Railway tunnel deformation real-time mapping system based on three-dimensional scanning technology

Abstract

The present application relates to the technical field of laser ranging, in particular to a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology, which comprises a laser sampling module, an echo evaluation module, a spatial relocation module, a residual evolution module and a deformation mapping module. In the present application, after obtaining the continuous distance information of the target position, the measurement point sequence data is constructed based on time series, the signal abnormal area is identified through echo intensity fluctuation, further converted into spatial coordinate structure to extract trajectory difference and generate vector data, combined with tunnel space position to analyze the offset characteristics and quantify the deformation amplitude, extract the corresponding section structure to realize real-time contour comparison and mapping. Compared with the periodic observation method which relies on manual layout of measurement points, this method can continuously output fine coordinate difference data, improve the deformation monitoring frequency and spatial coverage, reduce the artificial interference error and enhance the dynamic control ability of the tunnel structure evolution process.

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 practical applications such as topographic mapping, building surveying, unmanned navigation, and structural deformation monitoring. 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:

[0005] On the one hand, a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology is provided, which includes:

[0006] 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, arranges and generates continuous structures according to time, and outputs distance sequence data of measuring points;

[0007] 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;

[0008] 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;

[0009] The residual evolution module analyzes offset change areas according to tunnel space order based on the difference vector data, quantifies the offset degree of the area, extracts representative indicators, and generates residual growth section amplitude coefficient;

[0010] The deformation mapping module extracts spatial positions and cross-section structures of 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 real-time deformation mapping results.

[0011] As a further scheme of the present 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.

[0012] As a further scheme of the present application, the laser sampling module includes:

[0013] 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;

[0014] The path association submodule calls the corresponding records of the emission time and the reception time based on the scanning emission time sequence, 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;

[0015] 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.

[0016] As a further scheme of the present application, the specific calculation formula of the single distance measurement value is:

[0017] ;

[0018] 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.

[0019] Wherein, 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.

[0020] As a further scheme of the present application, the echo evaluation module comprises:

[0021] 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;

[0022] 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.

[0023] 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.

[0024] As a further scheme of the present application, the spatial repositioning module comprises:

[0025] 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.

[0026] The trajectory construction submodule arranges spatial position change data of the measuring points in consecutive periods according to the three-dimensional coordinate data set of the period, constructs a period spatial trajectory path of the measuring points, and obtains a measuring point continuous trajectory path set.

[0027] The difference generation submodule extracts period change characteristics in the path, analyzes spatial position differences, direction offset information and time change characteristics between trajectories, induces spatial behavior changes of the measuring points in the difference period, and generates difference vector data according to the measuring point continuous trajectory path set.

[0028] As a further scheme of the present application, the residual evolution module comprises:

[0029] 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 path segments with continuous consistent directions, and establishes a continuous offset region sequence.

[0030] The offset value extraction submodule extracts offset values of the measuring points in the region, eliminates boundary abnormal points and corrects errors, refines representative offset characteristics in the region, and generates a region offset representative value set according to the continuous offset region sequence.

[0031] 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.

[0032] As a further scheme of the present application, the deformation mapping module comprises:

[0033] 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.

[0034] The structure deviation judgment submodule calls the abnormal measurement point space position set, extracts standard section structure data at the position according to the measurement point space coordinates, judges the spatial deviation relationship between the measurement point and the corresponding standard structure, obtains the deviation direction and the deviation degree of the measurement point on the standard section, and combines the geometric shape parameters of the section structure to divide the deviation level, and obtains the structure deviation level quantity;

[0035] The deformation result generation submodule judges the deviation trend of the whole path section according to the structure deviation level quantity, combines the measurement point path position and the spatial distribution characteristics, sorts the measurement point deviation level and outputs in the path order, constructs the deviation level sequence of the continuous path section, and generates the real-time deformation mapping result.

[0036] As a further scheme of the present application, the device parameters refer to 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 laser hardware parameters and control system setting conditions together;

[0037] The measurement point is a discrete spatial position point formed along the operation platform moving path at a time sampling interval, and the coordinate position is obtained through laser ranging combined with attitude solution;

[0038] The echo intensity is an energy amplitude response value recorded by the laser receiver when receiving the echo signal;

[0039] The same position is a coordinate position coinciding in space calibrated by the vehicle-mounted positioning system in multiple scanning periods, which is time-space aligned by the inertial navigation system or GNSS mileage information.

