A method, device, equipment and storage medium for monitoring the three-dimensional coordinates of a target point

Abstract

The present invention discloses a method, device, equipment and storage medium for monitoring the three-dimensional coordinates of a target point, relating to the technical field of deformation monitoring. Through the present invention, a new scheme for monitoring the three-dimensional coordinates of a target point based on the layout form and plane projection of a deformation monitoring system is provided. That is, first, the deformation monitoring system includes three monitoring devices and a target object, and specific layout designs are carried out for these three monitoring devices and the target object. Then, when obtaining the three radial distances measured for the target object, based on these three radial distances, the known three-dimensional coordinates of the foregoing three monitoring devices and the known initial coordinates of the target object, the Z-axis coordinate of the target object is solved by the method of finding the intersection points of two circles on the middle vertical plane through plane projection, and the X-axis and Y-axis coordinates of the target object are solved by the method of finding the intersection points of two circles on the XY horizontal plane. Thus, compared with the existing method of solving with three spheres, not only can the offset effect be reduced, but also the problem of false root solutions can be avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of deformation monitoring, and particularly relates to a method, device, equipment and storage medium for monitoring the three-dimensional coordinates of a target point. Background Art

[0002] Currently, most deformation monitoring devices can only obtain the radial distance from the target point to the monitoring point with a certain error. Therefore, how to obtain the high-precision three-dimensional coordinate information of the target point based on the radial distance with error and invert the spatial distance will be a technical difficulty.

[0003] The existing commonly used three-dimensional coordinate calculation method is to find the intersection points of three spheres to obtain the three-dimensional coordinates of the target point. However, this method is easily affected by the layout form of the monitoring points. For example, when the three monitoring points are adjacent, a large offset effect is likely to occur. That is, when the radial deformation amount is 0.1 mm (mm represents millimeter), a meter-level offset may occur in space. The specific offset value is related to the distance from the monitoring point to the target point. For example, assuming that the target point and the monitoring point are 300 meters apart and are on the same horizontal plane, when the target point deforms 1 meter vertically, the monitoring point can only monitor a radial deformation amount of 1.667 mm. It can be seen that the offset effect is a defect of finding the intersection points of three spheres.

[0004] In addition, since the radial deformation obtained by the monitoring device has errors, the solution of finding the intersection points of three spheres is prone to imaginary roots in space. To illustrate this problem in detail, a set of working conditions is listed. Three monitoring devices (Device 1, Device 2, and Device 3) are arranged to monitor the target, which is simply referred to as the target body. The spatial relationship between the three devices and the target body is as Figure 1 shown, and the specific coordinates are shown in Table 1 below:

[0005] Table 1. Coordinate data table of three monitoring devices and the target body

[0006] X / mm Y / mm Z / mm Device 1 137697.5 374137.2 13144 Device 2 298537.8 140557.8 -23055 Device 3 114916.9 -117746.8 -23961 Target object 0 0 0

[0007] Since the error of the distance between the device and the target body is about 3 mm, therefore, according to the deformation of the target body, the true distance from the target body to the device is calculated, and a random number from -3 mm to 3 mm is added respectively to simulate the three-dimensional coordinates obtained by solving the three spheres, as Figure 2 shown. From Figure 2 it can be seen that a large number of imaginary roots appear in this solution, resulting in unreasonable solution. At the same time, it should be noted that the three-dimensional coordinates of the target body at the first point should be (0, 0, 0), and the actual solution value is (-33.37, 22.94, -290.91), with the unit of mm. Substitute the two coordinates into the distance to the device respectively, as shown in Table 2 below:

[0008] Table 2. Table of distance relationship between actual target points and solved target points to the monitoring device

[0009] Device 1 / mm Device 2 / mm Device 3 / mm Actual target object coordinates 398888.49 330776.10 166265.85 Solved target object coordinates 398888.19 330776.33 166263.49 Error 0.3 0.22 2.36

[0010] As can be seen from Table 2 above, the radial error is within a reasonable 3 mm, and the spatial distance is greater than 300 mm.

[0011] It can be seen that the traditional method of solving three-dimensional coordinates using only three balls has serious defects, so that in the process of real-time deformation monitoring, once such a situation occurs, the entire monitoring scheme will fail. Summary of the Invention

[0012] The purpose of the present invention is to provide a method, device, computer device and computer-readable storage medium for monitoring the three-dimensional coordinates of a target point, so as to solve the defect problems of offset effect and virtual root solution existing in the existing method of solving three-dimensional coordinates using three balls.

[0013] To achieve the above purpose, the present invention adopts the following technical solutions:

[0014] In the first aspect, a method for monitoring the three-dimensional coordinates of a target point is provided, which is executed by a computer device communicatively connected to each monitoring device of the deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object. The target object is arranged at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinates, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis;

[0015] The method for monitoring the three-dimensional coordinates of the target point includes:

[0016] Acquire a first radial distance of the target object measured by the first monitoring device, a second radial distance of the target object measured by the second monitoring device, and a third radial distance of the target object measured by the third monitoring device;

[0017] According to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the intermediate vertical plane, and the initial line-plane angle between the second line segment and the intermediate vertical plane, the Z-axis coordinate of the target object is obtained by solving the intersection point of two circles on the intermediate vertical plane;

[0018] Projecting the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain first horizontal plane projection coordinates, and projecting the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain third horizontal plane projection coordinates, and according to the Z-axis coordinates of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance and the known initial coordinates of the target object, solving the X-axis coordinate and the Y-axis coordinate of the target object on the XY plane by using the method of finding the intersection of two circles;

[0019] The X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object are used as the three-dimensional coordinates of the target point and output.

