CN117197136B - Straddle type monorail track beam damage detection positioning system, method and storage medium - Google Patents
Straddle type monorail track beam damage detection positioning system, method and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of nondestructive detection of rail transit and discloses a straddle type single rail track beam damage detection positioning system, a method and a storage medium.
Description
Technical Field
The invention relates to the technical field of nondestructive testing of rail transit, in particular to a straddle type single-rail track beam damage detection positioning system, a method and a storage medium.
Background
The straddle type monorail is a rail transportation system guided and supported by a single rail, a vehicle body adopts rubber tires to ride on a concrete rail beam, high-voltage electricity is used as a power source, the straddle type monorail has the advantages of low noise, small turning radius, strong climbing capacity and the like, and the construction cost of the straddle type monorail is low, and the occupied space is relatively small, so that the straddle type monorail is suitable for being paved in cities with complex terrains and dense population, and can easily cross urban areas due to the light flexibility of the straddle type monorail.
The existing operation detection and positioning of the straddle type single-rail track beam are realized in two ways, the first way is to carry out manual inspection by means of an engineering truck, for example, manual observation and inspection are utilized, and the outside inspection operation of the track beam also needs to be matched with a climbing machine, so that the cost is high, the efficiency is low, and the risk of high-altitude operation is high; the second method is to acquire the track beam image by using a camera mounted on the inspection engineering truck, and then realize the inspection of the track beam by manual or semi-manual mode on the acquired image.
Therefore, the existing operation detection positioning of the straddle type monorail track beam can not detect the track beam in a standardized, systematic and digital manner, and is not beneficial to quality detection of the life cycle of the track beam.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a straddle type monorail track beam damage detection and location system, method and storage medium to solve the above-mentioned problems in the prior art.
The invention provides the following technical scheme: the straddle type single-track beam damage detection positioning system comprises a data center, a data information acquisition module, a data processing module, a damage analysis module, a positioning association module, an output interaction module and a data storage and processing module;
the data center is used for storing the existing track beam data, wherein the track beam data comprises, but is not limited to, track beam numbers, GPS position information of the track beam and damage types of the track beam;
the data information acquisition module is used for acquiring target data of the track beam through acquisition equipment and transmitting the target data to the data processing module, the acquisition equipment comprises image acquisition equipment and position acquisition equipment, the target data comprises image data and position data, and the data information acquisition module comprises an image data acquisition unit and a position data acquisition unit;
the data processing module is used for processing the data of the data information acquisition module and comprises an image data processing unit and a position data processing unit;
the damage analysis module is used for receiving the image data and the position data processed by the data processing module, carrying out damage analysis on the image data, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and transmitting the position data of the track beam with the damage to the positioning association module, wherein the damage analysis module comprises a damage judging unit and a damage degree analysis unit;
the positioning association module is used for receiving the data of the damage analysis module, mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data of the data center, calculating the damage state and transmitting the damage state to the output interaction module;
the output interaction module is used for outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped by the positioning association module, to the man-machine interaction end;
the data storage and processing module includes at least one processor for storing at least one program that, when executed by the processor, causes the processor to implement a straddle type monorail track beam damage detection positioning system.
Preferably, the image data acquisition unit is used for acquiring the image data of the track beam through the image acquisition equipment, and the position data acquisition unit is used for acquiring the position data of the track beam through the position acquisition equipment.
Preferably, the image data processing unit is configured to process the image data, obtain processed image data, and transmit the processed image data to the damage analysis module, and the position data processing unit is configured to process the position data, obtain processed position data, and transmit the processed position data to the damage analysis module.
Preferably, the damage judging unit is configured to receive the image data processed by the data processing module, analyze the processed image data by using the depth network model, judge whether the track beam has damage based on the edge detection algorithm, send an instruction to the damage degree analyzing unit if the judgment result is that the damage exists, transmit the damage data to the damage degree analyzing unit, analyze the damage degree of the track beam, and transmit the judgment result to the positioning association module, and if the judgment result is that the damage does not exist, directly transmit the judgment result to the output interaction module.
