GNSS-based storage tank roundness and perpendicularity real-time monitoring method, equipment and medium

Abstract

The invention provides a GNSS-based storage tank roundness and perpendicularity real-time monitoring method, electronic equipment and a computer readable storage medium. The method comprises the steps of obtaining ENU coordinate values of monitoring points arranged according to a preset rule; roundness monitoring is carried out according to the ENU coordinate values of the monitoring points; and performing perpendicularity monitoring according to the ENU coordinate values of the monitoring points. According to the invention, based on the multi-point distributed GNSS positioning terminal, the collected data result is processed and calculated, so that the physical dimension conditions of the roundness and perpendicularity of the storage tank are judged in real time, and professional management personnel can conveniently carry out related treatment in time and nip in the bud.

Description

Technical Field

[0001] The present invention relates to the technical field of storage tank monitoring, and particularly to a real-time monitoring method, an electronic device, and a computer-readable storage medium for the roundness and verticality of a storage tank based on GNSS (Global Navigation Satellite System). Background Art

[0002] The detection of the roundness and verticality of a storage tank are two key elements in the structural safety assessment of the storage tank, which are used to monitor whether abnormal changes in the geometric shape occur during the long-term use of the storage tank to ensure its safe operation and at the same time guarantee the accuracy of measurement and inventory.

[0003] Among them, roundness refers to whether the transverse section of the storage tank cylinder (i.e., the cylindrical tank wall) is close to a perfect circle. Ideally, the transverse section of the storage tank cylinder should be a standard circle, but foundation settlement, internal pressure change, material corrosion, or external force impact may cause the cylinder to undergo elliptical deformation or local depression; verticality refers to the vertical degree between the main body of the storage tank (usually referring to the tank wall and the tank bottom). Ideally, the storage tank should be precisely vertical at 90 degrees, but uneven foundation settlement, welding deformation, or external force may cause the tank body to tilt.

[0004] From the perspective of structural safety, a roundness deviation indicates that the geometric shape of the storage tank cylinder deviates from the standard circle. The deformation will weaken the strength of the tank wall and reduce its ability to resist internal pressure, and may ultimately lead to cracks or leaks, causing oil product leakage, environmental pollution, and explosion risks; while the verticality deviation is usually the result of uneven foundation settlement. If the tank body tilts, it may cause uneven stress on the support structure, such as cracking of the weld between the bottom plate and the foundation, deformation of the tank top, or even collapse of the overall structure. Especially in the case of large-capacity storage tanks or high-pressure scenarios, the consequences are more serious.

[0005] At the same time, the volume of an oil storage tank is pre-calibrated according to its geometric dimensions (such as diameter, height). If the roundness is inaccurate, the actual volume of the tank will not match the calibrated value, resulting in inventory errors. For example, a roundness deviation may cause an underestimation or overestimation of the storage tank capacity, leading to handover disputes or inventory management chaos.

[0006] Traditional methods mainly use instruments such as level gauges, total stations, and three-dimensional laser scanners, and adopt manual measurement methods to regularly measure the roundness and verticality of the storage tank, etc., and then calculate and analyze the measured data. This method has low efficiency and cannot achieve real-time monitoring. And some other satellite positioning-based monitoring of storage tanks only simply checks the planar or vertical displacement changes of each monitoring point, without considering how to conduct real-time monitoring and evaluation of the overall roundness and verticality of the storage tank. Summary of the Invention

[0007] The present invention aims to provide a GNSS-based real-time monitoring method, an electronic device, and a computer-readable storage medium for the roundness and verticality of a storage tank, which can overcome or at least partially solve the above problems.

[0008] To achieve the above object, the technical solution of the present invention is specifically implemented as follows: One aspect of the present invention provides a GNSS-based real-time monitoring method for the roundness and verticality of a storage tank, including: Obtaining the ENU coordinate values of the monitoring points arranged according to a preset rule; Performing roundness monitoring based on the ENU coordinate values of the monitoring points; Performing verticality monitoring based on the ENU coordinate values of the monitoring points.

[0009] Optionally, the monitoring points arranged according to the preset rule include: Setting X layers of monitoring points at the top of the storage tank, at a preset height of the storage tank, and at a position close to the bottom of the storage tank respectively. One monitoring point is arranged at each preset angle along the circumferential direction for each layer, Y monitoring points are set for each layer, and the Y monitoring points of the same layer are at the same height, and the X monitoring points in the same vertical direction are in the same longitudinal plane; Setting a satellite navigation positioning reference station within a preset range from the monitoring points.

