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

Abstract

The present invention provides a GNSS-based real-time monitoring method for the roundness and verticality of storage tanks, an electronic device, and a computer-readable storage medium. The method comprises: obtaining ENU coordinate values ​​of monitoring points arranged according to a preset rule; performing roundness monitoring based on the ENU coordinate values ​​of the monitoring points; and performing verticality monitoring based on the ENU coordinate values ​​of the monitoring points. Based on multi-point GNSS positioning terminals, the present invention processes and calculates the collected data to determine the roundness and verticality geometric dimensions of the storage tank in real time, facilitating timely intervention by professional management personnel to prevent problems before they occur.

Description

Technical Field

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

[0002] The roundness and verticality testing of storage tanks are two key elements in the structural safety assessment of storage tanks. They are used to monitor whether there are abnormal changes in the geometric shape of the tanks during long-term use to ensure their safe operation while protecting the accuracy of measurement and inventory.

[0003] Roundness refers to whether the transverse cross-section of the tank shell (i.e., cylindrical tank wall) is nearly perfectly circular. Ideally, the transverse cross-section of the tank shell should be a perfect circle. However, foundation settlement, internal pressure fluctuations, material corrosion, or external impact can cause the shell to become elliptical or partially concave. Verticality refers to the verticality between the tank body (usually the tank wall and bottom). Ideally, the tank should be precisely 90 degrees vertical. However, uneven foundation settlement, welding deformation, or external forces can cause the tank shell to tilt.

[0004] From a structural safety perspective, roundness deviation indicates that the tank's geometry deviates from the standard circle. This deformation weakens the tank wall and reduces its ability to withstand internal pressure, ultimately causing cracks or leaks, leading to oil spills, environmental pollution, and explosion risks. Verticality deviation is often the result of uneven foundation settlement. If the tank tilts, it can lead to uneven stress on the supporting structure, such as cracking in the weld between the floor and foundation, deformation of the tank roof, and even collapse of the entire structure. The consequences are particularly serious in large-capacity tanks or high-pressure scenarios.

[0005] Oil tank volumes are pre-calibrated based on their geometric dimensions (e.g., diameter and height). If the roundness is inaccurate, the tank's actual volume will not match the calibrated value, leading to inventory errors. For example, roundness deviations can lead to underestimation or overestimation of tank capacity, causing handover disputes and inventory management confusion.

[0006] Traditional methods rely primarily on manual measurement using instruments such as levels, total stations, and 3D laser scanners to regularly measure the roundness and verticality of storage tanks, followed by calculations and analysis of the resulting data. This method is inefficient and lacks real-time monitoring. Other satellite-based methods for monitoring storage tanks simply examine changes in horizontal or vertical displacement at each monitoring point, without considering how to monitor and evaluate the overall roundness and verticality of the tank in real time. Summary of the Invention

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

[0008] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0009] One aspect of the present invention provides a GNSS-based real-time monitoring method for roundness and verticality of a storage tank, comprising:

[0010] Obtain the ENU coordinate values ​​of the monitoring points arranged according to the preset rules;

[0011] Performing roundness monitoring according to the ENU coordinate values ​​of the monitoring points;

[0012] Verticality monitoring is performed based on the ENU coordinate value of the monitoring point.

[0013] Optionally, the monitoring points arranged according to the preset rules include:

[0014] X layers of monitoring points are set up at the top of the tank, at the preset height of the tank, and near the bottom of the tank. Each layer has one monitoring point arranged at each preset angle along the circumference. Each layer has Y monitoring points. The Y monitoring points on the same layer are at the same height, and the X monitoring points in the same vertical direction are on the same longitudinal plane.

[0015] A satellite navigation positioning base station is set up within a preset range from the monitoring point.

[0016] Optionally, performing roundness monitoring according to the ENU coordinate value of the monitoring point includes:

[0017] Get the coordinate results of the same epoch for Y monitoring points on the top of the tank;

[0018] Calculate the coordinate values ​​of the Y monitoring points in the U direction;

[0019] Calculate the difference between the maximum and minimum values ​​in the U direction;

[0020] If the difference is greater than a first preset value, calculations are performed for multiple epochs. If the difference values ​​of consecutive preset epochs are all greater than the first preset value, it is determined that the roundness of the storage tank is abnormal.