[0020] Based on the above invention content, a new scheme for monitoring the three-dimensional coordinates of a target point based on the layout form of a deformation monitoring system and plane projection is provided, that is, the deformation monitoring system first includes a first monitoring device, a second monitoring device, a third monitoring device and a target object, and the three monitoring devices and the target object are specifically arranged and designed, and then when obtaining the three radial distances measured for the target object, according to the three radial distances, the known three-dimensional coordinates of the aforementioned three monitoring devices and the known initial coordinates of the target object, the Z-axis coordinate of the target object is first solved on the middle vertical plane by plane projection based on the intersection method of two circles, and then the X-axis coordinate and Y-axis coordinate of the target object are solved on the XY horizontal plane by plane projection based on the intersection method of two circles, and finally the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object are used as the three-dimensional coordinates of the target point and output. Compared with the existing method of solving the three-dimensional coordinates with three balls, this method can not only reduce the offset effect, but also avoid the problem of virtual root solution, which is convenient for practical application and promotion.

[0021] Second aspect, a three-dimensional coordinate monitoring device for a target point is provided, which is arranged in the computer devices of each monitoring device of the communication-connected deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object. The target object is arranged at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinates, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis. The second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis;

[0022] The device includes a data acquisition module, a first solution module, a second solution module and a data output module;

[0023] The data acquisition module is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object;

[0024] The first solution module, communicatively connected to the data acquisition module, is used to solve for the Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection of two circles according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane;

[0025] The second solving module is communicatively connected to the data acquisition module and the first solving module respectively, and is configured to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and solve for the X-axis coordinate and Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance and the known initial coordinates of the target object;

[0026] The data output module is communicatively connected to the first solving module and the second solving module respectively, and is configured to output the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

[0027] In a third aspect, another method for monitoring the three-dimensional coordinates of a target point is provided, which is executed by a computer device communicatively connected to each monitoring device of a deformation monitoring system. The deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object. The target object is arranged at a target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or XZ plane in the XYZ three-dimensional coordinates, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z-axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z-axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z-axis;

[0028] The method for monitoring the three-dimensional coordinates of the target point includes:

[0029] Obtaining a first radial distance measured by the first monitoring device for the target object, a second radial distance measured by the second monitoring device for the target object, and a third radial distance measured by the third monitoring device for the target object;

[0030] Based on the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance, and the third radial distance, the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are solved by the method of finding the intersection of three spheres;

[0031] According to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, it is judged whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable;

[0032] If it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, then based on the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane, the new Z-axis coordinate of the target object is solved by the method of finding the intersection of two circles on the middle vertical plane;

[0033] Project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates. Then, based on the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, the new X-axis coordinate and new Y-axis coordinate of the target object are solved by the method of finding the intersection of two circles on the XY plane;

[0034] Take the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0035] In a possible design, judging whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object includes:

[0036] Determine the spatial deformation amount of the target object according to the initial three-dimensional coordinates of the target object and the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object;

[0037] Determine the first radial distance deformation amount measured by the first monitoring device for the target object based on the known three-dimensional coordinates of the first monitoring device, the initial three-dimensional coordinates of the target object, and the first radial distance, and determine the second radial distance deformation amount measured by the second monitoring device for the target object based on the known three-dimensional coordinates of the second monitoring device, the initial three-dimensional coordinates of the target object, and the second radial distance, and determine the third radial distance deformation amount measured by the third monitoring device for the target object based on the known three-dimensional coordinates of the third monitoring device, the initial three-dimensional coordinates of the target object, and the third radial distance;

[0038] Judge whether the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2;

[0039] If it is determined that the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2, then judge whether there are imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, otherwise determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable;

[0040] If it is determined that there are imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, then determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, otherwise determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable.

[0041] In a possible design, if it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable, then use the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0042] In a possible design, using the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and outputting them includes:

[0043] Judge whether the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount;

[0044] If it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable, then use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0045] Fourthly, another three-dimensional coordinate monitoring device for the target point is provided, which is arranged in the computer devices of each monitoring device in the communication-connected deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object. The target object is arranged at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinates, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis;

[0046] The device includes a data acquisition unit, a first solution unit, a reasonable judgment unit, a second solution unit, a third solution unit and a data output unit;

[0047] The data acquisition unit is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object;

[0048] The first solution unit, communicatively connected to the data acquisition unit, is used to solve for the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object by the method of finding the intersection of three spheres according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance and the third radial distance;

[0049] The reasonable judgment unit, communicatively connected to the first solution unit, is used to judge whether the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the existence of imaginary numbers in the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object;

[0050] The second solving unit is communicatively connected to the data acquisition unit and the reasonable judgment unit respectively, and is configured to, when it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, solve for the new Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection of two circles according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane;

[0051] The third solving unit is communicatively connected to the data acquisition unit and the second solving unit respectively, and is configured to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and solve for the new X-axis coordinate and new Y-axis coordinate of the target object on the XY plane by the method of finding the intersection of two circles according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object;

[0052] The data output unit is communicatively connected to the second solving unit and the third solving unit respectively, and is configured to output the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

[0053] In a fifth aspect, the present invention provides a computer device, including a memory, a processor, and a transceiver that are communicatively connected in sequence. Among them, the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the three-dimensional coordinate monitoring method of the target point as designed in any possible way in the first aspect, the third aspect, or the third aspect.

[0054] In a sixth aspect, the present invention provides a computer-readable storage medium, on which instructions are stored. When the instructions are run on a computer, the three-dimensional coordinate monitoring method of the target point as designed in any possible way in the first aspect, the third aspect, or the third aspect is executed.

