Water tank bottom terrain height measuring system

Abstract

The invention relates to the technical field of data measurement, and provides a water tank bottom terrain height measuring system, which comprises a measuring device, a data processing device and a data processing device, comprising a driving assembly, a sliding block assembly in transmission connection with the driving assembly, a measuring chain connected with the sliding block assembly, an underwater sensor arranged at the tail end of the chain, and a visual reading assembly used for reading height reading. The crane positioning system is used for bearing and controlling the measuring device to move above the water tank and outputting plane coordinates of the measuring device in real time; and the data processing unit is in communication connection with the measuring device and the crane positioning system, and is used for receiving and processing the height readings from the measuring device and the plane coordinates from the crane positioning system and generating a terrain height data set of the bottom of the water tank. According to the embodiment of the invention, automatic measurement and real-time data processing are integrated, so that the measurement efficiency and the data quality are improved, and efficient, accurate and reliable measurement of the height of the terrain at the bottom of the water tank is realized.

Description

Technical Field

[0001] This disclosure relates to the field of data measurement technology, and more specifically, to a system for measuring the elevation of the bottom of a water tank. Background Technology

[0002] In training or testing operational equipment, using water tanks for simulation is a common method. Water tanks are typically limited in size and cannot accommodate large, single pieces of equipment. Therefore, in practice, large equipment must be divided into multiple sections and sequentially hoisted into the water tank according to a specific configuration to assemble a complete training / test configuration. When multiple pieces of equipment are in the water tank, their axes must remain horizontal and at the same height. Each piece of equipment is placed on a dedicated trolley, and axis alignment is achieved by adjusting the height of the trolley's four outriggers.

[0003] However, the bottom of the water tank is often uneven after construction, typically high in the middle and low around the edges in a conical shape. This necessitates precise adjustment of the support leg height based on the actual height of the tank bottom when placing equipment. To ensure that the axes of multiple pieces of equipment are aligned after assembly, accurate digital measurement of the tank bottom topography becomes a crucial foundational task.

[0004] In related technologies, the main methods for obtaining the bottom topographic height of confined water bodies such as flumes include manual measurement and non-contact acoustic measurement. However, these methods all have significant limitations. On the one hand, manual measurement typically relies on operators using simple tools such as sounding rods or sounding hammers for single-point measurements. Although the equipment is simple, it suffers from low efficiency, accuracy dependent on human judgment, susceptibility to reading errors, and insufficient safety in complex environments. On the other hand, while acoustic measurement methods, represented by single-beam or multi-beam echo sounders, improve efficiency, they are inherently costly and complex. Furthermore, their acoustic signals are easily interfered with by air bubbles, suspended matter, and reflections from the flume walls, leading to decreased measurement accuracy in laboratory flumes or turbid water bodies, and even the existence of measurement blind spots. Summary of the Invention

[0005] This disclosure provides at least one water tank bottom terrain height measurement system, applicable to various water tank environments. By integrating automated measurement and real-time data processing, it improves measurement efficiency and data quality, achieving efficient, accurate, and reliable measurement of water tank bottom terrain height.

[0006] This disclosure provides a system for measuring the elevation of the bottom of a water tank, including: A measuring device for obtaining the height value of a single point on the bottom of a water tank by contact detection. The measuring device includes a drive assembly, a slider assembly that is pulsatorically connected to the drive assembly, a measuring chain that is connected to the slider assembly, an underwater sensor disposed at the end of the measuring chain, and a visual reading assembly for reading the height reading. A crane positioning system is used to support and control the movement of the measuring device in a horizontal plane above the water tank, and to output the planar coordinates of the measuring device in real time. The data processing unit is communicatively connected to the measuring device and the crane positioning system, and is used to receive and process the height readings from the measuring device and the planar coordinates from the crane positioning system to generate a dataset of the topographic height of the bottom of the water tank. The measuring device is configured such that, in response to reaching any target measuring point determined by the crane positioning system, the driving component drives the slider assembly and the measuring chain to descend vertically until the underwater sensor contacts the bottom of the tank and triggers a stop signal, and the height value of the target measuring point relative to the horizontal plane inside the tank is determined based on the height reading corresponding to the position of the slider assembly obtained by the vision reading component.

[0007] In some possible embodiments, the driving component of the measuring device includes: Stepper motor; A lead screw driven by the stepper motor; The slider assembly meshes with the lead screw and is constrained on the slide rail to slide linearly. A stepper motor control board is used to receive control commands and control the rotation of the stepper motor; And a remote control, used to send the control commands to the stepper motor control board.

[0008] In some possible embodiments, the visual reading component includes: A camera fixedly mounted at the end of a slide rail; A scale is fixedly mounted on the slider assembly, and the zero point of the scale is linked to the slider assembly; The camera is configured to capture an image of the scale and remotely obtain the height reading through image recognition.

[0009] In some possible embodiments, the measuring device further includes a safety limit mechanism, the safety limit mechanism comprising: Stops are provided at both ends of the slide rail; A contact sensor is installed on the stop block; When the slider assembly moves and touches the contact sensor on any of the stops, the contact sensor is triggered and sends a signal to the stepper motor control board to control the stepper motor to stop rotating.

