Railway engineering anchor rod automatic tracking identification method and device and storage medium

Abstract

The present application provides a kind of railway engineering anchor rod automation tracking identification method, device and storage medium, the steps of the method include: obtaining engineering installation drawing, multiple installation positions are marked in the engineering installation drawing, each installation position is marked with the anchor rod model to be installed in this installation position;The rod body of the anchor rod is pre-set with first mark, the anchor rod model and anchor rod number of the anchor rod are recorded in the first mark, before installing anchor rod in each installation position, the anchor rod model of anchor rod to be installed recorded in the first mark is obtained, the anchor rod matched with the anchor rod model marked in the installation position of the engineering installation drawing is installed in the installation position;The exposed rod head part of the anchor rod installed in the installation position is scanned and obtained, the rod head size parameter is calculated based on the rod head point cloud obtained by scanning, and the actually installed anchor rod model is matched to obtain;The engineering installation drawing is marked based on the actually installed anchor rod model, and the actual installation drawing is obtained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of railway engineering, and in particular to a railway engineering anchor rod automatic tracking identification method, device and storage medium. BACKGROUND

[0002] In the process of tunnel construction in mountainous areas, soft rock tunnels with poor geological conditions are inevitably encountered. Soft rock tunnels will produce large deformation under soil extrusion, causing problems such as cracking and intrusion of tunnel lining, which brings great challenges to the safety of tunnel construction. Therefore, it is necessary to study soft rock tunnels based on field conditions and feedback information. Anchor rod support has been widely used in tunnel support due to its significant economic and technical advantages. Studying the spatial and temporal distribution of stress, deformation and cracks of tunnel surrounding rock under anchor rod support is of great significance for the prevention of tunnel disasters in railway engineering.

[0003] In the prior art, the anchor rod is usually only used simply, and there is a lack of tracking during the use of the anchor rod. SUMMARY

[0004] In view of this, embodiments of the present application provide a railway engineering anchor rod automatic tracking identification method to eliminate or improve one or more defects in the prior art.

[0005] One aspect of the present application provides a railway engineering anchor rod automatic tracking identification method, the steps of the method comprising:

[0006] Obtain an engineering installation drawing, the engineering installation drawing being marked with a plurality of installation positions, each installation position being marked with an anchor rod model to be installed at the installation position;

[0007] The rod body of the anchor rod is pre-provided with a first identifier, the first identifier recording the anchor rod model and anchor rod number of the anchor rod, before installing an anchor rod at each installation position, obtaining the anchor rod model of the anchor rod to be installed recorded by the first identifier, and installing the anchor rod with the anchor rod model matched with the anchor rod model marked in the installation position of the engineering installation drawing at the installation position;

[0008] Scan the exposed rod head part of the anchor rod installed at the installation position, calculate the rod head size parameter based on the scanned rod head point cloud, and match to obtain the actual installed anchor rod model;

[0009] Mark the engineering installation drawing based on the actual installed anchor rod model to obtain an actual installation drawing.

[0010] With the above scheme, the scheme first obtains the anchor rod model designed and installed at each position through the engineering installation drawing, identifies the anchor rod model through the first mark before installation, verifies through point cloud scanning after installation, and obtains the actual installation drawing based on the engineering installation drawing marked by each anchor rod after installation of all anchor rods is completed. The scheme can realize full-process tracing of the anchor rod.

[0011] In some embodiments of the present application, the step of marking the engineering installation drawing based on the actual installed anchor rod model to obtain the actual installation drawing comprises:

[0012] Obtaining coordinate data of each installation position in the engineering installation drawing;

[0013] Adjusting each rod head point cloud obtained by scanning to the same scale as the coordinate data of each installation position in the engineering installation drawing;

[0014] Representing each rod head point cloud at the corresponding installation position.

[0015] In some embodiments of the present application, the step of calculating the rod head size parameter based on the scanned rod head point cloud and matching the actual installed anchor rod model further comprises: if the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, a first reminder is given.

[0016] In some embodiments of the present application, the method further comprises:

[0017] Calculating the center point cloud of each rod head point cloud in the actual installation drawing, calculating the distance between each center point cloud, if the distance between any two center point clouds is less than a preset threshold distance, comparing whether the rod head point clouds corresponding to the two center point clouds overlap, and if so, a second reminder is given.

