Novel railway tunnel deformation real-time surveying and mapping system based on three-dimensional scanning technology

Abstract

The invention relates to the technical field of laser ranging, in particular to a novel railway tunnel deformation real-time surveying and mapping system based on a three-dimensional scanning technology, which comprises a laser sampling module, an echo evaluation module, a space repositioning module, a residual evolution module and a deformation surveying and mapping module. According to the method, after continuous distance information of a target position is obtained, measuring point sequence data is constructed based on a time sequence, a signal abnormal area is recognized through echo intensity fluctuation, the signal abnormal area is further converted into a space coordinate structure, track differences are extracted, vector data are generated, deviation characteristics are analyzed in combination with the tunnel space position, and the deformation amplitude is quantified. Compared with a periodic observation mode depending on manual distribution of measuring points, the method has the advantages that fine coordinate difference data can be continuously output, the deformation monitoring frequency and the space coverage range can be improved, manual interference errors can be reduced, and the dynamic mastering capability of the tunnel structure evolution process can be enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser ranging technology, in particular to a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology. BACKGROUND

[0002] The field of laser ranging technology involves technical means for obtaining the distance between a target object and a ranging device by emitting and receiving laser beams. The core items include the emission and reception of laser signals, time-of-flight measurement, reflection signal processing, and the calculation of target distance or spatial coordinates. This technology achieves high-precision spatial positioning and measurement by using a laser as the active ranging source combined with time difference or phase methods. It is widely used in terrain mapping, building surveying, unmanned navigation, structural deformation monitoring, and other scenarios. The traditional railway tunnel deformation measurement system refers to the use of total station instruments, level instruments, and other fixed-point measurement equipment to set up measurement reference points and conduct periodic manual observations to obtain tunnel structure displacement data. This method mainly relies on manual measurement point layout and periodic instrument observation data reading to obtain structural deformation, and uses two-dimensional coordinate comparison or cross-section change comparison to achieve tunnel structure deformation monitoring. However, this method has problems such as long measurement period, low efficiency, and many human interference factors. The technical items addressed by the present patent subject are how to achieve high-frequency spatial deformation monitoring of railway tunnel structures during operation. This is generally achieved by deploying multi-point laser scanning devices inside the tunnel, constructing a three-dimensional spatial data model based on laser ranging principles, and automatically generating continuous cross-section morphology based on scanning trajectories to realize real-time spatial profile collection and comparison measurement of tunnel structures.

[0003] The measurement method based on manual measurement point setup and periodic use of total station or level observation has problems such as high operation difficulty, limited layout, and poor repeatability in a continuous operation environment. When the observation period is long or there is human interference, it is difficult to capture key deformation stages in time. Two-dimensional coordinate comparison or cross-section morphology difference analysis can only reflect local cross-section changes and is difficult to form overall spatial evolution trends. For example, it is difficult to accurately identify the deformation area boundary and change path when there are segmented non-synchronous deformations in the tunnel, affecting early identification of structural risks and intervention efficiency. SUMMARY

[0004] To solve the technical problems existing in the prior art, the present application embodiment provides a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology. The technical solution is as follows: On the one hand, a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology is provided, which includes: The laser sampling module collects time information of laser emission and echo return, combines emission and reception records and device parameters, identifies the order of measuring points in the scanning path, generates a continuous structure by time arrangement, and outputs distance sequence data of measuring points; The echo evaluation module extracts echo intensity by using the distance sequence data of measuring points, compares the same position in a continuous period, analyzes fluctuation trend, identifies and numbers echo abnormal measuring points, and generates fluctuation measuring point sequence; The spatial relocation module extracts ranging records and platform attitude according to the fluctuation measuring point sequence, converts into three-dimensional coordinates and establishes spatial distribution, analyzes coordinate changes in a period, constructs trajectory difference features, and generates difference vector data; The residual evolution module analyzes offset change areas according to the difference vector data, quantifies the offset degree of the area, extracts representative indicators, and generates residual growth section amplitude coefficients; The deformation mapping module extracts spatial positions and cross-section structures of associated measuring points according to the residual growth section amplitude coefficients, identifies the deviation relationship with the standard structure, outputs the overall offset situation, and generates real-time deformation mapping results.

[0005] As a further scheme of the application, the distance sequence data of measuring points includes measuring point position order, emission and reception time pairing relationship, scanning path time association structure, the fluctuation measuring point sequence includes measuring point echo intensity change value, echo stability identifier, fluctuation measuring point number, the three-dimensional coordinate spatial distribution structure includes measuring point three-dimensional coordinate, attitude correction information, trajectory difference feature, the residual growth section amplitude coefficient includes offset area number, offset amount indicator in the area, residual evolution trend quantization value, and the real-time deformation mapping result includes measuring point spatial coordinate position, cross-section deviation degree, and overall offset situation of path position.

[0006] As a further scheme of the application, the laser sampling module includes: The time sequence calibration submodule obtains the emission time and the reception time of the laser emission signal and the echo signal, calculates the time interval of the same laser pulse, and according to the sampling period, the time step and the signal frequency in the device setting parameter, filters the data in the time interval, performs time labeling according to the set step, and generates a scanning emission time sequence; The path association submodule, based on the scanning emission time sequence, calls the corresponding records of the emission time and the reception time, constructs the point position index value of each group of time sequence in the sampling path, sorts the laser measuring points according to the time sequence according to the spatial trajectory order in the laser beam scanning path, and obtains the path sequence index set; The distance calculation sub-module calls the transmission time and the receiving time of each measuring point in the path sequence index set, obtains the echo time difference of each measuring point, combines the laser propagation speed and the path step length in the device setting parameter, and calculates a single distance measurement value.

[0007] As a further scheme of the present application, the specific calculation formula of the single distance measurement value is: ; The operation obtains the corrected distance value of each measuring point, integrates the corrected distance value of all measuring points and the path sequence, and generates measuring point distance sequence data. Among them, represents the corrected distance value of the measuring point i, represents the echo receiving time of the measuring point i, represents the transmission time of the measuring point i, and V represents the laser propagation speed, represents the single distance measurement value of the jth measuring point, represents the average distance measurement value of all measuring points, represents the step distance or path arc length of the ith measuring point in the scanning path, and n represents the number of measuring points for error statistics.