[0055] In a seventh aspect, the present invention provides a computer program product containing instructions. When the instructions are run on a computer, the computer is made to execute the three-dimensional coordinate monitoring method of the target point as designed in any possible way in the first aspect, the third aspect, or the third aspect.

[0056] The beneficial effects of the above solutions:

[0057] (1) The present invention creatively provides a new scheme for monitoring the three-dimensional coordinates of a target point based on the layout form and plane projection of a deformation monitoring system. That is, first, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object, and specific layout designs are carried out for these three monitoring devices and the target object. Then, when obtaining the three radial distances measured for the target object, based on these three radial distances, the known three-dimensional coordinates of the aforementioned three monitoring devices, and the known initial coordinates of the target object, first, the Z-axis coordinate of the target object is solved by the method of finding the intersection points of two circles on the middle vertical plane through plane projection, and then the X-axis coordinate and Y-axis coordinate of the target object are solved by the method of finding the intersection points of two circles on the XY horizontal plane through plane projection. Finally, the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are used as the three-dimensional coordinates of the target point and output. In this way, compared with the existing method of solving three-dimensional coordinates with three spheres, not only can the offset effect be reduced, but also the problem of virtual root solutions can be avoided;

[0058] (2) When the spherical three-dimensional solution is unreasonable, the new method for monitoring the three-dimensional coordinates of the target point based on the layout form and plane projection of the deformation monitoring system and the method based on vector synthesis can be used for complementary advantages, so that the three-dimensional coordinate interpretation is always kept within a reasonable range, ensuring the normal operation of the slope deformation monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0060] Figure 1 An example diagram of the spatial relationship between the three monitoring devices and the target point provided for the background art.

[0061] Figure 2 An example diagram of the calculation result of the spatial displacement of the target point provided for the background art, where Figure 2 (a) shows the original measurement distance data of device 1, Figure 2 (b) shows the original measurement distance data of device 2, Figure 2 (c) shows the original measurement distance data of device 3, Figure 2 (d) shows the calculation result of the spatial displacement of the target point based on the spherical intersection theory (the method of finding the intersection points of three spheres).

[0062] Figure 3 A schematic flow chart of the first method for monitoring the three-dimensional coordinates of the target point provided in the embodiment of the present application.

[0063] Figure 4 Schematic diagram of spatial deformation amount and radial deformation amount provided by an embodiment of the present application.

[0064] Figure 5 Example diagram of the relationship between the projection of a spatial line segment onto a plane provided by an embodiment of the present application.

[0065] Figure 6 Example diagram of the multiple relationship between the offset amount and the radial deformation amount under different included angles between two circles (i.e., 5 degrees, 10 degrees, 20 degrees, 30 degrees, 45 degrees, 60 degrees, etc.) provided by an embodiment of the present application.

[0066] Figure 7 Schematic diagram of the structure of the first three-dimensional coordinate monitoring device for target points provided by an embodiment of the present application.

[0067] Figure 8 Schematic diagram of the process of the second three-dimensional coordinate monitoring method for target points provided by an embodiment of the present application.

[0068] Figure 9 Schematic diagram of the structure of the second three-dimensional coordinate monitoring device for target points provided by an embodiment of the present application.

[0069] Figure 10 Schematic diagram of the structure of the computer device provided by an embodiment of the present application. Detailed implementation manners

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the accompanying drawings and the descriptions of the embodiments or the prior art. Obviously, the following descriptions of the structures of the accompanying drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative efforts. It should be noted here that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention.

[0071] It should be understood that although terms such as first and second may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, the first object can be called the second object, and similarly, the second object can be called the first object, without departing from the scope of the exemplary embodiments of the present invention.

[0072] It should be understood that for the term "and / or" that may appear in this text, it is merely a relational expression describing the associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, B exists alone, or both A and B exist simultaneously. Another example is that A, B, and / or C can represent any one of A, B, and C or any combination of them. For the term " / and" that may appear in this text, it is a relational expression describing another type of associated objects, indicating that there can be two relationships. For example, A / and B can represent two situations: A exists alone or both A and B exist simultaneously. Additionally, for the character " / " that may appear in this text, it generally indicates that the associated objects before and after are in an "or" relationship.

[0073] Embodiment:

[0074] As Figure 3 shown, the first type of target point three-dimensional coordinate monitoring method provided in the first aspect of this embodiment can be, but is not limited to, executed by a computer device having certain computing resources and communicatively connected to each monitoring device of the deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is disposed at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinate system, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinate system, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinate system. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis.

[0075] The layout principle of the deformation monitoring system is based on the following three points (A) to (C).

[0076] (A) The relationship between the spatial deformation amount and the radial deformation amount of the target body, that is, as Figure 4As shown in the figure, assume that the target object has a spatial deformation of Δl in the direction offset by an angle α from the radial direction of the monitoring device. Then the radial deformation amount detected by the device is Δd. According to the cosine theorem of a triangle, it can be calculated that Define the radial deformation effectiveness Then when L1 is 300m, the effectiveness corresponding to different offset angles α and different spatial deformation amounts Δl can be calculated as shown in Table 3 below:

[0077] Table 3. Data table of radial deformation amount and radial deformation effectiveness

[0078]

[0079] As can be seen from Table 3 above, when L1 continues to increase or decrease correspondingly, the radial deformation effectiveness will fluctuate, but the overall change in quantity is very small. Therefore, it can be considered that this set of data can reflect the overall effectiveness characteristics. It can also be seen from Table 3 that when the offset angle is less than 60 degrees, the spatial deformation amount can be controlled within twice the range of the radial deformation amount. From this, it can be known that when the spatial layout system of the device is reasonably arranged (usually two or more monitoring devices are arranged), it can be ensured that there is always one device whose spatial deformation angle with the target object is less than 60 degrees. Therefore, through this relationship, the spatial deformation amount of the target object can be initially determined to be 1 - 2 times the radial deformation amount.

