CN115289991B - Subway track deformation monitoring method and device and electronic equipment - Google Patents

Subway track deformation monitoring method and device and electronic equipment Download PDF

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CN115289991B
CN115289991B CN202211182436.8A CN202211182436A CN115289991B CN 115289991 B CN115289991 B CN 115289991B CN 202211182436 A CN202211182436 A CN 202211182436A CN 115289991 B CN115289991 B CN 115289991B
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subway
detected
vector
deformation
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CN115289991A (en
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叶飞
沙红良
孙振勇
刘杰
张智敏
董风彬
唐甜
覃欣
王军宁
张慧娟
费新龙
陈绪刚
卢鹏
邱荣富
陈洁鑫
刘少强
温雪娟
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Wuhan Tianbao Naite Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
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    • B61K9/08—Measuring installations for surveying permanent way
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
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Abstract

The invention relates to the technical field of rail transit, in particular to a method and a device for monitoring deformation of a subway rail, which comprise the following steps: determining a subway section to be detected according to a subway track monitoring instruction, constructing a three-dimensional coordinate system based on the subway section to be detected, determining a focus coordinate of the subway section to be detected in the three-dimensional coordinate system, collecting a sampling point of the subway section to be detected to obtain a sampling point coordinate set, obtaining a standard point coordinate set of the subway section to be detected after construction, calculating an offset vector of the sampling point coordinate set and the standard point coordinate set, constructing an offset equation of the offset vector according to the focus coordinate, solving a balance adjustment vector of the offset equation, calculating the deformation condition of the subway section to be detected according to the magnitude of each balance adjustment factor in the balance adjustment vector, and obtaining a deformation result. The method can solve the problem of large time and human resource waste caused by deformation monitoring of the subway rail.

Description

Subway track deformation monitoring method and device and electronic equipment
Technical Field
The invention relates to the technical field of rail transit, in particular to a method and a device for monitoring deformation of a subway rail, electronic equipment and a computer-readable storage medium.
Background
Along with the progress of the scientific and technological development level, the subway is gradually popularized to each two-line city, convenience for residents to live and go out is greatly facilitated for the convenience of the subway, and correspondingly, the safety maintenance of the subway is also extremely important.
Subway safety maintenance includes many aspects, including subway engine overhaul, cabin fire prevention etc. and one of them important safety maintenance still includes the monitoring of subway track deformation, because the too high subway track that deforms causes the subway to derail very easily, and the consequence can't be imagined.
At present, deformation monitoring of the subway track mainly depends on monitoring personnel to use an automatic monitor to explore and obtain monitoring data of each section of subway, wherein the monitoring data mainly comprises the monitoring data of the length, the width and the depth of the subway, and then difference of the subway track compared with three dimensions of the beginning of construction is obtained through fitting the monitoring data, so that the deformation condition of the track is judged.
Although the method can effectively monitor the deformation of the track, a large amount of time and human resources are wasted due to the fact that the monitoring data need to be fitted repeatedly, and a method capable of rapidly judging the deformation of the track is not provided.
Disclosure of Invention
The invention provides a method and a device for monitoring deformation of a subway track and a computer readable storage medium, and mainly aims to solve the problem of waste of a large amount of time and human resources during deformation monitoring of the subway track.
In order to achieve the above object, the present invention provides a deformation monitoring method for a subway rail, comprising:
receiving a subway track monitoring instruction, and determining a to-be-detected subway section according to the subway track monitoring instruction;
establishing a three-dimensional coordinate system based on the to-be-detected subway section, determining the focus coordinate of the to-be-detected subway section in the three-dimensional coordinate system, and collecting sampling points of the to-be-detected subway section to obtain a sampling point coordinate set;
acquiring a standard point coordinate set constructed in the subway section to be detected, and calculating offset vectors of the sampling point coordinate set and the standard point coordinate set, wherein the offset vectors are as follows:
Figure DEST_PATH_IMAGE001
Figure 406887DEST_PATH_IMAGE002
Figure DEST_PATH_IMAGE003
Figure 776558DEST_PATH_IMAGE004
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE005
is representative of the offset vector(s) of the motion vector,
Figure 336721DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the subway section to be detected,
Figure DEST_PATH_IMAGE007
is an offset vector of the y axis and represents the width deformation of the section of the subway to be detected,
Figure 89520DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure DEST_PATH_IMAGE009
a set of coordinates of the sample points is represented,
Figure 966209DEST_PATH_IMAGE010
the set of standard point coordinates is represented by,
Figure DEST_PATH_IMAGE011
represents a pre-set depth threshold vector and,
Figure 846395DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
constructing an offset equation of the offset vector according to the focus coordinates, wherein the offset equation is as follows:
Figure DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 674281DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure DEST_PATH_IMAGE015
a balance adjustment vector that is an offset equation;
and solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
Optionally, the determining, according to the subway track monitoring instruction, the subway block section to be detected includes:
extracting the position information of the subway to be detected from the subway track monitoring instruction, and determining the length of the subway to be detected according to the position information;
judging whether the length of the subway to be detected is greater than a preset length or not, and if the length of the subway to be detected is not greater than the preset length, determining a section of the subway to be detected according to the position information of the subway to be detected;
if the length of the subway to be detected is larger than the preset length, segmenting the subway to be detected according to the position information of the subway to be detected to obtain a plurality of groups of segmented subways to be detected, wherein the length of each group of segmented subways to be detected is smaller than the preset length;
and determining the corresponding subway section to be detected according to the position information of each group of segmented subways to be detected to obtain a plurality of groups of subway sections to be detected.