[0040] As a further scheme of the present application, 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;

[0041] The difference vector data is a vector set formed by the position change amount of the same measurement point in a three-dimensional coordinate system in continuous scanning periods;

[0042] 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;

[0043] The section refers to a spatial region constituted by a group of continuous measurement points in the tunnel space structure, and the boundary is determined by the scanning path position sequence;

[0044] The section structure is a geometric contour formed by the distribution of the tunnel space measurement points on the same cross section.

[0045] The standard structure is a reference shape constructed according to the standard section size and shape coordinates provided in the tunnel engineering design file.

[0046] Compared with the prior art, the application has the advantages and positive effects that:

[0047] In the application, the continuous distance information of the target position is acquired, the sequence data of the measuring points is constructed based on the time sequence, the signal abnormal area is identified through echo intensity fluctuation, the trajectory difference is extracted and the vector data is generated by further converting the spatial coordinate structure, the offset characteristics are analyzed and the deformation amplitude is quantified in combination with the tunnel space position, the corresponding section structure is extracted to realize real-time contour comparison and mapping, compared with the periodic observation mode relying on manual arrangement of measuring points, the mode can continuously output fine coordinate difference data, the deformation monitoring frequency and the spatial coverage range are improved, the manual interference error is reduced and the dynamic mastering ability for the tunnel structure evolution process is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0049] Figure 1 The system flowchart of the present application is shown in the figure;

[0050] Figure 2 The flowchart of the laser sampling module of the present application is shown in the figure;

[0051] Figure 3 The flowchart of the echo evaluation module of the present application is shown in the figure;

[0052] Figure 4 The flowchart of the space repositioning module of the present application is shown in the figure;

[0053] Figure 5 The flowchart of the residual evolution module of the present application is shown in the figure;

[0054] Figure 6 The flowchart of the deformation mapping module of the present application is shown in the figure. DETAILED DESCRIPTION

[0055] The technical solutions in the present application will be described below in combination with the drawings.

[0056] In the embodiments of the present application, the words such as "example", "for example" are used to represent as 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. In fact, the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0057] In the embodiments of the present application, "image" and "picture" can be used interchangeably, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized. "Of", "corresponding" and "corresponding" can be used interchangeably, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized.

[0058] 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, and the meanings expressed are consistent when the distinction is not emphasized.

[0059] In order to make the technical problems, technical solutions and advantages to be solved by the present application more clear, the following will be described in detail in conjunction with the drawings and specific embodiments.

[0060] The embodiments of the present application provide a new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology, as shown in Figure 1 The schematic diagram of the new railway tunnel deformation real-time mapping system based on three-dimensional scanning technology, the system comprises:

[0061] The laser sampling module obtains the time information of laser emission and echo return of the working platform in the railway tunnel, identifies the position sequence of all measurement points in the scanning path in combination with each group of emission and reception records and device setting parameters, associates and organizes the continuous structure according to time sequence, and generates measurement point distance sequence data;

[0062] The working platform is a three-dimensional laser scanning device mounting structure or a moving carrier installed on the railway tunnel detection vehicle, which provides a basic structural support for the stable movement of the scanning device along the tunnel track direction;

[0063] The device setting parameter refers to the preset operation control parameter in the laser ranging device, including laser pulse frequency, sampling period, scanning angle range and emission power, which is determined by the laser hardware parameter and the control system setting condition;

[0064] The measurement point is a discrete spatial position point formed along the movement path of the working platform at a time sampling interval, and the coordinate position is obtained by laser ranging combined with attitude solution, which is used to construct a three-dimensional point cloud structure;

[0065] The echo evaluation module extracts the echo intensity information of each measurement point based on the measurement point distance sequence data, compares the same position in the continuous period, identifies the signal stability according to the fluctuation trend, and numbers and organizes the identified fluctuation measurement points to generate a fluctuation measurement point sequence;