[0021] 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 plane distance of each group is calculated;

[0022] Calculate the roundness of the tank at the epoch using the maximum and minimum values ​​of the Y / 2 group of plane distances;

[0023] Determine whether the roundness of the storage tank meets the preset conditions. If so, perform calculations for multiple epochs. If the roundness of the storage tank for consecutive preset epochs meets the preset conditions, determine that the roundness of the storage tank is abnormal.

[0024] Optionally, calculating the plane distance of each group includes:

[0025] The plane distance of each group is calculated using the following formula:

[0026] in, and Respectively represent the east coordinates of the two object points, Respectively represent the north coordinates of the two object points.

[0027] Optionally,

[0028] Calculating the roundness of the tank at the epoch time using the maximum and minimum values ​​of the Y / 2 group of plane distances includes:

[0029] Use the maximum value among the Y / 2 set of diameters and minimum value , calculate the roundness of the tank at the epoch time using the following formula: ,

[0030] in Design the diameter for the tank.

[0031] Optionally, determining whether the roundness of the storage tank meets a preset condition includes:

[0032] The judgment is made according to the following formula: .

[0033] Optionally, the performing verticality monitoring according to the ENU coordinate value of the monitoring point includes:

[0034] Obtain the coordinate values ​​of X monitoring points on each Y vertical plane at the same epoch;

[0035] Calculate the coordinates of the X monitoring points in the E direction in each vertical longitudinal plane;

[0036] Calculate the difference between the maximum and minimum values ​​in the E direction;

[0037] Determine whether the difference meets the preset conditions. If the difference meets the preset conditions, perform calculations for multiple epochs. If the differences for consecutive preset epochs all meet the preset conditions, determine that the verticality of the storage tank is abnormal.

[0038] Optionally, determining whether the difference meets a preset condition includes:

[0039] Determine whether the difference meets the preset conditions according to the following formula:

[0040] in is the design height of the tank, is the maximum value and minimum value The difference between the Y vertical longitudinal planes is recorded as longitudinal plane a from the north to the clockwise direction, and they are named in sequence.

[0041] Another aspect of the present invention provides an electronic device, comprising: a processor, a memory;

[0042] The memory is used to store computer programs;

[0043] The processor is used to execute the above-mentioned GNSS-based real-time monitoring method for roundness and verticality of storage tanks by calling the computer program.

[0044] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the above-mentioned GNSS-based real-time monitoring method for roundness and verticality of a storage tank is implemented.

[0045] It can be seen that through the GNSS-based real-time monitoring method for roundness and verticality of storage tanks, electronic equipment and computer-readable storage medium provided by the present invention, based on multi-point deployed GNSS positioning terminals, the collected data results are processed and calculated, so as to judge the roundness and verticality geometric dimensions of the storage tanks in real time, which is convenient for professional management personnel to take relevant measures in time and prevent problems before they occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 The present invention provides a flowchart of a method for real-time monitoring of the roundness and verticality of a storage tank based on GNSS. DETAILED DESCRIPTION

[0048] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying 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. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0049] Figure 1 A flowchart of a method for real-time monitoring of the roundness and verticality of a storage tank based on GNSS according to an embodiment of the present invention is shown. Figure 1 The embodiment of the present invention provides a method for real-time monitoring of the roundness and verticality of a storage tank based on GNSS, including:

[0050] S1, obtaining the ENU coordinate values ​​of monitoring points arranged according to preset rules.

[0051] Specifically, the GNSS global navigation and positioning system is a real-time, high-precision navigation and positioning system consisting of a space satellite constellation, ground monitoring, and user receiving devices. As a radio positioning technology, it provides users with high-precision, all-weather, all-day positioning, navigation, and timing capabilities. Currently, global navigation and positioning satellite systems include China's Beidou System (BDS), the US GPS system, Russia's GLONASS system, and Europe's Galileo system.

[0052] The present invention can utilize at least two GNSS receivers (one base station can be used for multiple monitoring stations), one as a base station and the other as a monitoring station, and perform double difference operations on the satellite carrier phase observation values ​​obtained by the two devices simultaneously. Finally, the combined observation values ​​are used to solve the baseline vector between the two, and then the coordinate values ​​of the monitoring station are obtained in combination with the known coordinates of the base station.

