Railway track fastener looseness monitoring method and system based on three-dimensional point cloud data

Abstract

The invention discloses a railway track fastener looseness monitoring method based on three-dimensional point cloud data, and the method comprises the steps: carrying out the laser scanning of a railway track fastener, obtaining the three-dimensional point cloud data of the fastener, forming a fastener three-dimensional model, and obtaining the fastener information of the fastener three-dimensional model, the fastener information comprises the initial position of the fastener, the rotation frequency of the fastener of each degree of freedom, the phase angle of the fastener of each degree of freedom and the rotation axis vector of each degree of freedom; a fastener looseness evaluation model is set, the looseness degree of the fastener is calculated in real time according to the fastener information, and the fastener looseness evaluation model comprises a fastener position deviation evaluation model and a fastener rigidity evaluation model; when the looseness degree of the fastener exceeds a preset looseness threshold value, warning information is sent out, and a user is prompted to conduct tightening operation on the fastener.

Description

Technical Field

[0001] The present invention belongs to the technical field of railway track fastener loosening monitoring, and more specifically, relates to a railway track fastener loosening monitoring method and system based on three-dimensional point cloud data. Background Art

[0002] Rail track fasteners are components used to secure rails to track slabs or sleepers, ensuring track stability and safety. Their primary function is to maintain close contact between the rails and the track foundation, preventing them from shifting or shaking, thereby ensuring smooth train operation.

[0003] Common types of railway track fasteners include: plywood fasteners: the track is fixed to the sleeper through a plywood, which is common in traditional railway construction; spring fasteners: the track is fixed using the elastic force of a spring, this type of fastener is often used on high-speed railways and can effectively reduce vibration and impact force; bolt fasteners: the track is fixed with bolts, usually used with pads and track plates; spring pad fasteners: the track is fixed and adjusted through a specially designed pad and spring system; ballastless track fasteners: this type of fastener is used in ballastless track systems, that is, track systems that do not use traditional wooden or concrete sleepers. The fasteners are directly connected to the concrete track foundation.

[0004] Currently, the looseness monitoring of railway track fasteners is generally carried out manually, resulting in low monitoring accuracy and the possibility of safety accidents. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a railway track fastener loosening monitoring method based on three-dimensional point cloud data, comprising:

[0006] Performing laser scanning on railway track fasteners to obtain three-dimensional point cloud data of the fasteners, forming a three-dimensional model of the fasteners, and obtaining fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0007] Setting a fastener looseness assessment model, and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0008] When the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

[0009] Furthermore, the position deviation evaluation model of the fastener includes:

[0010]

[0011] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0012] Furthermore, the fastener stiffness evaluation model includes:

[0013]

[0014] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0015] Furthermore, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0016]

[0017] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0018] Furthermore, the fastener loosening assessment model includes:

[0019]

[0020] Among them, Φ final (t) is the looseness of the fastener at time t.

[0021] The present invention also proposes a railway track fastener loosening monitoring system based on three-dimensional point cloud data, comprising:

[0022] a fastener information acquisition module, configured to perform laser scanning on railway track fasteners, acquire three-dimensional point cloud data of the fasteners, form a three-dimensional model of the fasteners, and acquire fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0023] Setting a model module, for setting a fastener looseness assessment model, and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0024] The alarm module is used to issue an alarm message when the looseness of the fastener exceeds a preset looseness threshold, prompting the user to tighten the fastener.

[0025] Furthermore, the position deviation evaluation model of the fastener includes:

[0026]

[0027] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0028] Furthermore, the fastener stiffness evaluation model includes:

[0029]

[0030] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0031] Furthermore, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0032]

[0033] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0034] Furthermore, the fastener loosening assessment model includes:

[0035]

[0036] Among them, Φ final (t) is the looseness of the fastener at time t.

[0037] In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:

[0038] The present invention performs laser scanning on railway track fasteners, obtains three-dimensional point cloud data of the fasteners, forms a three-dimensional model of the fasteners, and obtains fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: the initial position of the fastener, the rotation frequency of the fastener for each degree of freedom, the phase angle of the fastener for each degree of freedom, and the rotation axis vector for each degree of freedom; sets a fastener looseness assessment model, and calculates the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model; when the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener. The present invention can accurately monitor the looseness of railway track fasteners in real time through the above technical solution, thereby avoiding safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0040] Figure 2 This is a system structure diagram of Example 2 of the present invention. DETAILED DESCRIPTION

[0041] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0042] The method provided by the present invention can be implemented in the following terminal environment, wherein the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0043] A processor can include one or more processing cores. It connects various components within the terminal using various interfaces and circuits. It executes instructions, programs, code sets, or instruction sets stored in storage media, and accesses data stored in storage media to perform various terminal functions and process data.

