CN113137925A - Intelligent dynamic displacement measurement system based on image recognition - Google Patents
Intelligent dynamic displacement measurement system based on image recognition Download PDFInfo
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Abstract
The invention discloses an intelligent dynamic displacement measurement system based on image recognition, which comprises a track section dividing module, a monitoring point arrangement module, a three-dimensional image modeling module, a displacement database, an offset displacement statistical module, an offset monitoring point offset direction analysis module, a track area parallel line length statistical module, an analysis cloud platform and a display terminal, by dividing the running track of urban rail transit into track areas and arranging monitoring points in each divided track area, thereby realizing the offset displacement detection and the parallelism detection of the urban rail transit running rails, greatly ensuring the life and property safety of passengers, meanwhile, a comprehensive danger coefficient of the urban rail transit operation track is calculated according to the counted deviation danger coefficient and the parallelism danger coefficient, and a reliable reference basis is provided for relevant track management personnel to evaluate whether the urban rail transit operation track can be used continuously.
Description
Technical Field
The invention belongs to the technical field of displacement measurement, relates to an urban rail safety detection technology, and particularly relates to an intelligent dynamic displacement measurement system based on image recognition.
Background
With the increasing of urban population in China, urban traffic is increasingly crowded, but with the continuous promotion of scientific technology, urban rail transit floats out of the water, so that the phenomenon of traffic jam is effectively solved, the operation efficiency is effectively improved, people can conveniently go out, the safety problem caused by the urban rail transit is increasingly prominent, and the safety monitoring on the urban rail transit needs to be enhanced.
However, most of the current safety monitoring of urban rail transit is concentrated on urban rail transit tools, and safety monitoring of the running rails is neglected, so that potential safety hazards such as rail deviation exist in the running rails. After the rail is put into use, if the rail is not regularly subjected to offset displacement measurement, when the rail offset displacement is larger than the safe offset displacement, safety accidents are easily caused when the urban rail transit runs on the rail, and huge losses are brought to the life safety and property of passengers, so that the offset displacement detection of the running rail of the urban rail transit is very necessary.
Disclosure of Invention
In order to achieve the purpose, the invention provides an intelligent dynamic displacement measurement system based on image recognition, which is characterized in that track areas of running tracks of urban rail transit are divided, monitoring points are distributed in each track area, three-dimensional coordinates of each monitoring point are obtained according to three-dimensional image modeling, and are compared with original three-dimensional coordinates of corresponding offset monitoring points, offset displacement of each monitoring point is obtained through statistics, and the problems in the background art are solved.
The purpose of the invention is realized by the following technical scheme:
a dynamic displacement measurement intelligent system based on image recognition comprises a track section dividing module, a monitoring point laying module, a three-dimensional image modeling module, a displacement database, an offset displacement statistical module, an offset monitoring point offset direction analysis module, a track area parallel line length statistical module, an analysis cloud platform and a display terminal;
the track section dividing module is connected with the monitoring point distributing module, the monitoring point distributing module is respectively connected with the three-dimensional image modeling module and the track area parallel line length statistical module, the three-dimensional image modeling module is connected with the offset displacement statistical module, the offset displacement statistical module is connected with the offset monitoring point offset direction analyzing module, the track area parallel line length statistical module and the offset displacement statistical module are both connected with the analysis cloud platform, and the analysis cloud platform and the offset monitoring point offset direction analyzing module are both connected with the display terminal;
the track area dividing module is used for acquiring a starting point and an end point of a track for the running track of the urban rail transit, counting the length of the whole track according to the starting point and the end point of the track, dividing the running track of the urban rail transit into a plurality of track areas according to a preset dividing mode, numbering the plurality of divided track areas according to the distance from the beginning of the track to the end of the track, and sequentially marking the track areas as 1,2.. i.. n, wherein two parallel track sections in each track area are respectively marked as A, B;
the monitoring point laying module is used for laying a plurality of monitoring points on two parallel track sections in each divided track area respectively, and the specific laying method comprises the following steps:
s1, respectively counting the lengths of the two parallel track sections in each track area;
s2, evenly dividing the lengths of two parallel track sections in each track area equally according to preset length equal intervals, marking each equal division point as a monitoring point, numbering each monitoring point distributed on each parallel track section in each track area from near to far according to the sequence from the starting point of the parallel track section, and following a one-to-one correspondence rule, wherein each monitoring point distributed on the A-th parallel track section in each track area is respectively marked as 1,2.