[0053] Among them, the station-centered coordinate system usually takes the user's position point P as the coordinate origin (in GNSS relative positioning, the base station position is the origin), and the three coordinate axes are the mutually perpendicular east, north, and celestial (or zenith) directions. Therefore, the station-centered coordinate system is also called the Northeast Celestial (ENU) coordinate system, and the coordinate values ​​of the point are represented by E (east), N (north), and U (zenith), respectively.

[0054] As an optional implementation of the embodiment of the present invention, the monitoring points arranged according to the preset rules include:

[0055] X layers of monitoring points are set up at the top of the tank, at the preset height of the tank, and near the bottom of the tank. Each layer has one monitoring point arranged at each preset angle along the circumference. Each layer has Y monitoring points. The Y monitoring points on the same layer are at the same height, and the X monitoring points in the same vertical direction are on the same longitudinal plane.

[0056] A satellite navigation positioning base station is set up within a preset range from the monitoring point.

[0057] During specific implementation, the present invention first arranges the monitoring points:

[0058] In order to improve economic benefits, the present invention is preferably arranged in three layers outside the storage tank, respectively at the top of the storage tank, at 1 / 2 the height of the storage tank, and near the bottom of the storage tank. Each layer is arranged with a monitoring point every 30° along the circumference, and each layer has 12 points, a total of 36 points. During installation, ensure that the monitoring points on the same layer are at the same height, and the monitoring points in the same vertical direction are on the same longitudinal plane. Of course, the present invention is not limited to a three-layer layout, and a two-layer or more than three-layer layout can also be used. The present invention is not limited to arranging a monitoring point every 30° along the circumference, and other angles such as every 15°, 10° or 60° can also be used for layout. Other methods of layout according to the present invention that are not mentioned should fall within the scope of protection of the present invention.

[0059] At the same time, within a range of no more than 10km from the monitoring point, find a stable and open area and build a satellite navigation positioning base station as the benchmark for GNSS relative positioning solution of the above monitoring points.

[0060] The present invention obtains the ENU coordinate value of each monitoring site after GNSS relative positioning solution processing.

[0061] S2, performing roundness monitoring according to the ENU coordinate value of the monitoring point.

[0062] As an optional implementation manner of the embodiment of the present invention, the performing roundness monitoring according to the ENU coordinate value of the monitoring point includes:

[0063] Get the coordinate results of the same epoch for Y monitoring points on the top of the tank;

[0064] Calculate the coordinate values ​​of the Y monitoring points in the U direction;

[0065] Calculate the difference between the maximum and minimum values ​​in the U direction;

[0066] If the difference is greater than a first preset value, calculations are performed for multiple epochs. If the difference values ​​of consecutive preset epochs are all greater than the first preset value, it is determined that the roundness of the storage tank is abnormal.

[0067] 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 plane distance of each group is calculated;

[0068] Calculate the roundness of the tank at the epoch using the maximum and minimum values ​​of the Y / 2 group of plane distances;

[0069] Determine whether the roundness of the storage tank meets the preset conditions. If so, perform calculations for multiple epochs. If the roundness of the storage tank for consecutive preset epochs meets the preset conditions, determine that the roundness of the storage tank is abnormal.

[0070] The calculating of the plane distance of each group includes:

[0071] The plane distance of each group is calculated using the following formula:

[0072] in, and Respectively represent the east coordinates of the two object points, Respectively represent the north coordinates of the two object points.

[0073] The step of calculating the roundness of the tank at the epoch time using the maximum and minimum values ​​of the Y / 2 group of plane distances includes:

[0074] Use the maximum value among the Y / 2 set of diameters and minimum value , calculate the roundness of the tank at the epoch time using the following formula: ,

[0075] in Design the diameter for the tank.

[0076] Wherein, the determining whether the roundness of the storage tank meets the preset conditions includes:

[0077] The judgment is made according to the following formula: .

