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

Abstract

The application discloses a railway track fastener loosening monitoring method based on three-dimensional point cloud data, and the method comprises the following steps: performing laser scanning on a railway track fastener, acquiring three-dimensional point cloud data of the fastener, forming a three-dimensional model of the fastener, and acquiring fastener information of the three-dimensional model of the fastener, wherein the fastener information comprises an initial position of the fastener, a rotation frequency of the fastener at each degree of freedom, a phase angle of the fastener at each degree of freedom, and a rotation axis vector at each degree of freedom; setting a fastener loosening evaluation model, and calculating a loosening degree of the fastener in real time according to the fastener information, wherein the fastener loosening evaluation model comprises a position offset evaluation model of the fastener and a fastener stiffness evaluation model; and when the loosening degree of the fastener exceeds a preset loosening threshold, an alarm information is sent to prompt a user to tighten the fastener.

Description

Technical Field

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

[0002] Rail track fasteners are connecting components used to secure railway rails to track slabs or sleepers, ensuring the stability and safety of the track. The main function of the fasteners is to maintain a tight contact between the rails and the track foundation, preventing rail displacement or swaying, thereby ensuring the smooth operation of trains.

[0003] Common types of railway track fasteners include: Clamp-type fasteners: These fasteners fix the track to the sleepers using clamps, commonly used in traditional railway construction; Spring fasteners: These fasteners use the elastic force of springs to fix the track, often used in high-speed railways to effectively reduce vibration and impact; Bolt fasteners: These fasteners fix the track using bolts, usually used in conjunction with pads and track slabs; Spring-pad fasteners: These fasteners use specially designed pads and spring systems to fix and adjust the track; Ballastless track fasteners: These fasteners are used in ballastless track systems, i.e., track systems that do not use traditional wooden or concrete sleepers, and the fasteners are directly connected to the concrete track foundation.

[0004] Currently, the monitoring of loose railway track fasteners is generally carried out manually, which results in low monitoring accuracy and may lead to safety accidents. Summary of the Invention

[0005] To address the above technical problems, this invention proposes a method for monitoring the loosening of railway track fasteners based on three-dimensional point cloud data, comprising:

[0006] A laser scan is performed on the railway track fastener to obtain three-dimensional point cloud data of the fastener, forming a three-dimensional model of the fastener. The fastener information of the three-dimensional model is obtained, wherein the fastener information includes: the initial position of the fastener, the rotation frequency of the fastener in each degree of freedom, the phase angle of the fastener in each degree of freedom, and the rotation axis vector of each degree of freedom.

[0007] Set up a fastener loosening assessment model, and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model.

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

[0009] Furthermore, the fastener position offset evaluation model 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0013]

[0014] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0016]

[0017] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0019]

[0020] Where, Φ final (t) represents the degree of looseness of the fastener at time t.

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

[0022] The fastener information acquisition module is used 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. The fastener information includes: the initial position of the fasteners, the rotation frequency of the fasteners in each degree of freedom, the phase angle of the fasteners in each degree of freedom, and the rotation axis vector of each degree of freedom.

[0023] The model setting module is used to set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening 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 fastener position offset evaluation model 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0029]

[0030] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0032]

[0033] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0035]

[0036] Where, Φ final (t) represents the degree of looseness of the fastener at time t.

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

[0038] This invention uses laser scanning to acquire three-dimensional point cloud data of railway track fasteners, forming a three-dimensional model of the fasteners. The fastener information from this model includes: the initial position of the fastener, the rotation frequency of the fastener in each degree of freedom, the phase angle of the fastener in each degree of freedom, and the rotation axis vector in each degree of freedom. A fastener loosening assessment model is set up, and the looseness of the fasteners is calculated in real time based on the fastener information. This model includes a position offset assessment model and a stiffness assessment model. When the looseness exceeds a preset threshold, an alarm is issued, prompting the user to tighten the fastener. This invention, through the above technical solution, enables real-time and accurate monitoring of railway track fastener looseness, thereby preventing safety accidents. Attached Figure Description

[0039] Figure 1 This is a flowchart of the method in Embodiment 1 of the present invention;

[0040] Figure 2 This is a system structure diagram of Embodiment 2 of the present invention. Detailed Implementation

[0041] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0042] The method provided by this invention can be implemented in a terminal environment that 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 may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the terminal, and performs various functions and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and by calling data stored in the storage medium.