[0010] In some possible embodiments, the crane positioning system includes: A large vehicle that can move in the first horizontal direction; A small vehicle mounted on the large vehicle and movable in a second horizontal direction; wherein the first horizontal direction and the second horizontal direction are perpendicular to each other; The measuring device is mounted on the hook, which is provided on the trolley. The crane positioning system outputs in real time a first coordinate representing the position of the trolley and a second coordinate representing the position of the gantry. The first coordinate and the second coordinate together constitute the planar coordinates of any target measurement point.

[0011] In some possible embodiments, the data processing unit is configured to perform the following data processing steps: Obtain the original height readings of all target measurement points and determine the minimum height reading; then process the original height readings of each target measurement point based on the minimum height reading to obtain the trench bottom shape height data of each target measurement point; Obtain the height values ​​of the hook at different positions of the trolley corresponding to different target measurement points, calculate the average maximum height, and calculate the crossbeam deformation of the trolley at each target measurement point based on the height values ​​of the trolley at different positions and the average maximum height. For each target measurement point, the shape and height data of the trench bottom of the target measurement point are corrected based on the deformation of the crossbeam corresponding to the position of the trolley at the target measurement point, so as to obtain the corrected terrain height dataset.

[0012] In some possible embodiments, obtaining the height values ​​of the hook at different positions of the trolley corresponding to different target measurement points includes: Obtain the initial height value of the hook at different positions of the trolley corresponding to different target measurement points; The initial height value is smoothed to obtain the height value of the hook at different positions of the trolley corresponding to different target measurement points.

[0013] In some possible embodiments, the water tank bottom terrain height measurement system is configured to measure the bottom of the water tank according to a predetermined gridded measurement path, wherein the gridded measurement path is an S-shaped reciprocating path covering half of the water tank area, and the terrain data of the other half of the water tank area is obtained by mirroring the measured data.

[0014] This disclosure provides a method for measuring the elevation of the bottom of a water tank, including: The measuring device is installed on the hook of the crane positioning system, and the hook is adjusted to a preset fixed height to ensure that the main body of the measuring device is above the liquid surface in the water tank. The crane positioning system is controlled to move the measuring device above the water tank according to a predetermined grid path and stop at each target measuring point. The original height reading of the target measuring point is obtained through the measuring device, and the planar coordinates of the target measuring point are recorded synchronously through the crane positioning system. The crane positioning system is controlled to move the trolley along the main beam, and the height of the hook at different target measurement points corresponding to different positions of the trolley is measured to obtain the flatness data of the crane beam. Based on the original height readings and planar coordinates of the target measurement points, the shape and height data of the water tank bottom are calculated; and based on the flatness data of the crane beam, the shape and height data of the water tank bottom are corrected to generate a terrain height dataset of the water tank bottom.

[0015] In some possible embodiments, the predetermined grid path is an S-shaped reciprocating path covering half of the tank area, and the method further includes a data mirroring step: Based on the symmetry of the water tank, the topographic height data of the measured half of the water tank area is mirrored to the unmeasured half of the area to generate a complete topographic height dataset of the bottom of the water tank.

[0016] The water tank bottom terrain height measurement system provided in this embodiment utilizes a crane positioning system to automatically control the measuring device to move horizontally above the water tank and output planar coordinates in real time. Combined with the contact detection mechanism of the measuring device, a drive component and a slider component drive the underwater sensor vertically downwards until it contacts the bottom of the tank, triggering a stop signal to ensure the accuracy of the height reading. A visual reading component further enhances the readability and reliability of the height values. Simultaneously, a data processing unit receives and processes the height readings and planar coordinates, quickly generating a complete terrain height dataset, avoiding the errors and inefficiencies of manual measurement. Thus, this embodiment, by integrating automated measurement and real-time data processing, improves measurement efficiency and data quality, is applicable to various water tank environments, and achieves efficient, accurate, and reliable measurement of the water tank bottom terrain height.

[0017] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings referenced in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0019] Figure 1 A schematic diagram of a water tank bottom topography height measurement system provided in an embodiment of this disclosure is shown; Figure 2 A schematic diagram of the structure of a measuring device provided in an embodiment of this disclosure is shown; Figure 3 A schematic diagram of the structure of a crane hall provided in an embodiment of this disclosure is shown; Figure 4 A schematic diagram showing the installation relationship between a measuring device and a crane positioning system provided in an embodiment of this disclosure is shown; Figure 5 A schematic diagram of a water tank measurement path provided by an embodiment of this disclosure is shown; Figure 6 A flowchart of a terrain data generation method based on multi-parameter correction provided in an embodiment of this disclosure is shown; Figure 7 This illustration shows a schematic diagram of a terrain data-based multi-parameter correction method provided by an embodiment of the present disclosure; Figure 8 A flowchart is shown for a method for measuring the topographic height of a water tank bottom according to an embodiment of this disclosure. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0023] The water tank bottom terrain height measurement system provided in this application embodiment will be described in detail below with reference to the accompanying drawings. See also Figure 1 The diagram shown is a schematic of a water tank bottom terrain height measurement system provided in an embodiment of this disclosure. The system includes a measuring device, a crane positioning system, and a data processing unit.

