Method, device and equipment for detecting deformation of large cylindrical oil storage tank

Abstract

The invention discloses a large cylindrical oil storage tank deformation detection method, device and equipment, and relates to the technical field of oil tank monitoring. According to the method, inclination correction is carried out on the three-dimensional coordinate values obtained through scanning, calculation errors caused by inclination of the tank body are avoided, then the actual correction coordinate values obtained through measurement and correction are used for calculating the center point coordinates at different heights, the center point coordinate determination precision is improved, then the calculation precision of the concavo-convex degree and the ovality is improved, and the calculation accuracy of the tank body is improved. The straightness and inclination of the generatrix in each direction are further calculated based on the corrected coordinate value, and the comprehensiveness of deformation detection of the cylindrical oil storage tank is improved.

Description

Technical Field

[0001] The present application relates to the technical field of oil tank monitoring, and particularly to a method, device and equipment for detecting deformation of a large cylindrical oil storage tank. Background Art

[0002] An oil storage tank is a large container for storing oil products. The common ones are mainly vertical cylindrical tanks, which can be divided into fixed dome tanks and floating roof tanks according to the structural form of the tank top. Fixed dome storage tanks are simple to manufacture and have low costs, and are widely used at home and abroad. However, such tanks have high oil product losses, high fire risks, and relatively small capacities. The maximum single-tank capacity of floating roof tanks can reach 150,000 m 3 , and such oil storage tanks have very broad application prospects.

[0003] The floating roof of a floating roof tank floats up and down with the change of the storage volume of the medium in the tank. An annular sealing device is provided between the outer edge of the floating roof and the tank wall, and the medium in the tank is always covered by the inner floating roof to reduce medium volatilization. If the tank body deforms, the sealing device between the floating disc and the tank wall will fail, resulting in the floating disc getting stuck and unable to operate normally. At the same time, petroleum is an inflammable and explosive substance, and has extremely high requirements for the tightness of storage containers. If the sealing ring structure between the floating disc and the tank wall is damaged, resulting in oil and gas leakage and diffusion into the air, it will not only pollute the environment and endanger health, but also may cause accidents such as fires and explosions, resulting in more serious consequences. Therefore, it is necessary to strictly control the geometric dimensions of the oil storage tank. In addition, tensile stress will not only cause changes in the shape and geometric parameters of the outer shell of the oil tank, but even cracks may appear. In order to accurately grasp the deformation of the tank body, the oil storage tank is measured regularly to obtain the concavity and convexity of each part of the tank wall, the ellipse at different heights, etc., so as to formulate a reasonable maintenance plan to ensure the safety of the oil tank.

[0004] The existing detection methods mainly have the following problems: (1) The inclination of the tank body is not taken into account, which affects the subsequent calculation of the concavity and convexity and ellipticity of the tank body; (2) The detection content is limited to the concavity and convexity and ellipticity, and the detection content is not comprehensive; (3) Accurately obtaining the center point coordinates at different heights is the key to calculating the concavity and convexity and ellipticity. However, the existing calculation methods are not rigorous. Some use the fitting method and do not take into account the actual radius; some avoid the calculation of the center point coordinates and directly regard the horizontal cross-section of the tank body as an ellipse, and then obtain the major and minor radii to calculate its ellipticity. This method has a large deviation. Summary of the Invention

[0005] The purpose of the present application is to provide a method, device and equipment for detecting deformation of a large cylindrical oil storage tank to improve the accuracy and comprehensiveness of deformation detection of the cylindrical oil storage tank.

[0006] To achieve the above purpose, the present application provides the following solutions.

[0007] In a first aspect, the present application provides a method for detecting deformation of a large cylindrical storage tank, including:

[0008] Performing laser scanning on the tank wall of the cylindrical storage tank to obtain the three-dimensional coordinate values of each observation point on the tank wall;

[0009] Performing tilt correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point;

[0010] Calculating the center point coordinates at different heights of the cylindrical storage tank according to the corrected coordinate values of each observation point;

[0011] Calculating the concavity / convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights;

[0012] Calculating the straightness and inclination of different azimuth generatrices of the cylindrical storage tank according to the corrected coordinate values of each observation point.

