Tank deformation detection method and device, electronic equipment and storage medium

Abstract

This invention provides a method, apparatus, electronic device, and storage medium for detecting tank deformation. The method includes: scanning the contour of the tank to be tested and its base surface to obtain contour point cloud data and base surface point cloud data; constructing a tank model and base surface in a coordinate system based on the contour point cloud data and base surface point cloud data; using a plane perpendicular to the Z-axis as a slicing plane, cutting the tank model at equal intervals to obtain multiple slices, and acquiring the slice feature points of each slice; cutting the base surface to obtain a base circle; fitting characteristic curves based on the slice feature points of each slice; determining the fitting circle based on the characteristic curves; and determining the deformation detection result of the tank to be tested based on the fitting circle and the base circle. This method achieves integrated, online detection and evaluation of tank body and base deformation, featuring high detection and evaluation accuracy, short time consumption, simplicity and speed, strong operability, and ease of engineering application.

Description

Technical Field

[0001] This invention relates to the field of oil storage tank safety assessment technology, and in particular to a method, device, electronic equipment and storage medium for detecting tank deformation. Background Technology

[0002] Storage tanks are the main equipment for storing petroleum media, and their structure includes the tank bottom, tank walls, accessories, foundation, etc. Geometric deformation of storage tanks is extremely common due to factors such as construction quality, wind load, and foundation settlement. Therefore, deformation testing is necessary for both newly built and operational storage tanks to assess their safe operating condition.

[0003] Traditional measurement methods mostly obtain spatial information of the target object through single-point measurement, such as the circumference measurement method and the total station method. These methods have problems such as long measurement time, high workload, and low evaluation accuracy. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a method, apparatus, electronic device, and storage medium for detecting tank deformation.

[0005] This invention provides a method for detecting deformation of a storage tank, comprising:

[0006] The outline of the tank under test and the base surface of the tank under test are scanned to obtain outline point cloud data and base surface point cloud data. Based on the outline point cloud data and base surface point cloud data, a tank model and base surface in a coordinate system are constructed.

[0007] Using a plane perpendicular to the Z-axis as the slicing plane, the tank model is cut at equal intervals to obtain multiple slices, and the slicing feature points of each slice are obtained. The base surface is also cut to obtain a base circle.

[0008] Each slice's feature curve is obtained by fitting the feature points of each slice. A fitting circle is determined based on the feature curve. The deformation detection result of the tank under test is determined based on the fitting circle and the base circle.

[0009] According to the present invention, a method for detecting deformation of a storage tank includes obtaining the slice feature points of each slice, comprising:

[0010] The target slice is cut at the middle position using the slicing plane, dividing the target slice into two sub-slices, which are the upper sub-slice and the lower sub-slice.

[0011] Determine the corresponding data point in the lower slice for each data point in the upper slice, and use the intersection of the line connecting the two data points and the slice plane as the slice feature point.

[0012] According to a method for detecting tank deformation provided by the present invention, the step of cutting the base surface to obtain a base circle includes:

[0013] Determine the base circle of the tank model, which is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model;

[0014] The slicing plane passes through the center of the base circle, cuts into the substrate from the substrate surface, and generates the base circle on the slicing plane. The radius of the base circle is the radial distance from the center of the base circle to the outermost data point on the substrate surface.

[0015] According to a method for detecting the deformation of a storage tank provided by the present invention, the step of determining the deformation detection result of the storage tank under test based on the fitted circle and the base circle includes:

[0016] Based on any fitted circle and the base circle of the tank model, determine the inclination and verticality of the tank to be tested. The base circle is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model.

[0017] The cylindricity of the tank under test is determined based on any fitted circle.

[0018] The settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface.