[0010] Optionally, the performing roundness monitoring based on the ENU coordinate values of the monitoring points includes: Obtaining the coordinate results of the Y monitoring points at the top of the storage tank at the same epoch; Calculating the coordinate values of the Y monitoring points in the U direction; Calculating the difference between the maximum value and the minimum value in the U direction; If the difference is greater than a first preset value, calculations are performed for multiple epochs. If the differences for consecutive preset epochs are all greater than the first preset value, it is determined that the roundness of the storage tank is abnormal; If the difference is less than or equal to the first preset value, the Y monitoring points are divided into Y / 2 groups according to their respective object directions, and the planar distance of each group is calculated; Calculating the roundness of the storage tank at the epoch moment by using the maximum value and the minimum value among the Y / 2 group planar distances; Judging whether the roundness of the storage tank meets the preset conditions. If it meets the preset conditions, calculations are performed for multiple epochs. If the roundness of the storage tank for consecutive preset epochs all meets the preset conditions, it is determined that the roundness of the storage tank is abnormal.

[0011] Optionally, the calculating the planar distance of each group includes: Calculating the planar distance of each group by using the following formula:

[0012] Among them, and respectively represent the eastward coordinates of two object points, respectively represent the northward coordinates of two object points.

[0013] Optionally, calculating the roundness of the storage tank at the epoch by using the maximum and minimum values of the Y / 2 group of plane distances includes: using the maximum value and the minimum value in the Y / 2 group of diameters, calculate the roundness of the storage tank at the epoch according to the following formula , where is the designed diameter of the storage tank.

[0014] Optionally, judging whether the roundness of the storage tank meets the preset conditions includes: judging according to the following formula: .

[0015] Optionally, the verticality monitoring according to the ENU coordinate values of the monitoring points includes: obtaining the coordinate value results of the same epoch of X monitoring points on each of the Y vertical longitudinal planes; calculating the coordinates in the E direction of the X monitoring points in each vertical longitudinal plane; calculating the difference between the maximum value and the minimum value in the E direction; judging whether the difference meets the preset conditions. If the difference meets the preset conditions, calculations for multiple epochs are performed. If the differences for consecutive preset epochs all meet the preset conditions, it is judged that the verticality of the storage tank is abnormal.

[0016] Optionally, judging whether the difference meets the preset conditions includes: judging whether the difference meets the preset conditions according to the following formula: where is the designed height of the storage tank, is the maximum value and the minimum value of the difference, and the first vertical longitudinal plane from north to clockwise among the Y vertical longitudinal planes is denoted as the a longitudinal plane and named in sequence.

[0017] Another aspect of the present invention provides an electronic device, including: a processor, a memory; the memory is used to store a computer program; The processor is configured to execute the GNSS-based real-time monitoring method for the roundness and perpendicularity of the storage tank as described above by invoking the computer program.

[0018] Another aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, characterized in that when the program is executed by a processor, the GNSS-based real-time monitoring method for the roundness and perpendicularity of the storage tank as described above is implemented.

[0019] It can be seen that through the GNSS-based real-time monitoring method, electronic device and computer-readable storage medium provided by the present invention, based on the GNSS positioning terminals arranged at multiple points, the collected data results are processed by calculation, so as to judge the geometric dimensions of the roundness and perpendicularity of the storage tank in real time, which is convenient for professional management personnel to carry out relevant disposal in time and prevent problems before they occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a flowchart of a GNSS-based real-time monitoring method for the roundness and perpendicularity of a storage tank provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0023] Figure 1 The flowchart of the GNSS-based real-time monitoring method for the roundness and perpendicularity of the storage tank provided by the embodiment of the present invention is shown. Refer to Figure 1 , the GNSS-based real-time monitoring method for the roundness and perpendicularity of the storage tank provided by the embodiment of the present invention includes: S1, obtaining the ENU coordinate values of the monitoring points arranged according to a preset rule.

[0024] Specifically, the GNSS (Global Navigation Satellite System) is a real-time high-precision navigation and positioning system that includes a space satellite constellation part, a ground monitoring part, and a user receiving device. As a radio positioning technology, it can provide users with high-precision, all-weather, and all-time positioning, navigation, and timing functions. The Global Navigation Satellite System currently includes the Chinese Beidou system (BDS), the American GPS system, the Russian GLONASS system, and the European Galileo system.

[0025] The present invention can utilize at least two GNSS receivers (one reference station for multiple monitoring stations). One is used as the reference station and the other is used as the monitoring station. Based on the satellite carrier phase observation values obtained by the two devices simultaneously, double-difference operations are combined. Finally, the baseline vector between the two is solved using the combined observation values, and the coordinate value of the monitoring station is obtained by combining the known coordinates of the reference station.

