * | 2020-11-17 | 2021-02-19 | 哈尔滨工业大学 | Large length-diameter ratio vertical tank volume continuous laser scanning internal measurement device and measurement method |
| CN112665675A (en) * | 2021-01-04 | 2021-04-16 | 北京果枝众合科技有限公司 | Drinking cup capacity detection method based on three-dimensional volume measurement and application |
| CN112665675B (en) * | 2021-01-04 | 2023-11-03 | 北京果枝众合科技有限公司 | Drinking cup capacity detection method based on three-dimensional volume measurement and application |
| CN114858093A (en) * | 2022-06-09 | 2022-08-05 | 中国十七冶集团有限公司 | Using method of rapid three-dimensional scanner |
| CN114858093B (en) * | 2022-06-09 | 2023-12-22 | 中国十七冶集团有限公司 | Use method of rapid three-dimensional scanner |
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