[0044] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets, or instructions.

[0045] The display is used to show the user interface of each application.

[0046] In addition, those skilled in the art will appreciate that the structure of the terminal described above does not limit the terminal. The terminal may include more or fewer components, or a combination of certain components, or a different arrangement of components. For example, the terminal may also include a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, and other components, which will not be described in detail here.

[0047] Example 1

[0048] like Figure 1 As shown, an embodiment of the present invention provides a method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data, comprising:

[0049] Step 101: performing laser scanning on a railway track fastener to obtain three-dimensional point cloud data of the fastener, forming a three-dimensional model of the fastener, and obtaining fastener information of the three-dimensional model of the fastener, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0050] Step 102: Setting a fastener looseness assessment model and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0051] Specifically, the fastener position deviation evaluation model includes:

[0052]

[0053] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0054] Specifically, the fastener stiffness evaluation model includes:

[0055]

[0056] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0057] Specifically, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0058]

[0059] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0060] Specifically, the fastener loosening assessment model includes:

[0061]

[0062] Among them, Φ final (t) is the looseness of the fastener at time t.

[0063] Step 103: When the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

[0064] Example 2

[0065] like Figure 2 As shown, an embodiment of the present invention further provides a railway track fastener loosening monitoring system based on three-dimensional point cloud data, comprising:

[0066] a fastener information acquisition module, configured to perform laser scanning on railway track fasteners, acquire three-dimensional point cloud data of the fasteners, form a three-dimensional model of the fasteners, and acquire fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0067] Setting a model module, for setting a fastener looseness assessment model, and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0068] Specifically, the fastener position deviation evaluation model includes:

[0069]

[0070] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0071] Specifically, the fastener stiffness evaluation model includes:

[0072]

[0073] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0074] Specifically, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0075]

[0076] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0077] Specifically, the fastener loosening assessment model includes:

[0078]

[0079] Among them, Φ final (t) is the looseness of the fastener at time t.

[0080] The alarm module is used to issue an alarm message when the looseness of the fastener exceeds a preset looseness threshold, prompting the user to tighten the fastener.

[0081] Example 3

[0082] An embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data.

[0083] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0084] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps: Step 101, performing laser scanning on a railway track fastener to obtain three-dimensional point cloud data of the fastener, forming a three-dimensional model of the fastener, and obtaining fastener information of the three-dimensional model of the fastener, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0085] Step 102: Setting a fastener looseness assessment model and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0086] Specifically, the fastener position deviation evaluation model includes:

[0087]

[0088] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0089] Specifically, the fastener stiffness evaluation model includes:

[0090]

[0091] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0092] Specifically, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0093]

[0094] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0095] Specifically, the fastener loosening assessment model includes:

[0096]

[0097] Among them, Φ final (t) is the looseness of the fastener at time t.

[0098] Step 103: When the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

[0099] Example 4

[0100] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, which can be loaded and executed by the processor to enable the processor to execute the method for monitoring loose railway track fasteners based on three-dimensional point cloud data.

[0101] Specifically, the electronic device of this embodiment may be a computer terminal, which may include: one or more processors, and a storage medium.

[0102] Among them, the storage medium can be used to store software programs and modules, such as a method for monitoring the loosening of railway track fasteners based on three-dimensional point cloud data in an embodiment of the present invention, and corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned method for monitoring the loosening of railway track fasteners based on three-dimensional point cloud data. The storage medium may include high-speed random access storage media, and may also include non-volatile storage media, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include storage media remotely located relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0103] The processor may call information and applications stored in a storage medium through a transmission system to execute the following steps: Step 101: laser scan a railway track fastener to obtain three-dimensional point cloud data of the fastener, form a three-dimensional model of the fastener, and obtain fastener information of the three-dimensional model of the fastener, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom;

[0104] Step 102: Setting a fastener looseness assessment model and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model;

[0105] Specifically, the fastener position deviation evaluation model includes:

[0106]

[0107] Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the ith degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

[0108] Specifically, the fastener stiffness evaluation model includes:

[0109]

[0110] Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

[0111] Specifically, the amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom is i include:

[0112]

[0113] Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

[0114] Specifically, the fastener loosening assessment model includes:

[0115]

[0116] Among them, Φ final (t) is the looseness of the fastener at time t.