[0008] As a further scheme of the present application, the echo evaluation module comprises: The intensity extraction sub-module extracts the amplitude information of the corresponding echo signal based on the measuring point distance sequence data, calls the time and space index of the measuring point, identifies the signal amplitude variation range within the specified sampling period, obtains the maximum value in the signal amplitude sequence as the echo intensity of the measuring point, and generates a measuring point echo intensity value sequence; The fluctuation identification sub-module extracts information of the measuring point at the same spatial position in the continuous period according to the measuring point echo intensity value sequence, constructs an echo intensity variation sequence of the corresponding position, determines the fluctuation of the measuring point in multiple periods according to a predetermined judgment rule, analyzes and processes the variation characteristics, obtains the fluctuation rate of each measuring point in the continuous period, and selects the judgment logic according to the fluctuation rate greater than the judgment threshold to obtain an unstable measuring point identification index; The number arrangement sub-module calls the unstable measuring point identification index, extracts the spatial position and time period index of the corresponding measuring point, generates a unique identification number, establishes a corresponding sequence index structure, completes sequence arrangement according to the spatial scanning path sequence, and obtains a fluctuation measuring point sequence.

[0009] As a further scheme of the present application, the spatial repositioning module comprises: The three-dimensional conversion submodule extracts ranging records and platform attitude parameters in a corresponding period according to the fluctuation measuring point sequence, converts the spatial position data of the measuring points into three-dimensional coordinate values, establishes a spatial coordinate system corresponding to the period, and generates a three-dimensional coordinate data set of the period. The trajectory construction submodule arranges the spatial position change data of the measuring points in the continuous periods according to the three-dimensional coordinate data set of the period, constructs the periodic spatial trajectory path of the measuring points, and obtains a continuous trajectory path set of the measuring points. The difference generation submodule extracts the period change characteristics in the path, analyzes the spatial position difference, direction offset information and time change characteristics between the trajectories, induces the spatial behavior change of the measuring points in the difference period, and generates difference vector data.

[0010] As a further scheme of the application, the residual evolution module comprises: The region identification submodule calls the difference vector data, judges the distance and direction change characteristics of adjacent measuring points according to the spatial arrangement order of the measuring points, identifies the path segment with continuous consistent direction, and establishes a continuous offset region sequence. The offset value extraction submodule extracts the offset values of the measuring points in the region according to the continuous offset region sequence, eliminates boundary abnormal points and corrects errors, refines the representative offset characteristics in the region, and generates a region offset representative value set. The amplitude calculation submodule calls the region offset representative value set, calculates the offset growth degree of the region in combination with the path index and the direction change characteristics, and obtains a residual growth section amplitude coefficient.

[0011] As a further scheme of the application, the deformation mapping module comprises: The position extraction submodule extracts the path number and spatial index corresponding to the associated measuring points based on the residual growth section amplitude coefficient, matches the spatial position of the measuring points in the structural coordinate system, judges whether the measuring points are located outside the structural boundary range, screens abnormal measuring points, establishes a spatial mapping relationship between the abnormal measuring points and the path index, and generates an abnormal measuring point spatial position set. The structure offset judgment submodule calls the abnormal measuring point spatial position set, extracts the standard cross-section structure data at the position according to the spatial coordinates of the measuring points, judges the spatial offset relationship between the measuring points and the corresponding standard structure, obtains the offset direction and offset degree of the measuring points in the standard cross-section, and performs offset level division in combination with the geometric shape parameters of the cross-section structure, to obtain a structure offset level quantity. The deformation result generation submodule judges the offset trend of the overall path section in combination with the path position and spatial distribution characteristics of the measuring points according to the structure offset level quantity, sorts the offset levels of the measuring points and outputs them in the path order, constructs an offset level sequence of the continuous path segment, and generates a real-time deformation mapping result.

[0012] As a further scheme of the present application, the device parameter refers to a preset operation control parameter in the laser ranging device, including a laser pulse frequency, a sampling period, a scanning angle range, and a transmission power, which are determined by laser hardware parameters and control system setting conditions together. The measuring point is a discrete spatial position point formed along the moving path of the operation platform at a time sampling interval, and the coordinate position is obtained by combining laser ranging with attitude solution. The echo intensity is an energy amplitude response value recorded by the laser receiver when receiving the echo signal. The same position is a coordinate position coinciding in space calibrated by a vehicle-mounted positioning system in multiple scanning periods, and is time-space aligned by an inertial navigation system or GNSS mileage information.

[0013] As a further scheme of the present application, the platform attitude is attitude angle information of the operation platform on the ground in space, including a pitch angle, a roll angle, and a yaw angle, which are obtained by a vehicle-mounted inertial navigation system in real time and used for coordinate system conversion. The difference vector data is a vector set formed by the position change amount of the same measuring point in a three-dimensional coordinate system in continuous scanning periods. The residual refers to the spatial displacement difference between the three-dimensional coordinate change of the same measuring point at the difference time and the theoretical stable state. The section refers to a spatial region formed by a group of continuous measuring points in the tunnel space structure, and the boundary is determined by the position sequence of the scanning path. The cross-sectional structure is a geometric contour formed by the distribution of the tunnel space measuring points on the same cross section.

[0014] The standard structure is a reference form constructed according to the standard cross-sectional size and shape coordinates provided in the tunnel engineering design file.

[0015] Compared with the prior art, the present application has the following advantages and positive effects: In the present application, the measuring point sequence data is constructed based on time series after acquiring the continuous distance information of the target position, the signal abnormal area is identified by the echo intensity fluctuation, the trajectory difference is extracted and the vector data is generated by further converting into spatial coordinate structure, the deformation amplitude is quantified by analyzing the offset characteristics of the tunnel space position, and the corresponding cross-sectional structure is extracted to realize real-time contour comparison and mapping. Compared with the periodic observation mode relying on manual arrangement of measuring points, this mode can continuously output fine coordinate difference data, improve the deformation monitoring frequency and spatial coverage range, reduce the manual interference error, and enhance the dynamic mastery ability of the tunnel structure evolution process. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0017] Figure 1 The system flowchart of the present application; Figure 2 The flowchart of the laser sampling module of the present application; Figure 3 The flowchart of the echo evaluation module of the present application; Figure 4 The flowchart of the spatial repositioning module of the present application; Figure 5 The flowchart of the residual evolution module of the present application; Figure 6 The flowchart of the deformation mapping module of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the present application will be described below in combination with the drawings.