[0018] In some embodiments of the present application, in the step of calculating the center point cloud of each rod head point cloud in the actual installation drawing, the center point cloud of each rod head point cloud is calculated according to the following formula:

[0019]

[0020] Wherein, A represents the coordinates of the center point cloud, n is the number of point clouds in the rod head point cloud, k represents the kth point cloud, Q k represents the coordinate parameters of the kth point cloud.

[0021] In some embodiments of the present application, the first mark is two-dimensional code data, and in the step of obtaining the anchor rod model of the anchor rod to be installed recorded by the first mark, the two-dimensional code data is scanned to obtain the anchor rod model of the anchor rod to be installed.

[0022] In some embodiments of the present application, in the step of installing the anchor rod matching the anchor rod model marked in the installation position of the engineering installation drawing at the installation position, an anchor rod matching the anchor rod model marked in the installation position is installed at the installation position.

[0023] In some embodiments of the present application, in the step of representing each rod head point cloud at the corresponding installation position, a center point cloud of each rod head point cloud is calculated, the horizontal and vertical coordinates of the center point cloud are adjusted to be the same as the horizontal and vertical coordinates of the installation position coordinates, and the rod head point cloud is translated to the corresponding installation position based on the positional relationship between the center point cloud and other point clouds in the rod head point cloud.

[0024] The second aspect of the present application also provides a railway engineering anchor rod automatic tracking and identification device, which comprises a computer device, the computer device comprises a processor and a memory, the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory, and the device realizes the steps realized by the method as described above.

[0025] The third aspect of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps realized by the railway engineering anchor rod automatic tracking and identification method as described above.

[0026] Additional advantages, objects, and features of the application will be set forth in part by the description that follows, and will become apparent to those skilled in the art upon examination of the following detailed description and drawings, or can be learned by practice of the application. The objects and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0027] Those skilled in the art will appreciate that the objects and advantages of the application realized by the present application are not limited to the above specific description, and the above and other objects realized by the present application will be more clearly understood according to the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0028] The drawings described herein are used to provide further understanding of the present application, constitute a part of the present application, and do not constitute a limitation of the present application.

[0029] Figure 1 A schematic diagram of an embodiment of the railway engineering anchor rod automatic tracking and identification method of the present application;

[0030] Figure 2 A schematic diagram of another embodiment of the railway engineering anchor rod automatic tracking and identification method of the present application. DETAILED DESCRIPTION

[0031] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application with reference to the embodiments and drawings. Herein, the illustrative embodiments of the present application and the description thereof are used to explain the present application, but not as a limitation to the present application.

[0032] Herein, it is also needed to be explained that, in order to avoid the present application being obscured by unnecessary details, only the structures and / or processing steps closely related to the solutions according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0033] It should be emphasized that the term "comprise / comprising" as used herein is used to indicate the presence of a feature, element, step or component but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0034] Herein, it is also needed to be explained that, if not specially stated, the term "connection" as used herein can not only mean direct connection, but also indirect connection with intermediate.

[0035] Hereinafter, the embodiments of the present application will be described with reference to the drawings. In the drawings, the same reference numerals represent the same or similar parts, or the same or similar steps.

[0036] To solve the above problems, as shown in Figure 1 The present application proposes a railway engineering anchor rod automatic tracking identification method, the steps of the method comprising:

[0037] Step S100, obtaining an engineering installation map, the engineering installation map being marked with a plurality of installation positions, each installation position being marked with an anchor rod model to be installed at the installation position;

[0038] In the specific implementation process, the engineering installation map is a pre-designed image, the image can be a three-dimensional image, the marking of the installation position in the three-dimensional image can be marked by coordinate points, and the anchor rod model corresponding to each installation position is marked.

[0039] Step S200, the rod body of the anchor rod is pre-provided with a first identification, the first identification recording the anchor rod model and the anchor rod number of the anchor rod, before installing the anchor rod at each installation position, obtaining the anchor rod model of the anchor rod to be installed recorded by the first identification, and installing the anchor rod matched with the anchor rod model marked in the installation position of the engineering installation map at the installation position;

[0040] In the specific implementation process, the first identification can be a two-dimensional code, and the two-dimensional code can be pasted on the rod body of the anchor rod.

[0041] In the specific implementation process, the anchor rods of the same model have the same self parameters, including length and width, etc.; the anchor rod number is used to identify the identity of the anchor rod, and the anchor rod numbers of each anchor rod are different.