[0080] (B) The relationship between the projection of a spatial line segment onto a plane, that is, as Figure 5 As shown in the figure, assume that the angle between the spatial line segment L1 and the plane (assumed to be the X - Y plane) is β. Since when calculating using plane projection, the vertical deformation amount Δz cannot be known, only the initial height can be substituted for projection. In fact, deformation has occurred in this direction, so projection error will be caused. According to the geometric relationship, the relationship between the projection error σ, the angle β, and the vertical deformation amount Δz can be calculated as follows:

[0081]

[0082] Based on the above relationship formula, the projection error σ, the angle β, and the vertical deformation amount Δz as shown in Table 4 below can be obtained:

[0083] Table 4. Data table of projection error σ, angle β, and vertical deformation amount Δz

[0084]

[0085] According to Table 4 above, it can be known that when the angle β is very small, even if a large settlement occurs, the projection error is still very small; when the settlement (actually referring to the settlement error) is very small, the projection error is also very small. Therefore, there are two types of ways to reduce the projection error: one is to reduce the angle β (this process is defined as: constructing the middle plane); the other is to reduce the settlement error.

[0086] (C) Exploration of the offset effect based on solving the intersection points of two circles with errors. That is, in fact, the errors of most radial monitoring devices can be controlled within the millimeter level. Assuming an exploration of the offset effect with 3 mm, considering the most unfavorable effect, that is, one circle shrinks inward by 3 mm and the other circle expands outward by 3 mm. The multiple relationship between the offset amount and the radial deformation amount under different included angles of the two circles (i.e., 5 degrees, 10 degrees, 20 degrees, 30 degrees, 45 degrees, 60 degrees, etc.) is as Figure 6 shown. As Figure 6 can be seen, when the included angle between the two circles reaches 10 degrees, the offset effect can be controlled within 11 times the radial deformation amount, and when the included angle between the two circles reaches 45 degrees, the offset effect can be controlled within 2.6 times the radial deformation amount. Thus, it can be known that when projecting a spatial line segment onto a plane, if the error can be ensured, the three-dimensional coordinate accuracy of the interpretation can be ensured.

[0087] As Figure 3 shown, the first three-dimensional coordinate monitoring method for the target point may, but is not limited to, include the following steps S11 to S14.

[0088] S11. Obtain the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object.

[0089] In the step S11, the measurement principles of the first radial distance, the second radial distance, and the third radial distance are existing conventional methods, that is, the radial distance between the monitoring device and the monitoring target point.

[0090] S12. According to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane included angle between the first line segment and the middle vertical plane, and the initial line-plane included angle between the second line segment and the middle vertical plane, solve for the Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection points of two circles.

[0091] In the step S12, assume that the known three-dimensional coordinates of the first monitoring device are the known three-dimensional coordinates of the second monitoring device are the first radial distance is the second radial distance is the initial line-plane included angle between the first line segment and the middle vertical plane is (less than 3 degrees), the initial line-plane included angle between the second line segment and the middle vertical plane is (less than 3 degrees), then the projected coordinates of the first monitoring device on the middle vertical plane are The projected length of the first line segment on the middle vertical plane The projected coordinates of the second monitoring device on the middle vertical plane are The projected length of the second line segment on the middle vertical plane Assume again that the coordinates of the target object on the middle vertical plane are (m, z). Then, based on the method of finding the intersection points of two circles, the following equations can be constructed:

[0092]

[0093] By solving the above equations, the Z-axis coordinate z of the target object can be obtained (although there will be two intersection points when two circles intersect, resulting in two solutions, but one solution with a larger deviation can be deleted based on the known initial coordinates of the target object, and the solution with a smaller deviation can be retained). Since in the deformation monitoring system, the initial vertical plane projection angle determined by the projection point of the first monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees, and the initial line-plane angles between the first line segment and the second line segment and the middle vertical plane are not greater than 3 degrees, the accuracy of solving the Z-axis coordinate z of the target object can be ensured based on the foregoing theories (A) to (C). In addition, preferably, the initial vertical plane projection angle determined by the projection point of the first monitoring device on the middle vertical plane, the projection point of the target object on the middle vertical plane, and the projection point of the second monitoring device on the middle vertical plane is greater than 10 degrees.

[0094] S13. Project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates. Then, based on the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solve for the X-axis coordinate and Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles.

[0095] In step S13, assume that the known three-dimensional coordinates of the first monitoring device are The known three-dimensional coordinates of the third monitoring device are The first radial distance is The third radial distance is The known initial coordinates of the target object are (x0, y0, z0), then the first horizontal plane projection coordinates are The third horizontal plane projection coordinates are The projected length of the first radial distance on the horizontal plane is The projected length of the third radial distance on the horizontal plane is Assume again that the coordinates of the target object in the XYZ three-dimensional coordinates are (x, y, z). Then, based on the method of finding the intersection points of two circles, the following equations can be constructed:

[0096]

[0097] By solving the above equations, the X-axis coordinate x and Y-axis coordinate y of the target object can be obtained. (Although there will be two intersection points when two circles intersect, resulting in two sets of solutions, the set of solutions with a larger deviation can be deleted based on the known initial coordinates of the target object, and the set of solutions with a smaller deviation can be retained). Since in the deformation monitoring system, the initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees, based on the foregoing theories (A) to (C), the accuracy of solving the X-axis coordinate x and Y-axis coordinate y of the target object can be ensured. In addition, preferably, the initial line-plane angles of the first line segment determined by the first monitoring device and the target object and the third line segment determined by the third monitoring device and the target object with the horizontal plane are not greater than 3 degrees, which can further ensure the accuracy of solving the X-axis coordinate x and Y-axis coordinate y of the target object based on the foregoing theories (A) to (C).

