Blow-up control method and device for tank roof, electronic equipment and storage medium

Abstract

The application discloses a blow-up control method and device for a tank roof, an electronic device and a storage medium. The method comprises the following steps: taking a picture of the tank roof in the vertical direction directly above the tank roof during the process of blowing up the tank roof from a first position to a second position; extracting a tank roof line on the tank roof at the current moment and a reference line closest to the tank roof at the current moment in the picture of the tank roof in the vertical direction; and controlling the balance of the tank roof at the current moment according to the tank roof line on the tank roof at the current moment and the reference line closest to the tank roof at the current moment. The embodiment of the application can not only control the balance of the tank roof in a timely and accurate manner during the process of blowing up the tank roof, but also can save labor cost and improve the measurement efficiency.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of electromechanical engineering, and in particular to a blow-up control method and device for a storage tank roof, an electronic device, and a storage medium. BACKGROUND

[0002] A storage tank in a construction project is a container for storing liquids or gases. Storage tanks are widely used in industrial fields, such as the petroleum, chemical, and food processing industries. Depending on the properties and requirements of the stored substances, storage tanks can be designed with different materials and structures.

[0003] In a project construction plan, the gas blow-up of the tank roof is a technical difficulty of the entire storage tank project. Before the blow-up work, the curvature, levelness, perpendicularity, and sealing of the storage tank are strictly and carefully checked. A good balance system and sealing system are the key to successful roof lifting. After the tank roof reaches the top, wedges are used to fix the dome and install it on the compression ring, and then welding begins. The dome is securely installed on the storage tank.

[0004] In previous project practices, the balance of the tank roof was often measured manually. Eight measurement points were set on the top of the storage tank, each spaced 45° apart. During the lifting of the tank roof, eight measurement monitoring points were set at the compression ring, and eight workers were assigned to each point. One end of the scale was fixed to the perimeter of the tank roof at the same radius, and the other end was controlled by the measurement personnel. At this time, the reading of the scale against the tank wall plane is the distance between the tank roof edge and the uppermost part of the tank wall. The maximum value minus the minimum value of the distance measured at the eight points is approximately equal to the inclination of the tank roof. This method has the following two shortcomings: first, the two points with the largest inclination height difference may not fall within the eight measurement points. The inclination obtained by simply subtracting the maximum value from the minimum value cannot represent the true inclination height difference. Second, eight workers are needed to read the scale readings in real time during the lifting of the tank roof. Manual reading has a large error and poor measurement accuracy, and it is also labor-intensive. SUMMARY

[0005] The present application provides a blow-up control method and device for a storage tank roof, an electronic device, and a storage medium. The balance of the tank roof can be controlled accurately and timely during the blow-up of the tank roof, while saving labor costs and improving measurement efficiency.

[0006] In a first aspect, embodiments of the present application provide a blow-up control method for a storage tank roof, the storage tank including a tank body and a tank roof, the method comprising:

[0007] During the blow-up of the tank roof from a first position to a second position, a picture of the tank roof in the vertical direction is taken directly above the tank roof.

[0008] extracting a tank top line of the tank top at the current time and a reference line closest to the tank top at the current time in the picture respectively;

[0009] controlling a balance degree of the tank top at the current time according to the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time.

[0010] In a second aspect, the embodiments of the present application further provide a blow-up control device for a tank top, the device comprising: a photographing module, an extracting module and a control module, wherein,

[0011] The photographing module is configured to photograph a picture of the tank top in a vertical direction directly above the tank top during a process in which the tank top is blown up from a first position to a second position.

[0012] The extracting module is configured to extract a tank top line of the tank top at a current time and a reference line closest to the tank top at the current time in the picture respectively.

[0013] The control module is configured to control a balance degree of the tank top at the current time according to the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time.

[0014] In a third aspect, the embodiments of the present application provide an electronic device, comprising:

[0015] one or more processors;

[0016] a memory configured to store one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the blow-up control method for a tank top according to any of the embodiments of the present application.

[0018] In a fourth aspect, the embodiments of the present application provide a storage medium having a computer program stored thereon, the program being executed by a processor to implement the blow-up control method for a tank top according to any of the embodiments of the present application.