[0024] Understandably, the measuring device in the entire measuring system is responsible for acquiring the height data of the tank bottom. Its core task is to obtain the height data of the tank bottom, mainly by using contact detection to obtain the height value of each single point on the tank bottom. Here, the measuring device includes multiple components working together, which may include: a drive component, a slider component that is driven and connected to the drive component, a measuring chain connected to the slider component, an underwater sensor set at the end of the measuring chain, and a visual reading component for reading the height.

[0025] Specifically, the drive component, as the power source of the entire device, provides the necessary driving force for the movement of other components. Taking a common electric motor as an example, it can efficiently convert input electrical energy into mechanical energy, thereby driving other related parts to start operating, just as a car engine provides the initial power for the car's movement. The slider assembly is connected to the drive component through a transmission connection. This transmission connection ensures that the power generated by the drive component can be transmitted to the slider assembly in a specific and controllable manner, enabling the slider assembly to move according to a pre-set pattern.

[0026] In some possible embodiments, the driving component of the measuring device may include a stepper motor, a lead screw driven by the stepper motor, a slider assembly meshing with the lead screw, a stepper motor control board, and a remote controller. Here, the stepper motor is one of the core components of the driving component, possessing precise stepping control characteristics and capable of rotating at a certain step angle, thereby achieving more precise position control. The lead screw driven by the stepper motor is a key link in power transmission; the stepper motor rotates to drive the lead screw, and the rotation of the lead screw is further converted into linear motion. The slider assembly meshing with the lead screw is strictly constrained to slide linearly on a slide rail. The slide rail provides stable guidance for the movement of the slider assembly, ensuring that the slider assembly can move accurately along a predetermined linear direction, avoiding deviation and wobbling during movement. The stepper motor control board plays a command and control role in the entire driving system; it can receive control commands from external sources and control parameters such as the rotation direction, rotation speed, and rotation angle of the stepper motor according to these commands. The remote control is a tool for operators to interact with the stepper motor control board. Operators can send various control commands to the stepper motor control board through the remote control, thereby realizing remote control and operation of the measuring device, which facilitates flexible adjustment of the measuring device in different working scenarios.

[0027] In some other embodiments, the components of the drive assembly can be replaced or added / removed depending on the actual situation. For example, in scenarios where measurement accuracy requirements are slightly lower and cost is limited, the stepper motor can be replaced with a regular motor, along with a reducer, to achieve similar power output and speed control effects. For the transmission structure between the slider assembly and the lead screw, if space is limited or there are special requirements for the transmission method, a gear and rack transmission structure can be used. The function of the stepper motor control board can also be simplified or enhanced according to actual needs. If only basic start / stop and direction control are required, a simple control board can be selected; if complex motion trajectory control is required, a powerful professional control board is needed. The remote control can also be replaced with a model featuring a touchscreen or more shortcut buttons, depending on operating habits and convenience requirements. No specific limitations are made here, as long as the normal driving and measurement needs of the measuring device are met.

[0028] Understandably, one end of the measuring chain is connected to the slider assembly, moving synchronously with the slider assembly. This chain plays a dual role in the entire device: firstly, it transmits the motion of the slider assembly, further extending and transmitting its linear motion; secondly, it connects to the underwater sensor located at its end, establishing a physical connection between the underwater sensor and the slider assembly. This connection method is similar to the chain in a chain drive structure, where power is transmitted from one component to another through the chain's cyclical movement. The underwater sensor is located at the end of the measuring chain, and when it descends with the chain and contacts the bottom of the tank, it can quickly trigger a corresponding signal. This triggering mechanism is similar to a pressure sensor generating an electrical signal when subjected to external pressure. When the underwater sensor contacts the bottom of the tank, it senses the contact pressure and generates a specific electrical signal, thus providing feedback that it has reached the measurement position. The visual reading component is responsible for reading the height. It captures the position information of the slider assembly through a high-precision sensor and converts this position information into a specific height value through complex calculations and transformations. This process is similar to an optical encoder reading position information and calculating height. An optical encoder can accurately determine the position of an object by detecting changes in light signals. The visual reading component also uses a similar principle to obtain accurate height data by analyzing the position changes of the slider component.

[0029] Here, the visual reading component specifically consists of a camera fixed to the end of the slide rail and a scale fixed to the slider assembly. The zero point of the scale is linked to the slider assembly, and the movement of the slider assembly is accurately reflected on the scale. The camera is used to capture images of the scale, and image recognition technology is used to remotely obtain height readings, making height measurement more intuitive and accurate, and able to more clearly capture scale changes and convert them into height values. Specifically, the lower the terrain of the water tank bottom, the greater the distance the slider moves down, the shorter the distance between the zero point of the scale and the camera observation point, and the smaller the scale reading presented in the remote image; conversely, the higher the terrain of the water tank bottom, the less the distance the slider moves down, the greater the distance between the zero point of the scale and the camera observation point, and the larger the scale reading presented in the remote image. Therefore, with this scale design, the scale reading directly reflects the height value of the measured point on the bottom of the water tank.

[0030] Understandably, the length of the scale is greater than the slider's travel distance, the slider's travel distance is greater than the height difference at the bottom of the tank, and the chain length ensures that the underwater sensor can contact the lowest point of the tank bottom (the edge of the tank) when the slider is within its travel range. When measuring all grid points, the height of the device's suspension point (hook) remains constant, and the main body of the device is ensured to be above the water surface.