[0078] In specific implementation, the present invention is to illustrate the roundness monitoring by arranging three layers outside the tank, namely at the top of the tank, at half the height of the tank, and near the bottom of the tank. Each layer has a monitoring point arranged every 30° along the circumference, and 12 points per layer, totaling 36 points. Of course, the present invention is not limited to the above arrangement. Other arrangements can also be adopted as follows:

[0079] First, the coordinate results of the same epoch of 12 monitoring points on the top of the tank were selected;

[0080] Secondly, the coordinate values ​​of these 12 points in the U direction are calculated. Considering that the vertical accuracy of GNSS relative positioning technology is ±5mm, the maximum and minimum values ​​of the 12 points in the U direction are subtracted. If the difference is greater than 10mm, the results of multiple epochs are statistically analyzed. If the difference for 600 consecutive epochs is greater than 10mm, it can be directly determined that the roundness of the tank is abnormal.

[0081] If the difference of the epoch is ≤10mm, the 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 tank diameter.

[0082] ...Formula 1

[0083] in and Respectively represent the east coordinates of the two object points, Respectively represent the north coordinates of the two object pairs.

[0084] Then use the maximum value among the 6 groups of diameters and minimum value Calculate the roundness of the tank at this epoch by using formula 2 ,

[0085] ...Formula 2

[0086] in is the design diameter of the tank. Considering that the accuracy of GNSS relative positioning technology in the plane direction is ±2.5mm, we make judgment according to formula 3, and continue to use this formula to calculate the results of multiple epochs. If the results of 600 consecutive epochs are all , then the roundness is considered abnormal.

[0087] ...Formula 3

[0088] S3, performing verticality monitoring according to the ENU coordinate value of the monitoring point.

[0089] As an optional implementation manner of the embodiment of the present invention, the performing verticality monitoring according to the ENU coordinate value of the monitoring point includes:

[0090] Obtain the coordinate values ​​of X monitoring points on each Y vertical plane at the same epoch;

[0091] Calculate the coordinates of the X monitoring points in the E direction in each vertical longitudinal plane;

[0092] Calculate the difference between the maximum and minimum values ​​in the E direction;

[0093] Determine whether the difference meets the preset conditions. If the difference meets the preset conditions, perform calculations for multiple epochs. If the differences for consecutive preset epochs all meet the preset conditions, determine that the verticality of the storage tank is abnormal.

[0094] Wherein, determining whether the difference meets a preset condition includes:

[0095] Determine whether the difference meets the preset conditions according to the following formula:

[0096]

[0097] in is the design height of the tank, is the maximum value and minimum value The difference between the Y vertical longitudinal planes is recorded as longitudinal plane a from the north to the clockwise direction, and they are named in sequence.

[0098] In specific implementation, the present invention takes three layers of layout outside the tank, namely, at the top of the tank, at half the height of the tank, and near the bottom of the tank, and each layer is arranged with a monitoring point every 30° along the circumference, with 12 points in each layer, totaling 36 points, as an example to illustrate the verticality monitoring. Of course, the present invention is not limited to the above layout method, and other layout methods can also be adopted as follows:

[0099] Select 12 vertical longitudinal planes and obtain the coordinate values ​​of 3 monitoring points in the same epoch on each plane.

[0100] Calculate the verticality of the E direction as follows: for each of the three monitoring points in the vertical longitudinal plane, compare the coordinates and get the maximum value. and minimum value , make a difference (Select the first vertical plane in the north direction clockwise and record it as vertical plane a, and name them in sequence), then calculate according to formula 4 (all units are mm), where is the design height of the tank.

[0101] ...Formula 4

[0102] If the epoch If the result of satisfies Formula 4, continue to use this formula to calculate the results of multiple epochs. If the results of 600 consecutive epochs all meet the requirement, it is considered that the verticality is abnormal.

[0103] Calculate the verticality in the N direction using the same method as that in the E direction, but just swap the coordinates used in the N direction.

[0104] It can be seen that the GNSS-based real-time monitoring method for the roundness and verticality of storage tanks provided by the embodiment of the present invention processes and calculates the collected data results based on multi-point GNSS positioning terminals, thereby judging the roundness and verticality geometric dimensions of the storage tanks in real time, making it convenient for professional management personnel to take relevant measures in a timely manner and prevent problems before they occur.

[0105] The present invention also provides an electronic device, comprising: a processor, a memory;

[0106] The memory is used to store computer programs;

[0107] The processor is used to execute the above-mentioned GNSS-based real-time monitoring method for roundness and verticality of storage tanks by calling the computer program.