[0019] In the embodiments of the present application, the words such as "example", "for example" and the like are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be either one of the two.

[0020] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent. "Of", "corresponding" and "corresponding" can be used interchangeably at times. It should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0021] In the embodiments of the present application, sometimes the subscript such as W1 can be written in the form of non-subscript such as W1. When the distinction is not emphasized, the meanings expressed are consistent.

[0022] In order to make the technical problems, technical solutions and advantages of the present application more clear, the following will be described in detail in combination with the drawings and specific embodiments.

[0023] The embodiment of the application provides a new railway tunnel deformation real-time mapping system based on a three-dimensional scanning technology, as shown in Figure 1 The new railway tunnel deformation real-time mapping system based on the three-dimensional scanning technology is shown in the schematic diagram, and the system comprises: The laser sampling module obtains time information of laser emission and echo return of the working platform in the railway tunnel, identifies the position sequence of all measuring points in the scanning path in combination with each set of emission and receiving records and device setting parameters, associates and organizes the continuous structure according to time sequence, and generates measuring point distance sequence data; The working platform is a three-dimensional laser scanning device mounting structure or a moving carrier mounted on the railway tunnel detection vehicle, and provides a basic structure support for stable movement of the scanning device along the tunnel track direction; The device setting parameter refers to a preset operation control parameter in the laser ranging device, including a laser pulse frequency, a sampling period, a scanning angle range and a transmission power, which is determined by laser hardware parameters and control system setting conditions; The measuring point is a discrete spatial position point formed according to a time sampling interval along the moving path of the working platform, and the coordinate position is obtained by laser ranging combined with attitude solution, and is used for constructing a three-dimensional space point cloud structure; The echo evaluation module extracts echo intensity information of each measuring point based on the measuring point distance sequence data, compares the same position in the continuous period, identifies signal stability according to the fluctuation trend, and numbers and organizes the identified fluctuation measuring points to generate a fluctuation measuring point sequence; The echo intensity information is an energy amplitude response value recorded by the laser receiver when receiving the echo signal, and is used for reflecting the reflection performance of the reflecting surface and the ranging signal quality; The same position is a coordinate position coinciding in space calibrated by the vehicle-mounted positioning system in multiple scanning periods, and is time-space aligned by an inertial navigation system or GNSS mileage information; The space repositioning module extracts ranging records and platform attitude information of the corresponding measuring points according to the fluctuation measuring point sequence, converts the three-dimensional coordinates and forms a spatial distribution structure, identifies the coordinate change rule in the continuous period, constructs corresponding track data through difference characteristics, and generates difference vector data; The platform attitude information is attitude angle information of the working platform on the ground in space, including a pitch angle, a roll angle and a yaw angle, which is obtained by the vehicle-mounted inertial navigation system in real time and is used for coordinate system conversion; The difference vector data is a vector set formed by the position change amount of the same measuring point in the three-dimensional coordinate system in the continuous scanning period, and is used for reflecting the offset trend of the tunnel structure spatial point position with time; The residual evolution module calls the difference vector data, analyzes in the tunnel space arrangement order, identifies the area of continuous offset change, quantifies the offset degree in each area, extracts as a representative index, and generates the residual growth section amplitude coefficient; The residual is the spatial displacement difference value between the three-dimensional coordinate change of the same measuring point at the difference time and the theoretical stable state, which is used to quantify the local deformation; The section refers to the spatial area composed of a group of continuous measuring points in the tunnel space structure, and the boundary is determined by the scanning path position sequence, which is used to locate the deformation area range; The deformation mapping module extracts the spatial position of the associated measuring point based on the residual growth section amplitude coefficient, obtains the corresponding section structure, identifies the deviation relationship between the section and the standard structure, and outputs the overall offset according to the path position, to generate the real-time deformation mapping result; The section structure is the geometric contour formed by the distribution of the tunnel space measuring points on the same cross section, which is used to describe the current structure form and spatial offset characteristics.

[0024] The standard structure is the reference form constructed according to the standard section size and shape coordinates provided in the tunnel engineering design file, which is used for offset comparison with the actual section; The path position refers to the position mark set according to the displacement sequence of the measuring device along the tunnel line direction, which can be given by the mileage point mark or continuous path distance information; The measuring point distance sequence data includes the measuring point position sequence, the transmission and reception time pairing relationship, and the scanning path time correlation structure. The fluctuating measuring point sequence includes the measuring point echo intensity change value, the echo stability identifier, and the fluctuating measuring point number. The three-dimensional coordinate space distribution structure includes the measuring point three-dimensional coordinate, the attitude correction information, and the track difference characteristics. The residual growth section amplitude coefficient includes the offset region number, the offset amount indicator in the region, and the residual evolution trend quantitative value. The real-time deformation mapping result includes the measuring point spatial coordinate position, the section deviation degree, and the path position overall offset.

[0025] Specifically, as shown in Figure 2 The laser sampling module includes: The time sequence calibration submodule obtains the transmission time and reception time of the laser transmission signal and echo signal, calculates the time interval of the same laser pulse, and according to the sampling period, time step and signal frequency in the device setting parameters, filters the data in the time interval, and generates the scanning transmission time sequence according to the set step; The transmission time and reception time of the laser transmission signal and echo signal are obtained by setting an accurate trigger mechanism on the laser of the work platform, recording the transmission time and reception time For example, in the case of a railway tunnel detection scenario, the device operating frequency is 10 MHz, corresponding to a sampling period of 0.1 μs. In the set of five measurement points P1 to P5, the transmission times are 0.000001 s to 0.000005 s, and the corresponding reception times are 0.000006 s to 0.000011 s. The laser flight time difference ΔT for each point is calculated as follows: The results are all 5 μs or 6 μs. Then, according to the device sampling period of 0.1 μs and the timing tolerance of ±0.2 μs, if the time interval falls within the effective time interval, it is considered valid. For example, for P3, ΔT = 6 μs, which is within the tolerance interval [5.8 μs, 6.2 μs], so it is determined to be a valid pulse. Then, according to the set time step, T1 is 0.000001 s, T2 is 0.0000011 s, and so on. A set of continuous timing labels is generated on the time axis. Table 1 lists the time parameters and original distance measurement data for each sampling point: Table 1: Sampling point parameter setting table: ; As shown in Table 1, the time information combined with the laser platform set step parameter can be used to generate the transmission timing sequence in the laser scanning process, and the result is the scan transmission timing sequence.