[0044] Storage media can include random access memory (RAM) or read-only memory (ROM). Storage media can be used to store instructions, programs, code, code sets, or instructions.

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

[0046] In addition, those skilled in the art will understand that the above-described structure of the terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include radio frequency circuits, input units, sensors, audio circuits, power supplies, and other components, which will not be described in detail here.

[0047] Example 1

[0048] like Figure 1 As shown in the figure, this invention proposes a method for monitoring the loosening of railway track fasteners based on three-dimensional point cloud data, including:

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

[0050] Step 102: Set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model.

[0051] Specifically, the fastener position offset 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0055]

[0056] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0058]

[0059] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0061]

[0062] Where, Φ final (t) represents the degree of looseness of the fastener at time t.

[0063] Step 103: When the looseness of the fastener exceeds the 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 in the figure, this embodiment of the invention also provides a railway track fastener loosening monitoring system based on three-dimensional point cloud data, including:

[0066] The fastener information acquisition module is used 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. The fastener information includes: the initial position of the fasteners, the rotation frequency of the fasteners in each degree of freedom, the phase angle of the fasteners in each degree of freedom, and the rotation axis vector of each degree of freedom.

[0067] The model setting module is used to set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model.

[0068] Specifically, the fastener position offset 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0072]

[0073] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0075]

[0076] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0078]

[0079] Where, Φ final (t) represents the degree of 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] This invention also proposes a storage medium storing multiple instructions for implementing the aforementioned method for monitoring the 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 group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0084] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, performing laser scanning on the 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: the initial position of the fastener, the rotation frequency of the fastener in each degree of freedom, the phase angle of the fastener in each degree of freedom, and the rotation axis vector of each degree of freedom;

[0085] Step 102: Set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model.

[0086] Specifically, the fastener position offset 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0090]

[0091] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0093]

[0094] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0096]

[0097] Where, Φ final (t) represents the degree of looseness of the fastener at time t.

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

[0099] Example 4

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

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

[0102] The storage medium can be used to store software programs and modules, such as the railway track fastener loosening monitoring method based on 3D point cloud data in this embodiment of the invention. The corresponding program instructions / modules allow the processor to execute various functional applications and data processing by running the software programs and modules stored in the storage medium, thus realizing the aforementioned railway track fastener loosening monitoring method based on 3D 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 configured relative to the processor, which can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

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

[0104] Step 102: Set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model.

[0105] Specifically, the fastener position offset 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 identity matrix, n is the number of degrees of freedom, and C i γ is the amplitude coefficient of the fastener angular velocity in the i-th degree of freedom. i Let δ be the attenuation coefficient of the fastener angular velocity in the i-th degree of freedom, used to represent the rate of attenuation of the fastener angular velocity. i Let θ be the rotational frequency of the fastener in the i-th degree of freedom. i Let r be the phase angle of the fastener in the i-th degree of freedom. i Let be the rotation axis vector of the i-th degree of freedom, used to describe the direction of rotation of the fastener.

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

[0109]

[0110] Where 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, 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, 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, used to describe the starting position of the stiffness change fluctuation, F(t) is the external force on the fastener at time t, n′ is the third adjustment factor of the fastener stiffness evaluation model, and σ0 is the initial stress on the fastener.

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

[0112]

[0113] Where, ω i (t) represents the angular velocity of the fastener in the i-th degree of freedom at time t.

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

[0115]

[0116] Where, Φ final (t) represents the degree of looseness of the fastener at time t.

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

[0118] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0119] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

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

[0121] The units described as separate components may or may not be physically separate. 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 the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as 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, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, optical disks, and other media capable of storing program code.