[0013] In a second aspect, the present application provides a device for detecting deformation of a large cylindrical storage tank. The device for detecting deformation of the large cylindrical storage tank applies the above method for detecting deformation of a large cylindrical storage tank. The device for detecting deformation of the large cylindrical storage tank includes:

[0014] A scanning module for performing laser scanning on the tank wall of the cylindrical storage tank to obtain the three-dimensional coordinate values of each observation point on the tank wall;

[0015] A tilt correction module for performing tilt correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point;

[0016] A center point coordinate calculation module for calculating the center point coordinates at different heights of the cylindrical storage tank according to the corrected coordinate values of each observation point;

[0017] A concavity / convexity and ellipticity calculation module for calculating the concavity / convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights;

[0018] A generatrix straightness and inclination calculation module for calculating the straightness and inclination of different azimuth generatrices of the cylindrical storage tank according to the corrected coordinate values of each observation point.

[0019] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. The processor executes the computer program to implement the above method for detecting deformation of a large cylindrical storage tank.

[0020] According to the specific embodiments provided by the present application, the present application has the following technical effects.

[0021] The present application provides a method, device, and equipment for detecting deformation of a large cylindrical storage oil tank. First, the present application performs tilt correction on the three-dimensional coordinate values obtained by scanning to avoid calculation errors caused by the tilt of the tank body. Then, the actual corrected coordinate values obtained by measurement and correction are used to calculate the center point coordinates at different heights, improving the accuracy of determining the center point coordinates, and further improving the accuracy of calculating the concavity / convexity and ellipticity. Further, based on the corrected coordinate values, the present application calculates the straightness and inclination of the generatrices in each direction, improving the comprehensiveness of the deformation detection of the cylindrical storage oil tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 It is a schematic flowchart of a method for detecting deformation of a large cylindrical storage oil tank provided by an embodiment of the present application.

[0024] Figure 2 It is a schematic diagram of the central axis and the measuring station coordinate system of a cylindrical storage oil tank provided by an embodiment of the present application.

[0025] Figure 3 It is a schematic diagram of a horizontal cross-section at an arbitrary height provided by an embodiment of the present application.

[0026] Figure 4 It is a schematic diagram of the concavity / convexity curve of the tank wall at a certain height provided by an embodiment of the present application.

[0027] Figure 5 It is a deformation diagram of the cross-section of the tank body at a certain height provided by an embodiment of the present application.

[0028] Figure 6 It is a schematic diagram of the ellipticity curves at different heights provided by an embodiment of the present application.

[0029] Figure 7 It is a schematic diagram of the straightness curves of the generatrices in each direction provided by an embodiment of the present application.

[0030] Figure 8 It is a schematic diagram of the inclination curves of the generatrices in each direction provided by an embodiment of the present application.

[0031] Figure 9 It is a schematic diagram of the structure of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0033] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] An ideal oil storage tank is a cylinder with its central axis coinciding with the plumb line. However, due to manufacturing errors and deformations during use, concavities and convexities appear on the tank wall, and the overall tank body is deformed and tilted, etc. To comprehensively understand the deformation of the tank body, it is necessary to analyze from multiple parts such as the local surface of the tank wall, the cross-section line of the tank body, and the generatrix of the tank body. The specific steps include sampling points on the tank wall, correcting the inclination of the central axis of the tank body, calculating the central points at each height, calculating the concavities and convexities of the tank wall at each height, calculating the ovality of the tank wall at each height, calculating the inclination of the generatrix in each direction, and calculating the straightness of the generatrix in each direction.

[0035] The embodiments of the present application take into account the influence brought by the inclination of the central axis of the oil tank, and consider the differences in the central points at different heights, and evaluate the straightness and inclination of the generatrix of the tank body, improving the accuracy and comprehensiveness of the deformation detection of the cylindrical oil storage tank.

[0036] In an exemplary embodiment, a method for detecting the deformation of a large cylindrical oil storage tank is provided, as Figure 1 shown, including the following steps 101-step 105.

[0037] Step 101, perform laser scanning on the tank wall of the cylindrical oil storage tank to obtain the three-dimensional coordinate values of each observation point on the tank wall;

[0038] Step 102, perform inclination correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point;

[0039] Step 103, calculate the center point coordinates at different heights of the cylindrical oil storage tank according to the corrected coordinate values of each observation point;

[0040] Step 104, calculate the concavity and ovality at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights;

[0041] Step 105, calculate the straightness and inclination of the generatrixes in different directions of the cylindrical oil storage tank according to the corrected coordinate values of each observation point.