[0026] The path association submodule calls the corresponding records of the transmission time and the reception time based on the scan transmission timing sequence, constructs the point position index value of each time sequence in the sampling path, sorts the laser measurement points according to the time sequence based on the spatial trajectory sequence in the laser beam scanning path, and obtains the path sequence index set; Based on the scan transmission timing sequence, the number and timestamp of each sampling point in Table 1 are called to establish the path point index structure in turn, such as T1 to T5 corresponding to P1 to P5, and the transmission and reception time combination is read, such as T1 corresponding to transmission 0.000001 s and reception 0.000006 s. Then, the time node is mapped to the spatial position in the laser beam scanning path. According to the set trajectory of the working platform in the tunnel detection, a linear step structure is adopted, and the platform moves 0.02 meters each time. A spatial point array path is formed, and the point numbers are sequentially P1 to P5, corresponding to the path positions x = 0.00 m, 0.02 m, 0.04 m, 0.06 m, and 0.08 m. At the same time, path indices 1 to 5 are established for each number to form a path array structure. Then, the path structure is confirmed according to the time sequence, and the time sequence is T1 < T2 < T3 < T4 < T5, corresponding to P1 to P5. Thus, the path sequence index construction is completed, and the structured path sequence index set is obtained as {P1, P2, P3, P4, P5}, which corresponds to the time sequence {T1, T2, T3, T4, T5} one by one, and the result is the path sequence index set.

[0027] The distance calculation sub-module calls the transmission time and the reception time of each measuring point in the path sequence index set, obtains the echo time difference of each measuring point, combines the laser propagation speed and the path step length in the device setting parameter, and calculates the specific calculation formula of the single distance measurement value as follows: ; The operation obtains the corrected distance value of each measuring point, integrates the corrected distance values of all measuring points and the path order, and generates the measuring point distance sequence data; wherein, represents the corrected distance value of the measuring point i, represents the echo reception time of the measuring point i, represents the transmission time of the measuring point i, and V represents the laser propagation speed, represents the single distance measurement value of the jth measuring point, represents the average distance measurement value of all measuring points, represents the step distance or path arc length of the ith measuring point in the scanning path, and n represents the number of measuring points for error statistics; The point data in the path sequence index set are called, the laser transmission time and the reception time are obtained in sequence, the time of flight difference ΔT is calculated, and the laser propagation speed The initial distance is obtained, for example, ΔT of P1 is 5 μs, then , and there is an error in the original distance measurement value 1.45 m. The average value of the original distance measurement values of all measuring points is calculated , and the absolute deviations of the points are 0.07, 0.04, 0.00, 0.03, and 0.08 m respectively, the total sum is , the deviation square sum is , and the path step value is ; ; P1 is taken as an example for calculation: ; ; ; The denominator is , and the calculation is as follows: ; The result shows that the corrected distance of the sampling point P1 is 0.2930 meters, which is much smaller than the laser propagation time calculation value 1.5 meters, which shows that the deviation correction mechanism effectively compresses the distance influence of the high deviation point. Through the operation of the formula on all points, a continuous measuring point corrected distance value sequence, i.e. the measuring point distance sequence data, is obtained. The advantage of the formula is that by adding the absolute value and the square term of the deviation, a reference is established by using step normalization, so that the distance calculation of each point has the ability to resist discrete fluctuations, and the path continuity and trajectory accuracy are enhanced. The formula combines the physical distance in the laser ranging process and the measurement fluctuation, the numerator adds the sum of the deviations of all measurement points relative to the average value to the basic distance obtained by multiplying the laser time difference by the propagation speed, indicating that the overall deviation trend is considered on the basis of the original ranging, the denominator obtains the overall fluctuation intensity by normalizing the deviations of each measurement point by the path step length and then taking the square root, the structure introduces deviation correction by addition, measures the deviation influence range by normalization, and maintains the same dimension by taking the square root, constituting a ranging correction value that reflects the ranging theoretical basis and can adjust the data fluctuation influence; The corrected distance value of each measurement point refers to the actual measurement distance calculated by comprehensively considering the laser flight time, original ranging value and overall measurement fluctuation on the path for a single laser emitting point in the laser ranging process. It not only reflects the physical distance formed by the laser pulse propagation of the point, but also integrates the relative stability and data deviation of the point in the overall measurement sequence. It is an effective distance value obtained by weighted adjustment and error normalization based on the relationship between the measurement point itself and the global measurement environment, which is used to more accurately express the real position of the measurement point in the spatial path.

[0028] Specifically, as shown in Figure 3 The echo evaluation module includes: The intensity extraction submodule calls the time and space indexes of the measurement points based on the measurement point distance sequence data, extracts the amplitude information of the corresponding echo signal, identifies the signal amplitude variation range within the specified sampling period, obtains the maximum value in the signal amplitude sequence as the echo intensity of the measurement point, and generates the measurement point echo intensity value sequence. Based on the measurement point distance sequence data, the time index and spatial coordinate position index corresponding to each measurement point in the scanning path are extracted, the signal segment matching each measurement point in the original signal record is identified, the continuous echo signal amplitude sequence in the signal segment is extracted, the maximum amplitude position of the amplitude rising stage and the falling stage is recorded, the number of signal points in the sampling range is set to a fixed number, each signal segment is traversed and the peak value data is extracted as the echo intensity of the measurement point, the sampling window width is confirmed combining the sampling frequency and time length parameters, and the maximum amplitude point in the echo signal is positioned for signal intensity determination. If the amplitude sequence of measurement point P1 is {0.72, 0.74, 0.75}, the maximum value is 0.75, which is considered as the echo intensity value of P1, the same operation is performed on P2 to P5, the echo intensity data of all measurement points is obtained, and the echo intensity value sequence of the measurement points is obtained in the form of a continuous vector, combining the step distance and ranging data of each measurement point to construct the fluctuation calculation input parameters as shown in Table 2.

[0029] Table 2 Monitoring point fluctuation calculation parameter table: ; The echo intensity value and the ranging value of each measuring point will be used as the basis for the next step of fluctuation index calculation, as shown in Table 2.