[0026] Among them, the local-level coordinate system usually takes the position point P carried by the user as the coordinate origin (in GNSS relative positioning, the reference station position is the origin). The three coordinate axes are the mutually perpendicular eastward, northward, and upward (or zenithward) directions. Therefore, the local-level coordinate system is also called the ENU (East-North-Up) coordinate system, and the coordinate values of the point position are represented by E (eastward), N (northward), and U (zenithward) respectively.

[0027] As an optional implementation manner of the embodiment of the present invention, the monitoring points arranged according to the preset rules include: X-layer monitoring points are respectively set at the top of the storage tank, at a preset height of the storage tank, and at a position near the bottom of the storage tank. Each layer is arranged with one monitoring point at every preset angle along the circumferential direction. Y monitoring points are set in each layer, and the Y monitoring points in the same layer are at the same height, and the X monitoring points in the same vertical direction are in the same longitudinal plane; A satellite navigation and positioning reference station is set within a preset range from the monitoring points.

[0028] During specific implementation, the present invention first conducts the layout of the monitoring point positions: To improve economic efficiency, the present invention preferably arranges three layers outside the storage tank, respectively at the top of the storage tank, at the 1 / 2 height of the storage tank, and at a position near the bottom of the storage tank. One monitoring point is arranged at every 30° along the circumferential direction in each layer, with 12 points in each layer and a total of 36 points. During installation, ensure that the monitoring points in the same layer are at the same height, and the monitoring points in the same vertical direction are in the same longitudinal plane. Of course, the present invention is not limited to the three-layer layout, and can also adopt a two-layer or more than three-layer layout method. The present invention is not limited to arranging one monitoring point at every 30° along the circumferential direction, and can also adopt other angles such as every 15°, 10°, or 60° for layout. Other layout methods that are not mentioned but are carried out according to the present invention should fall within the protection scope of the present invention.

[0029] Within a range not exceeding 10 km from the monitoring point, find a stable and open area to construct a satellite navigation and positioning reference station as the reference for GNSS relative positioning solution for each of the above monitoring points.

[0030] After the relative positioning solution processing of GNSS in the present invention, the ENU coordinate values of each monitoring site are obtained.

[0031] S2. Perform roundness monitoring according to the ENU coordinate values of the monitoring points.

[0032] As an optional implementation manner of an embodiment of the present invention, the performing roundness monitoring according to the ENU coordinate values of the monitoring points includes: Obtain the coordinate results of Y monitoring points on the top of the storage tank at the same epoch; Calculate the coordinate values of the Y monitoring points in the U direction; Calculate the difference between the maximum value and the minimum value in the U direction; If the difference is greater than the first preset value, perform calculations for multiple epochs. If the differences for consecutive preset epochs are all greater than the first preset value, determine that the roundness of the storage tank is abnormal; If the difference is less than or equal to the first preset value, divide the Y monitoring points into Y / 2 groups according to their respective object directions, and calculate the planar distance of each group; Calculate the roundness of the storage tank at the epoch moment by using the maximum value and the minimum value among the Y / 2 group planar distances; Judge whether the roundness of the storage tank meets the preset conditions. If it meets the preset conditions, perform calculations for multiple epochs. If the roundness of the storage tank for consecutive preset epochs all meets the preset conditions, determine that the roundness of the storage tank is abnormal.

[0033] Among them, the calculating the planar distance of each group includes: Calculate the planar distance of each group by using the following formula: Among them, and respectively represent the east direction coordinates of two object points, respectively represent the north direction coordinates of two object points.

[0034] Among them, the calculating the roundness of the storage tank at the epoch moment by using the maximum value and the minimum value among the Y / 2 group planar distances includes: Use the maximum value and the minimum value among the Y / 2 group diameters, and calculate the roundness of the storage tank at the epoch moment according to the following formula , Among them Design the diameter of the storage tank.

[0035] Among them, the judgment of whether the roundness of the storage tank meets the preset conditions includes: Judge according to the following formula: .

[0036] In specific implementation, the present invention is arranged in three layers outside the storage tank, respectively at the top of the storage tank, at the 1 / 2 height of the storage tank, and at the position near the bottom of the storage tank. One monitoring is arranged every 30° along the circumferential direction for each layer, with a total of 36 points in 12 points for each layer. Of course, the present invention is not limited to the above layout method, and the following method can also be adopted for other layout methods: First, select the coordinate results of 12 monitoring points at the top of the storage tank in the same epoch; Secondly, calculate the coordinate values of these 12 points in the U direction. Considering that the accuracy of the GNSS relative positioning technology in the vertical direction is ±5 mm, the difference between the maximum value and the minimum value of the 12 points in the U direction is calculated. If the difference > 10 mm, the results of multiple epochs are continuously counted. If the difference of 600 consecutive epochs is > 10 mm, it can be directly judged that the roundness of the storage tank is abnormal.