[0124] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A railway track fastening loosening monitoring method based on three-dimensional point cloud data, characterized in that, include: A laser scan is performed on the railway track fastener to obtain three-dimensional point cloud data of the fastener, forming a three-dimensional model of the fastener. The fastener information of the three-dimensional model is obtained, wherein the fastener information includes: the initial position of the fastener, the rotation frequency of the fastener in each degree of freedom, the phase angle of the fastener in each degree of freedom, and the rotation axis vector of each degree of freedom. Set up a fastener loosening assessment model, and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model. The fastener position offset evaluation model includes: ， in, For time The position of the fastener is offset. This is the initial position of the fastener. This is the first amplitude coefficient, used to represent the first amplitude of the fastener displacement. The first adjustment factor in the fastener position offset evaluation model. This is the second amplitude coefficient, used to represent the second amplitude of the fastener displacement. This is the second adjustment factor in the fastener position offset evaluation model. For time Phase angle of the fastener, It is the identity matrix. For the number of degrees of freedom, For the first The amplitude coefficient of the angular velocity of the fastener for each degree of freedom. For the first The attenuation coefficient of the fastener angular velocity for each degree of freedom is used to represent the fastener angular velocity. The rate of decrease in speed, For the first The rotation frequency of a fastener with one degree of freedom. For the first The phase angle of a fastener with one degree of freedom. For the first A rotation axis vector with one degree of freedom is used to describe the direction of rotation of the fastener; The fastener stiffness evaluation model includes: ， in, For time The stiffness of the fastener, The initial stiffness of the fastener. This is the third amplitude coefficient, used to represent the third amplitude of the fastener displacement. As the first adjustment factor in the fastener stiffness assessment model, This is the fourth amplitude coefficient, used to represent the fourth amplitude of the fastener displacement. This is the second adjustment factor in the fastener stiffness assessment model. This represents the initial phase of the stiffness variation fluctuation, used to describe the starting position of the stiffness variation fluctuation. For time The external force on the fastener This is the third adjustment factor in the fastener stiffness assessment model. This represents the initial stress experienced by the fastener; The fastener loosening assessment model includes: ， in, For time The looseness of the fasteners; When the looseness of the fastener exceeds the preset looseness threshold, an alarm message is issued to prompt the user to tighten the fastener.

2. The method for monitoring the loosening of railway track fasteners based on three-dimensional point cloud data as described in claim 1, characterized in that, No. Amplitude coefficient of the angular velocity of the fastener in each degree of freedom include: ， in, For time Time The angular velocity of the fastener with one degree of freedom.

3. A railway track fastener loosening monitoring system based on three-dimensional point cloud data, characterized in that, include: The fastener information acquisition module is used 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. The fastener information includes: the initial position of the fasteners, the rotation frequency of the fasteners in each degree of freedom, the phase angle of the fasteners in each degree of freedom, and the rotation axis vector of each degree of freedom. The model setting module is used to set up a fastener loosening assessment model and calculate the looseness of the fastener in real time based on the fastener information. The fastener loosening assessment model includes: a fastener position offset assessment model and a fastener stiffness assessment model. The fastener position offset evaluation model includes: ， in, For time The position of the fastener is offset. This is the initial position of the fastener. This is the first amplitude coefficient, used to represent the first amplitude of the fastener displacement. The first adjustment factor in the fastener position offset evaluation model. This is the second amplitude coefficient, used to represent the second amplitude of the fastener displacement. This is the second adjustment factor in the fastener position offset evaluation model. For time Phase angle of the fastener, It is the identity matrix. For the number of degrees of freedom, For the first The amplitude coefficient of the angular velocity of the fastener for each degree of freedom. For the first The attenuation coefficient of the fastener angular velocity for each degree of freedom is used to represent the rate of attenuation of the fastener angular velocity. For the first The rotation frequency of a fastener with one degree of freedom. For the first The phase angle of a fastener with one degree of freedom. For the first A rotation axis vector with one degree of freedom is used to describe the direction of rotation of the fastener; The fastener stiffness evaluation model includes: ， in, For time The stiffness of the fastener, The initial stiffness of the fastener. This is the third amplitude coefficient, used to represent the third amplitude of the fastener displacement. As the first adjustment factor in the fastener stiffness assessment model, This is the fourth amplitude coefficient, used to represent the fourth amplitude of the fastener displacement. This is the second adjustment factor in the fastener stiffness assessment model. This represents the initial phase of the stiffness variation fluctuation, used to describe the starting position of the stiffness variation fluctuation. For time The external force on the fastener This is the third adjustment factor in the fastener stiffness assessment model. This represents the initial stress experienced by the fastener; The fastener loosening assessment model includes: ， in, For time The looseness of the fasteners; 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.

4. The railway track fastener loosening monitoring system based on three-dimensional point cloud data as described in claim 3, characterized in that, No. Amplitude coefficient of the angular velocity of the fastener in each degree of freedom include: ， in, For time Time The angular velocity of the fastener with one degree of freedom.

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