[0019] According to the present invention, a method for detecting tank deformation includes determining the tilt and verticality of the tank under test based on any fitted circle and the base circle of the tank model, comprising:

[0020] Determine the height of the fitted circle corresponding to the slice, and the center of the fitted circle;

[0021] Determine the center of the base circle, establish a line connecting the two centers, and determine the angle between the line and the Z-axis. This angle is used as the inclination of the tank to be measured.

[0022] The verticality of the tank under test is determined based on the height and the included angle.

[0023] According to the present invention, a method for detecting tank deformation, wherein determining the cylindricity of the tank under test based on any fitted circle includes:

[0024] Obtain the radius of the inner or outer wall of the tank corresponding to the fitted circle;

[0025] Obtain the distance from the fitting point of the fitted circle to the center of the circle;

[0026] The maximum deviation between the distance and the radius is determined as the cylindricity of the tank under test.

[0027] According to a method for detecting tank deformation provided by the present invention, the step of determining the settlement of the tank under test based on the base circle and the point cloud data of the base surface includes:

[0028] The base circle is divided into equal parts, and the data point closest to the division point in the base surface point cloud data is determined. The closest data point is used as the feature point.

[0029] The coordinates of the feature points in the Z direction are used as the settlement of the tank under test.

[0030] The present invention also provides a storage tank deformation detection device, comprising:

[0031] The acquisition module is used to scan the outline of the tank under test and the base surface of the tank under test to obtain outline point cloud data and base surface point cloud data, and to construct a tank model and base surface in a coordinate system based on the outline point cloud data and base surface point cloud data.

[0032] The processing module is used to cut the tank model into multiple slices at equal intervals using a plane perpendicular to the Z-axis as the slicing plane, and to obtain the slicing feature points of each slice, as well as to cut the base surface to obtain a base circle.

[0033] The detection module is used to fit the feature curves of each slice based on the feature points of each slice, determine the fitting circle based on the feature curves, and determine the deformation detection result of the tank under test based on the fitting circle and the base circle.

[0034] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described tank deformation detection method.

[0035] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described tank deformation detection method.

[0036] This invention provides a method, apparatus, electronic device, and storage medium for detecting tank deformation. It acquires point cloud data of the tank and its substrate via laser scanning, obtains a tank model and substrate surface based on the point cloud data, slices the tank model, and obtains the fitted circle of the slices and the base circle of the substrate. Data analysis is performed based on the fitted circle and the base circle to obtain the deformation detection results of the tank, further predicting the degree of deformation. This achieves integrated, online detection and evaluation of tank and substrate deformation, featuring high detection and evaluation accuracy, short processing time, simplicity and speed, strong operability, and wide applicability, making it suitable for engineering applications. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart illustrating an embodiment of the tank deformation detection method of the present invention;

[0039] Figure 2 This is a schematic diagram illustrating the construction of the storage tank model and the base surface of the present invention;

[0040] Figure 3 This is a schematic diagram of the fitting circles corresponding to each slice of the storage tank of the present invention;

[0041] Figure 4 This is a diagram illustrating the acquisition of slice feature points according to the present invention;

[0042] Figure 5 This is a schematic diagram showing the inclination and verticality of the storage tank of the present invention;

[0043] Figure 6 This is a structural diagram of an embodiment of the tank deformation detection device of the present invention;

[0044] Figure 7 This is a structural diagram of an embodiment of the electronic device of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] The following is combined Figure 1-7 The figure illustrates the tank deformation detection method, apparatus, electronic equipment, and storage medium provided by the present invention.

[0047] Figure 1 A flowchart illustrating a tank deformation detection method provided by the present invention is shown below. Figure 1 The method includes:

[0048] 11. Scan the outline of the tank to be tested and the base surface of the tank to be tested to obtain outline point cloud data and base surface point cloud data. Construct a tank model and base surface in the coordinate system based on the outline point cloud data and base surface point cloud data.