[0031] For example, to ensure safe operation of the device, the measuring device also includes a safety limit mechanism, comprising stops at both ends of the slide rail and contact sensors mounted on the stops. The stops are fixed to both ends of the slide rail, defining a safe range for the movement of the slider assembly. If the slider assembly moves out of control or exceeds the normal range, it will touch the contact sensor on either stop. Upon being triggered, the contact sensor immediately sends a signal to the stepper motor control board. Upon receiving the signal, the stepper motor control board quickly controls the stepper motor to stop rotating, preventing the slider assembly from continuing to move and causing collisions or other hazards, thus ensuring the safe operation of the measuring device.

[0032] Specifically, the height measurement process of the measuring device follows a mechanical control and signal feedback mechanism. After the crane positioning system completes the positioning of the target measurement point coordinates and transmits them to the measuring device control system, the drive component starts its operation: the stepper motor receives the rotation command from the stepper motor control board, and converts the rotational power into the vertical displacement of the slider assembly through the lead screw. The slider assembly drives the measuring chain to move synchronously downward along the guide rail constraint direction. During this process, the measuring chain maintains a state of tension transmission at all times, and the underwater sensor mounted at its end moves synchronously with the chain's trajectory.

[0033] Understandably, when the underwater sensor touches the bottom of the tank, its built-in pressure sensing element immediately detects the change in contact pressure, triggering an electrical signal that is transmitted to the motor control board via wires. At this point, the motor control board executes a dual response: first, it cuts off the stepper motor drive current to stop power output; simultaneously, it activates the data acquisition function of the visual reading component. A camera fixed to the end of the slide rail synchronously captures the image of the scale linked to the slider assembly. An image recognition algorithm analyzes the scale displacement, and this displacement data establishes a geometric correspondence with the slider assembly's downward distance. Furthermore, based on the difference between the slider assembly's initial position reference point and the real-time displacement data, combined with the slide rail's verticality calibration parameters, the vertical height value (i.e., height reading) of the target measurement point relative to the tank's horizontal plane can be calculated. If, during the downward movement, the slider assembly malfunctions and touches the contact sensor of the slide rail end block, the safety limit mechanism will directly send an emergency stop command to the motor control board, prioritizing equipment safety.

[0034] Here, refer to Figure 2The diagram shows a schematic of a measuring device proposed in this disclosure. The measuring device uses a mounting base 1 as its structural foundation to complete the entire measurement process. Specifically, regarding the transmission part, a motor 3 is fixed to the mounting base 1 as a drive source, and its output shaft is connected to a lead screw 7 for rotational drive. The lead screw 7 and the slider 5 achieve motion conversion through threaded engagement. The slider 5 is constrained on a slide rail 8 fixed to the mounting base 1 for vertical linear sliding. An upper stop 4 and a lower stop 10 are respectively provided at the upper and lower ends of the slide rail 8, forming the physical limit boundaries for the slider's movement. Regarding the motion transmission and data acquisition part, a measuring chain 11 is connected to the lower part of the slider 5 to form a motion extension mechanism. An underwater sensor 12 is mounted at the end of the chain to form a contact detection terminal. A scale 6 is fixed to the side of the slider 5, and its zero point is linked to the slider's mechanical origin, forming a visual measurement pair with a camera 9 installed at a fixed position on the mounting base 1. The remote controller 13 serves as an external control terminal, establishing a communication link with the motor control board 2 fixed on the mounting base plate 1 via wireless signals. The motor control board 2 also integrates sensor signal processing functions, receiving electrical signal inputs from the upper and lower end block contact sensors and the underwater sensor 12.

[0035] The collaborative working logic of this device is as follows: Remote controller 13 sends control commands to motor control board 2, driving motor 3 to rotate lead screw 7, which is converted into vertical displacement of slider 5; slider 5 pulls underwater sensor 12 to move synchronously through measuring chain 11, and when the sensor contacts the bottom of the tank, it triggers an electrical signal, and motor control board 2 records the current position; camera 9 continuously captures the scale changes of scale 6, and converts them into height reading data through image analysis. Here, when slider 5 touches any end stop, the contact sensor immediately sends a stop signal to motor control board 2 to cut off power output.

[0036] Understandably, the crane positioning system, as the spatial displacement actuator of the measuring device, has the core function of achieving precise displacement control and position feedback of the measuring device within the plane coordinate system above the water tank. The mechanical structure of the crane positioning system consists of three levels of components: a trolley, a crane, and a hook. The trolley is equipped with a drive wheel set and a track contact mechanism, achieving linear motion along the first horizontal direction (X-axis) through a servo drive system. The crane, as the secondary displacement carrier, is mounted on the trolley's support platform via guide rails and is driven by an independent servo system to achieve motion in the second horizontal direction (Y-axis), which is orthogonal to the first horizontal direction. The hook mechanism is connected to the crane's displacement end via a rigid suspension device, forming the installation reference for the measuring device.

[0037] In terms of motion control, both the large and small trolleys are equipped with closed-loop position feedback units. The large trolley's position detection utilizes a high-precision encoder or an external laser ranging module. By detecting the rotation angle of the drive motor or the relative displacement of the track, it outputs a first position parameter representing the first horizontal direction (which can be considered the x-axis). The small trolley's position detection employs an embedded optical or magnetic scale, directly measuring the linear displacement along the guide rail in the second horizontal direction (which can be considered the y-axis), and outputting a second position parameter. The position data in both directions are synthesized into the planar coordinates (X, Y) of the measuring device in a Cartesian coordinate system using a coordinate synthesis algorithm.