[0066] Echo intensity information is the energy amplitude response value recorded by the laser receiver when receiving the echo signal, which is used to reflect the reflection performance of the reflecting surface and the quality of the ranging signal;

[0067] The same location is the spatially overlapping coordinate position calibrated by the vehicle positioning system in multiple scanning cycles, and spatiotemporally aligned by the inertial navigation system or GNSS odometer information;

[0068] The spatial repositioning module extracts the distance measurement records and platform attitude information of the corresponding measurement points according to the wave measurement point sequence, converts them into three-dimensional coordinates and forms a spatial distribution structure, identifies the coordinate change pattern in continuous period, constructs corresponding trajectory data through difference features, and generates difference vector data.

[0069] Platform attitude information refers to the attitude angle information of the working platform on the ground in space, including pitch angle, roll angle and yaw angle, which is acquired in real time by the vehicle-mounted inertial navigation system and used for coordinate system transformation;

[0070] Difference vector data is a set of vectors formed by the positional changes of the same measuring point in the three-dimensional coordinate system during a continuous scanning cycle. It is used to reflect the offset trend of spatial points of the tunnel structure over time.

[0071] The residual evolution module calls the difference vector data, analyzes it according to the spatial arrangement of the tunnel, identifies areas of continuous offset change, quantifies the degree of offset in each area, extracts it as a representative index, and generates the residual growth segment amplitude coefficient.

[0072] The residual refers to the spatial displacement difference between the change in the three-dimensional coordinates of the same measuring point at different times and the theoretical steady state, and is used to quantify local deformation;

[0073] A section refers to a spatial area in the tunnel spatial structure consisting of a set of continuous measuring points. Its boundary is determined by the sequence of the scanning path positions and is used to locate the range of deformation areas.

[0074] The deformation mapping module extracts the spatial location of the associated measuring points based on the residual growth segment amplitude coefficient, obtains the corresponding cross-sectional structure, identifies the deviation relationship between the cross-section and the standard structure, and outputs the overall offset according to the path position, generating real-time deformation mapping results.

[0075] The cross-sectional structure is a geometric profile formed by the distribution of spatial measuring points on the same cross section of the tunnel, used to describe the current structural morphology and spatial offset characteristics.

[0076] The standard structure is a reference form constructed based on the standard cross-sectional dimensions and shape coordinates provided in the tunnel engineering design documents, used for offset comparison with the actual cross-section;

[0077] The path position refers to a position mark set in sequence according to the displacement of the measuring equipment along the direction of the tunnel line, which can be given by a mileage point mark or continuous path distance information.

[0078] The point distance sequence data includes point position sequence, transmission-reception time pairing relationship, and scanning path time correlation structure, the fluctuation point sequence includes fluctuation point echo intensity change value, echo stability mark, and fluctuation point number, the three-dimensional coordinate space distribution structure includes point three-dimensional coordinates, attitude correction information, and track difference characteristics, the residual growth section amplitude coefficient includes offset region number, region internal offset amount index, and residual evolution trend quantitative value, and the real-time deformation mapping result includes point space coordinate position, section deviation degree, and path position overall offset condition.

[0079] Specifically, as shown in Figure 2 , the laser sampling module includes:

[0080] The time sequence calibration submodule acquires 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 parameter, filters the data in the time interval, performs time labeling according to the set step, and generates a scanning transmission time sequence;

[0081] To acquire the transmission time and reception time of the laser transmission signal and echo signal, an accurate trigger mechanism needs to be set on the laser of the working platform to record the transmission time and reception time of each point . Taking a railway tunnel detection scene as an example, the device working frequency is 10 MHz, the corresponding sampling period is 0.1 μs, in the set 5 points P1 to P5, the transmission time is 0.000001 s to 0.000005 s, and the corresponding reception time is 0.000006 s to 0.000011 s, from which the laser flight time difference ΔT of each point is calculated, and the results are all 5 μs or 6 μs, and then according to the device sampling period 0.1 μs and time sequence tolerance ±0.2 μs, if the time interval falls within the effective time interval, it is considered valid, such as ΔT=6 μs of P3, which is within the tolerance interval [5.8 μs, 6.2 μs], and is determined as a valid pulse; then, according to the set time step, the labeling is performed, such as T1 is 0.000001 s, T2 is 0.0000011 s, and so on, to generate a set of continuous time sequence labels on the time axis. Table 1 lists the time parameters and original distance measurement data of each sampling point:

[0082] Table 1: Sampling point parameter setting table:

[0083] ;

[0084] As shown in Table 1, the time information in combination with the laser platform setting step parameter can be used to generate the emission timing sequence in the laser scanning process, and the result formed is the scanning emission timing sequence.