The three-dimensional image modeling module is used for carrying out three-dimensional image scanning on each monitoring point arranged on two parallel track sections in each track area to obtain each trackThree-dimensional images of monitoring points distributed on two parallel track sections in the track area are obtained, so that three-dimensional coordinates of the monitoring points are obtained, and a three-dimensional coordinate set G of monitoring points of the A-th parallel track section in the track area is formedi A[gi A(x1,y1,z1),gi A(x2,y2,z2),...,gi A(xj,yj,zj),...,gi A(xm,ym,zm)]And track area B-th parallel track section monitoring point three-dimensional coordinate set Gi B[gi B(x1′,y1′,z1′),gi B(x2′,y2′,z2′),...,gi B(xj′,yj′,zj′),...,gi B(xm′,ym′,zm′)],gi A(xj, yj, zj) is expressed as the three-dimensional coordinate of the jth monitoring point on the A-th parallel track segment in the ith track area, gi B(xj ', yj ', zj ') is expressed as the three-dimensional coordinate of the jth monitoring point on the No. B parallel track segment in the ith track area, and the three-dimensional image modeling module sends the three-dimensional coordinate set of the monitoring point of the No. A parallel track segment in the track area and the three-dimensional coordinate set of the monitoring point of the No. B parallel track segment in the track area to the offset displacement statistical module;
the displacement database is used for storing original three-dimensional coordinates of each monitoring point on each parallel track section in each track area, wherein the original three-dimensional coordinates refer to three-dimensional coordinates displayed on an original design drawing of the urban rail transit operation track, storing safety offset displacement corresponding to each age of the operation track in use, and storing a standard length difference value of two adjacent parallel lines;
the offset displacement statistical module receives a three-dimensional coordinate set of monitoring points of the A-th parallel track section of the track area and a three-dimensional coordinate set of monitoring points of the B-th parallel track section of the track area sent by the three-dimensional image modeling module, extracts original three-dimensional coordinates of the monitoring points on the parallel track sections in each track area in the displacement database, and compares the three-dimensional coordinate set of the monitoring points of the A-th parallel track section of the track area and the three-dimensional coordinate set of the monitoring points of the B-th parallel track section of the track area with the original three-dimensional coordinates of the monitoring points on the parallel track sections in each track area respectivelyObtaining a three-dimensional coordinate comparison set delta G of monitoring points of the first parallel track section in the track areai A[Δgi A(x1,y1,z1),Δgi A(x2,y2,z2),...,Δgi A(xj,yj,zj),...,Δgi A(xm,ym,zm)]Comparison set delta G of three-dimensional coordinates of monitoring points of No. B parallel track section in track areai B[Δgi B(x1′,y1′,z1′),Δgi B(x2′,y2′,z2′),...,Δgi B(xj′,yj′,zj′),...,Δgi B(xm′,ym′,zm′)]Therefore, offset displacement corresponding to each monitoring point on the A-th parallel track section and offset displacement corresponding to each monitoring point on the B-th parallel track section in each track area are counted and respectively sent to an offset monitoring point offset direction analysis module and an analysis cloud platform;
the offset monitoring point offset direction analysis module receives the offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section in each track area sent by the offset displacement statistical module, and analyzing the offset displacement value corresponding to each monitoring point, if the offset displacement value corresponding to a certain monitoring point is zero, it indicates that the monitoring point has not been shifted, if the shift displacement corresponding to a certain monitoring point is not zero, it indicates that the monitoring point has been shifted, the monitoring point is marked as an offset monitoring point, and the number of the offset monitoring point and the number of the track area where the offset monitoring point is located are counted, and comparing the three-dimensional coordinates corresponding to the offset monitoring point with the original three-dimensional coordinates corresponding to the offset monitoring point to obtain the offset direction corresponding to the offset monitoring point, thereby sending the number of the offset monitoring point, the number of the track area where the offset monitoring point is located and the offset direction corresponding to each offset monitoring point to a display terminal;
the track area parallel line length counting module is used for connecting each monitoring point on the A-th parallel track in each track area with each monitoring point on the B-th parallel track according to a one-to-one correspondence relationship to obtain each parallel line in each track area, numbering the obtained parallel lines, marking the parallel lines as 1,2Degree, i.e. each parallel distance between two parallel track sections in each track area, to form a track area parallel line length set Li(li1,li2,...lik,...,lip)，lik is the length of the kth parallel line in the ith track area, so that according to the numbering sequence of all the parallel lines in all the track areas, the length of the numbered parallel line in each track area in the track area parallel line length set is subtracted by the length of the next numbered parallel line from the length of the numbered parallel line in each track area to obtain the length difference of two adjacent parallel lines in each track area, and the length comparison set delta L of the two adjacent parallel lines in each track area is formedi[Δli1,Δli2,...Δlik,...,Δli(p-1)]，Δlik is the length difference between the length of the kth parallel line and the length of the (k + 1) th parallel line in the ith track area, and the track area parallel line length counting module sends a comparison set of the lengths of two adjacent parallel lines in the track area to the analysis cloud platform;
the analysis cloud platform receives offset displacement corresponding to each monitoring point on the A-th parallel track section and offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area, which are sent by the offset displacement statistical module, acquires the service life of the running track, and compares the offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area with the safe offset displacement corresponding to the service life of the running track stored in the displacement database to obtain the offset risk coefficient corresponding to each monitoring point on the A-th parallel track section and the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section of each track area;
the analysis cloud platform receives two parallel line length comparison sets adjacent to the track area, which are sent by the track area parallel line length statistics module, and compares the received two parallel line length comparison sets adjacent to the track area with the standard length difference value of two parallel lines adjacent to the track area in the displacement database, so that the parallelism risk coefficient between two parallel tracks of each track area is counted;
meanwhile, the analysis cloud platform calculates the comprehensive risk coefficient of the urban traffic operation track according to the obtained offset risk coefficient corresponding to each monitoring point on the A-th parallel track section, the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section and the parallelism risk coefficient between the two parallel tracks of each track area, and sends the comprehensive risk coefficient to the display terminal;
and the display terminal receives the offset monitoring point number sent by the offset monitoring point offset direction analysis module, the track area number where the offset monitoring point number is located and the offset direction corresponding to each offset monitoring point, and receives and analyzes the comprehensive danger coefficient of the urban traffic running track sent by the cloud platform, so as to display the comprehensive danger coefficient.