[0038] Specifically, during crane positioning system operation, the motion controller plans independent motion trajectories for the trolley and crane respectively based on target coordinate commands. Through an orthogonal decoupling control strategy, the planar displacement task is decomposed into independent motion commands along the X and Y axes, avoiding coupling interference between the two axes. During displacement execution, dual-axis position feedback data is transmitted to the central processing unit at a high-frequency sampling rate, and after coordinate transformation, planar coordinate information is output in real time. When the measuring device reaches the target coordinate point via the hook mechanism, the system locks the current planar coordinates (X, Y), which, together with the vertical height data Z collected by the measuring device, constitute a three-dimensional spatial measurement point (X, Y, Z), providing basic positioning data for the topographic mapping of the water tank bottom. This design, through orthogonal decoupling of the mechanical structure and closed-loop control technology, ensures the accuracy of planar displacement and the real-time performance of coordinate feedback.

[0039] Here, refer to Figure 3 As shown, taking the crane lobby a in the diagram as an example, the crane in the crane positioning system can move in two directions on the crane lobby: east-west and north-south. It can also control the measuring device via hook C to move vertically towards the water tank b. The east-west movement of the crane involves the crane beam A (the trolley) moving along the main crane rail c. A distance measuring device (i.e., the first distance measuring device) is installed on the crane beam A (the trolley) (at the first position) to measure the distance between the crane beam and the west wall in real time (i.e., the distance moved in the first direction), achieving precise positioning of the crane in the east-west direction F1. Simultaneously, this value can be wirelessly transmitted to the data processing unit.

[0040] Here, the north-south movement F2 of the crane refers to the movement of the crane trolley B along the secondary slide rail of the crane beam A (main trolley). A distance measuring device (i.e., the second distance measuring device) is installed at the north end (second position) of the crane beam A (main trolley) to measure the distance of the crane trolley B from the north wall in real time (i.e., the movement distance in the second direction), thus achieving precise positioning of the crane in the north-south direction F2. Similarly, this value can be transmitted to the data processing unit wirelessly.

[0041] Among them, the vertical movement of the crane is as follows: Figure 3The hook C on the crane trolley B moves up and down in the height (gravity) direction F3. The measuring device is mounted on the hook C, which is connected to a rotating shaft drive system installed inside the trolley B via a wire rope. This rotating shaft is driven by a servo motor and equipped with a rotary encoder. When the servo motor executes forward / reverse commands, the rotating shaft correspondingly winds up / unwinds the wire rope, driving the hook C to move up and down in the F3 direction through the change in the length of the wire rope. Here, in this disclosure, the height of the hook C remains constant throughout the measurement process at the bottom of the tank, ensuring that the main body of the device is above the water surface. During measurement, the surveyor controls the crane positioning system to move independently in two mutually perpendicular horizontal directions above the water tank b, performing fixed-point height measurements at certain intervals. The measuring device and the crane positioning system respectively obtain the height readings and planar coordinates (X, Y, Z data) of this grid point.

[0042] Regarding the installation relationship between the measuring device and the crane positioning system, please refer to... Figure 4 The diagram shows the installation relationship between a measuring device and a crane positioning system provided in this disclosure. In this installation structure, the crane is mechanically connected to the main body S of the measuring device via a hook C, and the vertical distance from the hook C to the main body S of the measuring device is denoted as Li. The main body S of the measuring device is connected to an underwater sensor Q via a chain K, and the length of the chain K defines the vertical distance between the main body S of the measuring device and the underwater sensor Q. In the vertical layout, the height parameter from the crane reference point to the floor G of the water tank hall is set as Lh0. In the horizontal direction, the axis of the main body S of the measuring device is aligned with the centerline of the hook C to ensure the spatial attitude stability of the measuring device during displacement. Through the above installation architecture, the crane positioning system can realize the vertical positioning of the measuring device in the water tank axis (F3 direction) and the planar coordinate linkage control.

[0043] Here, because the water tank is cylindrical with a symmetrical shape—high in the middle and low around the edges forming a conical surface—the water tank bottom elevation measurement system can employ a regional measurement strategy optimized for spatial symmetry. This means it is configured to measure the water tank bottom according to a predetermined gridded measurement path. Specifically, the gridded measurement path can be designed as a continuous S-shaped reciprocating trajectory covering one half of the water tank. This trajectory is constructed using discretized, equally spaced parallel line segments and turning arcs, ensuring that the measuring device achieves complete coverage with a constant row spacing in the planar coordinate system. The elevation data for the other half of the water tank can be obtained based on the principle of geometric symmetry, through coordinate transformation and mirroring of the measured side area data. This processing can be performed by pre-setting a symmetry reference plane based on the water tank's structural characteristics and establishing a mapping relationship between the measured coordinate system and the mirrored coordinate system.