[0098] S14. Take the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0099] Based on the first method for monitoring the three-dimensional coordinates of the target point described in the foregoing steps S11 to S14, a new scheme for monitoring the three-dimensional coordinates of the target point based on the layout form and plane projection of the deformation monitoring system is provided. That is, first, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object, and specific layout designs are carried out for these three monitoring devices and the target object. Then, when obtaining the three radial distances measured for the target object, according to these three radial distances, the known three-dimensional coordinates of the foregoing three monitoring devices, and the known initial coordinates of the target object, first, the Z-axis coordinate of the target object is obtained by solving the intersection points of two circles on the middle vertical plane through plane projection, and then the X-axis coordinate and Y-axis coordinate of the target object are obtained by solving the intersection points of two circles on the XY horizontal plane through plane projection. Finally, the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are taken as the three-dimensional coordinates of the target point and output. In this way, compared with the existing method of solving three-dimensional coordinates with three spheres, not only can the offset effect be reduced, but also the problem of virtual root solutions can be avoided, which is convenient for practical application and popularization.

[0100] As Figure 7 shown, in the second aspect of this embodiment, a virtual device for implementing the first three-dimensional coordinate monitoring method of the target point described in the first aspect is provided, which is arranged in the computer devices of each monitoring device of the communication-connected deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is arranged at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the intermediate vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinates, the intermediate vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis;

[0101] The device includes a data acquisition module, a first solution module, a second solution module, and a data output module;

[0102] The data acquisition module is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object;

[0103] The first solution module, communicatively connected to the data acquisition module, is used to solve for the Z-axis coordinate of the target object by the method of finding the intersection of two circles on the intermediate vertical plane according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the intermediate vertical plane, and the initial line-plane angle between the second line segment and the intermediate vertical plane;

[0104] The second solving module is communicatively connected to the data acquisition module and the first solving module respectively, and is configured to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and solve for the X-axis coordinate and Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object;

[0105] The data output module is communicatively connected to the first solving module and the second solving module respectively, and is configured to output the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

[0106] For the working process, working details, and technical effects of the foregoing device provided in the second aspect of this embodiment, reference may be made to the method described in the first aspect, and details are not elaborated herein.

[0107] As Figure 8 shown, the second method for monitoring the three-dimensional coordinates of the target point provided in the third aspect of this embodiment may be, but is not limited to, executed by a computer device having certain computing resources and communicatively connected to each monitoring device of the deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is disposed at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the intermediate vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or XZ plane in the XYZ three-dimensional coordinates, the intermediate vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis. The detailed description of the deformation monitoring system can be obtained by referring to the technical content of the first aspect described above, and details are not elaborated herein.

[0108] As Figure 8 shown, the second method for monitoring the three-dimensional coordinates of the target point may, but is not limited to, include the following steps S21 to S26.

[0109] S21. Obtain the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object.

[0110] S22. Based on the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance, and the third radial distance, solve for the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object by the method of finding the intersection of three spheres.

[0111] S23. Determine whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object.

[0112] Specifically, in step S23, determining whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object includes, but is not limited to, the following steps S231 to S235.

[0113] S231. Determine the spatial deformation amount of the target object according to the initial three-dimensional coordinates of the target object and the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object.

[0114] S232. Determine the first radial distance deformation amount measured by the first monitoring device for the target object according to the known three-dimensional coordinates of the first monitoring device, the initial three-dimensional coordinates of the target object, and the first radial distance, and determine the second radial distance deformation amount measured by the second monitoring device for the target object according to the known three-dimensional coordinates of the second monitoring device, the initial three-dimensional coordinates of the target object, and the second radial distance. Determine the third radial distance deformation amount measured by the third monitoring device for the target object according to the known three-dimensional coordinates of the third monitoring device, the initial three-dimensional coordinates of the target object, and the third radial distance.

[0115] S233. Determine whether the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2.

[0116] S234. If it is determined that the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2, then determine whether there is an imaginary number among the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object; otherwise, determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable.

[0117] S235. If it is determined that there is an imaginary number among the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, then determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable; otherwise, determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable.

[0118] S24. If it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, then, based on the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane, solve for the new Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection points of two circles.

[0119] In step S24, for specific details, reference can be made to step S12 in the first aspect, which will not be elaborated here. In addition, after step S23, if it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable, then use the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0120] S25. Project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates. Then, based on the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solve for the new X-axis coordinate and new Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles.

[0121] In step S25, for specific details, reference can be made to step S13 in the first aspect, which will not be elaborated here.

[0122] S26. Use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0123] In step S26, it is also possible to perform a rationality judgment on the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object again with reference to the aforementioned step S23. That is, preferably, using the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and outputting them includes, but is not limited to, the following steps S261 to S262.

[0124] S261. Determine whether the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable according to the relationship that the spatial deformation amount is 1 to 2 times the radial deformation amount.

[0125] In step S261, the specific judgment details can be derived with reference to the aforementioned steps S231 to S234 and will not be elaborated here.

[0126] S262. If it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable, then use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0127] After step S261, if it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are unreasonable, then in order to obtain reasonable three-dimensional coordinates, the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object can be solved based on the vector synthesis method and used as the three-dimensional coordinates of the target point and output. That is, if it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are unreasonable, then the method further includes, but is not limited to, the following steps S271 to S279.