In one implementation, the preset dividing manner is to equally divide the length of the whole track.
In an implementation manner, the rule of one-to-one correspondence between the monitoring points on the two parallel track sections in each track region is that the 1 st monitoring point on the a-th parallel track section corresponds to the 1' th monitoring point on the B-th parallel track section, and the jth monitoring point on the a-th parallel track section corresponds to the jth monitoring point on the B-th parallel track section.
In an implementation manner, the offset displacement calculation formula corresponding to each monitoring point on the A-th parallel track section in each track area is
si Aj is the offset displacement corresponding to the jth monitoring point on the ith parallel track in the ith track area, and deltagi Axj、Δgi Ayj、Δgi Azj is respectively expressed as the difference value between the coordinate value of the jth monitoring point on the ith parallel track in the ith track area on the x axis, the coordinate value on the y axis, the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point, and the offset displacement calculation formula corresponding to each monitoring point on the ith parallel track section in each track area is
si Bj' is the offset displacement corresponding to the jth monitoring point on the ith track area and the B parallel track, and deltagi Bxj′、Δgi Byj′、Δgi Bzj' is respectively expressed as the difference value between the coordinate value of the jth monitoring point on the ith track area on the B parallel track on the x axis, the coordinate value on the y axis, the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point.
In an implementation manner, the calculation formula of the offset risk coefficient corresponding to each monitoring point on the A-th parallel track section in each track area is
εi Aj is represented as the offset risk coefficient, s, corresponding to the jth monitoring point on the ith parallel track section in the ith track area0The calculation formula of the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section of each track area is as follows
εi Bj' is the offset danger coefficient corresponding to the jth monitoring point on the No. B parallel track section of the ith track area.
In one implementation manner, the risk coefficient of parallelism between two parallel tracks of each track area is calculated by the formula
χiThe danger coefficient of parallelism, Δ l, between two parallel tracks, denoted as the i-th track area0Expressed as the difference between the standard lengths of two adjacent parallel lines.
In a realizable mode, the calculation of the comprehensive danger coefficient of the urban traffic operation track is publicIs of the formula
And the comprehensive danger coefficient of the urban traffic operation track is expressed.
In one implementation, the offset directions include an x-axis direction, a y-axis direction, a z-axis direction, an xoy direction, an xoz direction, a yoz direction, and an xyz direction.
The invention has the following beneficial effects:
(1) according to the invention, the operation track of the urban rail transit is divided into track areas, monitoring points are distributed in each track area, and then three-dimensional coordinates of each monitoring point are obtained according to three-dimensional image modeling, so that the three-dimensional coordinates are compared with original three-dimensional coordinates of corresponding offset monitoring points, offset displacement of each monitoring point is obtained through statistics, and therefore, the offset displacement of each monitoring point is compared with safe offset displacement corresponding to the service life of the operation track, and therefore, offset danger coefficients corresponding to each monitoring point are obtained, offset displacement detection of the operation track of the urban rail transit is realized, urban rail transit safety accidents caused by track offset are avoided, and life and property safety of passengers are greatly guaranteed.
(2) According to the invention, the offset monitoring point number, the track area number where the offset monitoring point is located and the offset direction corresponding to the offset monitoring point are obtained by the offset monitoring point offset direction analysis module, so that relevant track managers can quickly find the offset monitoring point according to the offset monitoring point number, and meanwhile, the obtained offset direction corresponding to the offset monitoring point also provides a reliable reference basis for the relevant track managers to analyze the comprehensive dynamic deviation track corresponding to the running track.