[0044] For example, refer to Figure 5 As shown, with Figure 5Taking the planned measurement path as an example, when the crane positioning system controls the measuring device to measure the height of the bottom of the water tank, the hook height remains unchanged, and it can be done according to... Figure 5 The 11 routes shown are used to control the trolley to position A1, then control the large trolley to move from east to west, measuring each point one by one; afterwards, control the trolley to position A2, then control the large trolley to move from west to east, measuring each point one by one. The subsequent steps are as follows... Figure 5 The S-shaped route shown in the diagram involves moving the trolley first and then the main trolley to gradually complete the measurement of all points on the bottom of the northern half of the trough. This yields measurement data including X-direction data (readings from the scale of the trough bottom height measuring device), Y-direction data (main trolley positioning data), and Z-direction data (trolley positioning data).

[0045] Understandably, after obtaining the height readings from the measuring device and the planar coordinates from the crane positioning system, these can be transmitted together to the data processing unit. Here, the data processing unit is the central component for system data processing. It can establish a connection with the measuring device and the crane positioning system via standard communication protocols to receive the height readings and planar coordinates. The data processing unit can perform coordinate fusion operations: transforming and spatially associating the planar coordinates (X, Y) provided by the crane positioning system with the vertical height (Z) obtained by the measuring device to construct a three-dimensional coordinate point set. For gridded measurement data, a spatial interpolation algorithm can be used to generate a continuous terrain surface model; for symmetrical measurement areas, a data mirror transformation is performed based on a preset reference plane, and a feature matching algorithm ensures the continuity of terrain data at the edges of symmetrical areas. The final generated terrain height dataset can be stored in a structured format, containing the three-dimensional coordinates and elevation values ​​of regular grid nodes, providing basic data support for subsequent terrain analysis.

[0046] In some possible embodiments, the data processing unit may first perform data preprocessing: perform validity verification on the raw data, including numerical range verification, coordinate rationality judgment and time sequence synchronization verification, and remove noise interference through digital filtering technology.

[0047] For example, the height readings of the measuring device may be affected by factors such as mechanical structure deformation, sensor system errors, or inconsistencies in spatial references, resulting in the raw data containing error components caused by non-topographic factors. Therefore, this disclosure proposes a topographic data generation method based on multi-parameter correction, referring to... Figure 6 As shown, the data processing unit is configured to perform the following data processing steps S601~S603: S601, acquire the original height readings of all target measurement points, determine the minimum height reading; and process the original height readings of each target measurement point based on the minimum height reading to obtain the trench bottom shape height data of each target measurement point.

[0048] Here, the data processing unit first collects raw height data from all target measurement points across the entire area. It acquires the initial height sampling values ​​of each measurement point through a global scan, then performs a comprehensive comparison of the discretely distributed height data to identify and extract the global minimum height reading from all measurement points. Using this minimum value as a unified reference surface, it performs relative transformation processing on the raw height values ​​of each measurement point. Through difference calculations, it eliminates absolute height reference differences, generating normalized trench bottom shape and height data based on the lowest point of the trench bottom. This processing allows the terrain data to exhibit relative undulation characteristics, effectively avoiding data heterogeneity problems caused by different measurement starting points, and establishing a standardized relative height reference for subsequent terrain analysis.

[0049] S602, obtain the height value of the hook at different positions of the trolley corresponding to different target measurement points, calculate the average maximum height; and calculate the crossbeam deformation of the trolley at each target measurement point based on the height value of the trolley at different positions and the average maximum height.

[0050] Specifically, considering the deformation characteristics of the crane's mechanical system under dynamic loads, the data processing unit can retrieve historical records of the vertical height of the hook at different planar coordinate positions. To improve data reliability and eliminate the negative impact of underwater sensor probe oscillation on measurements when the water tank is filled, the initial height values ​​can be smoothed first. Sliding window filtering or low-pass filtering algorithms are used to eliminate random noise interference, generating a purified height sampling sequence. Based on this, by statistically analyzing the sampling data at each target strategy point, the average maximum height of the trolley at different planar positions is calculated. This parameter characterizes the typical deformation characteristics of the mechanical system under specific working conditions. By comparing the actual measured height with the pre-stored characteristic values, the additional height deviation caused by mechanical factors such as beam bending and track settlement is quantitatively analyzed, forming beam deformation compensation parameters corresponding to each measurement point, providing a basis for deformation compensation for subsequent data correction.

[0051] Here, when measuring the height of the hook at different positions of the trolley corresponding to different target measurement points, the trolley and hook can be controlled to stop at a position that facilitates the measurement of the hook height. Then, the trolley can be controlled to move gradually from the north end to the south end at certain intervals, and the height of the hook from the ground reference plane can be measured at each position.

[0052] S603, for each target measurement point, based on the crossbeam deformation corresponding to the trolley position of the target measurement point, the groove bottom shape and height data of the target measurement point are corrected to obtain the corrected terrain height dataset.

[0053] Understandably, based on the mechanical deformation compensation parameters (i.e., crossbeam deformation) obtained in the previous stage, the data processing unit establishes a spatial correlation between measurement points and deformation amounts. For each target measurement point, the crossbeam deformation associated with its corresponding trolley plane position is retrieved, and the systematic error caused by mechanical deformation is separated from the original terrain data through inverse compensation calculation. This operation essentially subtracts deformation errors from the tank bottom shape and height data, achieving physical correction of the measurement data. Finally, a high-precision terrain height dataset corrected for mechanical errors is generated. This dataset retains the true terrain features of the tank bottom while eliminating the influence of dynamic deformation of the crane system, forming the basic data for a three-dimensional water tank bottom model with practical engineering value.