[0085] The path association submodule calls the corresponding records of the emission time and the receiving time based on the scanning emission timing sequence, constructs the point position index value of each group of time sequence in the sampling path, sorts the laser measurement points according to the time sequence in accordance with the spatial trajectory sequence in the laser beam scanning path, and obtains the path sequence index set;

[0086] Based on the scanning emission timing sequence, the number and the timestamp of each sampling point in Table 1 are called, and the path point index structure is sequentially established, such as T1 to T5 corresponding to P1 to P5, and the emission and receiving time combination is read, such as T1 corresponding to the emission of 0.000001 seconds and the receiving of 0.000006 seconds. Then, the spatial position mapping of the time node in the laser beam scanning path is performed, the linear step structure is adopted according to the set trajectory of the work platform in the tunnel detection, the movement is 0.02 meters each time, the spatial point array path is formed, the point position number is sequentially P1 to P5, the path position is x=0.00m, 0.02m, 0.04m, 0.06m, 0.08m, the path index 1 to 5 is established for each number, the path array structure is constituted, then the path structure is confirmed according to the time sequence, the time sequence is T1<T2<T3<T4<T5, corresponding to P1 to P5, so as to complete the path sequence index construction, 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 of the path sequence index set is obtained.

[0087] The distance calculation submodule calls the emission time and the receiving time of each measurement point in the path sequence index set, obtains the echo time difference of each measurement point, and calculates the specific calculation formula of the single distance measurement value in combination with the laser propagation speed and the path step length in the device setting parameter.

[0088] ;

[0089] The operation obtains the corrected distance value of each measurement point, integrates the corrected distance value and the path sequence of all measurement points, and generates the measurement point distance sequence data.

[0090] Wherein, represents the corrected distance value of the measurement point i, represents the echo receiving time of the measurement point i, represents the emission time of the measurement point i, and V represents the laser propagation speed, represents the single distance measurement value of the jth measurement point, represents the average distance measurement value of all measurement points, The step distance or path arc length of the i-th measuring point in the scanning path, n represents the number of measuring points for error statistics;

[0091] Each point data in the path sequence index set is called to obtain its laser emission time and receiving time, the time of flight difference ΔT is calculated, and the laser propagation speed is combined The initial distance is obtained, for example, ΔT=5μs of P1, then , there is an error with the original ranging value 1.45m. The average value of the original ranging value of all measuring points is calculated , the absolute deviation of each point is 0.07, 0.04, 0.00, 0.03, 0.08m respectively, and the total is , the deviation square sum is , the path step value is ;

[0092] Take P1 as an example to calculate:

[0093] ;

[0094] ;

[0095] ;

[0096] The denominator is , and the calculation is as follows:

[0097] ;

[0098] The result shows that the corrected distance of sampling point P1 is 0.2930m, which is much smaller than the calculated value 1.5m of its laser propagation time, which shows that the deviation correction mechanism effectively compresses the distance influence of high deviation points. By operating all points through the formula, a sequence of corrected distance values of measuring points is obtained, which is the sequence data of measuring point distance. The advantage of the formula is that by adding the absolute value and 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;

[0099] The formula is obtained by jointly modeling the physical distance and measurement fluctuation in the laser ranging process. The numerator is the sum of the basic distance obtained by multiplying the laser time difference by the propagation speed and the deviation of all measurement points from the average value, which represents the overall deviation trend based on the original ranging. The denominator is the square root of the sum of the squares of the deviations of each measurement point normalized by the path step length, which measures the overall fluctuation intensity. This structure introduces deviation correction by adding, measures the deviation influence range by normalization, and maintains dimensional consistency by taking the square root, forming a ranging correction value that reflects both the theoretical basis of ranging and adjusts the influence of data fluctuations.