[0049] 12. Using a plane perpendicular to the Z-axis as the slicing plane, cut the tank model at equal intervals to obtain multiple slices, and obtain the slicing feature points of each slice, as well as cut the base surface to obtain the base circle;

[0050] 13. Based on the feature points of each slice, obtain their respective feature curves. Determine the fitting circle based on the feature curves. Determine the deformation detection result of the tank under test based on the fitting circle and the base circle.

[0051] Regarding steps 11-13, it should be noted that in this invention, any newly built or in-service vertical cylindrical storage tank in an oil depot or refinery tank area can be used as the storage tank to be tested. The tank type can include fixed roof, external floating roof, internal floating roof, and dome roof. The medium inside the tank can be liquids such as crude oil, refined oil, hazardous chemicals, and sewage. The tank volume is not limited.

[0052] After selecting the storage tank to be measured, a 3D laser scanner is used to scan the tank outline and base surface in the field, acquiring point cloud data of the outline and base surface. Point cloud data can be acquired using either an internal or external measurement method. The external measurement method requires placing the scanner outside the tank and setting up measurement stations and targets outside the tank, ensuring sufficient overlap between every two measurement stations and at least three common targets. The internal measurement method places the scanner inside the tank, such as at the center of the tank bottom plate; this method is suitable for measuring empty tanks.

[0053] 3D laser scanning can acquire the three-dimensional coordinates of the earth's surface and physical surfaces, and reconstruct curved surfaces and models by processing and manipulating large amounts of point cloud data. Using 3D laser scanning technology for non-contact scanning of storage tanks and their foundations can quickly acquire dense point clouds and images of the tank's exterior and foundation surfaces. It features short acquisition time, high accuracy (millimeter-level), strong autonomy, and intelligence, providing an efficient and simple online inspection method for storage tank structure measurement.

[0054] Preprocessing of the tank point cloud data and the base surface point cloud data includes stitching and denoising. The purpose of stitching is to transform the point cloud coordinates acquired by each station to the same coordinate system, stitching together a complete tank model and base surface. (See [link to tank model and base surface data] for details.) Figure 2 .

[0055] Since some point cloud data outside the tank structure or the base surface will be generated during the scanning process, noise removal is required to obtain an accurate tank model and base surface. The tank model is set on the base.

[0056] Point cloud data acquired by 3D laser scanning is in a local coordinate system centered on the survey station. The coordinate systems of point cloud data acquired from different stations are not unified. If multiple stations are deployed during the scanning process, the data from multiple stations need to be stitched together to unify them into the same coordinate system. Currently, there are two common methods to achieve coordinate system unification: ① First, register the data from multiple stations, then measure the geodetic coordinates of three or more targets, and directly convert the registered point cloud data to the geodetic coordinate system; ② Deploy three or more targets at each station and measure the geodetic coordinates of the targets, then directly convert the data from each station to the geodetic coordinate system. The second method is generally used, that is, deploying three or more targets at each station and directly performing geodetic coordinate transformation.

[0057] In this invention, the tank model needs to be cut at equal intervals to divide it into multiple slices. The cutting method is as follows: a plane perpendicular to the Z-axis is used as the slicing plane, and the base circle of the tank model is used as the initial position of the slices. This base circle is the circle formed by the large fillet weld between the tank's wall plate and bottom plate.

[0058] It should be noted that if local deformation occurs on the surface of the storage tank, the radius and ellipticity of the ring plate in the deformed area will change numerically. Therefore, it is necessary to extract this information by extracting the tank cross-section; this process is called tank cross-section information extraction. Since point clouds are spatially scattered, if a plane is directly used to extract this information instead of a cross-section slice, the calculation results cannot indicate whether deformation has occurred in the area where the plane is located. Therefore, it is necessary to use slices of a certain thickness to determine the deformation in that area.

[0059] In this invention, after acquiring multiple slices, it is necessary to extract the slice feature points of each slice, and then fit their respective feature curves based on these feature points. Finally, a fitting circle is determined based on these feature curves. (See also...) Figure 3 .