[0042] In the specific implementation process, the anchor rod number of the anchor rod installed at the installation position is recorded at the same time when the anchor rod is installed.

[0043] In the specific implementation process, the anchor rod number of the anchor rod installed at the installation position is recorded at the same time when the anchor rod is installed.

[0044] In some embodiments of the present application, the exposed rod head part of the anchor rod installed at the installation position is scanned by using a radar, and the point cloud after scanning is modeled to obtain rod head size data, including diameter, etc.

[0045] In the specific implementation process, the point cloud data is modeled by using 3DReshaper.

[0046] In the specific implementation process, the point cloud data is modeled by using 3DReshaper.

[0047] In some embodiments of the present application, the anchor rod number of the anchor rod installed at each installation position is marked in the engineering installation drawing.

[0048] By using the above scheme, the anchor rod model designed for each position is obtained by the engineering installation drawing, the anchor rod model is identified by the first mark before installation, and the point cloud scanning verification is performed after installation, and after all the anchor rods are installed, the engineering installation drawing is marked based on each anchor rod to obtain the actual installation drawing, and the anchor rod can be tracked in the whole process.

[0049] In some embodiments of the present application, the step of marking the engineering installation drawing based on the actual installation anchor rod model to obtain the actual installation drawing comprises:

[0050] The coordinate data of each installation position in the engineering installation drawing is obtained.

[0051] Each rod head point cloud obtained by scanning is adjusted to the same scale as the coordinate data of each installation position in the engineering installation drawing.

[0052] Each rod head point cloud is represented at the corresponding installation position.

[0053] In the specific implementation process, the center point cloud of each pole head point cloud is calculated, and the horizontal and vertical coordinates of the center point cloud are adjusted to be the same as the horizontal and vertical coordinates of the installation position coordinates. The vertical coordinate of the center point cloud does not need to be adjusted. Based on the relative positional relationship between the center point cloud and other point clouds in the pole head point cloud, the other point clouds are adjusted, and the pole head point cloud is translated to the corresponding installation position.

[0054] Using the above scheme, each anchor head is marked with a point cloud on the actual installation diagram. This allows staff to observe the installation position of the anchor more intuitively, and they can directly obtain the anchor model of the installed anchor. This enables them to trace the installation status of the anchor, facilitating subsequent processing.

[0055] In some embodiments of the present invention, the step of matching the actual installed anchor bolt model with the rod head size parameters obtained from the scanning of the rod head point cloud computing further includes, if the actual installed anchor bolt model is different from the anchor bolt model marked at the corresponding installation position in the engineering installation drawing, then a first reminder is issued.

[0056] Using the above solution, when the actual installed anchor bolt model is different from the anchor bolt model marked at the corresponding installation position in the engineering installation drawing, it may be due to an installation error or an adjustment during installation. This solution will issue an initial warning when it is found that the actual installed anchor bolt model is different from the anchor bolt model marked at the corresponding installation position in the engineering installation drawing, to prevent installation errors from occurring.

[0057] like Figure 2 As shown, in some embodiments of the present invention, the method further includes the following steps:

[0058] Step S500: Calculate the center point cloud of each pole head point cloud in the actual installation diagram, calculate the distance between each center point cloud, and if the distance between any two center point clouds is less than a preset threshold distance, compare whether the pole head point clouds corresponding to the two center point clouds overlap. If they do, then issue a second reminder.

[0059] In the specific implementation process, the center point cloud of each pole head point cloud is calculated according to the following formula:

[0060]

[0061] Where A represents the coordinates of the center point cloud, n is the number of point clouds in the pole-head point cloud, k represents the k-th point cloud, and Q k This represents the coordinate parameters of the k-th point cloud.

[0062] In the specific implementation process, if the distance between any two center point clouds is less than a preset threshold distance, it indicates that the two anchor rods may have installation conflicts. Based on the above situation, the present scheme further compares whether the rod head point clouds corresponding to the two center point clouds coincide. If they coincide, it indicates that the installation of the two anchor rods conflicts, and a second reminder is given.

[0063] In the specific implementation process, in the step of comparing whether the rod head point clouds corresponding to the two center point clouds coincide, the rod head point clouds corresponding to the two center point clouds are modeled, and it is determined whether the two modeled graphs coincide.