[0100] The corrected distance value of each measurement point is the actual measurement distance calculated by integrating the laser flight time, original ranging value, and overall measurement fluctuation on the path for a single laser launch point during the laser ranging process. It not only reflects the physical distance formed by the laser pulse propagation, but also integrates the relative stability and data deviation of the measurement point in the overall measurement sequence. It is an effective distance value obtained through weighted adjustment and error normalization based on the relationship between the measurement point itself and the global measurement environment, used to more accurately express the true position of the measurement point in the spatial path.

[0101] Specifically, as shown in Figure 3 The echo evaluation module includes:

[0102] The intensity extraction submodule extracts the amplitude information of the echo signal based on the measurement point distance sequence data, calls the time and spatial index of the measurement 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 measurement point, and generates the measurement point echo intensity value sequence.

[0103] 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 within 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 within 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 is uniformly arranged in a continuous vector form. The step distance and ranging data of each measurement point are combined to construct the fluctuation calculation input parameters, as shown in Table 2, to obtain the measurement point echo intensity value sequence.

[0104] Table 2: Calculation parameters for fluctuations at monitoring points

[0105] ;

[0106] As shown in Table 2, the echo intensity value and distance value of each measuring point will serve as the basic input for the next step of calculating the fluctuation index.

[0107] The fluctuation identification submodule extracts information from measuring points at the same spatial location within a continuous period based on the echo intensity value sequence, constructs the echo intensity change sequence at the corresponding location, and determines the fluctuation of the measuring point in multiple periods according to preset judgment rules. The specific calculation formula for analyzing and processing the change characteristics is as follows:

[0108] ;

[0109] The volatility of each measurement point within a continuous period is obtained through calculation. Based on the judgment logic that the volatility is greater than the judgment threshold, the unstable measurement point identification index is obtained.

[0110] in, Indicates the measuring point volatility Indicates the measuring point In continuous The sum of the absolute deviations of echo intensity within each time period Indicates the measuring point The average echo intensity, This represents the sum of squares of the echo intensity deviation at that measuring point. This indicates that the measuring point is at Distance deviation in secondary ranging data acquisition affects path step length The normalized sum of squares, Indicates the measuring point In the The distance value recorded in the next distance measurement. Its average distance measurement value, This indicates the path step length at the measurement point;

[0111] Based on the echo intensity data of the measuring points in Table 2, calculate the average echo intensity of each measuring point. For example, the three-cycle intensities of P1 are 0.75, 0.72, and 0.74, with an average value of... The absolute values ​​of the differences between the echo intensity and the mean for each cycle are processed and summed to obtain the sum of the absolute values ​​of the deviations. The sum of squares of the strength deviations is calculated as follows: The measured distances were 1.50, 1.48, and 1.49, with a mean of [missing value]. The step distance is 0.02, and the normalized sum of squares of the ranging error is calculated as follows: Substitute the above results into the formula:

[0112] ;

[0113] Similarly, the same operation is sequentially performed on P2 to P5, the fluctuation judgment reference value is set to 0.15, the fluctuation rate threshold is 2 times the reference value, that is, 0.30, the fluctuation rate of each measuring point is calculated Compared with the threshold value, if the fluctuation rate value of a measuring point is greater than 0.30, it is determined to be an abnormal fluctuation point, and the fluctuation rate value of P4 is 0.081, which is less than the threshold value, and is not abnormal, and the fluctuation rate value of P3 is 0.094, which is also not abnormal. After screening all measuring points, the unstable measuring point identification index is obtained;

[0114] The operation logic of the formula jointly measures the echo intensity fluctuation and ranging stability of the measuring point in different periods. The absolute value of the deviation between the echo intensity of each measuring point in the continuous period and the mean value is summed in the numerator part, which reflects the intensity fluctuation degree of the measuring point in the time dimension. The same intensity deviation is squared and summed in the denominator part 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 the mean value is calculated and normalized by step distance, and then squared to reflect the stability of the measuring point in spatial measurement. After adding the two variance terms, the whole is square rooted to ensure the same dimension and serve as a whole fluctuation level normalization suppression factor, forming a ratio relationship between "deviation intensity total" and "overall normalized fluctuation level", so that the fluctuation rate index not only reflects the actual fluctuation of the signal intensity of the measuring point, but also integrates the interference influence of the spatial ranging fluctuation, realizing the joint measurement of the abnormal state in time and space dimensions;

[0115] 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 the average intensity in multiple continuous sampling periods, combined with the offset 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.