[0060] Correspondingly, the base surface also needs to be cut, and then the base circle is obtained by fitting the data points on the base surface.

[0061] In this invention, the deformation of the storage tank can be judged by reference to the tilt, verticality, cylindricity and settlement. To this end, the deformation detection result of the storage tank to be tested is determined based on the fitted circle and the base circle. The deformation detection result includes information on tilt, verticality, cylindricity and settlement.

[0062] The degree of deformation of the tank under test can be determined by the deformation detection results.

[0063] The tank deformation detection method provided by this invention acquires point cloud data of the tank and its base through laser scanning, obtains a tank model and base surface based on the point cloud data, slices the tank model, and obtains the fitted circle of the slice and the base circle of the base. Based on the fitted circle and the base circle, data analysis is performed to obtain the deformation detection results of the tank, and further predicts the degree of deformation of the tank. This method realizes integrated online detection and evaluation of the deformation of the tank body and the base. It has the characteristics of high detection and evaluation accuracy, short time consumption, simplicity and speed, strong operability, and wide applicability, making it convenient for engineering applications.

[0064] The further explanation of the above method mainly focuses on the process of obtaining the slice feature points of each slice, as detailed below:

[0065] Cut the target slice at the middle position using a slicing plane to divide the target slice into two sub-slices, which are the upper sub-slice and the lower sub-slice.

[0066] Determine the corresponding data point in the lower slice for each data point in the upper slice, and use the intersection of the line connecting the two data points and the slice plane as the slice feature point.

[0067] It should be noted that in this invention, each slice is processed using the aforementioned method for acquiring feature points. One slice is selected from multiple slices as the target slice to be processed.

[0068] See Figure 4 The slicing plane is Figure 4 Plane S is defined. A target slice G of thickness δ is equidistantly cut along the Z-axis, dividing it into an upper slice G1 and a lower slice G2. Feature points are generated for each slice using point cloud data from G1 and G2. The nearest point in the lower slice G2 corresponding to each data point in the upper slice G1 is identified. If the distance between the nearest point and its corresponding data point in the upper slice is less than a preset threshold, this nearest point is considered the corresponding data point in the upper slice. A line is then established between these two points, and the intersection point with this line is found on plane S, serving as one of the slice's feature points.

[0069] In this invention, each slice is cut again at equal intervals, so that the data points on the upper and lower slices are connected and intersected on the slice plane used for the second cutting. The intersection point is used as the feature point, which can make full use of the data points on each slice, so that the feature points fit each slice better and achieve accurate acquisition of feature points.

[0070] Furthermore, it should be noted that due to the scattered and disordered nature of point clouds, it is impossible to directly represent the tank's outline features based on the points falling on a plane. It is necessary to obtain tank point cloud slices using point clouds of a certain thickness. The slice thickness must be set sufficiently to meet the requirements for extracting cross-sectional information. If the thickness is too large, too many points will be retained in the slice, requiring excessive calculations and resulting in low efficiency. Additionally, because excessively thick slices contain too much cross-sectional information, the calculation results may not accurately represent the deformation of the tank's surface area. Conversely, if the thickness is too small, too few points will be extracted into the slice. If a segment of the tank's point cloud is missing from the slice, the fitted curve error will be large, and the curve will fail to reflect the tank's cross-sectional features. The optimal slice thickness is the tank wall thickness at the slice location.

[0071] The further explanation of the above method mainly focuses on the process of cutting the base surface to obtain a base circle, as detailed below:

[0072] Determine the base circle of the tank model, which is a circle around the large fillet weld between the wall plate and the bottom plate of the tank model.

[0073] The slicing plane passes through the center of the base circle, cuts into the substrate from the substrate surface, and generates the base circle on the slicing plane. The radius of the base circle is the radial distance from the center of the base circle to the outermost data point on the substrate surface.