[0042] In another exemplary embodiment, the above step 101 is a process of sampling points on the tank wall. If the storage tank has been cleaned, a three-dimensional laser scanner or a total station with a laser ranging function can be placed at the center position of the bottom inside the tank to scan the tank wall and obtain the three-dimensional coordinate values of each grid point on the tank wall. If it is impossible to complete all data acquisitions within one station due to the range limitation of the instrument, observations can be carried out in multiple areas close to the tank wall, and finally, the data of each station can be stitched together.

[0043] If the conditions for observing inside the tank are not available, multiple stations can be set up outside the tank for observation, and then the data of each station can be stitched together.

[0044] In another exemplary embodiment, the above step 102 is a process of correcting the inclination of the central axis of the tank body. The theoretical central axis of the tank body is a plumb line. However, when the tank wall is inclined, the central axis deviates from the plumb position. At this time, even if there is no deformation of the tank wall, the horizontal cross-section at any height of the tank body is no longer a circle, and the intersection line of the vertical plane passing through the center of the tank and the tank wall is no longer the generatrix of the tank body. Therefore, when the central axis of the tank body is inclined, it is necessary to correct the inclination of the point coordinates. Otherwise, it is very difficult to accurately obtain the positions of the transverse section and the generatrix of the tank body, and it is impossible to accurately judge the ellipticity and concavity / convexity of the tank body.

[0045] As Figure 2 shown, xyz-o is the station coordinate system. Due to the inclination of the tank body, the central axis of the tank body does not coincide with the z-axis.

[0046] Suppose the vertical line where the center of the tank body is located rotates clockwise by an angle β around the y-axis and then rotates clockwise by an angle α around the x-axis to completely coincide with the actual central axis of the tank body.

[0047] Also suppose the coordinates of the i-th observation point in the xyz-o coordinate system are (x i ', y i ', z i '), the coordinates of the center of the tank bottom are (x0, y0, 0), the azimuth angle of the i-th point relative to the center of the tank bottom is θ i , and the radius of the tank body is r0. Then there are:

[0048]

[0049] Since both α and β are small quantities, equation (1) is simplified to:

[0050]

[0051] Since the observation error of the observation point in the vertical direction has no influence on the shape of the tank body, it is assumed that the z i value has no error. Considering that the approximate values of α and β are 0, equation (2) is linearized and its error equation is written as:

[0052] V i = B i X - l i (3)

[0053] In the formula,

[0054] r0 takes the designed radius of the tank body.

[0055] θ i is the azimuth angle of point i relative to the center of the tank bottom, which is an unknown quantity but can be indirectly obtained according to the coordinate values of point i and the center point.

[0056] Assume the number of observation points is n, then 2n error equations can be written, and its matrix form is:

[0057] V = BX + l (4)

[0058] Using the least squares method to solve equation (4), the most probable value of the unknowns is:

[0059] X = -(X T PB) -1 B T Pl (5)

[0060] Then the adjusted value of the parameter to be determined is:

[0061]

[0062] To improve the solution accuracy, iterative calculation is required. Using the result of this adjustment as the approximate value for the next adjustment, and repeatedly performing iterative calculations until the correction of the unknown quantity approaches 0 and stops.

[0063] Then the coordinate values of each point after tilt correction are:

[0064]

[0065] Among them, is the corrected coordinate value of the i-th observation point, x i , y i and z i are the x-axis, y-axis, and z-axis components of the corrected coordinate value of the i-th observation point respectively, is the three-dimensional coordinate value of the i-th observation point, x i ', y i ' and z i ' are the x-axis, y-axis, and z-axis components of the three-dimensional coordinate value of the i-th observation point respectively, is the coordinate value of the bottom point of the axis of the cylindrical storage tank, and The x-axis and y-axis components are the coordinate values of the bottom point of the axis of the cylindrical oil storage tank respectively, and β and α are the rotation angles of the z-axis of the survey coordinate system with respect to the y-axis and x-axis of the actual central axis of the cylindrical oil storage tank respectively

[0066] Since the central axis tilt correction changes the position of the tank wall generatrix, in the calculation of the generatrix inclination, for the points on the extracted generatrix, it is also necessary to rotate them back to their original state