[0019] The embodiment of the present application provides a blow-up control method, device, electronic equipment and storage medium of a tank roof. In the process of blowing up the tank roof from a first position to a second position, a picture of the tank roof in a vertical direction is first shot above the tank roof; then a tank roof line of the tank roof at a current moment and a reference line closest to the tank roof at the current moment are extracted in the picture; and finally, the balance degree of the tank roof at the current moment is controlled according to the tank roof line of the tank roof at the current moment and the reference line closest to the tank roof at the current moment. That is to say, in the technical solution of the present application, the inclination degree of the tank roof at the current moment can be determined by extracting the tank roof line and the reference line in the picture, so that the balance degree of the tank roof at the current moment can be controlled. In the prior art, eight workers are required to read the scale readings in real time. Since the manual reading error is large, the measurement accuracy of the prior method is poor, and a lot of manpower is required. Therefore, compared with the prior art, the blow-up control method, device, electronic equipment and storage medium of the tank roof provided by the embodiment of the present application can not only control the balance degree of the tank roof in time and accurately, but also save the labor cost and improve the measurement efficiency. Moreover, the technical solution of the embodiment of the present application is simple and convenient, easy to popularize, and has a wider application range. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A first flowchart of a blow-up control method of a tank roof provided by the embodiment of the present application;

[0021] Figure 2 An effect diagram of shooting a picture of a tank roof in a vertical direction above the tank roof provided by the embodiment of the present application;

[0022] Figure 3 An effect diagram of adding a texture to an inner wall of a tank body provided by the embodiment of the present application;

[0023] Figure 4 A second flowchart of a blow-up control method of a tank roof provided by the embodiment of the present application;

[0024] Figure 5 A flowchart of a tank roof line and a reference line extraction method provided by the embodiment of the present application;

[0025] Figure 6 A third flowchart of a blow-up control method of a tank roof provided by the embodiment of the present application;

[0026] Figure 7 A texture simulation diagram of a tank roof provided by the embodiment of the present application;

[0027] Figure 8 A structure diagram of a blow-up control device of a tank roof provided by the embodiment of the present application;

[0028] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0030] Example 1

[0031] Figure 1 This is a first flowchart illustrating a method for controlling the blowing up of a storage tank top according to an embodiment of this application. This method can be executed by a blowing up control device or electronic equipment on the tank top. This device or electronic equipment can be implemented in software and / or hardware, and can be integrated into any smart device with network communication capabilities. Figure 1 As shown, the method for controlling the blowing up of the tank top may include the following steps:

[0032] S101. During the process of blowing the top of the can from the first position to the second position, take a picture of the top of the can in the vertical direction directly above it.

[0033] In this step, as the can top is inflated from the first position to the second position, electronic equipment can capture a vertical image of the can top directly above it. For example, the electronic equipment can use a drone to capture a vertical image of the can top directly above it. The distance between the drone and the can top is fixed, and the drone rises synchronously with the can top as it is inflated from the first position to the second position. Figure 2 This is a schematic diagram illustrating the effect of taking a vertical image of the top of the can directly above it, as provided in an embodiment of this application. For example... Figure 2 As shown, this application can write a trajectory planning program to control the drone to move directly above the top of the tank, with the camera pointing vertically downwards, and take a picture of the top of the tank in the vertical direction by the drone directly above the top of the tank.

[0034] In this embodiment, the first position refers to the position of the can top at the bottom of the can body, that is, the position of the can top before it is blown up; the second position refers to the position of the can top at the top of the can body, that is, the position of the can top after it is blown up. Specifically, during the process of blowing the can top from the first position to the second position, the electronic device can take pictures of the can top in the vertical direction directly above the can top at a predetermined cycle.

[0035] S102, extract a tank top line of the tank top at the current moment and a reference line closest to the tank top at the current moment in the picture respectively.

[0036] In this step, the electronic device can extract a tank top line of the tank top at the current moment and a reference line closest to the tank top at the current moment in the picture respectively. The tank top line refers to the intersection line of the edge of the tank top and the inner wall of the tank body; the reference line refers to a line with the same height as the horizontal plane that is added in advance on the tank body. At the current moment, there is only one tank top line; there can be multiple reference lines, but there is only one reference line closest to the tank top line.