Preferably, the damage degree analysis unit is configured to receive the instruction and the damage data of the damage judgment unit, perform damage degree analysis on the track beam with the damage, and transmit the analysis result to the positioning association module.
Preferably, the analysis of the damage degree of the damaged track beam comprises the following steps:
step S01: marking images of all track beams with damage as 1, 2 and 3 … … n, and sequentially analyzing the damage degree;
step S02: calculating crack damage degree alpha of ith track beam image i : and calculating the crack damage degree based on the crack data, wherein the calculation formula is as follows:wherein s is αi Is the area of the crack in the ith track beam image, h αi G is the depth of the crack in the ith track beam image αi For the number of cracks existing in the ith track beam image, S i The image area of the ith track beam image;
step S03: calculating the rust damage degree beta of the ith track beam image i : and (3) calculating the corrosion damage degree based on the corrosion data, wherein the calculation formula is as follows:wherein s is βi Is the rusted area g in the ith track beam image βi S is the number of rusted areas existing in the ith track beam image i Epsilon for the image area of the ith track beam image i The rust degree in the ith track beam image;
step S04: calculating the abrasion damage degree gamma of the ith track beam image i : and calculating the abrasion damage degree based on the abrasion data, wherein the calculation formula is as follows:wherein s is γiL Is the vertical worn area g in the ith rail Liang Tuxiang γiL Is the number of vertical wear areas, s, in the ith track Liang Tuxiang γiC G is the area of side abrasion in the ith track beam image γiC For the number of side wearing areas in the ith track beam image, S i Image area, k, of the ith track beam image 1 And k is equal to 2 Is the corresponding proportionality coefficient constant;
step S05: calculating the integral damage degree zeta of the ith track beam image i : crack damage degree alpha based on step S02 i Degree of rust damage beta of step S03 i The degree of abrasion damage γ of step S04 i The overall damage degree ζ is calculated by weighted average i The calculation formula is as follows:wherein k is 1 ´、k 2 ' and k 3 And is the corresponding weight coefficient.
Preferably, after mapping out the track beam number with damage by the positioning correlation module, calculating a track beam state coefficient delta of the ith track beam image by combining the quality factor of the track beam i The calculation formula is as follows:wherein m is i The service life of the track beam number corresponding to the ith track beam image, phi i And the quality factor of the track beam number corresponding to the ith track beam image.
The method for detecting and positioning the damage of the straddle type monorail track beam comprises the following steps:
step S11: acquiring target data of the track beam through acquisition equipment, and executing a step S12, wherein the acquisition equipment comprises image acquisition equipment and position acquisition equipment, and the target data comprises image data and position data;
step S12: processing the image data and the position data acquired in the step S11, and executing a step S13;
step S13: performing damage analysis on the track beam based on the image data and the position data in the step S12, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and executing the step S14;
step S14: mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data in the data center, calculating the damage state, and then executing step S15;
step S15: outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped in the step S14, to a man-machine interaction end.
A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the straddle monorail track beam damage detection positioning system of any one of the above.
The invention has the technical effects and advantages that:
(1) The damage analysis module is arranged, so that whether the rail beam is damaged or not can be judged by the damage judgment unit, if the rail beam is damaged, the damage degree of the rail beam is analyzed by the damage degree analysis unit, and the overall damage degree is calculated based on the crack damage degree, the rust damage degree and the abrasion damage degree of the rail beam, so that the damage condition of the rail beam is detected, a digital basis is provided for calculating the state coefficient of the rail beam, and the damage condition of the rail beam can be intuitively seen.
(2) The invention is beneficial to detecting the position of the damaged track beam in time by carrying out positioning detection on the track beam image with the damage, and combines the track beam damage condition obtained by the damage analysis module, and the track beam is reasonably arranged in a maintenance processing sequence according to the damage degree of the track beam, and the quality detection of the life cycle of the track beam is beneficial to through standardized, systematic and digital detection, and meanwhile, the danger of manual high-altitude operation is avoided.