[0067] In another exemplary embodiment, the above step 103 is the process of calculating the center point coordinates at each height. In the correction of the inclination of the tank body central axis, the coordinates of the center point at the bottom of the tank body have been obtained. However, in actual detection, it is found that the coordinates of the center points of the horizontal cross-sections of the tank body at different heights are not the same (usually, the greater the deformation of the tank body, the greater the difference). Obviously, to accurately obtain the ovality and concavity of the tank body at different heights, it is necessary to re-solve the central positions at different heights

[0068] Since the observation points are distributed in the form of rectangular grid points on the tank wall, there may often be no observation points at a specified height. In actual calculation, all points within a certain range (usually 5 cm) above and below a certain height are often selected to participate in the calculation of the central position

[0069] Such as Figure 3 , let the coordinates of the observation point i at a certain height be (x i , y i ), the coordinates of the center point of the tank body at this height are (x c , y c ), and the circumferential radius is r c . Then the observation equation can be written as:

[0070] x i = x c + r c × cos(θ i ) + Δx i

[0071] y i = y c + r c × sin(θ i ) + Δy i (7)

[0072] In the formula, Δx i , Δy i are the true errors of the observed coordinates x i , y i respectively, and θ i is the azimuth angle from the center point to the observation point i

[0073] The error equation of formula (7) is written as follows:

[0074]

[0075] In the formula, are the corrections of the observed coordinates x i and y i respectively. θ i needs to be calculated by inverse calculation using the coordinates of the observation point and the center point. Since the center point position is the point to be determined, its initial value is taken as the average value of the observation point coordinates, and it is made to converge to the optimal estimated center point position through iterative calculation.

[0076] The matrix form of Equation (8) is as follows:

[0077]

[0078] Assume that the number of observation points at this height is n, then n equations of (9) can be written, and the combined matrix form is as follows

[0079] V = BX - l (10)

[0080] Where

[0081] V is the observed value residual matrix, B is the observed angle matrix, X is the center point coordinates and radius at height H c , l is the observed value matrix, and are the x-axis and y-axis observed value residuals of the first observation point at height H c respectively, and are the x-axis and y-axis observed value residuals of the nth observation point at height H c respectively, n is the number of observation points at height H c , θ1 is the azimuth from the center point at height H c to the first observation point, θ n is the azimuth from the center point at height H c to the nth observation point, x c and y c are the x-axis coordinate and y-axis coordinate of the center point at height H c respectively, r c is the radius at height H c , x1 and y1 are the x-axis component and y-axis component of the corrected coordinate value of the first observation point at height H c respectively, x n and y n are the x-axis component and y-axis component of the corrected coordinate value of the nth observation point at height H c respectively.

[0082] Since the point observation error is much smaller than the random deformation of the tank body, it is meaningless to determine the weights according to the nominal accuracy of the instrument. Therefore, the observed values are processed with equal precision. That is,

[0083]

[0084] Using the least squares principle, we can obtain:

[0085] X = (B T PB) -1 B T Pl (10)

[0086] Substituting into Equation (10), the residual matrix V of the observed values can be obtained, and the mean square error of unit weight is:

[0087]

[0088] Because the cofactor matrix of the parameters to be solved is:

[0089] Q XX = (B T PB) -1

[0090] Then the variance matrix of the parameters to be solved can be obtained as:

[0091]

[0092] Through the variance matrix D XX the accuracy of the optimal estimated value of the parameters to be solved can be judged.

[0093] In practical engineering, starting from the bottom of the tank at intervals of 30 cm, each horizontal plane is defined as the output layer, the coordinates of the center point of the tank body at each output layer are calculated and stored, and in the subsequent calculations of concavity-convexity and ellipticity, the height is selected to correspond one by one with the output layer.

[0094] In another exemplary embodiment, step 104 above includes the process of calculating the concavity-convexity at each height and the process of calculating the ellipticity at each height.

[0095] 1. Calculation of concavity-convexity at each height

[0096] Let the height of the point to be output be H s , the azimuth angle be α s . The radius at this height is r c , and the center point coordinates are (x c , y c ), then the first output coordinate (coordinate before deformation) is:

[0097]

[0098] This point is often not an observation point. Therefore, its actual radius value needs to be obtained by taking the weighted average of the sampling points within a certain range around it.

[0099] Let the coordinates of an observation point k (k = 1, 2,..., K) be (x k , y k ), and the height be H k . Then the radius value at this point is:

[0100]

[0101] The distance from the observation point k to the first output point j is:

[0102]

[0103] Then the weight of the radius at this point is

[0104] From this, the radius value of the output point can be obtained as:

[0105]

[0106] Where, r j is the radius at the first output point j, r k is the radius of the kth target observation point of the first output point j, and p<00000*76*is the radius weight value of the kth target observation point of the first output point j.