[0054] Here, for a better understanding of steps S601~S603, please refer to Figure 7 The diagram shown is a schematic representation of the multi-parameter corrected terrain data proposed in this disclosure. It illustrates the influence of the elastic deformation of the crane beam under load on height measurement. The diagram follows a single-axis coordinate system with north as the positive direction. A vertical displacement difference S exists between the actually deformed (solid line portion) crane beam (trolley) and the theoretically undeformed (dashed line portion) crane beam (trolley). This parameter characterizes the elastic deformation of the mechanical system under gravity load. The lower area indicates the elevation datum relationship between the floor of the water tank hall and the bottom of the water tank, where h1 is the measurement datum height. The spatial distribution of the hooks is shown in the diagram as a dot matrix arrangement, corresponding to the spatial coordinate positions of each target measurement point.

[0055] Understandably, based on the illustrated structure, step S601 establishes a unified reference plane by using the global minimum height value, corresponding to the spatial positioning of the lowest point at the bottom of the water tank; step S602 quantifies and determines the crossbeam deformation Lh1 based on the comparative analysis of the measured height values ​​of the hook at different planar positions and the theoretical height reference, and this deformation has a spatial coupling relationship with the position of the trolley; step S603 achieves the separation of mechanical errors in the height values ​​of the measurement points by applying the crossbeam deformation compensation value in reverse to the initial terrain data, and finally generates a three-dimensional terrain dataset corrected for systematic errors.

[0056] The water tank bottom terrain height measurement system provided in this embodiment improves measurement efficiency and data quality by integrating automated measurement and real-time data processing. It is applicable to various water tank environments and achieves efficient, accurate and reliable measurement of water tank bottom terrain height.

[0057] Those skilled in the art will understand that in the system described in the specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0058] Based on the same inventive concept, this disclosure also provides a method for measuring the bottom topography of a water tank corresponding to the water tank bottom topography height measurement system. Since the principle of the device in this disclosure for solving the problem is similar to that of the water tank bottom topography height measurement system described above, the implementation of the method can refer to the implementation of the system, and the repeated parts will not be described again.

[0059] Reference Figure 8 The diagram shows a flowchart of a method for measuring the elevation of the bottom of a water tank according to an embodiment of this disclosure. The method includes the following steps S801-S804: S801, the measuring device is installed on the hook of the crane positioning system, and the hook is adjusted to a preset fixed height to ensure that the main body of the measuring device is above the water surface in the tank.

[0060] It is understandable that the measuring device is fixed to the lower connecting mechanism of the hook of the crane positioning system, and the hook is adjusted to a preset fixed height through the vertical adjustment mechanism to ensure that the main structure of the measuring device is always in a safe area above the water surface in the tank, so as to avoid liquid immersion and interference with the measuring system.

[0061] S802, control the crane positioning system to make the measuring device move above the water tank according to a predetermined grid path and stop at each target measuring point, obtain the original height reading of the target measuring point through the measuring device, and synchronously record the planar coordinates of the target measuring point through the crane positioning system.

[0062] Here, the motion control module of the crane positioning system drives the measuring device to move along a preset S-shaped reciprocating path within the half-domain of the water tank. This path design ensures that the measuring device traverses all target measuring points in a continuous coverage manner. At each measuring point, a positioning and stopping operation is performed, synchronously triggering the measuring device to complete the sampling of the original height data for the current point, and recording the corresponding planar coordinates through the coordinate feedback module of the crane positioning system. Considering the symmetrical characteristics of the water tank structure, a data mirroring process can be further included: using the longitudinal axis of symmetry of the water tank as a reference, the topographic height data of the measured half-domain is mapped to the unmeasured half-domain through coordinate transformation, generating a complete water tank bottom topographic dataset. This operation significantly reduces the actual measurement workload.

[0063] S803, control the crane positioning system to move the trolley along the main beam, and measure the height of the hook at different target measurement points corresponding to different positions of the trolley, so as to obtain the flatness data of the crane beam.

[0064] Specifically, when acquiring the flatness parameters of the crane beam, the trolley positioning system is kept fixed, and the trolley is controlled to move along the axial direction of the trolley beam to different target measurement points. At each position, the vertical coordinate value of the hook is measured by a sensor. Through multi-point sampling, a sequence of hook height changes when the trolley is in different planar positions can be obtained. This data sequence is used to characterize the spatial deformation characteristics of the crane beam under load, providing a basis for mechanical deformation compensation for subsequent data correction.

[0065] S804, based on the original height reading and planar coordinates of the target measurement point, calculate the shape and height data of the bottom of the water tank; and based on the flatness data of the crane beam, correct the shape and height data of the bottom of the water tank to generate a terrain height dataset of the bottom of the water tank.

[0066] Here, based on the original height readings and planar coordinates obtained in step S802, a reference transformation algorithm can be used to generate tank bottom shape and height data with the lowest point of the tank bottom as a reference. Subsequently, the crossbeam flatness data obtained in step S803 can be retrieved to establish a mapping relationship between the trolley position and the crossbeam deformation. The mechanical deformation compensation value is then applied inversely to the tank bottom shape and height data to eliminate data errors caused by crossbeam bending. Finally, a dataset of geometrically deformed corrected tank bottom topographic height can be output, which combines measurement efficiency and accuracy.