[0037] If the difference of this epoch ≤ 10 mm, these 12 points are divided into 6 groups according to their respective object directions, and the plane distance of each group is calculated according to formula 1, which is the diameter of the storage tank. ... Formula 1 Where and respectively represent the east direction coordinates of two object points, respectively represent the north direction coordinates of two object pairs.

[0038] After that, use the maximum value and the minimum value of the 6 groups of diameters, and calculate according to formula 2 to obtain the roundness of the storage tank at this epoch moment , ... Formula 2 Where is the designed diameter of the storage tank. Considering that the accuracy of the GNSS relative positioning technology in the plane direction is ±2.5 mm, judge according to formula 3, and then continue to count the results of multiple epochs according to this formula. If the results of 600 consecutive epochs are all , it is considered that the roundness is abnormal.

[0039] ... Formula 3 S3. Perform verticality monitoring based on the ENU coordinate values of the monitoring points.

[0040] As an optional implementation manner of the embodiment of the present invention, the performing verticality monitoring based on the ENU coordinate values of the monitoring points includes: Obtain the coordinate value results of the same epoch of X monitoring points on each of the Y vertical longitudinal planes; Calculate the coordinates in the E direction of the X monitoring points in each vertical longitudinal plane; Calculate the difference between the maximum value and the minimum value in the E direction; Determine whether the difference meets a preset condition. If the difference meets the preset condition, perform calculations for multiple epochs. If the differences of consecutive preset epochs all meet the preset condition, it is determined that the verticality of the storage tank is abnormal.

[0041] Among them, the determining whether the difference meets the preset condition includes: Determine whether the difference meets the preset condition according to the following formula:

[0042] Where is the designed height of the storage tank, is the maximum value and the minimum value of the difference. The first vertical longitudinal plane counted clockwise from the north direction among the Y vertical longitudinal planes is denoted as the a longitudinal plane, and they are named in sequence.

[0043] Specifically in implementation, the present invention is illustrated by taking the example of being arranged in three layers outside the storage tank, respectively at the top of the storage tank, at the 1 / 2 height of the storage tank, and at the position close to the bottom of the storage tank. One monitoring is arranged every 30° along the circumferential direction on each layer, with 12 points on each layer and a total of 36 points for verticality monitoring. Of course, the present invention is not limited to the above arrangement method, and the following method can also be adopted for other arrangement methods: Select the coordinate value results of the same epoch of 3 monitoring points on each of the 12 vertical longitudinal planes.

[0044] Calculate the verticality situation in the E direction. The method is as follows. For the 3 monitoring points in each vertical longitudinal plane, based on their coordinate results, compare to obtain the maximum value and the minimum value , and calculate the difference to obtain (select the first vertical longitudinal plane counted clockwise from the north direction among the 12 vertical longitudinal planes and denote it as the a longitudinal plane, and name them in sequence). Then calculate according to formula 4 (the units are all mm), where is the designed height of the storage tank.

[0045] ……Formula 4 If the result of this epoch meets the condition of Formula 4, continue to count the results of multiple epochs according to this formula. If the results of 600 consecutive epochs all meet the condition, it is considered that the verticality is abnormal.

[0046] Calculate the verticality of the N direction. The calculation method is the same as that for calculating the E direction, and only the coordinates need to be transposed to the N direction.

[0047] It can be seen that through the GNSS-based real-time monitoring method for the roundness and verticality of storage tanks provided by the embodiments of the present invention, based on the GNSS positioning terminals arranged at multiple points, the collected data results are processed by processing and calculation, so as to judge the geometric dimensions of the roundness and verticality of the storage tank in real time, which is convenient for professional management personnel to carry out relevant disposal in time and prevent problems before they occur.

[0048] The present invention also provides an electronic device, including: a processor and a memory; The memory is used to store a computer program; The processor is used to execute the GNSS-based real-time monitoring method for the roundness and verticality of storage tanks as described above by calling the computer program.

[0049] It can be seen that through the electronic device provided by the embodiments of the present invention, based on the GNSS positioning terminals arranged at multiple points, the collected data results are processed by processing and calculation, so as to judge the geometric dimensions of the roundness and verticality of the storage tank in real time, which is convenient for professional management personnel to carry out relevant disposal in time and prevent problems before they occur.