[0107] Then the concavity and convexity at this output point is

[0108] AT j = r j - r c

[0109] Where, AT j is the concavity and convexity of the jth first output point at the height H c , and r c is the radius at the height H c .

[0110] In actual engineering, for each output layer, starting from the north direction, the concavity and convexity values are output every 1 degree, and the concavity and convexity curve and the schematic diagram of the transverse section deformation are drawn, as shown in Figure 4 , Figure 5 .

[0111] 2. Calculation of the ellipticity at each height

[0112] Let the height of the point to be output be H[[ID=7*3*]] s and the azimuth angle be α s . The radius at this height is r c , and the center point coordinates are (x c , y It should be noted that there seems to be an error in the tag number in the original text where "p k " is likely a typo and should probably be "p k " without the extra "*". This has been left as is in the translation to maintain consistency with the original text. Also, the "7*3*" in the translation is likely a placeholder for the correct tag number which should be adjusted according to the original text's correct format.c ), then the coordinates of the first output point (coordinates before deformation) are

[0113]

[0114] This point is often not an observation point. Therefore, the actual radius value needs to be obtained by taking the weighted average of the observation points within a certain range around it.

[0115] Let the coordinates of an observation point k (k = 1, 2,..., K) be (x k , y k ), and the height be H k . Then the radius value at this point is:

[0116]

[0117] The distance from the observation point k to the first output point j is:

[0118]

[0119] Then the weight of the radius at this point is

[0120] Thus, the radius value of the output point can be obtained as:

[0121]

[0122] Among them, r j is the radius at the first output point j, r k is the radius of the k-th target observation point of the first output point j, and p k is the radius weight value of the k-th target observation point of the first output point j;

[0123] Similarly, the radius value r s at the azimuth of α j' + 180 can be calculated.

[0124] Then the diameter of the tank body at this point is:

[0125] d j = r j + r j'

[0126] Among them, d j is the diameter at the first output point j at the height H c , r j is the radius at the first output point j, and r j' is the radius of the j'-th first output point that is 180° apart from the j-th first output point.

[0127] Starting from the north direction, calculate the diameter of its tank body every 1 degree until the azimuth reaches 180 degrees, and extract the maximum diameter dmax and the minimum diameter d min , then the ovality of the tank body of the output layer is

[0128]

[0129] wherein, is the ovality at the height H c , d max is the maximum diameter at the height H c , d min is the minimum diameter at the height H c .

[0130] In actual engineering, calculate the ovality of each output layer and draw the ovality curve at different heights, as Figure 6 shown.

[0131] In another exemplary embodiment, the above step 105 includes a process for calculating the straightness of each azimuth busbar and a process for calculating the inclination (verticality) of each azimuth busbar.

[0132] 1. Calculation of the straightness of each azimuth busbar

[0133] When calculating the straightness of each azimuth busbar, the reference should be selected as the axis of the tank body (after inclination correction, it is actually a plumb line), so the center point coordinates need to adopt the coordinate values at the bottom of the axis.

[0134] Let the azimuth of the busbar to be calculated be α s , starting from the bottom of the tank body, extract the radii of each output layer layer by layer in this azimuth.

[0135] Let the height of a certain output layer be H c , then the coordinates of the second output point are:[[]]

[0136] x m = x0 + r0cosα s

[0137] y m = y0 + r0sinα s

[0138] This point is often not an observation point, so the actual radius value needs to be obtained by taking the weighted average of the observation points within a certain range around it.

[0139] Let the coordinates of a certain observation point k' (k' = 1, 2..., K') be (x k' , y k' ), and the height be H k' , then the radius value at this point is:[[]]

[0140]

[0141] The distance from point k' to the second output point m is:

[0142]

[0143] Then the weight of the radius of this point is

[0144] From this, the radius value of the output point can be obtained as:

[0145]

[0146] where r m is the radius at the second output point m, and r k' is the radius of the k'-th target observation point of the second output point m, and p k' is the radius weight value of the k'-th target observation point of the first output point m.

[0147] Suppose K' points (with the height coinciding with each output layer) are taken on the generatrix from low to high in the azimuth α on the inner wall of the tank, and the radius values r s (m = 1, 2.....M) of each point are calculated, which is the average value of the radii at each point. m (m = 1, 2.....M), the average value of the radii at each point.