[0128] S271. Assume that the first radial distance deformation amount measured by the first monitoring device for the target object is Δl1, the second radial distance deformation amount measured by the second monitoring device for the target object is Δl2, and the third radial distance deformation amount measured by the third monitoring device for the target object is Δl3, and assume that the known three-dimensional coordinates of the first monitoring device are (x1, y1, z1), the known three-dimensional coordinates of the second monitoring device are (x2, y2, z2), the known three-dimensional coordinates of the third monitoring device are (x3, y3, z3), and the known initial coordinates of the target object are (x0, y0, z0).

[0129] S272. Calculate the initial distances from the first monitoring device, the second monitoring device, and the third monitoring device to the target object respectively according to the following formula:

[0130]

[0131]

[0132]

[0133] In the formula, L1 represents the initial distance from the first monitoring device to the target object, L2 represents the initial distance from the second monitoring device to the target object, and L3 represents the initial distance from the third monitoring device to the target object.

[0134] S273. Calculate the initial unit direction vectors of the first monitoring device, the second monitoring device, and the third monitoring device relative to the target object respectively according to the following formula:

[0135]

[0136]

[0137]

[0138] In the formula, represents the initial unit direction vector of the first monitoring device relative to the target object, represents the initial unit direction vector of the second monitoring device relative to the target object, represents the initial unit direction vector of the third monitoring device relative to the target object.

[0139] S274. Calculate the deformed spatial vector according to the first radial distance deformation amount Δl1, the second radial distance deformation amount Δl2, and the third radial distance deformation amount Δl3

[0140] S275. Determine the reference device as the monitoring device corresponding to the largest absolute difference value according to the absolute difference between the first radial distance and L1, the absolute difference between the second radial distance and L2, and the absolute difference between the third radial distance and L3.

[0141] S276. Calculate the angle between the spatial vector and according to the initial unit direction vector

[0142] S277. Solve the quadratic equation \(D1\) according to the initial distance \(D1\) from the reference device to the target object and the radial distance \(D2\) measured by the reference device to the target object. 2 +\(\Delta l\) 2 -\(D2\) 2 \(= 2\times D1\times\Delta l\times\cos\theta\) to obtain the spatial deformation amount \(\Delta l\) of the target object.

[0143] S278. According to the spatial vector and the spatial deformation amount \(\Delta l\) of the target object, solve to obtain the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object according to the following formula:

[0144]

[0145] where \(x\) represents the new X-axis coordinate of the target object, \(y\) represents the new Y-axis coordinate of the target object, and \(z\) represents the new Z-axis coordinate of the target object.

[0146] S279. Use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

[0147] The working process, working details, and technical effects of the foregoing method provided in the third aspect of this embodiment can be referred to the method described in the first aspect, and will not be elaborated here. In addition, the following technical effects can also be achieved: when the spherical three-dimensional solution is unreasonable, a new method for monitoring the three-dimensional coordinates of the target point based on the layout form and plane projection of the deformation monitoring system / and the vector synthesis method can be used for complementary advantages, so that the three-dimensional coordinate interpretation always remains within a reasonable range, ensuring the normal operation of the slope deformation monitoring system.

[0148] Such as Figure 9As shown in the figure, in the fourth aspect of this embodiment, a virtual device for implementing the second three-dimensional coordinate monitoring method of the target point described in the third aspect is provided, which is arranged in the computer devices of each monitoring device in the communication-connected deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is arranged at the target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the intermediate vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinates, the intermediate vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis;

[0149] The device includes a data acquisition unit, a first solution unit, a reasonable judgment unit, a second solution unit, a third solution unit, and a data output unit;

[0150] The data acquisition unit is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object;

[0151] The first solution unit, communicatively connected to the data acquisition unit, is used to solve for the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object by the method of finding the intersection of three spheres according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance, and the third radial distance;

[0152] The reasonable judgment unit, communicatively connected to the first solution unit, is used to judge whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object;

[0153] The second solving unit is communicatively connected to the data acquisition unit and the reasonable judgment unit respectively, and is configured to, when it is determined that the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object are unreasonable, according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane, solve for the new Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection of two circles;

[0154] The third solving unit is communicatively connected to the data acquisition unit and the second solving unit respectively, and is configured to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solve for the new X-axis coordinate and the new Y-axis coordinate of the target object on the XY plane by the method of finding the intersection of two circles;

[0155] The data output unit is communicatively connected to the second solving unit and the third solving unit respectively, and is configured to output the new X-axis coordinate, the new Y-axis coordinate and the new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

[0156] For the working process, working details and technical effects of the foregoing device provided in the fourth aspect of this embodiment, reference may be made to the method described in the third aspect, which will not be elaborated herein.

[0157] Such as Figure 10As shown, in the fifth aspect of this embodiment, a computer device for executing the three-dimensional coordinate monitoring method of the target point described in the first aspect or the third aspect is provided, including a memory, a processor, and a transceiver that are communicatively connected in sequence. Among them, the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer programs and execute the three-dimensional coordinate monitoring method of the target point described in the first aspect or the third aspect. Specifically, for example, the memory may include, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a flash memory, a first-in first-out memory (FIFO), and / or a first-in last-out memory (FILO), etc.; the processor may include, but is not limited to, a microprocessor of the STM32F105 series. In addition, the computer device may further include, but is not limited to, a power module, a display screen, and other necessary components.

[0158] For the working process, working details, and technical effects of the aforementioned computer device provided in the fifth aspect of this embodiment, reference may be made to the method described in the first aspect or the third aspect, which will not be elaborated here.