[0074] It should be noted that in this invention, point cloud data of the base surface is extracted, and according to the determined base circle, the slicing plane is made to pass through the center of the base circle and be perpendicular to the Z-axis, and a base circle C with radius R1 is generated on the slicing plane, where R1 is the radial distance from the center of the base circle to the outermost data point on the base surface.

[0075] In this invention, the storage tank is set on the base. If the storage tank settles, the base circle passing through the center of the base circle will change. Therefore, the generated base circle needs to be analyzed to obtain the amount of settlement of the storage tank.

[0076] The further explanation of the above method mainly focuses on the processing of the deformation detection results of the tank under test based on the fitted circle and the base circle, as detailed below:

[0077] Based on any fitted circle and the base circle of the tank model, determine the inclination and verticality of the tank to be tested. The base circle is a circumference around the large fillet weld between the wall plate and the bottom plate of the tank model.

[0078] The cylindricity of the tank under test is determined based on any fitted circle.

[0079] The settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface.

[0080] It should be noted that in this invention, the base circle of the tank model is the large fillet weld between the tank wall and the bottom plate. This base circle is the standard for the bottom layer. To determine whether deformation has occurred on the tank wall at any height on the tank body, it is only necessary to determine whether the tank wall corresponding to a slice at a certain height has deformed. For this purpose, the height of the fitted circle corresponding to the slice and the center of the fitted circle are determined, the center of the base circle is determined, a line is established connecting the two centers, and the angle θ between the connecting line and the Z-axis is determined. This angle is used as the inclination of the tank under test. Then, the verticality of the tank under test is determined based on the height h and the angle θ. For example, verticality = h × tanθ. For details, please refer to [link to relevant documentation]. Figure 5 , Figure 5 The tilt and verticality can be clearly seen in the display position.

[0081] The permissible deviation requirements for verticality are as follows: a) The permissible deviation for tank wall verticality should not exceed 0.4% of the tank wall height, and should not exceed 50 mm. b) The permissible deviation for the verticality of the bottom wall panel should not exceed 3 mm.

[0082] Deformation of the tank wall corresponding to a slice in a layer will change the cylindricity of that slice. Therefore, the cylindricity of the tank under test is determined based on any fitted circle, specifically as follows:

[0083] Obtain the radius of the inner or outer wall of the tank corresponding to the fitted circle;

[0084] Obtain the distance from the fitting point of the fitted circle to the center of the circle;

[0085] The maximum deviation between the distance and the radius is determined as the cylindricity of the tank under test.

[0086] The permissible deviation requirements for cylindricity are as follows: a) The radius deviation measured at any point on the inner surface at a height of 1m above the bottom ring tank wall should not exceed the specifications in Table 1. b) The radius deviation measured above a height of 1m above the bottom ring tank wall should not exceed twice the deviations in Table 1.

[0087] In this invention, the settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface, specifically as follows:

[0088] The base circle is divided into equal parts, and the data point closest to the division point in the base surface point cloud data is determined. The closest data point is used as the feature point.

[0089] The coordinates of the feature point in the Z direction are used as the settlement of the tank under test.

[0090] It should be noted that dividing C into equal parts involves finding the points C1, C2, in the base point cloud that are the points C1, C2, and C3, the points C1, C2, and C3, respectively. i The nearest point A i A i These are feature points.

[0091] Ai The Z-axis coordinate value is the settlement, named U. i The uneven settlement of the base is:

[0092] S i =U i -(U i-1 +U i+1 ) / twenty one)

[0093] S i ≤11L 2 σ y / 2EH t (2)

[0094] In the formula: S i L represents the relative deformation; C is the dividing point. i The circumferential arc length between them; σ y E is the yield strength of the material; E is the elastic modulus; H is the yield strength of the material. t U represents the height of the oil tank. i For feature point A i The amount of settlement. S i If formula (2) is satisfied, the settlement of the tank foundation meets the requirements for safe operation; otherwise, it exceeds the standard.