Optionally, the block section of the subway to be detected is set to be 0.1 meter.
Optionally, the collecting sampling points of the to-be-detected subway segment to obtain a sampling point coordinate set includes:
receiving the number of sampling points input by a user according to the subway section to be detected;
starting a laser scanner, wherein the laser scanner comprises a laser generator and a laser receiver;
determining the emission times and the emission position of the pulse signal emitted by the laser generator according to the number of the sampling points;
transmitting a pulse signal to the subway section to be detected by using the laser generator, and receiving a reflected signal of the pulse signal reflected by the subway section to be detected by using the laser receiver;
and (4) until all the reflection signals are received according to the emission times and the emission positions, and simulating all the reflection signals through software to obtain the coordinate set of the sampling points.
Optionally, the simulating all the reflection signals by software to obtain the coordinate set of the sampling points includes:
solving a vertical angle and a horizontal angle of a reflection signal in the three-dimensional coordinate system;
calculating the distance between the laser generator and the subway section to be detected;
and calculating the coordinate set of the sampling points by using the vertical angle, the horizontal angle and the distance, wherein the calculation method comprises the following steps:
Figure 184765DEST_PATH_IMAGE016
wherein P represents the set of sample point coordinates,
Figure 260169DEST_PATH_IMAGE009
representing the coordinate set of the sampling points, m is the distance between the laser generator and the subway section to be detected,
Figure DEST_PATH_IMAGE017
in order to reflect the horizontal angle of the signal,
Figure 611122DEST_PATH_IMAGE018
is the vertical angle of the reflected signal.
Optionally, the calculation method of the sampling focus vector includes:
Figure DEST_PATH_IMAGE019
Figure 427769DEST_PATH_IMAGE020
Figure DEST_PATH_IMAGE021
Figure 476365DEST_PATH_IMAGE022
Figure DEST_PATH_IMAGE023
and f is the focal length from the focal coordinates to the edge of the section of the subway to be detected.
Optionally, the method for calculating the focal distance from the focal point coordinate to the edge of the subway block section to be detected includes:
Figure 103479DEST_PATH_IMAGE024
wherein arg represents the averaging, F is the focus coordinate,
Figure DEST_PATH_IMAGE025
represents the distance of the focal coordinate from the length coordinate of the s-th sampling point,
Figure 844908DEST_PATH_IMAGE026
representing the distance of the focal coordinate from the width coordinate of the s-th sample point,
Figure DEST_PATH_IMAGE027
representing the distance of the focal coordinate from the depth coordinate of the s-th sample point.
Optionally, the process of constructing the balance adjustment vector includes:
calculating to obtain the vector scales of the offset vector and the sampling focus vector, wherein the vector scales of the offset vector and the sampling focus vector are respectively 3 lines, 4 lines and 6 lines, 4 lines;
according to the equation establishment condition of the offset equation, calculating by using the 3 rows and 4 columns and the 6 rows and 4 columns to obtain a balance adjustment vector with the vector scale of 3 rows and 6 columns;
according to a preset balance adjustment vector construction method, a balance adjustment vector with 3 rows and 6 columns is constructed, wherein the balance adjustment vector construction method comprises the following steps:
Figure 352113DEST_PATH_IMAGE028
wherein, the first and the second end of the pipe are connected with each other,
Figure DEST_PATH_IMAGE029
the balance adjustment factor of the ith row and the jth column in the balance adjustment vector.
Optionally, the calculating, according to the magnitude of each balance adjustment factor in the balance adjustment vector, a deformation condition of the to-be-detected subway segment to obtain a deformation result includes:
extracting all balance adjustment factors from the balance adjustment vector, and dividing all balance adjustment factors according to positive and negative values to obtain positive adjustment factors and negative adjustment factors;
adding all the positive adjustment factors to obtain a positive deformation value, and adding all the negative adjustment factors to obtain a negative deformation value;
and obtaining a deformation degree evaluation result according to the preset deformation interval to which the positive deformation value and the negative deformation value belong.
In order to solve the above problems, the present invention also provides a deformation monitoring device for a subway rail, the device comprising:
the detection subway determining module is used for receiving a subway track monitoring instruction and determining a subway section to be detected according to the subway track monitoring instruction;
the sampling module is used for constructing a three-dimensional coordinate system based on the to-be-detected subway block section, determining the focus coordinate of the to-be-detected subway block section in the three-dimensional coordinate system, and collecting sampling points of the to-be-detected subway block section to obtain a sampling point coordinate set;
the offset vector calculation module is used for acquiring a standard point coordinate set of the subway section to be detected after being built, and calculating an offset vector of the sampling point coordinate set and the standard point coordinate set, wherein the offset vector is as follows:
Figure 469979DEST_PATH_IMAGE001
Figure 565980DEST_PATH_IMAGE030
Figure DEST_PATH_IMAGE031
Figure 681573DEST_PATH_IMAGE004
wherein, the first and the second end of the pipe are connected with each other,
Figure 987658DEST_PATH_IMAGE005
is representative of the offset vector(s) of the motion vector,
Figure 941839DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the subway section to be detected,
Figure 435223DEST_PATH_IMAGE007
is an offset vector of the y axis and represents the width deformation of the section of the subway to be detected,
Figure 580771DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure 406776DEST_PATH_IMAGE009
a set of coordinates of the sample points is represented,
Figure 397604DEST_PATH_IMAGE010
the set of standard point coordinates is represented by,
Figure 422191DEST_PATH_IMAGE011
represents a pre-set depth threshold vector and,
Figure 535379DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
an offset equation constructing module, configured to construct an offset equation of the offset vector according to the focal coordinates, where the offset equation is:
Figure 629105DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 987406DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 630614DEST_PATH_IMAGE015
a balance adjustment vector that is an offset equation;
and the deformation judgment module is used for solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the magnitude of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
In order to solve the above problem, the present invention also provides an electronic device, including:
a memory storing at least one instruction; and
and the processor is used for executing the instructions stored in the memory so as to realize the subway track deformation monitoring method.