[0037] Figure 3 An effect schematic diagram of adding a texture on the inner wall of the tank body is provided for the embodiments of the present application. As shown in Figure 3 Since the color of the storage tank model in Gazebo is gray, the texture detail information is also gray and difficult to observe. In order to realize the effect of the wall plate reference line in the actual field in the simulation, the present application can use the Blender mapping method to add a reference line every 3 meters in the vertical direction on the inner wall of the tank body.

[0038] In one embodiment, when the tank top line of the tank top at the current moment is extracted in the picture, the following method can be used: first, convert the picture from the red-green-blue (RGB) color space to the hue-saturation-brightness (HSV) color space to obtain a picture in the HSV color space; then separate the tank top area from the picture in the HSV color space according to a pre-determined parameter range of HSV; and then perform ellipse fitting on the contour of the tank top area to obtain the tank top line of the tank top at the current moment.

[0039] In one embodiment, when the reference line closest to the tank top at the current moment is extracted in the picture, the following method can be used: first, extract all texture information in the picture; then remove unimportant texture information from all the texture information to obtain important texture information; and then extract the reference line closest to the tank top at the current moment in the picture based on the important texture information. Further, when the electronic device removes unimportant texture information from all the texture information, it can first remove the texture information inside the tank top from all the texture information to obtain texture information after removing interference; and then remove unimportant texture information from the texture information after removing interference to obtain important texture information. For example, the wall plate of the tank body can include a girth seam and a longitudinal seam, and the present application can remove the longitudinal seam as unimportant texture information to obtain important texture information.

[0040] S103, control the balance degree of the tank top at the current moment according to the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment.

[0041] In this step, the electronic device can control the balance of the tank top at the current moment based on the tank top line at the current moment and the reference line closest to the tank top at the current moment. Specifically, the electronic device can first perform ellipse fitting on the tank top line at the current moment to obtain the center of the tank top; then, draw a straight line through the center of the tank top at predetermined angle intervals, obtaining the intersection point of each straight line with the tank top line at the current moment and the intersection point of each straight line with the reference line closest to the tank top at the current moment; and then control the balance of the tank top at the current moment based on the intersection points of each straight line with the tank top line at the current moment and the reference line closest to the tank top at the current moment.

[0042] The tank top blowing control method proposed in this application involves taking a vertical image of the tank top directly above it during the process of blowing the tank top from a first position to a second position. Then, the tank top line and the reference line closest to the tank top at the current moment are extracted from this image. Finally, the balance of the tank top at the current moment is controlled based on these two reference lines. In other words, the tilt degree of the tank top at the current moment can be determined by extracting the tank top line and reference line from the image, thereby controlling the balance of the tank top at that moment. In contrast, existing technologies rely on eight workers to read scale readings in real time. Due to the large error in manual readings, the measurement accuracy of existing methods is poor, and they are also labor-intensive. Therefore, compared with the prior art, the tank top blowing control method proposed in this application can not only control the balance of the tank top in a timely and accurate manner, but also save labor costs and improve measurement efficiency; moreover, the technical solution of this application is simple and convenient to implement, easy to popularize, and has a wider range of applications.

[0043] Example 2

[0044] Figure 4 This is a second flowchart illustrating the tank top blowing control method provided in this application embodiment. Further optimizations and extensions are possible based on the above technical solution, and it can be combined with the various optional implementation methods described above. For example... Figure 4 As shown, the method for controlling the blowing up of the tank top may include the following steps:

[0045] S401. During the process of blowing the top of the can from the first position to the second position, take a picture of the top of the can in the vertical direction directly above it.

[0046] S402. Convert the image from the RGB color space to the HSV color space to obtain an image in the HSV color space.

[0047] In this step, the electronic device can convert the picture from the RGB color space to the HSV color space, obtaining a picture in the HSV color space. In the HSV color space, adjusting the hue can directly change the color of the picture without affecting the saturation and brightness. This is very useful for some picture processing tasks, such as picture segmentation and target detection, which only need to process specific colors and do not care about brightness. Compared with the RGB color space, the HSV color space is more resistant to the influence of light changes. In the RGB color space, the RGB values of the same object under different light conditions will change greatly, while in the HSV color space, the brightness can be better kept unchanged, reducing the influence of light changes on picture processing tasks.