[0030] The fluctuation identification submodule extracts information from the measuring points at the same spatial position in consecutive periods according to the sequence of measuring point echo intensity values, constructs the sequence of echo intensity changes at the corresponding position, determines the fluctuation of the measuring points in multiple periods according to the preset determination rule, and analyzes and processes the change characteristics. The specific calculation formula is: ; The fluctuation rate of each measuring point in consecutive periods is obtained by operation, and the unstable measuring point identification index is obtained by screening according to the determination logic that the fluctuation rate is greater than the determination threshold; wherein, represents the fluctuation rate of the measuring point , represents the absolute deviation sum of the echo intensity of the measuring point in consecutive time periods, represents the average echo intensity of the measuring point , represents the echo intensity deviation sum of the measuring point, represents the normalized square sum of the distance deviation of the measuring point in the distance ranging sampling to the path step length , represents the distance value of the measuring point recorded in the distance ranging, is the average value thereof, represents the path step length of the measuring point; According to the echo intensity data of the measuring points in Table 2, the average echo intensity of each measuring point is calculated. For example, the three-period intensity of P1 is 0.75, 0.72, and 0.74, and the average value is The absolute value of the difference between the echo intensity of each period and the average value is processed and summed to obtain the sum of the absolute values of the deviations , and the echo intensity deviation square sum is calculated as The distance ranging value is 1.50, 1.48, and 1.49, and the average value is , and the step distance is 0.02. The distance ranging deviation normalized square sum is calculated as , and the above results are substituted into the formula: ; Similarly, the same operation is performed on P2 to P5 in turn. The fluctuation judgment reference value is set to 0.15, and the fluctuation rate threshold is twice the reference value, i.e. 0.30. The fluctuation rate of each measuring point is calculated as follows: The threshold is determined, and if the fluctuation rate of a certain measuring point is greater than 0.30, it is determined to be an abnormal fluctuation point. The fluctuation rate of P4 is 0.081, which is less than the threshold, and is not abnormal. The fluctuation rate of P3 is 0.094, which is also not abnormal. After screening all measuring points, the unstable measuring point identification index is obtained; The operation logic of the formula jointly measures the echo intensity fluctuation and ranging stability of the measuring point at different periods. The numerator part takes the absolute value of the deviation between the echo intensity of each measuring point in the continuous period and its mean value, which reflects the intensity fluctuation degree of the measuring point in the time dimension. The denominator part first squares the same intensity deviation and sums it to obtain the statistical variance term. At the same time, the ranging values of the measuring point in multiple periods are introduced. The deviation between the ranging value and its mean value is calculated, normalized by step distance, and then squared to reflect the stability of the measuring point in spatial measurement. The two parts are added together, and the whole is square rooted to ensure dimensional consistency and serve as a global fluctuation level normalization suppression factor. The ratio of the "deviation intensity total" to the "overall normalized fluctuation level" is formed, so that the fluctuation rate index reflects not only the actual volatility of the signal intensity of the measuring point, but also the interference influence of the spatial ranging fluctuation, realizing the joint measurement of the abnormal state in the time and space dimensions. The fluctuation rate of each measuring point in the continuous period is a dimensionless index calculated by the change amplitude of the echo intensity of the measuring point relative to its average intensity in multiple continuous sampling periods, combined with the deviation of the ranging value in the spatial dimension. The index comprehensively reflects the signal stability of the measuring point in the time dimension and the ranging consistency in the spatial path. Through the joint analysis of the cumulative intensity deviation and the normalized deviation of the ranging, the change trend and fluctuation degree of the measuring point in the continuous observation process are quantified. The higher the value, the more unstable the state of the measuring point in the continuous period, which can be used to identify key points with abnormal disturbance or signal reliability decline.

[0031] The unstable measuring point identification index is called by the number arrangement sub-module, the spatial position and time period index of the corresponding measuring point are extracted, a unique identification number is generated, the corresponding sequence index structure is established, the sequence arrangement is completed in accordance with the spatial scanning path order, and the fluctuation measuring point sequence is obtained. The unstable measuring point identification index is called, the measuring points marked as abnormal fluctuation in the screening result are indexed and extracted, their corresponding path index and period sequence number are extracted, the two information are connected and combined to form a unique identification, for example, measuring point P3 is identified as abnormal in period 3, which is marked as P3C3. If period 2 is also abnormal, P3C2 is generated. Then, all abnormal identifications are arranged in path order and sorted by period increment. The combined number set of all abnormal measuring points is integrated and output to obtain the formal spatial and time sequence index, and the fluctuation measuring point sequence is output.

[0032] Specifically, as shown in Figure 4 The spatial repositioning module includes: The three-dimensional conversion submodule extracts the ranging records and platform attitude parameters in the corresponding period according to the fluctuation measurement point sequence, converts the spatial position data of the measurement points into three-dimensional coordinate values, establishes a spatial coordinate system corresponding to the period, and generates a three-dimensional coordinate data set of the period. According to the fluctuation measurement point sequence, the ranging records and platform attitude angle information of each measurement point in the continuous period are extracted item by item, wherein the ranging records are used to describe the spatial distance of the measurement point relative to the device in each period, and the platform attitude information includes the pitch angle, roll angle and heading angle of the device in each period. First, the ranging data of each measurement point is arranged in order of period to form a ranging record vector, and then the platform attitude angle in the period is obtained as an angle input parameter. The two types of data are used as joint input, and through polar coordinate conversion and attitude angle correction operation, the ranging direction in each period is converted into absolute spatial coordinates. In the operation process, taking measurement point M1 as an example, its ranging records are 1.52, 1.51 and 1.50, the pitch angle is 3.5, the roll angle is 0.5, and the heading angle is 180. Input them into the three-dimensional coordinate conversion process to obtain the three-dimensional coordinate position of the measurement point in the continuous three periods. The same operation is performed on measurement points M2 to M5 to establish the corresponding coordinate point sequence, and the spatial position system of each measurement point in multiple periods is constructed to generate a three-dimensional coordinate data set of the period. The specific participating item data is shown in Table 3.