[0064] By using the above scheme, the present scheme can further trace back the installed anchor rods, further ensure the engineering quality, and facilitate the later tracing and processing.

[0065] In some embodiments of the present application, in the step of calculating the center point cloud of each rod head point cloud in the actual installation graph, the center point cloud of each rod head point cloud is calculated according to the following formula:

[0066]

[0067] wherein A represents the coordinates of the center point cloud, n is the number of point clouds in the rod head point cloud, k represents the kth point cloud, Q k represents the coordinate parameters of the kth point cloud.

[0068] By using the above scheme, the center point cloud of each rod head point cloud can be quickly determined.

[0069] In some embodiments of the present application, the first identifier is two-dimensional code data, and in the step of obtaining the anchor rod model of the anchor rod to be installed recorded by the first identifier, the two-dimensional code data is scanned to obtain the anchor rod model of the anchor rod to be installed.

[0070] In some embodiments of the present application, in the step of installing the anchor rod matching the anchor rod model marked by the installation position marker in the engineering installation graph at the installation position, an anchor rod matching the anchor rod model marked by the installation position marker is matched, and the anchor rod is installed at the installation position.

[0071] In some embodiments of the present application, in the step of representing each rod head point cloud at the corresponding installation position, the center point cloud of each rod head point cloud is calculated, the horizontal coordinate and the vertical coordinate of the center point cloud are adjusted to be the same as the horizontal coordinate and the vertical coordinate of the installation position coordinate, and the rod head point cloud is translated to the corresponding installation position based on the positional relationship between the center point cloud and other point clouds in the rod head point cloud.

[0072] The embodiment of the present application also provides a railway engineering anchor rod automatic tracking and identification system, and the system comprises:

[0073] An anchor rod marking module acquires an engineering installation drawing, wherein a plurality of installation positions are marked, and each installation position is marked with an anchor rod model to be installed at the installation position;

[0074] An anchor rod installation tracking module, wherein a first mark is preset on a rod body of the anchor rod, and the first mark records an anchor rod model and an anchor rod number of the anchor rod; before installing an anchor rod at each installation position, the anchor rod model of the anchor rod to be installed recorded by the first mark is acquired, and an anchor rod with a matched anchor rod model marked in the engineering installation drawing is installed at the installation position;

[0075] An anchor rod scanning tracking module scans a rod head part exposed by the anchor rod after installation at the installation position, calculates a rod head size parameter based on a point cloud of the rod head obtained by scanning, and matches to obtain an actually installed anchor rod model;

[0076] An anchor rod marking tracking module marks the engineering installation drawing based on the actually installed anchor rod model to obtain an actual installation drawing.

[0077] According to the above scheme, the anchor rod model designed for each position is acquired through the engineering installation drawing, the anchor rod model is identified through the first mark before installation, and the point cloud scanning is verified after installation, and after all the anchor rods are installed, the engineering installation drawing is marked based on each anchor rod to obtain the actual installation drawing. The scheme can track the anchor rod in the whole process.

[0078] In some embodiments of the present application, the step of marking the engineering installation drawing based on the actually installed anchor rod model to obtain an actual installation drawing comprises:

[0079] Acquiring coordinate data of each installation position in the engineering installation drawing;

[0080] Adjusting each rod head point cloud obtained by scanning and the coordinate data of each installation position in the engineering installation drawing to the same scale;

[0081] Representing each rod head point cloud at the corresponding installation position.

[0082] According to the above scheme, each rod head point cloud is marked in the actual installation drawing, the worker can more intuitively observe the installation position of the anchor rod, the worker can directly obtain the anchor rod model of the installed anchor rod, the installation condition of the anchor rod can be tracked, and subsequent processing is facilitated.

[0083] In some embodiments of the present application, the step of calculating the head size parameter based on the scanned head point cloud and matching the actual installed anchor rod model further comprises: if the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, a first reminder is given.

[0084] With the above scheme, when the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, it may be an installation error or an adaptive adjustment during installation. The present scheme gives a first reminder when it is found that the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, thereby preventing the occurrence of installation errors.

[0085] In some embodiments of the present application, the method further comprises:

[0086] The center point cloud of each head point cloud in the actual installation drawing is calculated, the distance between each center point cloud is calculated, if the distance between any two center point clouds is less than a preset threshold distance, it is determined whether the head point clouds corresponding to the two center point clouds coincide, and if they coincide, a second reminder is given.