In order to solve the above problem, the present invention further provides a computer-readable storage medium, where at least one instruction is stored in the computer-readable storage medium, and the at least one instruction is executed by a processor in an electronic device to implement the subway rail deformation monitoring method described above.
In order to solve the problems in the background art, a subway section to be detected is determined according to a subway track monitoring instruction, in order to quickly judge a deformation result of a track, a three-dimensional coordinate system based on the subway section to be detected is established, a focus coordinate of the subway section to be detected is determined in the three-dimensional coordinate system, sampling points of the subway section to be detected are collected, and a sampling point coordinate set is obtained, wherein each sampling point coordinate can be used for subsequent deformation judgment. Therefore, the method, the device, the electronic equipment and the computer readable storage medium for monitoring the deformation of the subway track can solve the problem of waste of a large amount of time and human resources during the deformation monitoring of the subway track.
Drawings
Fig. 1 is a schematic flow chart of a method for monitoring deformation of a subway track according to an embodiment of the present invention;
fig. 2 is a schematic view of a focus coordinate of a method for monitoring deformation of a subway track according to an embodiment of the present invention
Fig. 3 is a functional block diagram of a subway track deformation monitoring apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing the method for monitoring deformation of a subway track according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The embodiment of the application provides a subway track deformation monitoring method. The execution subject of the subway track deformation monitoring method includes, but is not limited to, at least one of electronic devices such as a server and a terminal, which can be configured to execute the method provided by the embodiment of the application. In other words, the subway track deformation monitoring method may be executed by software or hardware installed in a terminal device or a server device, and the software may be a block chain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, and the like.
Fig. 1 is a schematic flow chart of a method for monitoring deformation of a subway track according to an embodiment of the present invention. In this embodiment, the method for monitoring deformation of a subway rail includes:
s1, receiving a subway track monitoring instruction, and determining a subway section to be detected according to the subway track monitoring instruction.
In the embodiment of the invention, the subway track monitoring instruction is generally sent by subway track monitoring personnel, and the subway track monitoring personnel need to determine the monitored subway section under the general condition. In detail, the determining the section of the subway to be detected according to the subway track monitoring instruction comprises:
extracting the position information of the subway to be detected from the subway track monitoring instruction, and determining the length of the subway to be detected according to the position information;
judging whether the length of the subway to be detected is greater than a preset length or not, and if the length of the subway to be detected is not greater than the preset length, determining a section of the subway to be detected according to the position information of the subway to be detected;
if the length of the subway to be detected is larger than the preset length, segmenting the subway to be detected according to the position information of the subway to be detected to obtain a plurality of groups of segmented subways to be detected, wherein the length of each group of segmented subways to be detected is smaller than the preset length;
and determining the corresponding subway section to be detected according to the position information of each group of the segmented subways to be detected to obtain a plurality of groups of subway sections to be detected.
It should be explained that, in order to ensure the accuracy of monitoring the deformation of the subway track, the set subway block section to be detected is generally not more than 0.1 meter, that is, when a local railway track monitoring person wants to detect a subway exceeding 0.1 meter, a segmentation operation needs to be performed, that is, a subway with a total length exceeding 0.1 meter is segmented into a plurality of subway block sections not exceeding 0.1 meter, and steps S2 to S5 are performed on each subway block section not exceeding 0.1 meter in sequence.
S2, constructing a three-dimensional coordinate system based on the subway section to be detected, determining the focus coordinate of the subway section to be detected in the three-dimensional coordinate system, and collecting sampling points of the subway section to be detected to obtain a sampling point coordinate set.
It can be understood that each group of subway sections to be detected does not exceed 0.1 meter, and for the convenience of subsequent detection, a three-dimensional coordinate system is constructed first. Referring to fig. 2, in the embodiment of the present invention, the focus coordinate is mainly used as a reference coordinate for determining whether the whole subway block to be detected is deformed.
Further, the embodiment of the present invention mainly implements sampling by a laser scanning instrument, and in detail, the collecting of the sampling points of the to-be-detected subway segment to obtain a coordinate set of the sampling points includes:
receiving the number of sampling points input by a user according to the subway section to be detected;
starting a laser scanner, wherein the laser scanner comprises a laser generator and a laser receiver;
determining the emission times and the emission position of the pulse signal emitted by the laser generator according to the number of the sampling points;
transmitting a pulse signal to the subway section to be detected by using the laser generator, and receiving a reflected signal of the pulse signal reflected by the subway section to be detected by using the laser receiver;
and until all the reflection signals are received according to the emission times and the emission positions, simulating all the reflection signals through software to obtain the coordinate set of the sampling point.