[0095] The tank deformation detection device provided by the present invention is described below. The tank deformation detection device described below can be referred to in correspondence with the tank deformation detection method described above.

[0096] Figure 6 A schematic diagram of the structure of a storage tank deformation detection device provided by the present invention is shown below. Figure 6 The device includes an acquisition module 61, a processing module 62, and a detection module 63, wherein:

[0097] The acquisition module 61 is used to scan the outline of the tank under test and the base surface of the tank under test to obtain outline point cloud data and base surface point cloud data, and to construct a tank model and base surface in the coordinate system based on the outline point cloud data and base surface point cloud data.

[0098] The processing module 62 is used to cut the tank model at equal intervals to obtain multiple slices using a plane perpendicular to the Z-axis as the slicing plane, and to obtain the slicing feature points of each slice, and to cut the base surface to obtain a base circle.

[0099] The detection module 63 is used to fit the feature curves of each slice based on the slice feature points, determine the fitting circle based on the feature curves, and determine the deformation detection result of the tank under test based on the fitting circle and the base circle.

[0100] In a further description of the above device, the processing module, in the process of acquiring the slice feature points of each slice, is specifically used for:

[0101] The target slice is cut at the middle position using a slicing plane, dividing the target slice into two sub-slices, which are the upper sub-slice and the lower sub-slice.

[0102] Determine the corresponding data point in the lower slice for each data point in the upper slice, and use the intersection of the line connecting the two data points and the slice plane as the slice feature point.

[0103] In a further description of the above device, the processing module, in the process of cutting the substrate surface to obtain a substrate circle, is specifically used for:

[0104] Determine the base circle of the tank model, which is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model;

[0105] The slicing plane passes through the center of the base circle, cuts into the substrate from the substrate surface, and generates the base circle on the slicing plane. The radius of the base circle is the radial distance from the center of the base circle to the outermost data point on the substrate surface.

[0106] In a further description of the above device, the detection module, in the process of determining the deformation detection result of the tank under test based on the fitted circle and the base circle, is specifically used for:

[0107] Based on any fitted circle and the base circle of the tank model, determine the inclination and verticality of the tank to be tested. The base circle is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model.

[0108] The cylindricity of the tank under test is determined based on any fitted circle.

[0109] The settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface.

[0110] In a further description of the aforementioned device, the detection module, in the process of determining the inclination and verticality of the tank under test based on any fitted circle and the base circle of the tank model, is specifically used for:

[0111] Determine the height of the fitted circle corresponding to the slice, and the center of the fitted circle;

[0112] Determine the center of the base circle, establish a line connecting the two centers, and determine the angle between the line and the Z-axis. This angle is used as the inclination of the tank to be measured.

[0113] The verticality of the tank under test is determined based on the height and the included angle.

[0114] In a further description of the aforementioned device, the detection module, in the process of determining the cylindricity of the tank under test based on any fitted circle, is specifically used for:

[0115] Obtain the radius of the inner or outer wall of the tank corresponding to the fitted circle;

[0116] Obtain the distance from the fitting point of the fitted circle to the center of the circle;

[0117] The maximum deviation between the distance and the radius is determined as the cylindricity of the tank under test.

[0118] In a further description of the aforementioned device, the detection module, in the process of determining the settlement of the tank under test based on the base circle and the point cloud data of the base surface, is specifically used for:

[0119] The base circle is divided into equal parts, and the data point closest to the division point in the base surface point cloud data is determined. The closest data point is used as the feature point.

[0120] The coordinates of the feature points in the Z direction are used as the settlement of the tank under test.

[0121] Since the device described in this embodiment of the invention is based on the same principle as the method described in the above embodiments, more detailed explanations will not be repeated here.

[0122] It should be noted that, in the embodiments of the present invention, the relevant functional modules can be implemented by a hardware processor.