[0087] With the above scheme, the present scheme can further trace the installed anchor rod, thereby further ensuring the engineering quality and facilitating later tracing and processing.

[0088] In some embodiments of the present application, in the step of calculating the center point cloud of each head point cloud in the actual installation drawing, the center point cloud of each head point cloud is calculated according to the following formula:

[0089]

[0090] wherein A represents the coordinates of the center point cloud, n is the number of point clouds in the head point cloud, k represents the kth point cloud, Q k represents the coordinate parameters of the kth point cloud.

[0091] In some embodiments of the present application, the first identifier is two-dimensional code data, and in the step of obtaining the anchor rod model of the anchor rod to be installed recorded in the first identifier, the two-dimensional code data is scanned to obtain the anchor rod model of the anchor rod to be installed.

[0092] In some embodiments of the present application, in the step of installing the anchor rod matching the anchor rod model marked in the installation position of the engineering installation drawing in the installation position, an anchor rod identical to the anchor rod model marked in the installation position is matched, and the anchor rod is installed in the installation position.

[0093] In some embodiments of the present application, in the step of representing each club head point cloud in the corresponding installation position, a center point cloud of each club head point cloud is calculated, the horizontal and vertical coordinates of the center point cloud are adjusted to be the same as the horizontal and vertical coordinates of the installation position coordinates, and the club head point cloud is translated to the corresponding installation position based on the positional relationship of the center point cloud with other point clouds in the club head point cloud.

[0094] In the prior art, anchor rod body state detection generally uses resistance strain gauges, piston type shaft force monitors and the like, but the presence of flammable and explosive gases such as gas in tunnels leads to safety hazards in voltage signal transmission, and the production cost of explosion-proof products is higher, and there are also optical fiber Bragg strain gauges pasted on the surface of the anchor rod to obtain the change characteristics of the anchor rod shaft force, but the material of the optical fiber is relatively fragile, and its application in actual engineering will involve sensor protection, line laying and optical fiber layer protection and many other work.

[0095] The beneficial effects of the present scheme include:

[0096] 1. The present scheme first obtains the anchor rod model designed and installed at each position through the engineering installation drawing, identifies the anchor rod model through the first mark before installation, verifies through point cloud scanning after installation, and obtains the actual installation drawing based on the mark of each anchor rod on the engineering installation drawing after all anchor rods are installed. The present scheme can realize full-process tracing of the anchor rod;

[0097] 2. Each club head point cloud is marked in the actual installation drawing, so that the workers can more intuitively observe the installation position of the anchor rod, and the workers can directly obtain the anchor rod model of the installed anchor rod, can trace the installation condition of the anchor rod, and is convenient for subsequent processing;

[0098] 3. When the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, it may be installation error or adaptive adjustment during installation. The present scheme performs first reminding when it is found that the actual installed anchor rod model is different from the anchor rod model marked in the corresponding installation position of the engineering installation drawing, to prevent installation error.

[0099] The present application also provides a railway engineering anchor rod automatic tracking and identification device, which comprises a computer device, the computer device comprises a processor and a memory, the memory stores computer instructions, and the processor is used to execute the computer instructions stored in the memory, and when the computer instructions are executed by the processor, the device realizes the steps realized by the method as described above.

[0100] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the aforementioned railway engineering anchor rod automatic tracking and identification method. The computer readable storage medium can be a tangible storage medium, such as a random access memory (RAM), an internal memory, a read only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the art.

[0101] Those of ordinary skill in the art will appreciate that the various illustrative components, systems and methods described in connection with the embodiments disclosed herein can be implemented as hardware, software, or a combination thereof. The choice of hardware or software implementation is a matter of design choice and will depend on the particular application and constraints of the design. Those of ordinary skill in the art can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. When implemented in hardware, the hardware can comprise, for example, an electronic circuit, an application specific integrated circuit (ASIC), a suitably programmed firmware, a plug-in card, a function card, etc. When implemented in software, the elements of the application are the program or code segments to perform the necessary tasks. The program or code segments can be stored in a machine readable medium, or transmitted by carrier waves over a transmission medium or communication link.