[0067] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A sink floor topography height measurement system, characterized by, The application comprises: a measuring device for obtaining the height value of a single point on the tank bottom by contact detection, the measuring device comprising a driving assembly, a slider assembly in transmission connection with the driving assembly, a measuring chain connected with the slider assembly, an underwater sensor arranged at the end of the measuring chain, and a visual reading assembly for reading the height reading; a crane positioning system for carrying and controlling the movement of the measuring device in the horizontal plane above the tank, and outputting the plane coordinates of the measuring device in real time; a data processing unit in communication connection with the measuring device and the crane positioning system, for receiving and processing the height reading from the measuring device and the plane coordinates from the crane positioning system, to generate the terrain height data set of the tank bottom; wherein the measuring device is configured to: in response to reaching any target measurement point determined by the crane positioning system, the driving assembly drives the slider assembly and the measuring chain to move downward along the vertical direction until the underwater sensor contacts the tank bottom and triggers a stop signal, and based on the height reading corresponding to the position of the slider assembly obtained by the visual reading assembly, the height value of the any target measurement point relative to the horizontal plane in the tank is determined.

2. The system of claim 1, wherein, The driving assembly of the measuring device comprises: a stepper motor; a lead screw driven by the stepper motor; the slider assembly in mesh with the lead screw, which is constrained on the slide rail for linear sliding; a stepper motor control board for receiving control instructions and controlling the rotation of the stepper motor; and a remote controller for sending the control instructions to the stepper motor control board.

3. The system of claim 2, wherein, The visual reading assembly comprises: a camera fixedly arranged at the end of the slide rail; a scale fixedly installed on the slider assembly, with the zero point of the scale linked with the slider assembly; wherein the camera is configured to capture the image of the scale and remotely obtain the height reading through image recognition.

4. The system of claim 3, wherein, The measuring device further comprises a safety limiting mechanism, which comprises: a stop block arranged at both ends of the slide rail; a contact sensor arranged on the stop block; wherein when the slider assembly moves and touches the contact sensor on any stop block, the contact sensor is triggered and sends a signal to the stepper motor control board to control the stepper motor to stop rotating.

5. The system of claim 1, wherein, The crane positioning system comprises: a large car movable in a first horizontal direction; a small car mounted on the large car and movable in a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular to each other; a lifting hook arranged on the small car, and the measuring device is installed on the lifting hook; wherein the crane positioning system outputs the first coordinate representing the position of the large car and the second coordinate representing the position of the small car in real time, and the first coordinate and the second coordinate together constitute the plane coordinates of any target measurement point.

6. The system of claim 5, wherein, The data processing unit is configured to perform the following data processing steps: Obtaining original height readings of all target measurement points, determining the minimum height reading; and processing the original height readings of each target measurement point based on the minimum height reading to obtain groove bottom shape height data of each target measurement point; Obtaining height values of the hook at different positions of the trolley corresponding to different target measurement points, calculating the average maximum height; and based on the height values at different positions of the trolley and the average maximum height, calculating the beam deformation amount of the trolley corresponding to each target measurement point; For each target measurement point, based on the beam deformation amount corresponding to the trolley position of the target measurement point, correcting the groove bottom shape height data of the target measurement point to obtain the corrected terrain height data set.

7. The system of claim 6, wherein, The method for obtaining the height values of the hook at different positions of the trolley corresponding to different target measurement points comprises: Obtaining initial height values of the hook at different positions of the trolley corresponding to different target measurement points; Data smoothing processing is performed on the initial height values to obtain the height values of the hook at different positions of the trolley corresponding to different target measurement points.

8. The system of claim 1, wherein, The water tank groove bottom terrain height measurement system is configured to measure the water tank groove bottom according to a predetermined gridded measurement path, wherein the gridded measurement path is an S-shaped reciprocating path covering one half of the water tank area, and the terrain data of the other half of the water tank area is obtained by mirror processing of the measured data.

9. A method of measuring the height of a sink floor topography, characterized by, The method is applied to the water tank groove bottom terrain height measurement system as claimed in any one of claims 1-8, and the method comprises: Mounting the measurement device on the hook of the crane positioning system and adjusting the hook to a predetermined fixed height to ensure that the main part of the measurement device is above the water tank liquid surface; Controlling the crane positioning system to move the measurement device above the water tank according to a predetermined grid path, and stopping at each target measurement point, obtaining the original height readings of the target measurement point by the measurement device, and recording the plane coordinates of the target measurement point by the crane positioning system synchronously; Controlling the crane positioning system to move the trolley along the beam, and measuring the height values of the hook at different positions of the trolley corresponding to different target measurement points at different target measurement points to obtain the crane beam flatness data; Based on the original height readings and plane coordinates of the target measurement points, calculating the water tank groove bottom shape height data; and based on the crane beam flatness data, correcting the water tank groove bottom shape height data to generate the terrain height data set of the water tank groove bottom.

10. The method of claim 9, wherein, The predetermined grid path is an S-shaped reciprocating path covering one half of the water tank area, and the method further comprises a data mirroring step: According to the symmetry of the water tank, mirroring the terrain height data of the measured half of the water tank area to the unmeasured other half to generate the complete terrain height data set of the water tank groove bottom.

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