[0048] RGB color space is a way to represent colors by combining the brightness and chroma of three basic colors: red, green, and blue. In the RGB color space, the value range of each basic color is 0 to 255. Among them, 0 represents the lowest brightness or no component of that color, and 255 represents the highest brightness or the largest proportion of the color component. By combining the values of the three basic colors, other colors can be generated. For example, if you want to get red, you can set the value of red to 255 and the values of green and blue to 0. If you want to get yellow, you can set the values of red and green to 255 and the value of blue to 0. By adjusting the values of different basic colors, a rich color effect can be produced, and by adjusting the proportion of each color component, parameters such as brightness and saturation can be adjusted to achieve more color display effects.

[0049] HSV color space is a model that represents colors as hue, saturation, and value. It is an intuitive way of representing colors and is commonly used in computer graphics, image processing, and computer vision. In the HSV space, hue represents the type of color and is represented by an angle from 0 to 360 degrees. In the HSV space, red is 0 degrees, green is 120 degrees, and blue is 240 degrees. By changing the hue, the type of color can be changed. Saturation represents the purity or intensity of the color and is represented by a percentage from 0 to 100%. When the saturation is low, the color is closer to gray; when the saturation is high, the color is more vibrant. Value represents the brightness or lightness of the color and is represented by a percentage from 0 to 100%. When the value is low, the color is darker; when the value is high, the color is brighter.

[0050] S403, separating the top region of the can from the picture in the HSV color space according to the predetermined parameter range of HSV.

[0051] In this step, the electronic device can separate the can top region from the picture in the HSV color space according to the predetermined parameter range of HSV. Specifically, the electronic device can create a mask according to the parameter range of HSV. The mask is a binary picture of the same size as the original picture, in which the pixels matching the color of the can top are set to white (255), and other pixels are set to black (0). The can top region is separated from the original picture using the mask, specifically, the original picture can be bitwise ANDed with the mask to achieve this, which will retain the white pixels in the mask, i.e. the can top region, and change other pixels to black.

[0052] S404, ellipse fitting is performed on the contour of the can top region to obtain a can top line of the can top at the current time.

[0053] In this step, the electronic device can perform ellipse fitting on the contour of the can top region to obtain a can top line of the can top at the current time. Ellipse fitting is a mathematical method for determining the parameters of the best-fitting ellipse for a given set of data points. By fitting an ellipse, the center coordinates, long and short axis lengths, rotation angle, and other parameters of the ellipse can be determined to describe the distribution of the data points. The method of ellipse fitting can be based on the idea of least squares, by minimizing the sum of the distances from the data points to the boundary of the ellipse to find the best-fitting ellipse. Common ellipse fitting methods include direct methods and iterative methods. Specifically, the direct method is to substitute the ellipse equation and the coordinates of the given data points into an equation set for solving parameters, and to obtain the parameters of the best-fitting ellipse by solving the equation set. The iterative method adjusts the initial value of the ellipse parameters continuously, so that the distance between the fitted ellipse boundary and the given data points gradually decreases, and finally the best-fitting ellipse parameters are obtained.

[0054] S405, all texture information in the picture is extracted.

[0055] In this step, the electronic device can extract all the texture information in the picture. The texture information in the picture refers to various details, textures and organizational structures presented in the picture. It can be formed by the brightness, color or texture of the pixels, and can describe various visual features of a surface. Texture can be a specific physical material, such as wood, cloth, metal, etc., or an abstract geometric shape or pattern. Texture information can provide rich visual features in image processing and computer vision, and is widely used in image recognition, segmentation, synthesis and three-dimensional rendering. In digital images, texture information can be extracted by statistical methods, frequency domain analysis or convolution operations.

[0056] S406, removing unimportant texture information from all texture information to obtain important texture information.

[0057] In this step, the electronic device can remove unimportant texture information from all texture information to obtain important texture information. Specifically, the electronic device can first remove the texture information inside the top of the tank from all texture information to obtain texture information after removing interference; and then remove unimportant texture information from the texture information after removing interference to obtain important texture information.

[0058] S407, extracting the reference line closest to the top of the tank at the current moment in the picture based on the important texture information.