[0050] The present invention also provides a computer-readable storage medium, on which a computer program is stored, and characterized in that when the program is executed by a processor, it implements the GNSS-based real-time monitoring method for the roundness and verticality of storage tanks as described above.

[0051] It can be seen that through the computer-readable storage medium provided by the embodiments of the present invention, based on the GNSS positioning terminals arranged at multiple points, the collected data results are processed by processing and calculation, so as to judge the geometric dimensions of the roundness and verticality of the storage tank in real time, which is convenient for professional management personnel to carry out relevant disposal in time and prevent problems before they occur.

[0052] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A real-time monitoring method for the roundness and perpendicularity of a storage tank based on GNSS, characterized in that, Including: Obtaining the ENU coordinate values of monitoring points arranged according to preset rules; Performing roundness monitoring based on the ENU coordinate values of the monitoring points; Performing perpendicularity monitoring based on the ENU coordinate values of the monitoring points.

2. The method according to claim 1, characterized in that The monitoring points arranged according to the preset rules include: X layers of monitoring points are respectively set at the top of the storage tank, at a preset height of the storage tank, and at a position close to the bottom of the storage tank. One monitoring point is arranged at each preset angle along the circumferential direction for each layer, Y monitoring points are set for each layer, and the Y monitoring points in the same layer are at the same height, and the X monitoring points in the same vertical direction are in the same longitudinal plane; A satellite navigation positioning reference station is set within a preset range from the monitoring points.

3. The method according to claim 2, wherein The performing roundness monitoring based on the ENU coordinate values of the monitoring points includes: Obtaining the coordinate results of the Y monitoring points at the top of the storage tank at the same epoch; Calculating the coordinate values of the Y monitoring points in the U direction; Calculating the difference between the maximum value and the minimum value in the U direction; If the difference is greater than a first preset value, calculations for multiple epochs are performed. If the differences for continuously preset epochs are all greater than the first preset value, it is determined that the roundness of the storage tank is abnormal; If the difference is less than or equal to the first preset value, the Y monitoring points are divided into Y / 2 groups according to their respective object directions, and the planar distance of each group is calculated; Calculating the roundness of the storage tank at the epoch moment by using the maximum value and the minimum value among the Y / 2 group planar distances; Judging whether the roundness of the storage tank meets the preset conditions. If it meets the preset conditions, calculations for multiple epochs are performed. If the roundness of the storage tank for continuously preset epochs all meets the preset conditions, it is determined that the roundness of the storage tank is abnormal.

4. The method according to claim 3, characterized in that, The calculating the planar distance of each group includes: Calculating the planar distance of each group by using the following formula: Among them, and respectively represent the east direction coordinates of two object points, respectively represent the north direction coordinates of two object points.

5. The method according to claim 4, wherein The calculating the roundness of the storage tank at the epoch moment by using the maximum value and the minimum value among the Y / 2 group planar distances includes: Using the maximum value among the Y / 2 group of diameters and the minimum value , calculate the roundness of the storage tank at the epoch moment according to the following formula , wherein is the designed diameter of the storage tank.

6. The method according to claim 5, wherein The judging whether the roundness of the storage tank meets the preset conditions includes: Judge according to the following formula: .

7. The method according to claim 2, characterized in that The performing perpendicularity monitoring based on the ENU coordinate values of the monitoring points includes: Obtaining the coordinate value results of the X monitoring points at the same epoch for Y vertical longitudinal planes, with each plane having X monitoring points; Calculating the coordinates of the X monitoring points in the E direction for each vertical longitudinal plane; Calculating the difference between the maximum value and the minimum value in the E direction; Judging whether the difference meets the preset conditions. If the difference meets the preset conditions, calculations for multiple epochs are performed. If the differences for continuously preset epochs all meet the preset conditions, it is determined that the perpendicularity of the storage tank is abnormal.

8. The method according to claim 7, wherein The judging whether the difference meets the preset conditions includes: Judging whether the difference meets the preset conditions according to the following formula: wherein is the designed height of the storage tank, is the maximum value and the minimum value of the difference. The first vertical longitudinal plane from north to clockwise among the Y vertical longitudinal planes is denoted as the a longitudinal plane and named in sequence.

9. An electronic device, characterized in that, Including: A processor and a memory; The memory is used for storing computer programs; The processor is used for executing the real-time monitoring method for the roundness and perpendicularity of a storage tank based on GNSS as described in any one of claims 1 to 8 by calling the computer programs.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the real-time monitoring method for the roundness and perpendicularity of a storage tank based on GNSS as described in any one of claims 1 to 8.

Images