In the embodiment of the invention, the number of the sampling points of the sampling point coordinate set is set to be n, so that the corresponding emission times are the same as the number of the sampling points, in addition, in order to reasonably diagnose the deformation degree of the subway section to be detected, the emission position of the pulse signal is also reasonably set according to the structure of the subway section to be detected, and after the number and the emission position of the sampling points are set, the laser scanner can be started to emit the pulse signal and capture the reflected signal, so that the sampling of the sampling points is realized.
In detail, the obtaining of the coordinate set of the sampling points by software simulation of all the reflection signals includes:
solving a vertical angle and a horizontal angle of the reflection signal in the three-dimensional coordinate system;
calculating the distance between the laser generator and the section of the subway to be detected;
and calculating the coordinate set of the sampling points by using the vertical angle, the horizontal angle and the distance, wherein the calculation method comprises the following steps of:
Figure 399856DEST_PATH_IMAGE032
wherein P represents the set of sample point coordinates,
Figure 731611DEST_PATH_IMAGE009
representing the coordinate set of the sampling points, m is the distance between the laser generator and the subway section to be detected,
Figure 595400DEST_PATH_IMAGE017
in order to reflect the horizontal angle of the signal,
Figure 532263DEST_PATH_IMAGE018
is the vertical angle of the reflected signal.
And S3, acquiring a standard point coordinate set of the to-be-detected subway block section after construction, and calculating offset vectors of the sampling point coordinate set and the standard point coordinate set.
It should be explained that, after the construction is completed, the specification of the subway track is the standard specification because the subway segment to be detected is not affected by any external force, and the embodiment of the invention is a subsequent calculation method, and the data of the standard specification are mapped into a three-dimensional coordinate system by using software as well to obtain a standard point coordinate set.
In detail, the offset vector is calculated by:
Figure 998972DEST_PATH_IMAGE001
Figure DEST_PATH_IMAGE033
Figure 864028DEST_PATH_IMAGE034
Figure 344557DEST_PATH_IMAGE004
wherein, the first and the second end of the pipe are connected with each other,
Figure 932664DEST_PATH_IMAGE005
representing the offset vector(s) of the image,
Figure 27397DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the section of the subway to be detected,
Figure 114171DEST_PATH_IMAGE007
is an offset vector of a y axis and represents the width deformation of the subway section to be detected,
Figure 86806DEST_PATH_IMAGE008
is an offset vector of a z-axis and represents the depth deformation of the subway section to be detected,
Figure 293534DEST_PATH_IMAGE009
a set of coordinates of the sample points is represented,
Figure 795054DEST_PATH_IMAGE010
the set of standard point coordinates is represented by,
Figure 369123DEST_PATH_IMAGE011
represents a pre-set depth threshold vector and,
Figure 643985DEST_PATH_IMAGE012
and representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the number of the sampling points of the sampling point coordinate set.
It is to be construed that,
Figure 941105DEST_PATH_IMAGE006
is calculated by the method
Figure 733567DEST_PATH_IMAGE007
，
Figure 450725DEST_PATH_IMAGE008
The reason is that the deformation among the three components of length deformation, width deformation and depth deformation of the subway section to be detected is closely related, namely: when the temperature is higher than the set temperatureThe method comprises the following steps that after the width and the depth of a subway section to be detected are deformed to a large degree, the change of the length of the subway section to be detected can be directly influenced; in addition, compared with the width and the depth of the subway track, the possibility of active change of the length of the subway track is not high, and the length of the subway track is passively changed due to the change of the width and the depth of the subway track. The width of the subway track is easily widened or narrowed due to backlog of subway rollers and the like, and the depth of the subway track is easily sunken due to important subways and the like.
And S4, constructing an offset equation of the offset vector according to the focus coordinate.
In detail, the offset equation is:
Figure 76747DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 493953DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 366969DEST_PATH_IMAGE015
the vector is adjusted for the balance of the offset equation.
Wherein, the first and the second end of the pipe are connected with each other,
Figure 869625DEST_PATH_IMAGE014
the calculation method of (2) is as follows:
Figure DEST_PATH_IMAGE035
Figure 142081DEST_PATH_IMAGE020
Figure 617056DEST_PATH_IMAGE021
Figure 660973DEST_PATH_IMAGE022
Figure 696931DEST_PATH_IMAGE036
wherein f is the focal distance from the focal point coordinate to the edge of the subway block section to be detected, and the calculation method comprises the following steps:
Figure DEST_PATH_IMAGE037
wherein arg represents the averaging, F is the focus coordinate,
Figure 535530DEST_PATH_IMAGE025
represents the distance of the focal coordinate from the length coordinate of the s-th sampling point,
Figure 973333DEST_PATH_IMAGE026
represents the distance of the focal point coordinate from the width coordinate of the s-th sampling point,
Figure 424037DEST_PATH_IMAGE027
representing the distance of the focal coordinate from the depth coordinate of the s-th sample point.
It is to be construed that,
Figure 868663DEST_PATH_IMAGE015
the balance adjustment vector of the offset equation is used for adjusting the offset equation to ensure that two sides of the offset equation are equal, if the deformation degree of the subway track is not high, the variable value of the corresponding balance adjustment vector is relatively small, and if the deformation degree of the subway track is high, in order to keep the two sides of the offset equation equal, the variable value of the corresponding balance adjustment vector is relatively large, so that the deformation degree of the subway track can be reflected through the size of the balance adjustment vector.