(3) The invention realizes the parallelism detection between two parallel tracks of each track area by arranging the track area parallel line length statistical module, constructs a plurality of parallel lines in each track area in the parallelism detection process, thereby obtaining each parallel distance between two parallel track sections of each track area, avoiding the statistical error caused by the parallelism danger coefficient only according to the single parallel distance between the two parallel track sections of each track area, influencing the accuracy of the statistical result, and the calculated parallelism danger coefficient intuitively reflects the parallelism danger condition between the two parallel tracks of the track area, thereby providing the relevant coefficient of the parallelism danger for the later statistics of the comprehensive danger coefficient of the urban traffic running track.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a block diagram of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the intelligent system for dynamic displacement measurement based on image recognition comprises a track section dividing module, a monitoring point arrangement module, a three-dimensional image modeling module, a displacement database, an offset displacement statistical module, an offset monitoring point offset direction analysis module, a track area parallel line length statistical module, an analysis cloud platform and a display terminal, the track section dividing module is connected with the monitoring point distributing module, the monitoring point distributing module is respectively connected with the three-dimensional image modeling module and the track area parallel line length counting module, the three-dimensional image modeling module is connected with the offset displacement counting module, the offset displacement counting module is connected with the offset monitoring point offset direction analyzing module, the track area parallel line length counting module and the offset displacement counting module are both connected with the analysis cloud platform, and the analysis cloud platform and the offset monitoring point offset direction analyzing module are both connected with the display terminal.
The track area dividing module is used for acquiring a starting point and an end point of a track for the running track of the urban track traffic, counting the length of the whole track according to the starting point and the end point of the track, dividing the running track of the urban track traffic into a plurality of track areas according to a preset dividing mode, wherein the preset dividing mode is that the length of the whole track is uniformly divided equally, numbering the plurality of divided track areas according to the distance from the starting point of the track to the far end of the track, and sequentially marking the track areas as 1,2.
In the embodiment, the whole operation track is divided into the track areas, so that a foundation is laid for the arrangement of monitoring points in the track areas later.
The monitoring point laying module is used for laying a plurality of monitoring points for two parallel track sections on each divided track area respectively, and the specific laying method is as follows:
s1, respectively counting the lengths of the two parallel track sections in each track area;
s2, evenly dividing the lengths of two parallel track sections in each track area equally according to preset length equal intervals, marking each equal division point as a monitoring point, numbering each monitoring point distributed on each parallel track section in each track area from near to far according to the sequence from the starting point of the parallel track section, following a one-to-one correspondence rule, wherein the one-to-one correspondence rule is that the 1 st monitoring point on the A parallel track section corresponds to the 1' th monitoring point on the B parallel track section, the jth monitoring point on the A parallel track section corresponds to the jth monitoring point on the B parallel track section, wherein each monitoring point distributed on the A parallel track section in each track area is respectively marked as 1,2. J.. m' is inserted into the hole.
In the embodiment, monitoring points are distributed in each divided track area, so that a cushion is provided for obtaining three-dimensional coordinates of each monitoring point in each track area later, and a basis is provided for constructing parallel lines between two parallel track sections in each track area.
The three-dimensional image modeling module is used for carrying out three-dimensional image scanning on each monitoring point distributed on two parallel track sections in each track area to obtain a three-dimensional image of each monitoring point distributed on the two parallel track sections in each track area so as to obtain the three-dimensional coordinates of each monitoring point and form an A-th parallel track section monitoring point three-dimensional coordinate set G in the track areai A[gi A(x1,y1,z1),gi A(x2,y2,z2),...,gi A(xj,yj,zj),...,gi A(xm,ym,zm)]And track area B-th parallel track section monitoring point three-dimensional coordinate set Gi B[gi B(x1′,y1′,z1′),gi B(x2′,y2′,z2′),...,gi B(xj′,yj′,zj′),...,gi B(xm′,ym′,zm′)],gi A(xj, yj, zj) is expressed as the three-dimensional coordinate of the jth monitoring point on the A-th parallel track segment in the ith track area, gi B(xj ', yj ', zj ') is expressed as the three-dimensional coordinate of the jth monitoring point on the No. B parallel track segment in the ith track area, and the three-dimensional image modeling module sends the three-dimensional coordinate set of the monitoring point of the No. A parallel track segment in the track area and the three-dimensional coordinate set of the monitoring point of the No. B parallel track segment in the track area to the offset displacement statistical module.
The displacement database is used for storing original three-dimensional coordinates of each monitoring point on each parallel track section in each track area, wherein the original three-dimensional coordinates refer to three-dimensional coordinates displayed on an original design drawing of the urban rail transit operation track, storing safety offset displacement corresponding to each age of the operation track in use, and storing a standard length difference value of two adjacent parallel lines.