[0033] Table 3: Example of spatial repositioning participating items of measurement points ; The trajectory construction submodule arranges the spatial position change data of the measurement points in the continuous period according to the three-dimensional coordinate data set of the period, constructs the periodic spatial trajectory path of the measurement points, and obtains a continuous trajectory path set of the measurement points. According to the three-dimensional coordinate data set of the period listed in Table 3, the spatial position points of each measurement point in multiple periods are extracted in turn, the period points are connected in time sequence to form a trajectory segment, the position difference between adjacent periods in spatial coordinates is determined, the continuous coordinate sequence in each measurement point trajectory is extracted to form a path unit, and each path is arranged according to the measurement point number. The correspondence between time sequence and spatial coordinates is established, a trajectory point sequence structure of a single measurement point in multiple periods is generated, the path results constructed by all measurement points are classified into a unified data structure, a periodic spatial movement record is formed, and a continuous trajectory path set of the measurement points is obtained.

[0034] The difference generation submodule extracts the period change characteristics in the path according to the continuous trajectory path set of the measurement points, analyzes the spatial position difference, direction offset information and time change characteristics between the trajectories, summarizes the spatial behavior change of the measurement points in the difference period, and generates a difference vector data. According to the set of continuous trajectory paths of the measuring points, the spatial difference features between the continuous path segments in each trajectory path are extracted, the three-dimensional coordinate difference and the direction offset between each pair of continuous periodic trajectory points of the measuring points are extracted, the time interval corresponding to each path segment is recorded, and the direction change trend and the time interval change trend are respectively classified into two dimensional data sets. The trajectory direction offset determination threshold is set to 3 degrees, and the time interval change determination threshold is set to 5%. These are used as classification criteria to identify trajectory segments with direction fluctuations exceeding the determination value and time interval abnormal paragraphs. The two types of abnormal trajectory segment information are sorted by measuring point number, and the number and spatial difference description results are counted. The behavior characteristic differences of each measuring point under multiple periods are summarized, and the difference vector data is generated.

[0035] Specifically, as shown in Figure 5 The residual evolution module includes: The region identification submodule calls the difference vector data, judges the distance and direction change characteristics of adjacent measuring points according to the spatial arrangement order of the measuring points, identifies the path segments with consistent continuous directions, and establishes a sequence of continuous offset regions; The difference vector data is called, the one-to-one correspondence between the measuring point number and its physical position is established according to the spatial arrangement order of the measuring points on the structural line inside the tunnel, a path index sequence is formed, the direction angle change value and the distance parameter between each measuring point and its adjacent measuring point are extracted in turn, all the measuring point data are sorted, it is judged whether the direction change between the continuous measuring points is within the determination interval, and the integrity of the path segment is judged in combination with the distance parameter, so as to identify the continuous path segments with consistent direction changes. In the actual implementation process, the direction angle change determination interval is set to 0 to 1. If the direction angle change between the measuring points is less than 1, it can be regarded as a continuous region with consistent direction changes. The distance between the measuring points in the path segment is fixed at 2.0 meters, forming a region structure that can be continuously measured. In Table 4, the direction angle change values of T01 to T03 are 0.5, 0.4 and 0.3 respectively, all of which are within the set interval, constituting the first continuous region. The direction angle changes of T04 to T06 are 3.2, 3.4 and 3.5 respectively, which exceed the determination interval, constituting the second region. Thus, the determination of the region boundary and the identification of the continuous segment are completed, and a sequence of continuous offset regions is generated.

[0036] Table 4: Tunnel measuring point offset direction judgment example table ; The offset extraction submodule extracts the offset values of the measuring points in the continuous offset region sequence, eliminates the boundary abnormal points and corrects the errors, extracts the representative offset features in the region, and generates a set of representative offset values in the region. According to the sequence of the continuous offset regions, the offset values of all measuring points in the region are extracted, the offset data set corresponding to each region is established, the upper and lower threshold values of the offset are set, the abnormal fluctuation values and outliers are removed, the remaining effective offset values are sorted in each region, the offset value of the middle rank is selected as the representative offset value of the region, and the collection time stamp information of each measuring point in the region is collected. The error tolerance interval of the collection time and the measurement period is compared, and the measuring point data exceeding the tolerance is removed or corrected to ensure the stability and timeliness of the representative value of the region. In the T01 to T03 regions, the measuring point offset is 4.2, 4.0 and 4.1 respectively, and the median value 4.1 is obtained after sorting, which is recorded as the representative value of the region. The offset of T04 to T06 regions is 5.0, 5.2 and 4.9 respectively, and the median value is 5.0. The same processing is performed on each region to construct the sequence of the representative offset index of the region and generate the set of the representative offset values of the region.

[0037] The amplitude calculation submodule calls the set of the representative offset values of the region, combines the path index and the direction change feature, calculates the offset growth degree of the region, and obtains the residual growth section amplitude coefficient; The set of the representative offset values of the region is called, the representative values and the offset values of the starting points of the regions are extracted, the spatial position index difference, the number of measuring points and the total amount of direction angle change are arranged, the amplitude feature is quantified according to the length of the path section and the amount of direction angle change, the growth change degree of the representative value in the path section is calculated, the offset change degree index of each region in the path range is obtained, and the representative offset value of T01 to T03 regions is taken as an example. The representative offset value is 4.1, the starting point offset value is 4.0, the total length of the path section is 6.0 meters, and the total change of the direction angle is 1.2. In the T04 to T06 regions, the representative offset value is 5.0, the starting value is 4.8, the path section length is also 6.0 meters, and the total change of the direction angle is 1.0. The difference is judged combined with the path length and the direction change feature, and the offset growth amplitude of T04 to T06 regions in the spatial path is quantified to be obviously higher than that of T01 to T03 regions. The results obtained by calculating each region are labeled and collected to generate the residual growth section amplitude coefficient.