[0148]

[0149] Let

[0150]

[0151] Then the straightness of the generatrix of the tank body in this direction is: M is the number of second output points.

[0152] where, is the straightness of the generatrix of the target azimuth, and v m is the straightness deviation at the second output point m, is the average value of the radii at each second output point.

[0153] Starting from the north direction, at a certain interval (usually 1°), the straightness of each azimuth is output, and a straightness curve graph of each azimuth is drawn, as Figure 7 shown.

[0154] 2. Calculation of the inclination (perpendicularity) of the generatrix in each azimuth

[0155] When calculating the inclination of the generatrix in each azimuth, the axis of the tank body (before inclination correction) is selected as the reference, so the center point coordinates need to use the coordinate values at the bottom of the axis.

[0156] Suppose the azimuth of the generatrix to be calculated is α s , starting from the bottom of the tank, the radii of each point are extracted layer by layer (output layer) on the generatrix in this azimuth.

[0157] Let the output layer height be H c , then the coordinates of the point to be output are:

[0158] x m =x0+r0cosα s

[0159] y m =y0+r0sinα s

[0160] This point is often not a sampling point, so its actual radius value needs to be obtained by taking a weighted average of the sampling points within a certain range around it.

[0161] Suppose the coordinates of an observation point k' (k' = 1, 2 ..., K') are (x k' ,y k' ), height H k' , then the radius value at this point is:

[0162]

[0163] The distance from point k' to the second output point m is:

[0164]

[0165] Then the weight of the radius of this point is

[0166] From this we can get the radius value of the second output point:

[0167]

[0168] Among them, r m is the radius of the second output point m, r k' is the radius of the k'th target observation point of the second output point m, p k' is the radius weight of the k'th target observation point of the first output point m.

[0169] Set on the inner wall of the tank s Take n points on the busbar from low to high (the height coincides with each output layer), and the three-dimensional coordinates of each point are:

[0170] x m =r m cosα s

[0171] y m =r m sinα s

[0172] z m =H m

[0173] wherein, x m , y m and z m are respectively the x-axis, y-axis and z-axis components of the calibration coordinate value of the second output point m, and H m is the height of the second output point m.

[0174] When the axis of the tank body is corrected for inclination, the coordinates of each sampling point are transformed, and the points on each generatrix also rotate accordingly. Therefore, to obtain the accurate inclination of the generatrix, it is necessary to perform coordinate transformation on the points on the current generatrix to restore them to the original state, that is

[0175]

[0176] Let the equation of the generatrix be:

[0177]

[0178] Its corresponding error equation is

[0179] V m = B m X - l m

[0180] In the formula, the residual matrix

[0181] The coefficient matrix

[0182] The parameter matrix X to be solved = [A1 B1 C1 A2 B2 C2] T ,

[0183] The constant term

[0184] Assume there are M points on the generatrix, then 2M error equations can be written, and its matrix form is as follows.

[0185] V = VX - l

[0186] Using the least squares method, X = (B T PB) -1 B T Pl.

[0187] In Equation (13), by taking the minimum height of the oil tank the coordinates of the lowest point of the generatrix (x min `, y min ) can be solved; by taking the maximum height of the oil tank the coordinates of the highest point of the generatrix (x max `, y max`); then the position deviation (i.e., the inclination) between the highest point and the lowest point of the busbar is as follows:

[0188]

[0189] Among them, is the inclination of the busbar in the target azimuth, and x max ` and y max ` are respectively the x-axis and y-axis components of the three-dimensional coordinate values of the highest point on the busbar in the target azimuth determined based on the busbar equation, and x min ` and y min ` are respectively the x-axis and y-axis components of the three-dimensional coordinate values of the lowest point on the busbar in the target azimuth determined based on the busbar equation.

[0190] The degree of inclination reflects the inclination degree of the tank body busbar. The larger its value, the greater the inclination degree of the busbar.

[0191] Starting from the north direction, at a certain interval (usually 1°), the inclination degrees of each azimuth are output, and a curve graph of the inclination degrees of each azimuth is drawn, as Figure 8 shown.