[0159] In the sixth aspect of this embodiment, a computer-readable storage medium storing instructions for the three-dimensional coordinate monitoring method of the target point described in the first aspect or the third aspect is provided, that is, instructions are stored on the computer-readable storage medium, and when the instructions run on a computer, the three-dimensional coordinate monitoring method of the target point described in the first aspect or the third aspect is executed. Among them, the computer-readable storage medium refers to a carrier for storing data, which may include, but is not limited to, computer-readable storage media such as floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0160] For the working process, working details, and technical effects of the aforementioned computer-readable storage medium provided in the sixth aspect of this embodiment, reference may be made to the method described in the first aspect or the third aspect, which will not be elaborated here.

[0161] In the seventh aspect of this embodiment, a computer program product containing instructions is provided, and when the instructions run on a computer, the computer is made to execute the three-dimensional coordinate monitoring method of the target point described in the first aspect or the third aspect. Among them, the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0162] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A three-dimensional coordinate monitoring method for a target point, characterized in that, Executed by the computer devices of each monitoring device in the communication connection deformation monitoring system. Among them, the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is arranged at a target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinate system, the vertical plane refers to the YZ plane or XZ plane in the XYZ three-dimensional coordinate system, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinate system. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis; The three-dimensional coordinate monitoring method for the target point includes: Obtaining the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object; According to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane, solving for the Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection of two circles; Projecting the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and projecting the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates. And according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solving for the X-axis coordinate and Y-axis coordinate of the target object on the XY plane by the method of finding the intersection of two circles; Taking the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and outputting them.

2. A three-dimensional coordinate monitoring device for a target point, characterized in that, In the computer devices of each monitoring device arranged in the communication connection deformation monitoring system, wherein the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object, the target object is arranged at a target point, and the initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinate, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinate, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinate. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis; The device includes a data acquisition module, a first solution module, a second solution module and a data output module; The data acquisition module is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object; The first solution module, communicatively connected to the data acquisition module, is used to solve for the Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection points of two circles according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane; The second solution module is communicatively connected to the data acquisition module and the first solution module respectively, and is used to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and solve for the X-axis coordinate and Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance and the known initial coordinates of the target object; The data output module is communicatively connected to the first solving module and the second solving module respectively, and is configured to output the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

3. A three-dimensional coordinate monitoring method for a target point, characterized in that, It is executed by a computer device communicatively connected to each monitoring device of the deformation monitoring system. The deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device, and a target object. The target object is disposed at a target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane, and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane, and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the intermediate vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinates, the vertical plane refers to the YZ plane or XZ plane in the XYZ three-dimensional coordinates, the intermediate vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z-axis in the XYZ three-dimensional coordinates. The first vertical plane refers to the plane where the first line segment is located and is parallel to the Z-axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z-axis; The method for monitoring the three-dimensional coordinates of the target point includes: Obtaining a first radial distance measured by the first monitoring device for the target object, a second radial distance measured by the second monitoring device for the target object, and a third radial distance measured by the third monitoring device for the target object; According to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance, and the third radial distance, solving for the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object by the method of finding the intersection of three spheres; Judging whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object; If it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, then according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the intermediate vertical plane, and the initial line-plane angle between the second line segment and the intermediate vertical plane, solving for the new Z-axis coordinate of the target object on the intermediate vertical plane by the method of finding the intersection of two circles; Project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates. Then, based on the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solve for the new X-axis coordinate and new Y-axis coordinate of the target object on the XY plane by the method of finding the intersection points of two circles; Use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

4. The three-dimensional coordinate monitoring method of a target point according to claim 3, characterized in that, Based on the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the presence of imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, determine whether the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable, including: Determine the spatial deformation amount of the target object based on the initial three-dimensional coordinates of the target object and the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object; Determine the first radial distance deformation amount measured by the first monitoring device for the target object based on the known three-dimensional coordinates of the first monitoring device, the initial three-dimensional coordinates of the target object, and the first radial distance, and determine the second radial distance deformation amount measured by the second monitoring device for the target object based on the known three-dimensional coordinates of the second monitoring device, the initial three-dimensional coordinates of the target object, and the second radial distance. Determine the third radial distance deformation amount measured by the third monitoring device for the target object based on the known three-dimensional coordinates of the third monitoring device, the initial three-dimensional coordinates of the target object, and the third radial distance; Judge whether the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2; If it is determined that the ratios of the spatial deformation amount of the target object to the first radial distance deformation amount, the second radial distance deformation amount, and the third radial distance deformation amount are all between 1 and 2, then judge whether there are imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object. Otherwise, determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable; If it is determined that there are imaginary numbers in the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object, then determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable. Otherwise, determine that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable.

5. The three-dimensional coordinate monitoring method of a target point according to claim 3, characterized in that If it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are reasonable, then use the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

6. The three-dimensional coordinate monitoring method of a target point according to claim 3, characterized in that, Using the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and outputting them includes: Judge whether the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable according to the relationship of 1 to 2 times between the spatial deformation amount and the radial deformation amount; If it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are reasonable, then use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