[0059] In this step, the electronic device can extract the reference line closest to the top of the tank at the current moment in the picture based on the important texture information. Specifically, the electronic device can operate as follows: 1) picture preprocessing: pre-processing the picture to remove noise and enhance texture information. This can be done using filters or enhancement algorithms provided in image processing software or programming languages. Some common preprocessing steps include grayscale, smoothing filtering and edge detection. 2) feature extraction: using feature extraction algorithms to capture texture information in the picture. A commonly used method is to use the local binary pattern algorithm, which can compare the local texture of each pixel with its surrounding pixels and encode it as a binary number. 3) reference line extraction: identify the reference line closest to the top of the tank by comparing the texture values in the feature map. The distance between each pixel in the feature map and the top of the tank can be calculated using the pixel distance measurement method, and the shortest distance can be used to determine the reference line closest to the top of the tank.

[0060] Figure 5 The flowchart of the extraction method of the top line of the tank and the reference line provided by the embodiments of the present application is shown in FIG. 1. Figure 5 As shown in FIG. 1, when extracting the top line of the tank at the current moment in the picture, the following method can be used: first, convert the picture from the RGB color space to the HSV color space to obtain the picture in the HSV color space; then separate the top area from the picture in the HSV color space according to the pre-determined parameter range of HSV; and then perform ellipse fitting on the contour of the top area to obtain the top line of the tank at the current moment. When extracting the reference line closest to the top of the tank at the current moment in the picture, the following method can be used: first, extract all texture information in the picture, which can be done by using adaptive thresholding. Then remove unimportant texture information from all texture information to obtain important texture information, which can be done by using the contour of the top area to remove texture information inside the top to reduce interference; and then use operations such as erosion and dilation to remove unimportant texture information and strengthen important texture information. Then, based on the important texture information, extract the reference line closest to the top of the tank at the current moment in the picture, which can be done by using ellipse fitting to obtain the reference line closest to the top of the tank at the current moment.

[0061] S408, according to the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment, the balance degree of the tank top at the current moment is controlled.

[0062] In this step, the electronic device can control the balance degree of the tank top at the current moment according to the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment. Specifically, the electronic device can first perform elliptical fitting on the tank top line of the tank top at the current moment to obtain the center of the tank top; then draw a straight line every predetermined angle through the center of the tank top to obtain the intersection of each straight line with the tank top line of the tank top at the current moment and the intersection of the reference line closest to the tank top at the current moment; and then control the balance degree of the tank top at the current moment according to the intersection of each straight line with the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment.

[0063] The blow-up control method of the tank top of the storage tank provided in the embodiments of the present application first takes a picture of the tank top in the vertical direction directly above the tank top during the process of the tank top blowing up from the first position to the second position; then extracts the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment in the picture; and then controls the balance degree of the tank top at the current moment according to the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment. That is, in the technical solution of the present application, the inclination degree of the tank top at the current moment can be determined by extracting the tank top line and the reference line in the picture, so that the balance degree of the tank top at the current moment can be controlled. In the existing technology, however, only eight workers can read the scale readings in real time, and since the manual reading error is large, the measurement accuracy of the existing method is poor, and it is also labor-intensive. Therefore, compared with the existing technology, the blow-up control method of the tank top of the storage tank provided in the embodiments of the present application not only can control the balance degree of the tank top in time and accurately, but also can save labor cost and improve measurement efficiency; and the technical solution of the embodiments of the present application is simple and convenient to implement, easy to popularize, and has a wider application range.

[0064] Embodiment Three

[0065] Figure 6 The third flowchart of the blow-up control method of the tank top of the storage tank provided in the embodiments of the present application is based on the above technical solution and is further optimized and expanded, and can be combined with the above various optional embodiments. As shown in the figure, the blow-up control method of the tank top of the storage tank can include the following steps: Figure 6

[0066] S601, during the process of the tank top blowing up from the first position to the second position, a picture of the tank top in the vertical direction is taken directly above the tank top.​

[0067] S602, respectively extract a tank top line of the tank top at the current moment and a reference line closest to the tank top at the current moment in the picture.

[0068] S603, perform elliptical fitting on the tank top line of the tank top at the current moment to obtain the center of the tank top.

[0069] In this step, the electronic device can perform elliptical fitting on the tank top line of the tank top at the current moment to obtain the center of the tank top. The method of elliptical fitting can be based on the idea of least squares, and the best fitting ellipse is found by minimizing the sum of the distances from the data points to the ellipse boundary. Common elliptical fitting methods include direct methods and iterative methods.