[0116] The numbering 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 order, and obtains the fluctuation measuring point sequence.

[0117] The unstable measurement point identification index is called to index and extract the measurement points marked as abnormal fluctuations in the screening results, extract the corresponding path index and cycle sequence number, combine the two information, form a unique identification, for example, measurement point P3 is identified as abnormal in cycle 3, marked as P3C3, if cycle 2 is also abnormal, another P3C2 is generated, and all abnormal identification is arranged in order according to the path sequence and sorted in ascending order according to the cycle, the combined number of all abnormal measurement points is integrated and output, and the formalized space-time sequence index is obtained, and the fluctuation measurement point sequence is output.

[0118] Specifically, as shown in Figure 4 The spatial relocation module includes:

[0119] The three-dimensional conversion submodule extracts the ranging records and platform attitude parameters in the corresponding cycle according to the fluctuation measurement point sequence, converts the spatial position data of the measurement point into three-dimensional coordinate values, establishes a spatial coordinate system corresponding to the cycle, and generates a cycle three-dimensional coordinate data set.

[0120] According to the fluctuation measurement point sequence, the ranging records and platform attitude angle information of each measurement point in the continuous cycle 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 cycle, and the platform attitude information includes the pitch angle, roll angle and heading angle of the device in each cycle. First, arrange the ranging data of each measurement point to form a ranging record vector according to the cycle order, then obtain the platform attitude angle in this cycle as an angle input parameter, and input the two types of data as joint input. Through polar coordinate conversion and attitude angle correction operation, the ranging direction in each cycle 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 get the three-dimensional coordinate position of the measurement point in the continuous three cycles. 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 cycles is constructed to generate a cycle three-dimensional coordinate data set. The specific participating item data is shown in Table 3.

[0121] Table 3: Example of measurement point space relocation participating item

[0122] ;

[0123] The trajectory construction submodule arranges the spatial position change data of the measurement point in the continuous cycle according to the cycle three-dimensional coordinate data set, constructs the cycle space trajectory path of the measurement point, and obtains the continuous trajectory path set of the measurement point.

[0124] According to the three-dimensional coordinate data set listed in Table 3, the spatial position points of each measuring point in multiple periods are extracted in turn, the period points are connected in time sequence to form trajectory segments, the position difference between adjacent periods in spatial coordinates is determined, the continuous coordinate sequence in each trajectory of the measuring point is extracted to form a path unit, and each path is arranged according to the measuring point number, the corresponding relationship between time sequence and spatial coordinates is established, the trajectory point sequence structure of a single measuring point in multiple periods is generated, the path results constructed by all measuring points are classified into a unified data structure, the periodic spatial movement record is formed, and the continuous trajectory path set of the measuring point is obtained.

[0125] The difference generation submodule extracts the period change characteristics in the path according to the continuous trajectory path set of the measuring point, analyzes the spatial position difference, direction deviation information and time change characteristics between the trajectories, summarizes the spatial behavior change of the measuring point in the difference period, and generates difference vector data.

[0126] According to the continuous trajectory path set of the measuring point, the spatial difference characteristics between the continuous path segments in each trajectory path are extracted, the three-dimensional coordinate difference and direction deviation between the continuous period trajectory points of each measuring point are extracted, the time interval corresponding to each path segment is recorded, and the direction change trend and the time interval change trend are classified into two dimension data sets respectively. The trajectory direction deviation judgment threshold is set to 3 degrees, and the time interval change judgment threshold is set to 5%. As a classification standard, the trajectory segments with direction fluctuation exceeding the judgment value and the paragraphs with time interval anomaly are identified, and the number and spatial difference description results of the two types of abnormal trajectory segment information are arranged according to the measuring point number. The behavior characteristic difference of each measuring point in multiple periods is summarized, and the difference vector data is generated.