Drawings
FIG. 1 is a block diagram of a straddle type monorail track beam damage detection and positioning system of the present invention.
FIG. 2 is a flow chart of a method for detecting and positioning damage to a straddle type monorail track beam.
Detailed Description
The following description will be made in detail, with reference to the drawings, of the present invention, wherein the configurations of the structures described in the following embodiments are merely examples, and the system, method and storage medium for detecting and positioning damage to a straddle-type monorail track beam according to the present invention are not limited to the configurations described in the following embodiments, but all other embodiments obtained by a person skilled in the art without making any inventive effort are within the scope of the present invention.
The invention provides a straddle type monorail track beam damage detection positioning system shown in fig. 1, which comprises a data center, a data information acquisition module, a data processing module, a damage analysis module, a positioning association module, an output interaction module and a data storage and processing module;
the data center is used for storing the existing track beam data, wherein the track beam data comprises, but is not limited to, track beam numbers, GPS position information of the track beam and damage types of the track beam;
the data information acquisition module is used for acquiring target data of the track beam through the acquisition equipment and transmitting the target data to the data processing module, the acquisition equipment comprises image acquisition equipment and position acquisition equipment, the target data comprises image data and position data, the data information acquisition module comprises an image data acquisition unit and a position data acquisition unit, the image data acquisition unit is used for acquiring the image data of the track beam through the image acquisition equipment, the position data acquisition unit is used for acquiring the position data of the track beam through the position acquisition equipment, the image data are images of the track beam, each image is provided with a time stamp, the position data are GPS data of the track beam, the image acquisition equipment comprises, but is not limited to, a high-speed linear camera and a laser light source, and the position acquisition equipment is a GNSS mobile end;
the data processing module is used for processing the data of the data information acquisition module, the data processing module comprises an image data processing unit and a position data processing unit, the image data processing unit is used for processing the image data to obtain processed image data and transmitting the processed image data to the damage analysis module, the processing of the image data comprises image complement operation, morphological processing and image enhancement processing, the image complement operation can eliminate the influence caused by image deficiency or incompleteness in the acquisition process, the morphological processing can remove noise, the image enhancement processing can strengthen the damage part characteristics of the track beam and inhibit background interference, the position data processing unit is used for processing the position data to obtain processed position data and transmitting the processed position data to the damage analysis module, the processing of the position data is performed to clean and data interpolation on GPS data of the track beam, the cleaning of the GPS data can eliminate positioning errors caused by data abnormality, and the data interpolation can eliminate partial GPS data deficiency or packet loss caused by the work abnormality of the GNSS mobile terminal receiver;
the damage analysis module is used for receiving the image data and the position data processed by the data processing module, carrying out damage analysis on the image data, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and transmitting the track beam position data with the damage to the positioning association module;
the positioning association module is used for receiving the data of the damage analysis module, mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data of the data center, calculating the damage state and transmitting the damage state to the output interaction module;
the output interaction module is used for outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped by the positioning association module, to the man-machine interaction end;
the data storage and processing module includes at least one processor for storing at least one program that, when executed by the processor, causes the processor to implement a straddle type monorail track beam damage detection positioning system.
In this embodiment, it needs to be specifically described that the damage analysis module includes a damage judgment unit and a damage degree analysis unit, where the damage judgment unit is configured to receive the image data processed by the data processing module, analyze the processed image data by using the deep network model, determine whether there is damage to the track beam based on the edge detection algorithm, send an instruction to the damage degree analysis unit if the determination result is that there is damage, transmit the damage data to the damage degree analysis unit, analyze the damage degree of the track beam, and transmit the determination result to the positioning association module, and if the determination result is that there is no damage, directly transmit the determination result to the output interaction module;
the depth network model performs feature extraction and then feature recognition on the processed image data, and extracts damage data based on an image processing technology, wherein the damage data comprises, but is not limited to, crack data, corrosion data and abrasion data of a track beam, the crack data comprises crack sizes and numbers, the corrosion data comprises corrosion areas and the number of corrosion areas, and the abrasion data comprises vertical abrasion areas, side abrasion areas, the number of vertical abrasion areas and the number of side abrasion areas.