[0070] S604, draw a straight line every interval of a predetermined angle through the center of the tank top to obtain the intersection point of each straight line with the tank top line of the tank top at the current moment and the intersection point of each straight line with the reference line closest to the tank top at the current moment.

[0071] S605, control the balance degree of the tank top at the current moment according to the intersection points of each straight line with the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment.

[0072] In this step, the electronic device can control the balance degree of the tank top at the current moment according to the intersection points of each straight line with the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment. Specifically, the electronic device can calculate the distance between the intersection point of each straight line with the tank top line of the tank top at the current moment and the intersection point of each straight line with the reference line closest to the tank top at the current moment; if the difference between the distances of any two straight lines with the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment is outside the error range, the electronic device can control the balance degree of the tank top at the current moment so that the distances of any two straight lines with the tank top line of the tank top at the current moment and the reference line closest to the tank top at the current moment are equal. The error range in the embodiments of the present application is a pre-set distance, for example, the error range in the embodiments of the present application can be 20 cm. Further, when calculating the distance between the intersection point of each straight line with the tank top line of the tank top at the current moment and the intersection point of each straight line with the reference line closest to the tank top at the current moment, the electronic device can first obtain the pixel point of the intersection point of each straight line with the tank top line of the tank top at the current moment and the pixel point of the intersection point of each straight line with the reference line closest to the tank top at the current moment; then according to the pixel point of the intersection point of each straight line with the tank top line of the tank top at the current moment and the pixel point of the intersection point of each straight line with the reference line closest to the tank top at the current moment, the distance between the intersection point of each straight line with the tank top line of the tank top at the current moment and the intersection point of each straight line with the reference line closest to the tank top at the current moment is calculated.

[0073] Figure 7 The texture simulation diagram of the tank top provided by the embodiment of the present application is shown in the following figure. Figure 7 As shown in the figure, after the tank top line and the reference line are obtained, the tank top line can be subjected to elliptical fitting to find the center of the tank top; then a straight line is made every 4.5° through the tank top center to intersect the tank top line and the reference line, respectively, and the intersection points of the tank top line and the reference line are connected by solid lines, the length of which indirectly represents the distance of the tank top line to the reference line in the vertical direction. When the tank top is tilted, the lengths of the solid lines in each direction will not be equal, and at the same time, through certain conversion and calculation of the lengths of the solid lines, the maximum tilt height difference of the tank top can be determined more accurately.

[0074] Preferably, the calculation result of the embodiment of the present application can also be verified. Figure 7 The length of the solid line in the picture is the distance between the pixel points in the picture, which corresponds to the actual space distance, and can be indirectly converted into the distance of the tank top line to the reference line in the vertical direction in the actual space through a certain relationship. The relationship between them is represented by the following formula: D=P×K; wherein D represents the distance of the tank top line to the reference line in the vertical direction in the actual space; P represents the length of the solid line in the picture; K represents the distance in the actual space corresponding to 1 pixel in the picture. Since the distance of the unmanned aerial vehicle from the tank top is fixed, this K value can be approximated as a constant. Through testing, it is obtained that when the unmanned aerial vehicle is 12 m away from the tank top, the K value in the simulation environment is 2.6 cm, that is, the length of 1 pixel point in the solid line corresponds to a distance of 2.6 cm in the actual space. Since the number of straight lines made in the picture processing is sufficient, it can be approximately considered that the maximum value of the solid line length minus the minimum value multiplied by the actual distance represented by a pixel point is the maximum height difference of the tank top. In the simulation process, the tilting angle of the tank top can be changed to simulate the tilting situation that may occur during the tank top lifting process in the actual project. Here, the maximum tilt height difference is obtained by multiplying the diameter of the tank top by the sine value of the tilt angle, and by setting different tilt angles, the tilt height difference measured by the unmanned aerial vehicle is compared with the known height difference to verify the reliability of the scheme.

[0075] The present application is suitable for qualitative and quantitative measurement of the degree of tank top tilt, and has the following advantages: 1) Compared with the scheme of reading the scale by the unmanned aerial vehicle, it does not need to rotate one round, but can determine the tilt degree of the tank top by taking one picture, without considering the lifting amount of the tank top during shooting, and has higher reliability in actual application; 2) It does not need to hang the ruler, saving manpower, and can also avoid the situation that the hung ruler is not straight.