[0192] Based on the same inventive concept, the embodiment of the present application also provides a large cylindrical oil storage tank deformation detection device for implementing the large cylindrical oil storage tank deformation detection method involved above. The implementation solution provided by this device to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in one or more embodiments of the large cylindrical oil storage tank deformation detection device provided below can refer to the limitations on the large cylindrical oil storage tank deformation detection method in the above text, and will not be repeated here.

[0193] In an exemplary embodiment, a large cylindrical oil storage tank deformation detection device is provided, including:

[0194] A scanning module for performing laser scanning on the tank wall of the cylindrical oil storage tank to obtain the three-dimensional coordinate values of each observation point on the tank wall;

[0195] An inclination correction module for performing inclination correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point;

[0196] A center point coordinate calculation module for calculating the center point coordinates at different heights of the cylindrical oil storage tank according to the corrected coordinate values of each observation point;

[0197] A concavity-convexity and ellipticity calculation module for calculating the concavity-convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights;

[0198] The bus straightness and inclination calculation module is used to calculate the straightness and inclination of the busbars in different directions of the cylindrical storage tank according to the corrected coordinate values of each observation point.

[0199] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 9 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it realizes a deformation detection method for a large cylindrical storage tank.

[0200] Those skilled in the art can understand that Figure 9 the structure shown in

[0201] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are realized.

[0202] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memories can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0203] The databases involved in the various embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the various embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0204] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0205] In this article, specific examples are used to elaborate on the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A deformation detection method for a large cylindrical oil storage tank, characterized in that, Including: Performing laser scanning on the tank wall of a cylindrical storage tank to obtain the three-dimensional coordinate values of each observation point on the tank wall; Performing tilt correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point; Calculating the center point coordinates at different heights of the cylindrical storage tank according to the corrected coordinate values of each observation point; Calculating the concavity-convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights; Calculating the straightness and inclination of different azimuth generatrices of the cylindrical storage tank according to the corrected coordinate values of each observation point.

2. The deformation detection method for large cylindrical oil storage tanks according to claim 1, characterized in that Performing tilt correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point, specifically including: Using the following formula to perform tilt correction on the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point; Wherein, is the corrected coordinate value of the i-th observation point, and x i , y i and z i are the x-axis, y-axis and z-axis components of the corrected coordinate value of the i-th observation point respectively. is the three-dimensional coordinate value of the i-th observation point, and x i ', y i ' and z i ' are the x-axis, y-axis and z-axis components of the three-dimensional coordinate value of the i-th observation point respectively. is the coordinate value of the bottom point of the axis of the cylindrical storage tank. and are the x-axis and y-axis components of the coordinate value of the bottom point of the axis of the cylindrical storage tank respectively. β and α are the rotation angles of the z-axis of the survey station coordinate system with respect to the y-axis and x-axis of the actual central axis of the cylindrical storage tank respectively.

3. The deformation detection method for a large cylindrical oil storage tank according to claim 1, characterized in that Calculating the center point coordinates at different heights of the cylindrical storage tank according to the corrected coordinate values of each observation point, specifically including: Constructing an error equation at any height; Solving the error equation by the least squares method to obtain the center point coordinates at that height.

4. The deformation detection method for a large cylindrical oil storage tank according to claim 3, characterized in that The error equation is: V = BX - l; Among them, V is the observation value residual matrix, B is the observation angle matrix, X is the height H c The central point coordinates and radius at, l is the observation value matrix, and are respectively the x-axis and y-axis observation value residuals of the first observation point at height H c , and are respectively the x-axis and y-axis observation value residuals of the nth observation point at height H c , n is the number of observation points at height H c , θ1 is the azimuth angle from the central point at height H c to the first observation point, θ n is the azimuth angle from the central point at height H c to the nth observation point, x c and y c are respectively the x-axis coordinate and y-axis coordinate of the central point at height H c , r c is the radius at height H c , x1 and y1 are respectively the x-axis component and y-axis component of the corrected coordinate value of the first observation point at height H c , x n and y n are respectively the x-axis component and y-axis component of the corrected coordinate value of the nth observation point at height H c .