In this embodiment, it needs to be specifically described that, the damage degree analysis unit is configured to receive an instruction and damage data of the damage judging unit, perform damage degree analysis on a track beam with damage, and transmit an analysis result to the positioning association module, where the damage degree analysis on the track beam with damage includes the following steps:
step S01: marking images of all track beams with damage as 1, 2 and 3 … … n, and sequentially analyzing the damage degree;
step S02: calculating crack damage degree alpha of ith track beam image i : and calculating the crack damage degree based on the crack data, wherein the calculation formula is as follows:wherein s is αi Is the area of the crack in the ith track beam image, h αi G is the depth of the crack in the ith track beam image αi For the number of cracks existing in the ith track beam image, S i Is the ith trackImage area of the beam image;
step S03: calculating the rust damage degree beta of the ith track beam image i : and (3) calculating the corrosion damage degree based on the corrosion data, wherein the calculation formula is as follows:wherein s is βi Is the rusted area g in the ith track beam image βi S is the number of rusted areas existing in the ith track beam image i Epsilon for the image area of the ith track beam image i The corrosion degree in the ith track beam image is obtained by analyzing the corrosion image based on a deep neural network, and is not specifically described in the embodiment in the prior art;
step S04: calculating the abrasion damage degree gamma of the ith track beam image i : and calculating the abrasion damage degree based on the abrasion data, wherein the calculation formula is as follows:wherein s is γiL Is the vertical worn area g in the ith rail Liang Tuxiang γiL Is the number of vertical wear areas, s, in the ith track Liang Tuxiang γiC G is the area of side abrasion in the ith track beam image γiC For the number of side wearing areas in the ith track beam image, S i Image area, k, of the ith track beam image 1 And k is equal to 2 Is the corresponding proportionality coefficient constant;
step S05: calculating the integral damage degree zeta of the ith track beam image i : crack damage degree alpha based on step S02 i Degree of rust damage beta of step S03 i The degree of abrasion damage γ of step S04 i The overall damage degree ζ is calculated by weighted average i The calculation formula is as follows:wherein k is 1 ´、k 2 ' and k 3 ' is the corresponding weight coefficient, k 1 ´+k 2 ´+k 3 ´=1The specific numerical values of the present embodiment are not particularly limited.
In this embodiment, it should be specifically described that after the location association module maps out the track beam number with the damage, the track beam state coefficient δ of the ith track beam image is calculated by combining the quality factor of the track beam i The calculation formula is as follows:wherein m is i The service life of the track beam number corresponding to the ith track beam image, phi i And the quality factor of the track beam number corresponding to the ith track beam image.
In this embodiment, it should be specifically noted that the quality factor φ i The calculation formula of (2) is as follows:wherein J is i The longitudinal fiber stress of the bottom of the track beam is Z, which is the longitudinal fiber stress of the bottom of the track beam with the track beam number corresponding to the ith track beam image i The bearing capacity of the track beam is P, which is the bearing capacity of the track beam number corresponding to the ith track beam image i The flatness W of the track beam corresponding to the ith track beam image i And the section modulus of the bottom of the track beam corresponding to the track beam number of the ith track beam image to the horizontal neutral axis.
In this embodiment, it needs to be specifically described that, the output interaction module displays the state coefficients of the track beams calculated by the positioning association module on the man-machine interaction end in the order from low to high, and the lower the state coefficient is, the more damage that the corresponding track beam number exists needs to be repaired as soon as possible.