The offset displacement statistical module receives the three-dimensional coordinate set of the monitoring point of the A-th parallel track section in the track area and the three-dimensional coordinate set of the monitoring point of the B-th parallel track section in the track area sent by the three-dimensional image modeling module, and extracts all the parallel tracks in all the track areas in the displacement databaseComparing the three-dimensional coordinate set of the monitoring point of the A-th parallel track section in the track area and the three-dimensional coordinate set of the monitoring point of the B-th parallel track section in the track area with the original three-dimensional coordinates of the monitoring points on the parallel track sections in the track area respectively to obtain the three-dimensional coordinate comparison set delta G of the monitoring point of the A-th parallel track section in the track areai A[Δgi A(x1,y1,z1),Δgi A(x2,y2,z2),...,Δgi A(xj,yj,zj),...,Δgi A(xm,ym,zm)]Comparison set delta G of three-dimensional coordinates of monitoring points of No. B parallel track section in track areai B[Δgi B(x1′,y1′,z1′),Δgi B(x2′,y2′,z2′),...,Δgi B(xj′,yj′,zj′),...,Δgi B(xm′,ym′,zm′)]Thus, the offset displacement corresponding to each monitoring point on the A-th parallel track section of each track area is counted
si Aj is the offset displacement corresponding to the jth monitoring point on the ith parallel track in the ith track area, and deltagi Axj、Δgi Ayj、Δgi Azj is respectively expressed as the coordinate value of the jth monitoring point on the A parallel track of the ith track area on the x axis, the coordinate value on the y axis, the difference value between the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point, and the offset displacement corresponding to each monitoring point on the B parallel track section
si Bj' is the offset displacement corresponding to the jth monitoring point on the ith track area and the B parallel track, and deltagi Bxj′、Δgi Byj′、Δgi Bzj' is respectively expressed as the coordinate value of the jth monitoring point on the No. B parallel track of the ith track area on the x axis and the seat on the y axisAnd the standard value, the difference value between the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point are respectively sent to the offset direction analysis module of the offset monitoring point and the analysis cloud platform.
The offset monitoring point offset direction analysis module receives offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section in each track area, which are sent by the offset displacement statistics module, analyzes offset displacement values corresponding to each monitoring point, indicates that the monitoring point is not offset if the offset displacement value corresponding to a certain monitoring point is zero, indicates that the monitoring point is offset if the offset displacement corresponding to a certain monitoring point is not zero, records the monitoring point as an offset monitoring point, counts the number of the offset monitoring point and the number of the track area where the offset monitoring point is located, and compares the three-dimensional coordinate corresponding to the offset monitoring point with the original three-dimensional coordinate corresponding to the offset monitoring point to obtain the offset direction corresponding to the offset monitoring point, wherein the offset direction comprises the x-axis direction, the y-axis direction, the z-axis direction, the y-axis direction, the y-axis direction, the distance, xoy direction, xoz direction, yoz direction and xyz direction, thereby sending the offset monitoring point number and the track area number in which the offset monitoring point number is located and the offset direction corresponding to each offset monitoring point to the display terminal.
In this embodiment, the offset monitoring point number and the track area number where the offset monitoring point number is located and the offset direction corresponding to the offset monitoring point are obtained by setting the offset monitoring point offset direction analysis module, so that relevant track managers can quickly find the offset monitoring point according to the offset monitoring point number, and meanwhile, the offset direction corresponding to the offset monitoring point obtained by the offset monitoring point analysis module also provides a reliable reference basis for the relevant track managers to analyze the comprehensive dynamic deviation track corresponding to the operation track.
The track area parallel line length counting module is used for paralleling each monitoring point on the A-th parallel track in each track area with each monitoring point on the B-th parallel track according to the corresponding relation to obtain each parallel line in each track area, numbering the obtained parallel lines, marking the parallel lines as 1,2Each parallel distance between two parallel track sections in the area forms a track area parallel line length set Li(li1,li2,...lik,...,lip)，lik is the length of the kth parallel line in the ith track area, so that according to the numbering sequence of all the parallel lines in all the track areas, the length of the numbered parallel line in each track area in the track area parallel line length set is subtracted by the length of the next numbered parallel line from the length of the numbered parallel line in each track area to obtain the length difference of two adjacent parallel lines in each track area, and the length comparison set delta L of the two adjacent parallel lines in each track area is formedi[Δli1,Δli2,...Δlik,...,Δli(p-1)]，ΔliAnd k is represented as the length difference between the length of the kth parallel line and the length of the (k + 1) th parallel line in the ith track area, and the track area parallel line length statistical module sends the comparison set of the lengths of the two adjacent parallel lines in the track area to the analysis cloud platform.