7. The three-dimensional coordinate monitoring method for a target point according to claim 6, wherein If it is determined that the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are unreasonable, then the method further includes: Assume that the first radial distance deformation amount measured by the first monitoring device for the target object is Δl1, the second radial distance deformation amount measured by the second monitoring device for the target object is Δl2, and the third radial distance deformation amount measured by the third monitoring device for the target object is Δl3, and assume that the known three-dimensional coordinates of the first monitoring device are (x1, y1, z1), the known three-dimensional coordinates of the second monitoring device are (x2, y2, z2), the known three-dimensional coordinates of the third monitoring device are (x3, y3, z3), and the known initial coordinates of the target object are (x0, y0, z0); Calculate the initial distances from the first monitoring device, the second monitoring device, and the third monitoring device to the target object respectively according to the following formula: In the formula, L1 represents the initial distance from the first monitoring device to the target object, L2 represents the initial distance from the second monitoring device to the target object, and L3 represents the initial distance from the third monitoring device to the target object; Calculate the unit direction initial vectors of the first monitoring device, the second monitoring device, and the third monitoring device relative to the target object respectively according to the following formula: In the formula, represents the unit direction initial vector of the first monitoring device relative to the target object, represents the unit direction initial vector of the second monitoring device relative to the target object, represents the unit direction initial vector of the third monitoring device relative to the target object; Calculate the deformed spatial vector according to the first radial distance deformation amount Δl1, the second radial distance deformation amount Δl2, and the third radial distance deformation amount Δl3 According to the absolute value of the difference between the first radial distance and L1, the absolute value of the difference between the second radial distance and L2, and the absolute value of the difference between the third radial distance and L3, determine the monitoring device corresponding to the largest absolute value of the difference as the reference device; According to the unit direction initial vector corresponding to the reference device the spatial vector is calculated with the included angle According to the initial distance D1 from the reference device to the target object and the radial distance D2 measured by the reference device for the target object, solve the quadratic equation D1 2 +Δl 2 -D2 2 = 2×D1×Δl×cosθ to obtain the spatial deformation amount Δl of the target object; According to the spatial vector and the spatial deformation amount Δl of the target object, the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object are obtained by solving according to the following formula: In the formula, x represents the new X-axis coordinate of the target object, y represents the new Y-axis coordinate of the target object, and z represents the new Z-axis coordinate of the target object; Use the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point and output them.

8. A three-dimensional coordinate monitoring device for target points, characterized in that, In computer devices of each monitoring device arranged in a communication connection deformation monitoring system, wherein the deformation monitoring system includes a first monitoring device, a second monitoring device, a third monitoring device and a target object. The target object is arranged at a target point. The initial horizontal plane projection angle determined by the projection point of the first monitoring device on the horizontal plane, the projection point of the target object on the horizontal plane and the projection point of the third monitoring device on the horizontal plane is greater than 45 degrees. The initial vertical plane projection angle determined by the projection point of the first monitoring device / the third monitoring device on the vertical plane, the projection point of the target object on the vertical plane and the projection point of the second monitoring device on the vertical plane is greater than 10 degrees. The initial line-plane angles between the first line segment determined by the first monitoring device and the target object and the second line segment determined by the second monitoring device and the target object and the middle vertical plane are not greater than 3 degrees. The horizontal plane refers to the XY plane in the XYZ three-dimensional coordinate system, the vertical plane refers to the YZ plane or the XZ plane in the XYZ three-dimensional coordinate system, the middle vertical plane refers to the plane that bisects the included angle between the first vertical plane and the second vertical plane and is parallel to the Z axis in the XYZ three-dimensional coordinate system, the first vertical plane refers to the plane where the first line segment is located and is parallel to the Z axis, and the second vertical plane refers to the plane where the second line segment is located and is parallel to the Z axis; The device includes a data acquisition unit, a first solution unit, a reasonable judgment unit, a second solution unit, a third solution unit and a data output unit; The data acquisition unit is used to acquire the first radial distance measured by the first monitoring device for the target object, the second radial distance measured by the second monitoring device for the target object, and the third radial distance measured by the third monitoring device for the target object; The first solution unit, communicatively connected to the data acquisition unit, is used to solve for the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object by the method of finding the intersection of three spheres according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the known three-dimensional coordinates of the third monitoring device, the first radial distance, the second radial distance and the third radial distance; The reasonable judgment unit, communicatively connected to the first solution unit, is used to judge whether the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object are reasonable according to the 1-2 times relationship between the spatial deformation amount and the radial deformation amount and the existence of imaginary numbers in the X-axis coordinate, Y-axis coordinate and Z-axis coordinate of the target object; The second solving unit is respectively communicatively connected to the data acquisition unit and the reasonable judgment unit, and is configured to, when it is determined that the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the target object are unreasonable, according to the known three-dimensional coordinates of the first monitoring device, the known three-dimensional coordinates of the second monitoring device, the first radial distance, the second radial distance, the initial line-plane angle between the first line segment and the middle vertical plane, and the initial line-plane angle between the second line segment and the middle vertical plane, solve for the new Z-axis coordinate of the target object on the middle vertical plane by the method of finding the intersection of two circles; The third solving unit is respectively communicatively connected to the data acquisition unit and the second solving unit, and is configured to project the known three-dimensional coordinates of the first monitoring device onto the XY plane to obtain the first horizontal plane projection coordinates, and project the known three-dimensional coordinates of the third monitoring device onto the XY plane to obtain the third horizontal plane projection coordinates, and according to the Z-axis coordinate of the target object, the first horizontal plane projection coordinates, the third horizontal plane projection coordinates, the first radial distance, the third radial distance, and the known initial coordinates of the target object, solve for the new X-axis coordinate and new Y-axis coordinate of the target object on the XY plane by the method of finding the intersection of two circles; The data output unit is respectively communicatively connected to the second solving unit and the third solving unit, and is configured to output the new X-axis coordinate, new Y-axis coordinate, and new Z-axis coordinate of the target object as the three-dimensional coordinates of the target point.

9. A computer device, characterized in that, It includes a memory, a processor, and a transceiver that are communicatively connected in sequence. Among them, the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer programs and execute the three-dimensional coordinate monitoring method of the target point described in any one of claims 1 and 3 to 7.

10. A computer-readable storage medium, characterized in that Instructions are stored on the computer-readable storage medium, and when the instructions are run on a computer, the three-dimensional coordinate monitoring method of the target point described in any one of claims 1 and 3 to 7 is executed.

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