[0117] Step 103: When the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

[0118] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0119] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0121] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0124] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A railway track fastener loosening monitoring method based on three-dimensional point cloud data, characterized in that: include: Performing laser scanning on railway track fasteners to obtain three-dimensional point cloud data of the fasteners, forming a three-dimensional model of the fasteners, and obtaining fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom; Setting a fastener looseness assessment model, and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model; When the looseness of the fastener exceeds a preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

2. The method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data according to claim 1, characterized in that: The position deviation assessment model of the fastener includes: Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the i-th degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

3. The method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data according to claim 2, characterized in that: Fastener stiffness evaluation models include: Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

4. The method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data according to claim 3, characterized in that: The amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom i include: Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

5. The method for monitoring loosening of railway track fasteners based on three-dimensional point cloud data according to claim 4, characterized in that: Fastener loosening assessment models include: Among them, Φ final (t) is the looseness of the fastener at time t.

6. A railway track fastener loosening monitoring system based on three-dimensional point cloud data, characterized in that: include: a fastener information acquisition module, configured to perform laser scanning on railway track fasteners, acquire three-dimensional point cloud data of the fasteners, form a three-dimensional model of the fasteners, and acquire fastener information of the three-dimensional model of the fasteners, wherein the fastener information includes: an initial position of the fastener, a rotation frequency of the fastener for each degree of freedom, a phase angle of the fastener for each degree of freedom, and a rotation axis vector for each degree of freedom; Setting a model module, for setting a fastener looseness assessment model, and calculating the looseness of the fastener in real time based on the fastener information, wherein the fastener looseness assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model; The alarm module is used to issue an alarm message when the looseness of the fastener exceeds a preset looseness threshold, prompting the user to tighten the fastener.

7. The railway track fastener loosening monitoring system based on three-dimensional point cloud data according to claim 6, characterized in that: The position deviation assessment model of the fastener includes: Where P(t) is the position offset of the fastener at time t, P0 is the initial position of the fastener, A1 is the first amplitude coefficient used to represent the first amplitude of the fastener displacement, α1 is the first adjustment factor of the fastener position offset evaluation model, A2 is the second amplitude coefficient used to represent the second amplitude of the fastener displacement, β1 is the second adjustment factor of the fastener position offset evaluation model, θ(t) is the phase angle of the fastener at time t, I is the unit matrix, n is the number of degrees of freedom, and C i is the amplitude coefficient of the angular velocity of the fastener in the i-th degree of freedom, γ i is the attenuation coefficient of the angular velocity of the fastener of the i-th degree of freedom, which is used to represent the attenuation rate of the angular velocity of the fastener, δ i is the rotation frequency of the fastener with the i-th degree of freedom, θ i is the phase angle of the fastener of the ith degree of freedom, r i is the rotation axis vector of the i-th degree of freedom, which is used to describe the direction of fastener rotation.

8. The railway track fastener loosening monitoring system based on three-dimensional point cloud data according to claim 7, characterized in that: Fastener stiffness evaluation models include: Wherein, k(t) is the stiffness of the fastener at time t, k0 is the initial stiffness of the fastener, A3 is the third amplitude coefficient, which is used to represent the third amplitude of the fastener displacement, α2 is the first adjustment factor of the fastener stiffness evaluation model, A4 is the fourth amplitude coefficient, which is used to represent the fourth amplitude of the fastener displacement, β2 is the second adjustment factor of the fastener stiffness evaluation model, θ′ is the initial phase of the stiffness change fluctuation, which is used to describe the starting position of the stiffness change fluctuation, F(t) is the external force applied to the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress applied to the fastener.

9. The railway track fastener loosening monitoring system based on three-dimensional point cloud data according to claim 8, characterized in that: The amplitude coefficient C of the angular velocity of the fastener of the i-th degree of freedom i include: Among them, ω i (t) is the angular velocity of the fastener of the i-th degree of freedom at time t.

10. The railway track fastener loosening monitoring system based on three-dimensional point cloud data according to claim 9, characterized in that: Fastener loosening assessment models include: Among them, Φ final (t) is the looseness of the fastener at time t.

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