5. The deformation detection method for large cylindrical oil storage tanks according to claim 1, characterized in that, Calculating the concavity-convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights, specifically including: At height H according to the unit azimuth angle c obtain a plurality of first output points; Based on the corrected coordinate values of multiple target observation points of each first output point, using the following formula to calculate the radius at each first output point; the target observation points of the first output point are the observation points whose distance from the first output point is less than the distance threshold; where r j is the radius at the first output point j, and r k is the radius of the k-th target observation point of the first output point j, and p k is the radius weight value of the k-th target observation point of the first output point j; Calculate the height H according to the radius at each first output point using the following formula c The concavity and convexity of each first output point at AT j = r j -r c ; Among them, AT j is the concavity and convexity of the j-th first output point at height H c , and r c is the radius at height H c ; Calculate the height H according to the radius at each first output point using the following formula c ellipticity at; d j ＝r j +r j' ； Among them, is the ovality at height H c , d max is the maximum diameter at height H c , d min is the minimum diameter at height H c , d j is the diameter at the first output point j at height H c , r j is the radius at the first output point j j' is the radius of the j'-th first output point that is 180° apart from the j-th first output point.

6. The deformation detection method for a large cylindrical oil storage tank according to claim 1, characterized in that Calculating the straightness and inclination of different azimuth generatrices of the cylindrical storage tank according to the corrected coordinate values of each observation point, specifically including: Obtain a plurality of second output points on the target azimuth generatrix according to the unit altitude angle; the target azimuth generatrix is the generatrix with an azimuth angle of α s of the generatrix; Based on the corrected coordinate values of multiple target observation points of each second output point, using the following formula to calculate the radius at each second output point; the target observation points of the second output point are the observation points whose distance from the second output point is less than the distance threshold; where r m is the radius at the second output point m, and r k' is the radius of the k'-th target observation point of the second output point m, and p k' is the radius weight value of the k'-th target observation point of the first output point m; Calculating the straightness of the target azimuth generatrix according to the radius at each second output point; Calculating the inclination of the target azimuth generatrix according to the radius at each second output point.

7. The deformation detection method for a large cylindrical oil storage tank according to claim 6, wherein Calculating the straightness of the target azimuth generatrix according to the radius at each second output point, specifically including: Calculating the average value of the radii at each second output point; According to the average value and the radii at each second output point, using the following formula to calculate the straightness of the target azimuth generatrix; m = 1, 2, ..., M, where M is the number of second output points; Among them, is the straightness of the target azimuth busbar, v m is the straightness deviation at the second output point m, is the average value of the radii at each second output point.

8. The deformation detection method for a large cylindrical oil storage tank according to claim 6, wherein Calculating the inclination of the target azimuth generatrix according to the radius at each second output point, specifically including: According to the radius at each second output point, using the following formula to calculate the corrected coordinate values of each second output point; where x m , y m and z m are the x-axis, y-axis, and z-axis components of the calibration coordinate value of the second output point m, respectively, and H m is the height of the second output point m; Performing an inverse tilt correction transformation on the corrected coordinate values of each second output point to obtain the three-dimensional coordinate values of each second output point; According to the three-dimensional coordinate values of each second output point, solving the generatrix equation of the target azimuth generatrix; According to the generatrix equation, using the following formula to calculate the inclination of the target azimuth generatrix; Among them, is the inclination of the target azimuth busbar, x max ` and y max ` are respectively the x-axis and y-axis components of the three-dimensional coordinate values of the highest point on the target azimuth busbar determined based on the busbar equation, x min ` and y min ` are respectively the x-axis and y-axis components of the three-dimensional coordinate values of the lowest point on the target azimuth busbar determined based on the busbar equation.

9. A deformation detection device for a large cylindrical oil storage tank, characterized in that, The deformation detection device for a large cylindrical storage tank applies the deformation detection method for a large cylindrical storage tank according to any one of claims 1-8. The deformation detection device for a large cylindrical storage tank includes: A scanning module for laser scanning the wall of a cylindrical oil storage tank to obtain the three-dimensional coordinate values of each observation point on the wall; An inclination correction module for correcting the inclination of the three-dimensional coordinate values of each observation point to obtain the corrected coordinate values of each observation point; A center point coordinate calculation module for calculating the center point coordinates at different heights of the cylindrical oil storage tank according to the corrected coordinate values of each observation point; A concavity / convexity and ellipticity calculation module for calculating the concavity / convexity and ellipticity at different heights according to the corrected coordinate values of each observation point and the center point coordinates at different heights; A generatrix straightness and inclination calculation module for calculating the straightness and inclination of the generatrices in different azimuths of the cylindrical oil storage tank according to the corrected coordinate values of each observation point.

10. A computer device, comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the deformation detection method for a large cylindrical oil storage tank according to any one of claims 1-8.

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