[0076] The blow-up control method for the tank roof provided by the embodiments of the present application first takes a picture of the tank roof in the vertical direction directly above the tank roof in the process of the tank roof being blown up from a first position to a second position; then extracts the tank roof line of the tank roof at the current time and the reference line closest to the tank roof at the current time in the picture respectively; and then controls the balance degree of the tank roof at the current time according to the tank roof line of the tank roof at the current time and the reference line closest to the tank roof at the current time. That is, in the technical solution of the present application, the inclination degree of the tank roof at the current time can be determined by extracting the tank roof line and the reference line in the picture, so that the balance degree of the tank roof at the current time can be controlled. In the prior art, the readings of the scale ruler are read by eight workers in real time. Since the manual reading error is large, the measurement accuracy of the existing method is poor, and it is labor-intensive. Therefore, compared with the prior art, the blow-up control method for the tank roof provided by the embodiments of the present application not only can control the balance degree of the tank roof in a timely and accurate manner, but also can save labor costs and improve measurement efficiency; and the technical solution of the embodiments of the present application is simple and convenient to implement, easy to popularize, and has a wider application range.

[0077] Embodiment Four

[0078] Figure 8 The structure diagram of the blow-up control device for the tank roof provided by the embodiments of the present application is shown in the figure. Figure 8 As shown in the figure, the blow-up control device for the tank roof comprises a shooting module 801, an extraction module 802 and a control module 803; wherein,

[0079] The shooting module 801 is configured to take a picture of the tank roof in the vertical direction directly above the tank roof in the process of the tank roof being blown up from a first position to a second position.

[0080] The extraction module 802 is configured to extract the tank roof line of the tank roof at the current time and the reference line closest to the tank roof at the current time in the picture respectively.

[0081] The control module 803 is configured to control the balance degree of the tank roof at the current time according to the tank roof line of the tank roof at the current time and the reference line closest to the tank roof at the current time.

[0082] The blow-up control device for the tank roof described above can execute the method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment can be referred to the blow-up control method for the tank roof provided by any embodiment of the present application.

[0083] Embodiment Five

[0084] Figure 9This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 9 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present application is shown. Figure 9 The electronic device 12 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0085] like Figure 9 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0086] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0087] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0088] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 9 Not shown; usually referred to as a "hard drive"). Although Figure 9 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application.

[0089] Program / utility 40 having a set of program modules 42 can be stored in memory 28 by way of example, such program modules 42 include an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, which may

[0090] Electronic device 12 can also communicate with one or more external devices 14 such as a keyboard or pointing device, a display 24, etc.; one or more devices that enable a user to interact with electronic device 12; and / or one or more devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface(s) 22. Still yet, electronic device 12 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the Internet) through network adapter 20. As an example, network adapter 20 can include a modem, a network card (wireless or wired), or other well-known interface devices. Wireless connection can also be implemented using Bluetooth® technology, WiFi technology, or other technologies. It will be appreciated that, although not shown, other hardware and / or software components could be used in conjunction with electronic device 12. Such components not only enhance the performance of electronic device 12, but can also perform other Figure 9 It should be appreciated that the software modules described herein can be stored in the memory 28 of the electronic device 12 and loaded into the memory 28 at the appropriate time. These software modules, when executed by the processor 16, generate the processes that enable the electronic device 12 to implement the methods described herein. The software modules can also be loaded into memory 28 when needed for processing during execution. In addition, while the software modules are described herein as to be stored in memory 28, one or more of the software modules can be stored on the storage device 30 and loaded into memory 28 when needed for processing. The processes performed by the software modules can be implemented in an operating system, application, firmware, or any combination thereof. Various portions of the software modules can also include multiple different software modules. The software modules can be written in any of a number of programming languages, including but not limited to C, C++, Java, and / or the like.

[0091] The processing unit 16 performs various functions and data processing by running programs stored in the system memory 28, such as implementing the blow-up control method of the tank roof provided in the embodiments of the present application.

[0092] Embodiment six

[0093] The embodiments of the present application provide a computer storage medium.

[0094] The computer readable storage medium of the embodiments of the present application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may, for example, but is not limited to, an electrical, a magnetic, an optical, an electromagnetic, an infrared, or a semiconductor system, device or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device.