According to the invention, the parallel distances between the two parallel track sections in each track area are obtained by constructing the parallel lines in each track area, so that the influence on the accuracy of the statistical result due to the statistical error caused by the fact that the risk coefficient of the parallelism is only counted according to the single parallel distance between the two parallel track sections in each track area is avoided.
The analysis cloud platform receives offset displacement corresponding to each monitoring point on the A-th parallel track section and offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area sent by the offset displacement statistical module, acquires the service life of the operation track, compares the offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area with the safe offset displacement corresponding to the service life of the operation track stored in the displacement database, and obtains the offset risk coefficient corresponding to each monitoring point on the A-th parallel track section of each track area
εi Aj is represented byOffset risk coefficient, s, corresponding to jth monitoring point on ith parallel track section of ith track area0The safe offset displacement corresponding to the service life of the running track and the offset danger coefficient corresponding to each monitoring point on the B-th parallel track section are expressed
εi Bj' represents the offset risk coefficient corresponding to the jth monitoring point on the No. B parallel track section of the ith track area, so that the offset displacement detection of the urban rail transit operation track is realized, wherein the offset risk coefficient is larger, the higher the offset risk degree is, the urban rail transit safety accident caused by track offset is avoided, the life and property safety of passengers is greatly guaranteed, and meanwhile, the offset risk coefficients of all monitoring points counted by the offset risk coefficient provide offset dangerous correlation coefficients for later-stage counting of the comprehensive risk coefficient of the urban traffic operation track.
The analysis cloud platform receives the comparison set of the lengths of the two parallel lines adjacent to the track area sent by the track area parallel line length statistic module, and compares the received comparison set of the lengths of the two parallel lines adjacent to the track area with the standard length difference value of the two parallel lines adjacent to the track area in the displacement database, so that the parallelism risk coefficient between the two parallel tracks of each track area is counted
χiThe danger coefficient of parallelism, Δ l, between two parallel tracks, denoted as the i-th track area0The method is expressed as a standard length difference value of two adjacent parallel lines, the counted parallelism risk coefficient intuitively reflects the parallelism risk condition between the two parallel tracks in the track area, and the greater the parallelism risk coefficient is, the more unparallel the two parallel tracks are, the higher the parallelism risk degree is, and a parallelism risk correlation coefficient is provided for later-stage counting of the comprehensive risk coefficient of the urban traffic running track.
Meanwhile, the analysis cloud platform obtains each monitoring point on the A-th parallel track section of each track area according toCounting the comprehensive risk coefficient of the urban traffic running track by the corresponding offset risk coefficient, the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section and the parallelism risk coefficient between two parallel tracks of each track area
And the comprehensive danger coefficient is expressed as the urban traffic running track and is sent to the display terminal.
The display terminal receives the offset monitoring point number sent by the offset monitoring point offset direction analysis module, the track area number where the offset monitoring point number is located and the offset direction corresponding to each offset monitoring point, receives the comprehensive danger coefficient of the urban rail transit system sent by the analysis cloud platform, and further displays the comprehensive danger coefficient, so that reliable reference basis is provided for relevant rail management personnel to evaluate whether the urban rail transit system can be continuously used or not according to the displayed comprehensive danger coefficient of the urban rail transit system.
The invention not only realizes the offset displacement detection of the urban rail transit operation track, but also realizes the parallelism detection of the urban rail transit operation track, thereby greatly meeting the safety detection requirement of the urban rail transit operation track.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (8)
1. An intelligent system for measuring dynamic displacement based on image recognition is characterized in that: the system comprises a track section dividing module, a monitoring point laying module, a three-dimensional image modeling module, a displacement database, an offset displacement statistical module, an offset monitoring point offset direction analysis module, a track area parallel line length statistical module, an analysis cloud platform and a display terminal;
the track section dividing module is connected with the monitoring point distributing module, the monitoring point distributing module is respectively connected with the three-dimensional image modeling module and the track area parallel line length statistical module, the three-dimensional image modeling module is connected with the offset displacement statistical module, the offset displacement statistical module is connected with the offset monitoring point offset direction analyzing module, the track area parallel line length statistical module and the offset displacement statistical module are both connected with the analysis cloud platform, and the analysis cloud platform and the offset monitoring point offset direction analyzing module are both connected with the display terminal;
the track area dividing module is used for acquiring a starting point and an end point of a track for the running track of the urban rail transit, counting the length of the whole track according to the starting point and the end point of the track, dividing the running track of the urban rail transit into a plurality of track areas according to a preset dividing mode, numbering the plurality of divided track areas according to the distance from the beginning of the track to the end of the track, and sequentially marking the track areas as 1,2.. i.. n, wherein two parallel track sections in each track area are respectively marked as A, B;
the monitoring point laying module is used for laying a plurality of monitoring points on two parallel track sections in each divided track area respectively, and the specific laying method comprises the following steps:
s1, respectively counting the lengths of the two parallel track sections in each track area;
s2, evenly dividing the lengths of two parallel track sections in each track area equally according to preset length equal intervals, marking each equal division point as a monitoring point, numbering each monitoring point distributed on each parallel track section in each track area from near to far according to the sequence from the starting point of the parallel track section, and following a one-to-one correspondence rule, wherein each monitoring point distributed on the A-th parallel track section in each track area is respectively marked as 1,2.