[0038] Specifically, as shown in Figure 6 The deformation mapping module includes: The position extraction submodule extracts the path number and spatial index corresponding to the associated measuring point based on the residual growth section amplitude coefficient, matches the spatial position of the measuring point in the structure coordinate system, judges whether it is located outside the structure boundary range, screens the abnormal measuring point, and establishes the spatial mapping relationship between the abnormal measuring point and the path index to generate the spatial position set of the abnormal measuring point. Based on the residual growth section amplitude coefficient, the associated measuring point number and path index information is extracted. First, each section with an amplitude coefficient greater than a predetermined decision value is marked, the measuring point ID contained in the section is searched, and its corresponding spatial coordinate data is associated and obtained, including the spatial position values of X, Y, Z three directions, and its path index serial number is obtained. On the basis of establishing the mapping relationship of measuring points and paths, the spatial position of each measuring point is judged according to the structure boundary. The judgment process takes the design boundary as the reference, and compares the coordinates of each measuring point with the coordinate range of the structure boundary. When the coordinate of a measuring point in a certain direction exceeds the maximum value of the boundary or is less than the minimum value of the boundary, it is recorded as an abnormal point. The spatial offset point list is formed through the screening result, and the measuring point number, path number and its coordinate value constitute the spatial position relationship table, which is sorted into the abnormal measuring point spatial position set. In actual engineering, if the M12 measuring point is at the path 101 position, its X, Y, Z coordinates are 23.4, 10.1, 3.0, and if the design boundary range is X∈[20, 23], Y∈[9, 11], Z∈[2.5, 3.0], then it can be judged that the X direction exceeds the boundary, and this point is an abnormal measuring point. At the same time, M13 and M14 are at path index 102 and 103, and their coordinate values also exist the situation of exceeding the boundary. The following data table is established: Table 5: Abnormal measuring point and path index mapping example table: ; As shown in Table 5, M12 to M14 are the first partition offset measuring points, M21 to M23 are the second partition measuring points, the abnormal points on the path segment are screened after the structure boundary comparison, and the abnormal measuring point spatial position set is summarized.

[0039] The structure offset judgment submodule calls the abnormal measuring point spatial position set, extracts the standard section structure data at the position according to the measuring point spatial coordinate, judges the spatial offset relationship between the measuring point and the corresponding standard structure, obtains the offset direction and offset degree of the measuring point in the standard section, and combines the geometric morphological parameters of the section structure to divide the offset level and obtain the structure offset level quantity; The abnormal point space position set recorded in Table 5 is called, the path index of each point is extracted, the standard section structure corresponding to the index in the structure database is matched, the theoretical space boundary point of the standard structure is obtained, the actual position of the point is compared with the boundary position of the standard structure, the distance difference in three coordinate directions is calculated, which is used as the basis for judging the structure deviation, and the structure form parameters such as the boundary line segment length and the node angle information are extracted, the deviation direction of the point space position in the three-dimensional structure is compared, the direction vector angle value is used as the classification reference item of the deviation direction, the angle is set to be 0-30 degrees for straight deviation, 30-60 degrees for inclined deviation, and greater than 60 degrees for structure boundary vertical deviation, after the direction judgment is completed, the deviation threshold is introduced, which is set to be 0.8 meters according to the design specification, if the space distance difference of a point is greater than 0.8 meters, the structure deviation abnormal point is determined, the deviation of points M12 to M14 is 1.0 meters, 1.3 meters and 1.2 meters respectively, which exceeds the set deviation threshold, and the deviation direction is in the interval of 30 degrees, which is judged as parallel direction abnormal point, the points are classified and grouped according to the direction type and the deviation degree, the structure deviation level table is formed, the deviation level value of each point is extracted, and the path index is organized to obtain the structure deviation level quantity.

[0040] The deformation result generation submodule judges the deviation trend of the whole path section according to the structure deviation level quantity, the path position and the space distribution characteristics of the point, sorts the deviation level of the point and outputs it in the path order, constructs the deviation level sequence of the continuous path section, and generates the real-time deformation mapping result; According to the structure deviation level quantity, the number information of each point in the path section is called, the point position sequence is constructed, which is combined with the deviation level and sorted according to the path index, the deviation level of all points in the continuous path section is calculated, the path section deviation level set is formed, the difference of the deviation level value in the path section is compared, the deviation change interval range is determined, and the level difference between adjacent path sections is judged, if the level change exceeds two levels, it is marked as a mutation point, at the same time, the space coordinates of all points in the path section are collected, the path section deviation level distribution map is drawn, and the map is combined with the actual path space structure, the deviation level of each point position is marked, the path section deviation trend line is formed, the deviation level, path number, space coordinates, trend line data and other contents of all path sections are summarized, and the structure deformation data table is exported as the basis for evaluating the overall deviation of the path section, and the real-time deformation mapping result is constructed.

[0041] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A new real-time railway tunnel deformation mapping system based on three-dimensional scanning technology, characterized in that, The system comprises: The laser sampling module collects the time information of laser emission and echo return, combines the emission and reception records and device parameters, identifies the order of measuring points in the scanning path, organizes and generates continuous structures according to time, and outputs the distance sequence data of measuring points; The echo evaluation module extracts the echo intensity by using the distance sequence data of measuring points, compares the same position in the continuous period, analyzes the fluctuation trend, identifies and numbers the echo abnormal measuring points, and generates the fluctuation measuring point sequence; The spatial relocation module extracts the ranging records and platform attitude according to the fluctuation measuring point sequence, converts them into three-dimensional coordinates and establishes spatial distribution, analyzes the coordinate changes in the period, constructs the trajectory difference characteristics, and generates the difference vector data; The residual evolution module analyzes the offset change area according to the difference vector data, quantifies the offset degree of the area, extracts the representative index, and generates the residual growth section amplitude coefficient; The deformation mapping module extracts the spatial position and cross-section structure of the associated measuring points according to the residual growth section amplitude coefficient, identifies the deviation relationship with the standard structure, outputs the overall offset situation, and generates the real-time deformation mapping result.

2. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 1, characterized in that, The distance sequence data of measuring points includes the order of measuring point positions, the pairing relationship of emission and reception times, and the time correlation structure of the scanning path. The fluctuation measuring point sequence includes the echo intensity change value of the measuring point, the echo stability identifier, and the fluctuation measuring point number. The three-dimensional coordinate spatial distribution structure includes the three-dimensional coordinate of the measuring point, the attitude correction information, and the trajectory difference characteristics. The residual growth section amplitude coefficient includes the offset area number, the offset amount index in the area, and the residual evolution trend quantization value. The real-time deformation mapping result includes the spatial coordinate position of the measuring point, the cross-section deviation degree, and the overall offset situation of the path position.

3. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 1, characterized in that, The laser sampling module comprises: The time sequence calibration submodule obtains the emission time and reception time of the laser emission signal and echo signal, calculates the time interval of the same laser pulse, and according to the sampling period, time step and signal frequency in the device setting parameters, filters the data in the time interval, performs time labeling according to the set step, and generates the scanning emission time sequence; The path correlation submodule calls the corresponding records of emission time and reception time based on the scanning emission time sequence, constructs the point index value of each time sequence in the sampling path, sorts the laser measuring points according to the spatial trajectory sequence in the laser beam scanning path in time sequence, and obtains the path sequence index set; The distance calculation submodule calls the emission time and reception time of each measuring point in the path sequence index set, obtains the echo time difference of each measuring point, combines the laser propagation speed and the path step length in the device setting parameters, calculates the single ranging value, integrates the corrected distance value of all measuring points and the path sequence, and generates the distance sequence data of measuring points.

4. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 3, characterized in that, The specific calculation formula for calculating the single ranging value is: ； The operation obtains the corrected distance value of each measuring point, integrates the corrected distance value of all measuring points and the path sequence, and generates the distance sequence data of measuring points; wherein, a corrected distance value representing the measurement point i, a time of echo reception representing the measurement point i, a time of emission representing the measurement point i, V representing a laser propagation speed, a single distance measurement value representing the jthmeasurement point, an average distance measurement value representing all measurement points, a step distance or path arc length representing the ithmeasurement point in the scanning path, n representing a number of measurement points for error statistics.

5. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 3, characterized in that, The echo evaluation module comprises: The intensity extraction submodule calls the time and space indexes of the measuring points based on the measuring point distance sequence data, extracts the amplitude information of the echo signals, identifies the signal amplitude variation range within a specified sampling period, obtains the maximum value in the signal amplitude sequence as the echo intensity of the measuring point, and generates a measuring point echo intensity value sequence; The fluctuation identification submodule extracts information of the measuring points at the same spatial position in consecutive periods according to the measuring point echo intensity value sequence, constructs an echo intensity variation sequence for the corresponding position, determines the fluctuation of the measuring points in multiple periods according to a preset determination rule, analyzes and processes the variation characteristics, obtains the fluctuation rate of each measuring point in consecutive periods, filters according to the determination logic that the fluctuation rate is greater than a determination threshold, and obtains an unstable measuring point identification index; The number arrangement submodule calls the unstable measuring point identification index, extracts the spatial position and time period index of the corresponding measuring point, generates a unique identification number, establishes a corresponding sequence index structure, completes sequence arrangement in accordance with the order of the spatial scanning path, and obtains a fluctuation measuring point sequence.

6. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 5, characterized in that, The spatial relocation module comprises: The three-dimensional conversion submodule extracts the ranging records and platform attitude parameters in the corresponding period according to the fluctuation measuring point sequence, converts the spatial position data of the measuring points into three-dimensional coordinate values, establishes a spatial coordinate system corresponding to the period, and generates a period three-dimensional coordinate data set; The trajectory construction submodule arranges the spatial position variation data of the measuring points in consecutive periods according to the period three-dimensional coordinate data set, constructs the period space trajectory path of the measuring points, and obtains a measuring point continuous trajectory path set; The difference generation submodule extracts the period variation characteristics in the path according to the measuring point continuous trajectory path set, analyzes the spatial position difference, direction offset information and time variation characteristics between the trajectories, summarizes the spatial behavior change of the measuring points in the difference period, and generates difference vector data.

7. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 6, characterized in that, The residual evolution module comprises: The region identification submodule calls the difference vector data, judges the distance and direction variation characteristics of adjacent measuring points according to the spatial arrangement order of the measuring points, identifies the path segment with continuous consistent direction, and establishes a continuous offset region sequence; The offset value extraction submodule extracts the offset values of the measuring points in the region according to the continuous offset region sequence, eliminates boundary abnormal points and corrects errors, refines the representative offset characteristics in the region, and generates a region offset representative value set; The amplitude calculation submodule calls the region offset representative value set, combines the path index and direction variation characteristics, calculates the offset growth degree of the region, and obtains a residual growth section amplitude coefficient.

8. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 7, characterized in that, The deformation mapping module comprises: The position extraction submodule extracts the path number and spatial index corresponding to the associated measuring points based on the residual growth section amplitude coefficient, matches the spatial position of the measuring points in the structural coordinate system, judges whether the measuring points are located outside the structural boundary range, screens abnormal measuring points, establishes a spatial mapping relationship between the abnormal measuring points and the path index, and generates an abnormal measuring point spatial position set; The structure deviation judgment submodule calls the abnormal measurement point spatial position set, extracts the standard cross-section structure data at the location according to the measurement point spatial coordinates, judges the spatial deviation relationship between the measurement point and the corresponding standard structure, obtains the deviation direction and degree of the measurement point on the standard cross-section, and combines the geometric shape parameters of the cross-section structure to divide the deviation level and obtain the structure deviation level quantity; The deformation result generation submodule judges the deviation trend of the overall path section according to the structure deviation level quantity, combines the measurement point path position and spatial distribution characteristics, sorts the measurement point deviation levels and outputs them in the path order, constructs the deviation level sequence of the continuous path section, and generates the real-time deformation mapping result.

9. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 1, characterized in that, The device parameters refer to the preset operation control parameters in the laser ranging device, including laser pulse frequency, sampling period, scanning angle range, and transmission power, which are determined by the laser hardware parameters and control system setting conditions; The measurement points are discrete spatial position points formed along the operation platform movement path at time sampling intervals, and the coordinate positions are obtained by laser ranging combined with attitude solution; The echo intensity is the energy amplitude response value recorded by the laser receiver when receiving the echo signal; The same position is a coordinate position that is coincident in space and is calibrated by the vehicle-mounted positioning system in multiple scanning periods, and is time-space aligned by the inertial navigation system or GNSS mileage information.

10. The new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology according to claim 1, characterized in that, The platform attitude is the attitude angle information of the operation platform on the ground in space, including pitch angle, roll angle, and yaw angle, which is obtained by the vehicle-mounted inertial navigation system in real time and used for coordinate system conversion; The difference vector data is a vector set formed by the position change amount of the same measurement point in three-dimensional coordinate system in continuous scanning periods; The residual refers to the spatial displacement difference value between the three-dimensional coordinate change of the same measurement point at the difference time and the theoretical stable state; The section refers to a spatial region formed by a group of continuous measurement points in the tunnel space structure, and the boundary is determined by the scanning path position sequence; The cross-section structure is a geometric contour formed by the distribution of tunnel space measurement points on the same cross-section; The standard structure is a reference shape constructed according to the standard cross-section size and shape coordinates provided in the tunnel engineering design file.

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