Further, the construction process of the balance adjustment vector comprises the following steps:
calculating to obtain the vector scales of the offset vector and the sampling focus vector, wherein the vector scales of the offset vector and the sampling focus vector are respectively 3 lines, 4 lines and 6 lines, 4 lines;
according to the equation satisfaction condition of the offset equation, calculating to obtain a vector scale of a balance adjustment vector by using the 3 rows and 4 columns and the 6 rows and 4 columns, wherein the vector scale is 3 rows and 6 columns;
according to a preset balance adjustment vector construction method, a balance adjustment vector with 3 rows and 6 columns is constructed, wherein the balance adjustment vector construction method comprises the following steps:
Figure 374599DEST_PATH_IMAGE028
wherein, the first and the second end of the pipe are connected with each other,
Figure 620904DEST_PATH_IMAGE038
is the balance adjustment factor of the ith row and the jth column in the balance adjustment vector.
S5, solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
It can be understood that, in order to maintain the right and left equations of the offset equation, the values of each balance adjustment factor in the balance adjustment vector need to be calculated in turn, so as to ensure that the vectors on both sides of the equation are the same. Further, after obtaining the values of all the balance adjustment factors through solution, the deformation degree of the to-be-detected subway interval section can be calculated according to all the balance adjustment factors, and in detail, the deformation condition of the to-be-detected subway interval section is calculated according to the size of each balance adjustment factor in the balance adjustment vector, so as to obtain a deformation result, the deformation result includes:
extracting all balance adjustment factors from the balance adjustment vector, and dividing all balance adjustment factors according to positive and negative values to obtain positive adjustment factors and negative adjustment factors;
adding all the positive adjustment factors to obtain a positive deformation value, and adding all the negative adjustment factors to obtain a negative deformation value;
and obtaining a deformation degree evaluation result according to the preset deformation interval to which the positive deformation value and the negative deformation value belong.
Illustratively, 18 sets of balance adjustment factors are provided in the balance adjustment vector, and if there are 7 sets of positive adjustment factors and 11 sets of negative adjustment factors, wherein the sum of the 7 sets of positive adjustment factors is 67.21, and the negative deformation value of the 11 sets of negative adjustment factors is-703.93, wherein the preset deformation range of the positive deformation value is [0,50] low-degree deformation, [50,100] medium-degree deformation, and [100,150] high-degree deformation, so that 67.21 corresponds to medium-degree deformation, and by analogy, the negative deformation value of-703.93 may correspond to high-degree deformation, so that the deformation degrees in two directions are fed back to subway track detection personnel, thereby facilitating the further overhaul judgment thereof.
In order to solve the problems in the background art, a subway section to be detected is determined according to a subway track monitoring instruction, in order to quickly judge a deformation result of a track, a three-dimensional coordinate system based on the subway section to be detected is established, a focus coordinate of the subway section to be detected is determined in the three-dimensional coordinate system, sampling points of the subway section to be detected are collected, and a sampling point coordinate set is obtained, wherein each sampling point coordinate can be used for subsequent deformation judgment. Therefore, the method, the device, the electronic equipment and the computer readable storage medium for monitoring the deformation of the subway track can solve the problem of waste of a large amount of time and human resources during the deformation monitoring of the subway track.
Fig. 3 is a functional block diagram of a subway rail deformation monitoring apparatus according to an embodiment of the present invention.
The subway track deformation monitoring device 100 can be installed in electronic equipment. According to the realized functions, the subway track deformation monitoring device 100 may include a subway detection determining module 101, a sampling module 102, an offset vector calculating module 103, an offset equation constructing module 104, and a deformation judging module 105. The module of the present invention, which may also be referred to as a unit, refers to a series of computer program segments that can be executed by a processor of an electronic device and can perform a fixed function, and are stored in a memory of the electronic device.
The detection subway determining module 101 is configured to receive a subway track monitoring instruction, and determine a subway section to be detected according to the subway track monitoring instruction;
the sampling module 102 is configured to construct a three-dimensional coordinate system based on the to-be-detected subway segment, determine a focus coordinate of the to-be-detected subway segment in the three-dimensional coordinate system, and collect sampling points of the to-be-detected subway segment to obtain a sampling point coordinate set;
the offset vector calculation module 103 is configured to obtain a standard point coordinate set of the to-be-detected subway segment after being built, and calculate an offset vector between the sampling point coordinate set and the standard point coordinate set, where the offset vector is:
Figure 209886DEST_PATH_IMAGE001
Figure DEST_PATH_IMAGE039
Figure 813911DEST_PATH_IMAGE040
Figure 857960DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 427612DEST_PATH_IMAGE005
is representative of the offset vector(s) of the motion vector,
Figure 780971DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the section of the subway to be detected,
Figure 436075DEST_PATH_IMAGE007
is an offset vector of the y axis and represents the width deformation of the section of the subway to be detected,
Figure 295532DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure 483806DEST_PATH_IMAGE009
the set of coordinates of the sample points is represented,
Figure 447214DEST_PATH_IMAGE010
the set of standard point coordinates is represented as,
Figure 619307DEST_PATH_IMAGE011
representing a pre-set depth threshold vector that,
Figure 739579DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
the offset equation constructing module 104 is configured to construct an offset equation of the offset vector according to the focus coordinate, where the offset equation is:
Figure 549403DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 244564DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 608681DEST_PATH_IMAGE015
a balance adjustment vector that is an offset equation;
the deformation judgment module 105 is configured to solve the balance adjustment vector of the offset equation, and calculate a deformation condition of the to-be-detected subway segment according to a size of each balance adjustment factor in the balance adjustment vector, so as to obtain a deformation result.