[0102] It is to be understood that the application is not limited to the particular configurations and processes described herein and shown in the drawings, which are provided by way of example only. Detailed descriptions of known methods are omitted so as not to obscure the description of the present application. In the above embodiments, several specific steps are described and illustrated as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and one of ordinary skill in the art will be able to make various changes, modifications and additions thereto, or to perform the steps in a different order, without departing from the spirit of the application.

[0103] In the present application, features described and / or illustrated with respect to one embodiment can be used in the same or a similar way in one or more other embodiments, and / or combined with or substituted for features of other embodiments.

[0104] The above description is merely illustrative of the application, and is not intended to limit the application. The embodiments of the application can be modified and changed by those skilled in the art without departing from the spirit and principle of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A method for automatic tracking and identification of railway engineering anchor rods, characterized in that, The steps of the method include: Obtaining an engineering installation drawing, the engineering installation drawing being marked with a plurality of installation positions, each installation position being marked with an anchor rod model to be installed at the installation position; The rod body of the anchor rod is provided with a first identifier, the first identifier recording the anchor rod model and the anchor rod number of the anchor rod, before installing an anchor rod at each installation position, obtaining the anchor rod model of the anchor rod to be installed recorded by the first identifier, and installing an anchor rod with the anchor rod model matching the anchor rod model marked at the installation position in the engineering installation drawing at the installation position; Scanning to obtain a rod head part exposed by the anchor rod after installation at the installation position, calculating a rod head size parameter based on the scanned rod head point cloud, and matching to obtain an actually installed anchor rod model, if the actually installed anchor rod model is different from the anchor rod model marked at the corresponding installation position in the engineering installation drawing, a first reminder is given; Marking the engineering installation drawing based on the actually installed anchor rod model to obtain an actual installation drawing; Calculating a center point cloud of each rod head point cloud in the actual installation drawing, calculating distances between the center point clouds, if the distance between any two center point clouds is less than a preset threshold distance, comparing whether the rod head point clouds corresponding to the two center point clouds coincide, modeling the rod head point clouds corresponding to the two center point clouds, and determining whether the two modeled graphs coincide, if they coincide, a second reminder is given.

2. The method of claim 1, wherein, The step of marking the engineering installation drawing based on the actually installed anchor rod model to obtain an actual installation drawing includes: Obtaining coordinate data of each installation position in the engineering installation drawing; Adjusting each scanned rod head point cloud and the coordinate data of each installation position in the engineering installation drawing to the same scale; Representing each rod head point cloud at the corresponding installation position.

3. The method of claim 1, wherein, In the step of calculating a center point cloud of each rod head point cloud in the actual installation drawing, the center point cloud of each rod head point cloud is calculated according to the following formula: ； Wherein, A represents the coordinate of the center point cloud, n is the number of point clouds in the head point cloud, k represents the kth point cloud, represents the coordinate parameters of the kth point cloud.

4. The method of claim 1, wherein, The first identifier is two-dimensional code data, in the step of obtaining the anchor rod model of the anchor rod to be installed recorded by the first identifier, the two-dimensional code data is scanned to obtain the anchor rod model of the anchor rod to be installed.

5. The method of claim 1, wherein, In the step of installing an anchor rod with the anchor rod model matching the anchor rod model marked at the installation position in the engineering installation drawing at the installation position, an anchor rod with the same anchor rod model as the anchor rod model marked at the installation position is matched, and the anchor rod is installed at the installation position.

6. The method of claim 2, wherein, In the step of representing each rod head point cloud at the corresponding installation position, a center point cloud of each rod head point cloud is calculated, the horizontal coordinate and the vertical coordinate of the center point cloud are adjusted to be the same as the horizontal coordinate and the vertical coordinate of the installation position coordinate, and the rod head point cloud is translated to the corresponding installation position based on the positional relationship between the center point cloud and other point clouds in the rod head point cloud.

7. A device for automatic tracking and identification of railway engineering anchor rods, characterized in that, The device includes a computer device, the computer device including a processor and a memory, the memory storing computer instructions, and the processor being configured to execute the computer instructions stored in the memory, when the computer instructions are executed by the processor, the device implements the steps implemented by the method according to any one of claims 1-6. The device includes a computer device, the computer device including a processor and a memory, the memory storing computer instructions, and the processor being configured to execute the computer instructions stored in the memory, when the computer instructions are executed by the processor, the device implements the steps implemented by the method according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, a computer program stored thereon for execution by a processor to implement the steps of the method as claimed in any of claims 1 to 6.

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