[0123] This invention provides a tank deformation detection device that acquires point cloud data of the tank and its base through laser scanning. Based on the point cloud data, a tank model and the base surface are obtained. The tank model is sliced, and the fitted circle of the slice and the base circle of the base are obtained. Data analysis is performed based on the fitted circle and the base circle to obtain the deformation detection results of the tank. The degree of deformation of the tank is further estimated. This device realizes integrated online detection and evaluation of the deformation of the tank body and the base. It has the characteristics of high detection and evaluation accuracy, short time consumption, simplicity and speed, strong operability, and wide applicability, making it convenient for engineering applications.

[0124] Figure 7 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 7As shown, the electronic device may include: a processor 71, a communication interface 72, a memory 73, and a communication bus 74, wherein the processor 71, the communication interface 72, and the memory 73 communicate with each other through the communication bus 74. The processor 71 can call logical instructions in the memory 73 to execute the following methods: scanning the contour of the tank under test and the base surface of the tank under test to obtain contour point cloud data and base surface point cloud data; constructing a tank model and base surface in a coordinate system based on the contour point cloud data and base surface point cloud data; cutting the tank model at equal intervals using a plane perpendicular to the Z-axis as a slicing plane to obtain multiple slices, and obtaining the slice feature points of each slice; cutting the base surface to obtain a base circle; fitting characteristic curves based on the slice feature points of each slice; determining the fitting circle based on the characteristic curves; and determining the deformation detection result of the tank under test based on the fitting circle and the base circle.

[0125] Furthermore, the logical instructions in the aforementioned memory 73 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0126] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the methods provided by the above methods, the method comprising: scanning the contour of the tank to be tested and the base surface of the tank to be tested to obtain contour point cloud data and base surface point cloud data; constructing a tank model and base surface in a coordinate system based on the contour point cloud data and base surface point cloud data; cutting the tank model at equal intervals using a plane perpendicular to the Z-axis as a slicing plane to obtain multiple slices, and obtaining slice feature points of each slice; cutting the base surface to obtain a base circle; fitting characteristic curves of each slice based on the slice feature points of each slice; determining a fitting circle based on the characteristic curves; and determining the deformation detection result of the tank to be tested based on the fitting circle and the base circle.

[0127] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods provided in the above embodiments, including, for example,: scanning the contour of the tank under test and the base surface of the tank under test to obtain contour point cloud data and base surface point cloud data; constructing a tank model and a base surface in a coordinate system based on the contour point cloud data and the base surface point cloud data; cutting the tank model at equal intervals using a plane perpendicular to the Z-axis as a slicing plane to obtain multiple slices, and obtaining the slice feature points of each slice; cutting the base surface to obtain a base circle; fitting a feature curve based on the slice feature points of each slice; determining a fitting circle based on the feature curve; and determining the deformation detection result of the tank under test based on the fitting circle and the base circle.

[0128] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting deformation of a storage tank, characterized in that, include: The outline of the tank under test and the base surface of the tank under test are scanned to obtain outline point cloud data and base surface point cloud data. Based on the outline point cloud data and base surface point cloud data, a tank model and base surface in a coordinate system are constructed. Using a plane perpendicular to the Z-axis as the slicing plane, the tank model is cut at equal intervals to obtain multiple slices, and the slicing feature points of each slice are obtained. The base surface is also cut to obtain a base circle. Each feature curve is obtained by fitting the feature points of each slice, a fitting circle is determined based on the feature curve, and the deformation detection result of the tank under test is determined based on the fitting circle and the base circle. The step of determining the deformation detection result of the storage tank under test based on the fitted circle and the base circle includes: Based on any fitted circle and the base circle of the tank model, determine the inclination and verticality of the tank to be tested. The base circle is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model. The cylindricity of the tank under test is determined based on any fitted circle. The settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface. The step of determining the settlement of the tank under test based on the base circle and the point cloud data of the base surface includes: The base circle is divided into equal parts, and the data point closest to the division point in the base surface point cloud data is determined. The closest data point is used as the feature point. The coordinates of the feature points in the Z direction are used as the settlement of the tank under test. The step of determining the tilt and verticality of the tank under test based on any fitted circle and the base circle of the tank model includes: Determine the height of the fitted circle corresponding to the slice, and the center of the fitted circle; Determine the center of the base circle, establish a line connecting the two centers, and determine the angle between the line and the Z-axis. This angle is used as the inclination of the tank to be measured. The verticality of the tank under test is determined based on the height and the included angle. The step of determining the cylindricity of the tank under test based on any fitted circle includes: Obtain the radius of the inner or outer wall of the tank corresponding to the fitted circle; Obtain the distance from the fitting point of the fitted circle to the center of the circle; The maximum deviation between the distance and the radius is determined as the cylindricity of the tank under test.