The invention provides a method for detecting and positioning damage of a straddle type monorail track beam as shown in fig. 2, which comprises the following steps:
step S11: acquiring target data of the track beam through acquisition equipment, and executing a step S12, wherein the acquisition equipment comprises image acquisition equipment and position acquisition equipment, and the target data comprises image data and position data;
step S12: processing the image data and the position data acquired in the step S11, and executing a step S13;
step S13: performing damage analysis on the track beam based on the image data and the position data in the step S12, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and executing the step S14;
step S14: mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data in the data center, calculating the damage state, and then executing step S15;
step S15: outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped in the step S14, to a man-machine interaction end.
A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the straddle monorail track beam damage detection positioning system of any one of the above.
In this embodiment, it needs to be specifically explained, the difference between this implementation and the prior art mainly lies in that this embodiment possesses damage analysis module and location association module, be favorable to judging whether there is the damage in the track roof beam through damage judging unit, if there is the damage, then analyze the damage degree of track roof beam through damage degree analysis unit, crack damage degree, corrosion damage degree and wearing and tearing damage degree based on the track roof beam, calculate out whole damage degree, thereby detect the damage condition of track roof beam, provide the digital foundation for calculating track roof beam state coefficient, can intuitively see the damage condition of track roof beam, through carrying out location detection to the track roof beam image that has the damage, in time detect the track roof beam position that has the damage, and combine the track roof beam damage condition that damage analysis module obtained, arrange reasonable maintenance processing order for the track roof beam according to the damage degree of track roof beam, through standardization, systemization and digital detection, be favorable to the quality detection of track roof beam life cycle, and the danger of manual high altitude construction has been avoided simultaneously.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. Straddle type monorail track roof beam damage detection positioning system, its characterized in that: the system comprises a data center, a data information acquisition module, a data processing module, a damage analysis module, a positioning association module, an output interaction module and a data storage and processing module;
the data center is used for storing the existing track beam data, wherein the track beam data comprises, but is not limited to, track beam numbers, GPS position information of the track beam and damage types of the track beam;
the data information acquisition module is used for acquiring target data of the track beam through acquisition equipment and transmitting the target data to the data processing module, the acquisition equipment comprises image acquisition equipment and position acquisition equipment, the target data comprises image data and position data, and the data information acquisition module comprises an image data acquisition unit and a position data acquisition unit;
the data processing module is used for processing the data of the data information acquisition module and comprises an image data processing unit and a position data processing unit;
the damage analysis module is used for receiving the image data and the position data processed by the data processing module, carrying out damage analysis on the image data, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and transmitting the position data of the track beam with the damage to the positioning association module, wherein the damage analysis module comprises a damage judging unit and a damage degree analysis unit;
the damage degree analysis unit is used for receiving the instruction and the damage data of the damage judgment unit, analyzing the damage degree of the damaged track beam and transmitting the analysis result to the positioning association module;
the damage degree analysis of the damaged track beam comprises the following steps:
step S01: marking images of all track beams with damage as 1, 2 and 3 … … n, and sequentially analyzing the damage degree;
step S02: calculating crack damage degree alpha of ith track beam image i : and calculating the crack damage degree based on the crack data, wherein the calculation formula is as follows:wherein s is αi Is the area of the crack in the ith track beam image, h αi G is the depth of the crack in the ith track beam image αi For the number of cracks existing in the ith track beam image, S i The image area of the ith track beam image;
step S03: calculating the rust damage degree beta of the ith track beam image i : and (3) calculating the corrosion damage degree based on the corrosion data, wherein the calculation formula is as follows:wherein s is βi Is the rusted area g in the ith track beam image βi S is the number of rusted areas existing in the ith track beam image i Epsilon for the image area of the ith track beam image βi The rust degree in the ith track beam image;
step S04: calculating the abrasion damage degree gamma of the ith track beam image i： And calculating the abrasion damage degree based on the abrasion data, wherein the calculation formula is as follows:wherein s is γiL Is the vertical worn area g in the ith rail Liang Tuxiang γiL Is the number of vertical wear areas, s, in the ith track Liang Tuxiang γiC G is the area of side abrasion in the ith track beam image γiC For the number of side wearing areas in the ith track beam image, S i Image area, k, of the ith track beam image 1 And k is equal to 2 Is the corresponding proportionality coefficient constant;