[0108] It can be seen that the electronic equipment provided by the embodiment of the present invention processes and calculates the collected data results based on the multi-point deployed GNSS positioning terminals, so as to judge the roundness and verticality geometric dimensions of the storage tank in real time, which is convenient for professional management personnel to take relevant measures in time and prevent problems before they occur.

[0109] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the above-mentioned GNSS-based real-time monitoring method for roundness and verticality of a storage tank is implemented.

[0110] It can be seen that, through the computer-readable storage medium provided by the embodiment of the present invention, based on the multi-point deployed GNSS positioning terminals, the collected data results are processed and calculated, so as to judge the roundness and verticality geometric dimensions of the storage tank in real time, which is convenient for professional management personnel to take relevant measures in time and prevent problems before they occur.

[0111] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A real-time monitoring method for roundness and verticality of storage tanks based on GNSS, characterized in that: include: Obtain the ENU coordinate values ​​of the monitoring points arranged according to the preset rules; Performing roundness monitoring according to the ENU coordinate values ​​of the monitoring points; Perform verticality monitoring according to the ENU coordinate value of the monitoring point; in: The monitoring points arranged according to the preset rules include: X layers of monitoring points are set up at the top of the tank, at the preset height of the tank, and near the bottom of the tank. Each layer has one monitoring point arranged at each preset angle along the circumference. Each layer has Y monitoring points. The Y monitoring points on the same layer are at the same height, and the X monitoring points in the same vertical direction are on the same longitudinal plane. Setting up a satellite navigation positioning reference station within a preset range from the monitoring point; The roundness monitoring according to the ENU coordinate value of the monitoring point includes: Get the coordinate results of the same epoch for Y monitoring points on the top of the tank; Calculate the coordinate values ​​of the Y monitoring points in the U direction; Calculate the difference between the maximum and minimum values ​​in the U direction; If the difference is greater than a first preset value, calculations are performed for multiple epochs. If the difference values ​​of 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 plane distance of each group is calculated; Calculate the roundness of the tank at the epoch using the maximum and minimum values ​​of the Y / 2 group of plane distances; Determine whether the roundness of the storage tank meets the preset conditions. If so, perform calculations for multiple epochs. If the roundness of the storage tank for consecutive preset epochs meets the preset conditions, determine that the roundness of the storage tank is abnormal.

2. The method according to claim 1, characterized in that Calculating the plane distance of each group includes: The plane distance of each group is calculated using the following formula: in, and Respectively represent the east coordinates of the two object points, Respectively represent the north coordinates of the two object points.

3. The method according to claim 2, characterized in that Calculating the roundness of the tank at the epoch time using the maximum and minimum values ​​of the Y / 2 group of plane distances includes: Use the maximum value among the Y / 2 set of diameters and minimum value , calculate the roundness of the tank at the epoch time using the following formula: , ， in Design the diameter for the tank.

4. The method according to claim 3, characterized in that The determining whether the roundness of the storage tank meets the preset conditions includes: The judgment is made according to the following formula: 。 5. The method according to claim 1, wherein The verticality monitoring according to the ENU coordinate value of the monitoring point includes: Obtain the coordinate values ​​of X monitoring points on each Y vertical plane at the same epoch; Calculate the coordinates of the X monitoring points in the E direction in each vertical longitudinal plane; Calculate the difference between the maximum and minimum values ​​in the E direction; Determine whether the difference meets the preset conditions. If the difference meets the preset conditions, perform calculations for multiple epochs. If the differences for consecutive preset epochs all meet the preset conditions, determine that the verticality of the storage tank is abnormal.

6. The method according to claim 5, characterized in that Determining whether the difference meets a preset condition includes: Determine whether the difference meets the preset conditions according to the following formula: ， in is the design height of the tank, is the maximum value and minimum value The difference between the Y vertical longitudinal planes is recorded as longitudinal plane a from the north to the clockwise direction, and they are named in sequence.

7. An electronic device, characterized in that: include: Processor, memory; The memory is used to store computer programs; The processor is configured to execute the GNSS-based real-time monitoring method for roundness and verticality of a storage tank as described in any one of claims 1 to 6 by calling the computer program.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the GNSS-based real-time monitoring method for roundness and verticality of a storage tank as described in any one of claims 1 to 6 is implemented.

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