The three-dimensional image modeling module is used for laying two parallel track sections in each track areaThe monitoring points are scanned by three-dimensional images to obtain three-dimensional images of the monitoring points distributed on two parallel track sections in each track area, so that three-dimensional coordinates of the monitoring points are obtained to form an A-th parallel track section monitoring point three-dimensional coordinate set G in the track areai A[gi A(x1,y1,z1),gi A(x2,y2,z2),...,gi A(xj,yj,zj),...,gi A(xm,ym,zm)]And track area B-th parallel track section monitoring point three-dimensional coordinate set Gi B[gi B(x1′,y1′,z1′),gi B(x2′,y2′,z2′),...,gi B(xj′,yj′,zj′),...,gi B(xm′,ym′,zm′)],gi A(xj, yj, zj) is expressed as the three-dimensional coordinate of the jth monitoring point on the A-th parallel track segment in the ith track area, gi B(xj ', yj ', zj ') is expressed as the three-dimensional coordinate of the jth monitoring point on the No. B parallel track segment in the ith track area, and the three-dimensional image modeling module sends the three-dimensional coordinate set of the monitoring point of the No. A parallel track segment in the track area and the three-dimensional coordinate set of the monitoring point of the No. B parallel track segment in the track area to the offset displacement statistical module;
the displacement database is used for storing original three-dimensional coordinates of each monitoring point on each parallel track section in each track area, wherein the original three-dimensional coordinates refer to three-dimensional coordinates displayed on an original design drawing of the urban rail transit operation track, storing safety offset displacement corresponding to each age of the operation track in use, and storing a standard length difference value of two adjacent parallel lines;
the offset displacement statistical module receives a three-dimensional coordinate set of monitoring points of the A-th parallel track section in the track area and a three-dimensional coordinate set of monitoring points of the B-th parallel track section in the track area sent by the three-dimensional image modeling module, extracts original three-dimensional coordinates of each monitoring point on each parallel track section in each track area in a displacement database, and respectively corresponds the three-dimensional coordinate set of the monitoring points of the A-th parallel track section in the track area and the three-dimensional coordinate set of the monitoring points of the B-th parallel track section in the track area to each parallel track section in each track areaComparing the original three-dimensional coordinates of the upper monitoring points to obtain a three-dimensional coordinate comparison set delta G of the monitoring points of the A-th parallel track section in the track areai A[Δgi A(x1,y1,z1),Δgi A(x2,y2,z2),...,Δgi A(xj,yj,zj),...,Δgi A(xm,ym,zm)]Comparison set delta G of three-dimensional coordinates of monitoring points of No. B parallel track section in track areai B[Δgi B(x1′,y1′,z1′),Δgi B(x2′,y2′,z2′),...,Δgi B(xj′,yj′,zj′),...,Δgi B(xm′,ym′,zm′)]Therefore, offset displacement corresponding to each monitoring point on the A-th parallel track section and offset displacement corresponding to each monitoring point on the B-th parallel track section in each track area are counted and respectively sent to an offset monitoring point offset direction analysis module and an analysis cloud platform;
the offset monitoring point offset direction analysis module receives the offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section in each track area sent by the offset displacement statistical module, and analyzing the offset displacement value corresponding to each monitoring point, if the offset displacement value corresponding to a certain monitoring point is zero, it indicates that the monitoring point has not been shifted, if the shift displacement corresponding to a certain monitoring point is not zero, it indicates that the monitoring point has been shifted, the monitoring point is marked as an offset monitoring point, and the number of the offset monitoring point and the number of the track area where the offset monitoring point is located are counted, and comparing the three-dimensional coordinates corresponding to the offset monitoring point with the original three-dimensional coordinates corresponding to the offset monitoring point to obtain the offset direction corresponding to the offset monitoring point, thereby sending the number of the offset monitoring point, the number of the track area where the offset monitoring point is located and the offset direction corresponding to each offset monitoring point to a display terminal;
the track area parallel line length statistical module is used for connecting each monitoring point on the A-th parallel track in each track area with each monitoring point on the B-th parallel track according to a one-to-one correspondence relationship to obtain each parallel line in each track area, numbering the obtained parallel lines, marking the parallel lines as 1,2The length of each parallel line in each track area is counted, namely each parallel distance between two parallel track sections in each track area is obtained, and a track area parallel line length set L is formedi(li1,li2,...lik,...,lip)，lik is the length of the kth parallel line in the ith track area, so that according to the numbering sequence of all the parallel lines in all the track areas, the length of the numbered parallel line in each track area in the track area parallel line length set is subtracted by the length of the next numbered parallel line from the length of the numbered parallel line in each track area to obtain the length difference of two adjacent parallel lines in each track area, and the length comparison set delta L of the two adjacent parallel lines in each track area is formedi[Δli1,Δli2,...Δlik,...,Δli(p-1)]，Δlik is the length difference between the length of the kth parallel line and the length of the (k + 1) th parallel line in the ith track area, and the track area parallel line length counting module sends a comparison set of the lengths of two adjacent parallel lines in the track area to the analysis cloud platform;