In detail, in the embodiment of the present invention, when the modules in the subway track deformation monitoring apparatus 100 are used, the same technical means as the block chain-based product supply chain management method described in fig. 1 are used, and the same technical effects can be produced, which are not described herein again.
Fig. 4 is a schematic structural diagram of an electronic device for implementing a method for monitoring deformation of a subway track according to an embodiment of the present invention.
The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may further include a computer program, such as a subway track deformation monitoring method program, stored in the memory 11 and running on the processor 10.
The memory 11 includes at least one type of readable storage medium, which includes flash memory, removable hard disk, multimedia card, card type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 may in some embodiments be an internal storage unit of the electronic device 1, such as a removable hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the electronic device 1. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device 1. The memory 11 may be used to store not only application software installed in the electronic device 1 and various types of data, such as codes of a subway track deformation monitoring method program, but also temporarily store data that has been output or is to be output.
The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or may be composed of a plurality of integrated circuits packaged with the same or different functions, including one or more Central Processing Units (CPUs), microprocessors, digital Processing chips, graphics processors, and combinations of various control chips. The processor 10 is a Control Unit (Control Unit) of the electronic device, connects various components of the whole electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device 1 by running or executing programs or modules (such as a subway track deformation monitoring method program) stored in the memory 11 and calling data stored in the memory 11.
The bus 12 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is arranged to enable connection communication between the memory 11 and at least one processor 10 or the like.
Fig. 4 only shows an electronic device with components, and it will be understood by a person skilled in the art that the structure shown in fig. 4 does not constitute a limitation of the electronic device 1, and may comprise fewer or more components than shown, or a combination of certain components, or a different arrangement of components.
For example, although not shown, the electronic device 1 may further include a power supply (such as a battery) for supplying power to each component, and preferably, the power supply may be logically connected to the at least one processor 10 through a power management device, so as to implement functions of charge management, discharge management, power consumption management, and the like through the power management device. The power supply may also include any component of one or more dc or ac power sources, recharging devices, power failure detection circuitry, power converters or inverters, power status indicators, and the like. The electronic device 1 may further include various sensors, a bluetooth module, a Wi-Fi module, and the like, which are not described herein again.
Further, the electronic device 1 may further include a network interface, and optionally, the network interface may include a wired interface and/or a wireless interface (such as a WI-FI interface, a bluetooth interface, etc.), which are generally used to establish a communication connection between the electronic device 1 and another electronic device.
Optionally, the electronic device 1 may further comprise a user interface, which may be a Display (Display), an input unit (such as a Keyboard), and optionally a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the electronic device 1 and for displaying a visualized user interface, among other things.
It is to be understood that the embodiments described are illustrative only and are not to be construed as limiting the scope of the claims.
The subway track deformation monitoring method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions, and when running in the processor 10, can implement:
receiving a subway track monitoring instruction, and determining a to-be-detected subway section according to the subway track monitoring instruction;
constructing a three-dimensional coordinate system based on the subway section to be detected, determining the focus coordinate of the subway section to be detected in the three-dimensional coordinate system, and collecting sampling points of the subway section to be detected to obtain a sampling point coordinate set;
acquiring a standard point coordinate set of the subway section to be detected after being built, and calculating an offset vector of the sampling point coordinate set and the standard point coordinate set, wherein the offset vector is as follows:
Figure 267064DEST_PATH_IMAGE001
Figure DEST_PATH_IMAGE041
Figure 305296DEST_PATH_IMAGE042
Figure 640200DEST_PATH_IMAGE004
wherein, the first and the second end of the pipe are connected with each other,
Figure 288350DEST_PATH_IMAGE005
representing the offset vector(s) of the image,
Figure 762143DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the section of the subway to be detected,
Figure 576253DEST_PATH_IMAGE007
is an offset vector of a y axis and represents the width deformation of the subway section to be detected,
Figure 317944DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure 420767DEST_PATH_IMAGE009
representing the set of coordinates of the sample points，
Figure 889795DEST_PATH_IMAGE010
The set of standard point coordinates is represented as,
Figure 59876DEST_PATH_IMAGE011
represents a pre-set depth threshold vector and,
Figure 205424DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
constructing an offset equation of the offset vector according to the focus coordinates, wherein the offset equation is as follows:
Figure 139751DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 694360DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 686325DEST_PATH_IMAGE015
a balance adjustment vector for the offset equation;
and solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
Specifically, the specific implementation method of the processor 10 for the instruction may refer to the description of the relevant steps in the embodiments corresponding to fig. 1 to fig. 4, which is not repeated herein.
Further, the integrated modules/units of the electronic device 1, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. The computer readable storage medium may be volatile or non-volatile. For example, the computer-readable medium may include: any entity or device capable of carrying said computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM).