[0095] The computer readable signal medium can include a computer readable program code in a baseband or propagated as a carrier wave in a propagation medium. Such a propagated signal can take a wide variety of forms, including but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0096] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0097] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In an embodiment of the application, the remote computer can be a server or another desktop computer.

[0098] Note that the above merely describes preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, modifications and substitutions can be made to the present application without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method of controlling a boil-off of a tank roof of a storage tank, the storage tank including a tank body and a tank roof, characterized by, The method comprises: taking a picture of the tank top in a vertical direction directly above the tank top during the process of blowing up from a first position to a second position of the tank top; extracting a tank top line of the tank top at a current time and a reference line closest to the tank top at the current time in the picture respectively; performing elliptical fitting on the tank top line of the tank top at the current time to obtain a center of the tank top, drawing a straight line every interval of a predetermined angle through the center of the tank top to obtain an intersection of each straight line with the tank top line of the tank top at the current time and an intersection of each straight line with the reference line closest to the tank top at the current time, and controlling a balance degree of the tank top at the current time according to the intersections of each straight line with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time.

2. The method of claim 1, wherein, extracting the tank top line of the tank top at the current time in the picture comprises: converting the picture from a red-green-blue (RGB) color space to a hue-saturation-value (HSV) color space to obtain a picture in the HSV color space; separating a tank top area from the picture in the HSV color space according to a predetermined parameter range of HSV; performing elliptical fitting on a contour of the tank top area to obtain the tank top line of the tank top at the current time.

3. The method of claim 1, wherein, extracting the reference line closest to the tank top at the current time in the picture comprises: extracting all texture information in the picture; removing unimportant texture information from the all texture information to obtain important texture information; extracting the reference line closest to the tank top at the current time in the picture based on the important texture information.

4. The method of claim 3, wherein, removing unimportant texture information from the all texture information to obtain important texture information comprises: removing texture information inside the tank top from the all texture information to obtain interference-removed texture information; removing unimportant texture information from the interference-removed texture information to obtain important texture information.

5. The method of claim 1, wherein, controlling the balance degree of the tank top at the current time according to the intersections of each straight line with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time comprises: calculating distances of the intersections of each straight line with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time; if a difference of the distances of the intersections of any two straight lines with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time is out of an error range, controlling the balance degree of the tank top at the current time so that the distances of the intersections of the any two straight lines with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time are equal.

6. The method of claim 5, wherein, calculating the distances of the intersections of each straight line with the tank top line of the tank top at the current time and the reference line closest to the tank top at the current time comprises: obtaining pixel points of the intersections of each straight line with the tank top line of the tank top at the current time and pixel points of the intersections of each straight line with the reference line closest to the tank top at the current time; According to the pixel point of the intersection of each straight line and the tank top line of the tank top at the current moment and the pixel point of the intersection of the nearest reference line to the tank top at the current moment, the distance of the intersection of each straight line and the tank top line of the tank top at the current moment and the intersection of the nearest reference line to the tank top at the current moment is calculated.

7. A blow-off control device for a storage tank roof, characterized by The device comprises a shooting module, an extraction module and a control module, wherein, The shooting module is configured to shoot a picture of the tank top in the vertical direction directly above the tank top during the process of the tank top being blown up from a first position to a second position. The extraction module is configured to extract a tank top line of the tank top at the current moment and a reference line nearest to the tank top at the current moment in the picture respectively. The control module is configured to perform elliptical fitting on the tank top line of the tank top at the current moment to obtain the center of the tank top, draw a straight line every interval of a predetermined angle through the center of the tank top to obtain the intersection of each straight line and the tank top line of the tank top at the current moment and the intersection of the nearest reference line to the tank top at the current moment, and control the balance degree of the tank top at the current moment according to the intersection of each straight line and the tank top line of the tank top at the current moment and the intersection of the nearest reference line to the tank top at the current moment.

8. An electronic device, comprising: comprise: one or more processors; a memory for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the blow-up control method of the tank top of the storage tank as claimed in any one of claims 1 to 6.

9. A storage medium having stored thereon a computer program, characterized in that The program is executed by the processor to implement the blow-up control method of the tank top of the storage tank as claimed in any one of claims 1 to 6.

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