the analysis cloud platform receives offset displacement corresponding to each monitoring point on the A-th parallel track section and offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area, which are sent by the offset displacement statistical module, acquires the service life of the running track, and compares the offset displacement corresponding to each monitoring point on the A-th parallel track section and the offset displacement corresponding to each monitoring point on the B-th parallel track section of each track area with the safe offset displacement corresponding to the service life of the running track stored in the displacement database to obtain the offset risk coefficient corresponding to each monitoring point on the A-th parallel track section and the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section of each track area;
the analysis cloud platform receives two parallel line length comparison sets adjacent to the track area, which are sent by the track area parallel line length statistics module, and compares the received two parallel line length comparison sets adjacent to the track area with the standard length difference value of two parallel lines adjacent to the track area in the displacement database, so that the parallelism risk coefficient between two parallel tracks of each track area is counted;
meanwhile, the analysis cloud platform calculates the comprehensive risk coefficient of the urban traffic operation track according to the obtained offset risk coefficient corresponding to each monitoring point on the A-th parallel track section, the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section and the parallelism risk coefficient between the two parallel tracks of each track area, and sends the comprehensive risk coefficient to the display terminal;
and the display terminal receives the offset monitoring point number sent by the offset monitoring point offset direction analysis module, the track area number where the offset monitoring point number is located and the offset direction corresponding to each offset monitoring point, and receives and analyzes the comprehensive danger coefficient of the urban traffic running track sent by the cloud platform, so as to display the comprehensive danger coefficient.
2. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the preset dividing mode is that the length of the whole track is evenly divided into equal parts.
3. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the rule that the monitoring points on the two parallel track sections in each track area are in one-to-one correspondence is that the 1 st monitoring point on the A-th parallel track section corresponds to the 1' th monitoring point on the B-th parallel track section, and the jth monitoring point on the A-th parallel track section corresponds to the jth monitoring point on the B-th parallel track section.
4. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the offset displacement calculation formula corresponding to each monitoring point on the A-th parallel track section of each track area is
si Aj is the offset displacement corresponding to the jth monitoring point on the ith parallel track in the ith track area, and deltagi Axj、Δgi Ayj、Δgi Azj is respectively expressed as the difference value between the coordinate value of the jth monitoring point on the ith parallel track in the ith track area on the x axis, the coordinate value on the y axis, the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point, and the offset displacement calculation formula corresponding to each monitoring point on the ith parallel track section in each track area is
si Bj' is the offset displacement corresponding to the jth monitoring point on the ith track area and the B parallel track, and deltagi Bxj′、Δgi Byj′、Δgi Bzj' is respectively expressed as the difference value between the coordinate value of the jth monitoring point on the ith track area on the B parallel track on the x axis, the coordinate value on the y axis, the coordinate value on the z axis and the original coordinate value on the x axis, the y axis and the z axis in the original three-dimensional coordinate of the monitoring point.
5. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the calculation formula of the offset risk coefficient corresponding to each monitoring point on the A-th parallel track section of each track area is
εi Aj is represented as the offset risk coefficient, s, corresponding to the jth monitoring point on the ith parallel track section in the ith track area0The calculation formula of the offset risk coefficient corresponding to each monitoring point on the B-th parallel track section of each track area is as follows
εi Bj' is the offset danger coefficient corresponding to the jth monitoring point on the No. B parallel track section of the ith track area.
6. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the calculation formula of the risk coefficient of parallelism between the two parallel tracks of each track area is
χiThe danger coefficient of parallelism, Δ l, between two parallel tracks, denoted as the i-th track area0Expressed as the difference between the standard lengths of two adjacent parallel lines.
7. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the calculation formula of the comprehensive danger coefficient of the urban traffic operation track is
And the comprehensive danger coefficient of the urban traffic operation track is expressed.
8. The intelligent system for dynamic displacement measurement based on image recognition is characterized in that: the offset directions include an x-axis direction, a y-axis direction, a z-axis direction, an xoy direction, an xoz direction, a yoz direction, and an xyz direction.
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