The present invention also provides a computer-readable storage medium storing a computer program which, when executed by a processor of an electronic device, implements:
receiving a subway track monitoring instruction, and determining a subway section to be detected according to the subway track monitoring instruction;
constructing a three-dimensional coordinate system based on the subway section to be detected, determining the focus coordinate of the subway section to be detected in the three-dimensional coordinate system, and collecting sampling points of the subway section to be detected to obtain a sampling point coordinate set;
acquiring a standard point coordinate set constructed in the subway section to be detected, and calculating offset vectors of the sampling point coordinate set and the standard point coordinate set, wherein the offset vectors are as follows:
Figure 550244DEST_PATH_IMAGE001
Figure DEST_PATH_IMAGE043
Figure 983586DEST_PATH_IMAGE044
Figure 607466DEST_PATH_IMAGE004
wherein, the first and the second end of the pipe are connected with each other,
Figure 188357DEST_PATH_IMAGE005
is representative of the offset vector(s) of the motion vector,
Figure 708331DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the subway section to be detected,
Figure 820513DEST_PATH_IMAGE007
is an offset vector of a y axis and represents the width deformation of the subway section to be detected,
Figure 949881DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure 417902DEST_PATH_IMAGE009
the set of coordinates of the sample points is represented,
Figure 76154DEST_PATH_IMAGE010
the set of standard point coordinates is represented as,
Figure 144473DEST_PATH_IMAGE011
representing a pre-set depth threshold vector that,
Figure 578997DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
constructing an offset equation of the offset vector according to the focus coordinate, wherein the offset equation is as follows:
Figure 868902DEST_PATH_IMAGE013
wherein, the first and the second end of the pipe are connected with each other,
Figure 199520DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 4403DEST_PATH_IMAGE015
a balance adjustment vector for the offset equation;
and solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional module.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference signs in the claims shall not be construed as limiting the claim concerned.
Furthermore, it will be obvious that the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms second, etc. are used to denote names, but not any particular order.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (10)

1. A method of monitoring deformation of a subway rail, said method comprising:
receiving a subway track monitoring instruction, and determining a subway section to be detected according to the subway track monitoring instruction;
constructing a three-dimensional coordinate system based on the subway section to be detected, determining the focus coordinate of the subway section to be detected in the three-dimensional coordinate system, and collecting sampling points of the subway section to be detected to obtain a sampling point coordinate set;
acquiring a standard point coordinate set constructed in the subway section to be detected, and calculating offset vectors of the sampling point coordinate set and the standard point coordinate set, wherein the offset vectors are as follows:
Figure 820147DEST_PATH_IMAGE001
Figure 495717DEST_PATH_IMAGE002
Figure 997236DEST_PATH_IMAGE003
Figure 571306DEST_PATH_IMAGE004
wherein the content of the first and second substances,
Figure 49430DEST_PATH_IMAGE005
representing the offset vector(s) of the image,
Figure 612129DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the subway section to be detected,
Figure 314244DEST_PATH_IMAGE007
is an offset vector of the y axis and represents the width deformation of the section of the subway to be detected,
Figure 329604DEST_PATH_IMAGE008
is an offset vector of a z-axis and represents the depth deformation of the subway section to be detected,
Figure 893310DEST_PATH_IMAGE009
the set of coordinates of the sample points is represented,
Figure 605788DEST_PATH_IMAGE010
the set of standard point coordinates is represented as,
Figure 714690DEST_PATH_IMAGE011
represents a pre-set depth threshold vector and,
Figure 184723DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
constructing an offset equation of the offset vector according to the focus coordinate, wherein the offset equation is as follows:
Figure 506114DEST_PATH_IMAGE013
wherein the content of the first and second substances,
Figure 632288DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 676206DEST_PATH_IMAGE015
a balance adjustment vector that is an offset equation;
and solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
2. The method for monitoring deformation of a subway track as claimed in claim 1, wherein said determining the subway segment to be detected according to said subway track monitoring command comprises:
extracting the position information of the subway to be detected from the subway track monitoring instruction, and determining the length of the subway to be detected according to the position information;
judging whether the length of the subway to be detected is greater than a preset length or not, and if the length of the subway to be detected is not greater than the preset length, determining the section of the subway to be detected according to the position information of the subway to be detected;
if the length of the subway to be detected is larger than the preset length, segmenting the subway to be detected according to the position information of the subway to be detected to obtain a plurality of groups of segmented subways, wherein the length of each group of segmented subways is smaller than the preset length;
and determining the corresponding subway section to be detected according to the position information of each group of the segmented subways to be detected to obtain a plurality of groups of subway sections to be detected.
3. A deformation monitoring method for subway rails as claimed in claim 2, wherein said subway section to be detected is set to 0.1 m.
4. The subway rail deformation monitoring method as claimed in claim 3, wherein said collecting sampling points of the subway section to be detected to obtain a coordinate set of the sampling points comprises:
receiving the number of sampling points input by a user according to the section of the subway to be detected;
starting a laser scanner, wherein the laser scanner comprises a laser generator and a laser receiver;
determining the emission times and the emission position of the pulse signal emitted by the laser generator according to the number of the sampling points;
transmitting a pulse signal to the subway section to be detected by using the laser generator, and receiving a reflection signal of the pulse signal reflected by the subway section to be detected by using the laser receiver;
and until all the reflection signals are received according to the emission times and the emission positions, simulating all the reflection signals through software to obtain the coordinate set of the sampling point.
5. A deformation monitoring method for subway tracks as claimed in claim 4, wherein said obtaining said coordinate set of sampling points by software simulation of all reflected signals comprises:
solving a vertical angle and a horizontal angle of the reflection signal in the three-dimensional coordinate system;
calculating the distance between the laser generator and the subway section to be detected;
and calculating the coordinate set of the sampling points by using the vertical angle, the horizontal angle and the distance, wherein the calculation method comprises the following steps:
Figure 649847DEST_PATH_IMAGE016
wherein P represents the set of sample point coordinates,
Figure 306087DEST_PATH_IMAGE009
representing the coordinate set of the sampling points, m is the distance between the laser generator and the section of the subway to be detected,
Figure 993158DEST_PATH_IMAGE017
being the horizontal angle of the reflected signal,
Figure 178283DEST_PATH_IMAGE018
is the vertical angle of the reflected signal.