step S05: calculating the integral damage degree zeta of the ith track beam image i : crack damage degree alpha based on step S02 i Degree of rust damage beta of step S03 i The degree of abrasion damage γ of step S04 i The overall damage degree ζ is calculated by weighted average i The calculation formula is as follows:wherein k is 1 ´、k 2 ' and k 3 And is the corresponding weight coefficient;
the positioning association module is used for receiving the data of the damage analysis module, mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data of the data center, calculating the damage state and transmitting the damage state to the output interaction module;
after the positioning association module maps out the track beam number with damage, the track beam state coefficient delta of the ith track beam image is calculated by combining the quality factor of the track beam i The calculation formula is as follows:wherein m is i The service life of the track beam number corresponding to the ith track beam image, phi i The quality factor of the track beam number corresponding to the ith track beam image;
the quality factor phi i The calculation formula of (2) is as follows:wherein J is i The longitudinal fiber stress of the bottom of the track beam is Z, which is the longitudinal fiber stress of the bottom of the track beam with the track beam number corresponding to the ith track beam image i The bearing capacity of the track beam is P, which is the bearing capacity of the track beam number corresponding to the ith track beam image i The flatness W of the track beam corresponding to the ith track beam image i The section modulus of the bottom of the track beam corresponding to the track beam number of the ith track beam image to the horizontal neutral axis;
the output interaction module is used for outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped by the positioning association module, to the man-machine interaction end;
the data storage and processing module includes at least one processor for storing at least one program that, when executed by the processor, causes the processor to implement a straddle type monorail track beam damage detection positioning system.
2. The straddle type monorail track beam damage detection and positioning system of claim 1, wherein: the image data acquisition unit is used for acquiring the image data of the track beam through the image acquisition equipment, and the position data acquisition unit is used for acquiring the position data of the track beam through the position acquisition equipment.
3. The straddle type monorail track beam damage detection and positioning system of claim 1, wherein: the image data processing unit is used for processing the image data, obtaining processed image data and transmitting the processed image data to the damage analysis module, and the position data processing unit is used for processing the position data, obtaining processed position data and transmitting the processed position data to the damage analysis module.
4. The straddle type monorail track beam damage detection and positioning system of claim 1, wherein: the damage judging unit is used for receiving the image data processed by the data processing module, analyzing the processed image data by the depth network model, judging whether the track beam is damaged or not based on the edge detection algorithm, sending an instruction to the damage degree analyzing unit if the judging result is that the damage exists, simultaneously transmitting the damage data to the damage degree analyzing unit, analyzing the damage degree of the track beam, transmitting the judging result to the positioning association module, and directly transmitting the judging result to the output interaction module if the judging result is that the damage does not exist.
5. A method for detecting and positioning damage to a straddle type monorail track beam, which is used for using the damage detecting and positioning system for the straddle type monorail track beam according to any one of claims 1 to 4, and is characterized in that: the method comprises the following steps:
step S11: acquiring target data of the track beam through acquisition equipment, and executing a step S12, wherein the acquisition equipment comprises image acquisition equipment and position acquisition equipment, and the target data comprises image data and position data;
step S12: processing the image data and the position data acquired in the step S11, and executing a step S13;
step S13: performing damage analysis on the track beam based on the image data and the position data in the step S12, judging whether the track beam has damage and the damage degree, calculating to obtain the integral damage degree, and executing the step S14;
step S14: mapping out the track beam number with damage, the GPS position information of the track beam and the damage type of the track beam from the track beam data in the data center, calculating the damage state, and then executing step S15;
step S15: outputting the track beam number with the damage, the GPS position information of the track beam and the damage type of the track beam, which are mapped in the step S14, to a man-machine interaction end.
6. A non-transitory computer readable storage medium storing computer instructions, characterized by: the computer instructions cause the computer to perform the straddle type monorail track beam damage detection positioning system of any one of claims 1-5.
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