2. The tank deformation detection method according to claim 1, characterized in that, The step of obtaining the slice feature points of each slice includes: The target slice is cut at the middle position using the slicing plane, dividing the target slice into two sub-slices, which are the upper sub-slice and the lower sub-slice. Determine the corresponding data point in the lower slice for each data point in the upper slice, and use the intersection of the line connecting the two data points and the slice plane as the slice feature point.

3. The tank deformation detection method according to claim 1, characterized in that, The step of cutting the base surface to obtain a base circle includes: Determine the base circle of the tank model, which is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model; The slicing plane passes through the center of the base circle, cuts into the substrate from the substrate surface, and generates the base circle on the slicing plane. The radius of the base circle is the radial distance from the center of the base circle to the outermost data point on the substrate surface.

4. A storage tank deformation detection device, characterized in that, include: The acquisition module is used to scan the outline of the tank under test and the base surface of the tank under test to obtain outline point cloud data and base surface point cloud data, and to construct a tank model and base surface in a coordinate system based on the outline point cloud data and base surface point cloud data. The processing module is used to cut the tank model into multiple slices at equal intervals using a plane perpendicular to the Z-axis as the slicing plane, and to obtain the slicing feature points of each slice, as well as to cut the base surface to obtain a base circle. The detection module is used to fit the feature curves of each slice based on the slice feature points, determine the fitting circle based on the feature curves, and determine the deformation detection result of the tank under test based on the fitting circle and the base circle. The step of determining the deformation detection result of the storage tank under test based on the fitted circle and the base circle includes: Based on any fitted circle and the base circle of the tank model, determine the inclination and verticality of the tank to be tested. The base circle is the circumference of the large fillet weld between the wall plate and the bottom plate of the tank model. The cylindricity of the tank under test is determined based on any fitted circle. The settlement of the tank under test is determined based on the base circle and the point cloud data of the base surface. The step of determining the settlement of the tank under test based on the base circle and the point cloud data of the base surface includes: The base circle is divided into equal parts, and the data point closest to the division point in the base surface point cloud data is determined. The closest data point is used as the feature point. The coordinates of the feature points in the Z direction are used as the settlement of the tank under test. The step of determining the tilt and verticality of the tank under test based on any fitted circle and the base circle of the tank model includes: Determine the height of the fitted circle corresponding to the slice, and the center of the fitted circle; Determine the center of the base circle, establish a line connecting the two centers, and determine the angle between the line and the Z-axis. This angle is used as the inclination of the tank to be measured. The verticality of the tank under test is determined based on the height and the included angle. The step of determining the cylindricity of the tank under test based on any fitted circle includes: Obtain the radius of the inner or outer wall of the tank corresponding to the fitted circle; Obtain the distance from the fitting point of the fitted circle to the center of the circle; The maximum deviation between the distance and the radius is determined as the cylindricity of the tank under test.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the tank deformation detection method as described in any one of claims 1 to 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the tank deformation detection method as described in any one of claims 1 to 3.

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