6. A deformation monitoring method for a subway track as claimed in claim 5, wherein said calculation method of sampling focus vector is:
Figure DEST_PATH_738387DEST_PATH_IMAGE039
Figure 551681DEST_PATH_IMAGE020
Figure 765363DEST_PATH_IMAGE021
Figure 121389DEST_PATH_IMAGE022
Figure 787731DEST_PATH_IMAGE023
and f is the focal length from the focal coordinates to the edge of the section of the subway to be detected.
7. The subway rail deformation monitoring method of claim 6, wherein the calculation method of the focal point coordinate to the focal distance of the subway block section edge to be detected is as follows:
Figure 520195DEST_PATH_IMAGE024
wherein arg represents the averaging, F is the focus coordinate,
Figure 588383DEST_PATH_IMAGE025
represents the distance of the focal coordinate from the length coordinate of the s-th sampling point,
Figure 907455DEST_PATH_IMAGE026
represents the distance of the focal point coordinate from the width coordinate of the s-th sampling point,
Figure 93717DEST_PATH_IMAGE027
representing the distance of the focal coordinate from the depth coordinate of the s-th sample point.
8. A deformation monitoring method for subway rails as claimed in claim 7, wherein said balance adjustment vector is constructed by the following steps:
calculating to obtain the vector scales of the offset vector and the sampling focus vector, wherein the vector scales of the offset vector and the sampling focus vector are respectively 3 lines, 4 lines and 6 lines, 4 lines;
according to the equation satisfaction condition of the offset equation, calculating to obtain a vector scale of a balance adjustment vector by using the 3 rows and 4 columns and the 6 rows and 4 columns, wherein the vector scale is 3 rows and 6 columns;
according to a preset balance adjustment vector construction method, a balance adjustment vector with 3 rows and 6 columns is constructed, wherein the balance adjustment vector construction method comprises the following steps:
Figure 862828DEST_PATH_IMAGE028
wherein the content of the first and second substances,
Figure 818145DEST_PATH_IMAGE029
is the balance adjustment factor of the ith row and the jth column in the balance adjustment vector.
9. The method for monitoring deformation of a subway track as claimed in claim 8, wherein said calculating the deformation condition of said subway segment to be detected according to the magnitude of each balance adjustment factor in said balance adjustment vector to obtain the deformation result comprises:
extracting all balance adjustment factors from the balance adjustment vector, and dividing all balance adjustment factors according to positive and negative values to obtain positive adjustment factors and negative adjustment factors;
adding all the positive adjustment factors to obtain a positive deformation value, and adding all the negative adjustment factors to obtain a negative deformation value;
and obtaining a deformation degree evaluation result according to the preset deformation interval to which the positive deformation value and the negative deformation value belong.
10. A deformation monitoring device for a subway rail, the device comprising:
the detection subway determining module is used for receiving a subway track monitoring instruction and determining a to-be-detected subway section according to the subway track monitoring instruction;
the sampling module is used for constructing a three-dimensional coordinate system based on the to-be-detected subway block section, determining the focus coordinate of the to-be-detected subway block section in the three-dimensional coordinate system, and collecting sampling points of the to-be-detected subway block section to obtain a sampling point coordinate set;
the offset vector calculation module is used for acquiring a standard point coordinate set of the section of the subway to be detected after being built, and calculating offset vectors of the sampling point coordinate set and the standard point coordinate set, wherein the offset vectors are as follows:
Figure 76826DEST_PATH_IMAGE001
Figure 422488DEST_PATH_IMAGE030
Figure 995289DEST_PATH_IMAGE031
Figure 539534DEST_PATH_IMAGE032
wherein, the first and the second end of the pipe are connected with each other,
Figure 703537DEST_PATH_IMAGE005
is representative of the offset vector(s) of the motion vector,
Figure 802074DEST_PATH_IMAGE006
is an offset vector of an x axis and represents the length deformation of the section of the subway to be detected,
Figure 991616DEST_PATH_IMAGE007
is an offset vector of the y axis and represents the width deformation of the section of the subway to be detected,
Figure 685640DEST_PATH_IMAGE008
is an offset vector of the z-axis and represents the depth deformation of the section of the subway to be detected,
Figure 256430DEST_PATH_IMAGE009
a set of coordinates of the sample points is represented,
Figure 153848DEST_PATH_IMAGE010
the set of standard point coordinates is represented as,
Figure 423829DEST_PATH_IMAGE011
representing a pre-set depth threshold vector that,
Figure 942666DEST_PATH_IMAGE012
representing a preset width threshold vector, wherein n is the number of sampling points of the sampling point coordinate set, and s is the sampling point number of the sampling point coordinate set;
an offset equation constructing module, configured to construct an offset equation of the offset vector according to the focal coordinates, where the offset equation is:
Figure 995942DEST_PATH_IMAGE013
wherein, the first and the second end of the pipe are connected with each other,
Figure 364344DEST_PATH_IMAGE014
a sampled focus vector representing the set of sample point coordinates relative to focus coordinates,
Figure 115262DEST_PATH_IMAGE015
a balance adjustment vector for the offset equation;
and the deformation judgment module is used for solving the balance adjustment vector of the offset equation, and calculating the deformation condition of the subway section to be detected according to the size of each balance adjustment factor in the balance adjustment vector to obtain a deformation result.
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