[0127] Specifically, as shown in Figure 5 The residual evolution module includes:

[0128] 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 continuous consistent direction, and establishes a continuous deviation region sequence.

[0129] The difference vector data is called, a one-to-one correspondence between the measurement point number and its physical position is established according to the spatial arrangement order of the measurement points in the tunnel on the structure line, a path index sequence is formed, the directional angle change value and the measurement point spacing parameter between each measurement point and the adjacent measurement point are extracted in turn, after all the measurement point data are sorted, it is judged whether the directional change between the continuous measurement points is in the judgment interval, and the integrity of the path segment is judged in combination with the spacing parameter, so as to identify the continuous path segment with consistent directional change. In the actual implementation process, the directional angle change judgment interval is set to 0 to 1, if the directional angle change between the measurement points is less than 1, it can be regarded as a continuous region with consistent directional change, the measurement point spacing in the path segment is fixed to 2.0 meters, a continuous measurement region structure is formed, in Table 4, the directional angle change values of T01 to T03 three measurement points are 0.5, 0.4 and 0.3 respectively, all of which are in the set interval, constituting a first continuous region, the directional angle changes of T04 to T06 measurement points are 3.2, 3.4 and 3.5 respectively, which are out of the judgment interval, constituting a second region, thus the judgment of the region boundary and the identification of the continuous segment are completed, and a continuous offset region sequence is generated.

[0130] Table 4: Tunnel measurement point offset direction judgment example table

[0131] ;

[0132] The offset extraction submodule extracts the offset values of the measurement points in the continuous offset region sequence, eliminates the boundary abnormal points and corrects the errors, refines the representative offset characteristics in the region, and generates a region offset representative value set;

[0133] According to the continuous offset region sequence, the offset values of all measurement 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, in each region, the remaining effective offset values are sorted, and the offset value of the middle bit is selected as the representative offset value of the region. At the same time, the collection time stamp information of each measurement point in the region is collected, and the error tolerance interval of the collection time and the measurement period requirement is compared, and the measurement point data exceeding the tolerance is eliminated or corrected, so as to ensure the stability and timeliness of the region representative value. In the T01 to T03 region, the measurement point offset is 4.2, 4.0 and 4.1 respectively, the median value 4.1 is obtained after sorting, which is recorded as the representative value of the region. The region offset of T04 to T06 is 5.0, 5.2 and 4.9 respectively, and the median value is 5.0. The same processing is carried out on each region to construct the region representative offset index sequence and generate the region offset representative value set.

[0134] The amplitude calculation submodule calls the region offset representative value set, combines the path index and the directional change characteristics, calculates the offset growth degree of the region, and obtains the residual growth section amplitude coefficient.

[0135] The representative value set of the call area offset is extracted, the representative value of each area and the offset value of the area starting point are extracted, the spatial position index difference, the number of measuring points and the total amount of direction angle change are arranged, the amplitude characteristic is quantized according to the length of the path segment and the amount of direction angle change, the growth change degree of the representative value in the path segment is calculated, the offset change degree index of each area in the path range is obtained, and the T01 to T03 area 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 segment is 6.0 meters, and the total change of the direction angle is 1.2. In the T04 to T06 area, the representative offset value is 5.0, the starting value is 4.8, the path segment length is also 6.0 meters, and the total change of the direction angle is 1.0. The difference is judged by combining the path length and the direction change characteristics, and the offset growth amplitude of the T04 to T06 area in the spatial path is quantized to be obviously higher than that of the T01 to T03 area. The results calculated by each area are labeled and collected to generate the residual growth section amplitude coefficient.

[0136] Specifically, as shown in Figure 6 The deformation surveying and mapping module includes:

[0137] 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 abnormal measuring point spatial position set.

[0138] Based on the residual growth section amplitude coefficient, the measuring point number and path index information associated therewith are extracted. First, each section with an amplitude coefficient greater than a predetermined judgment value is marked, the measuring point ID contained in the section is retrieved, and the corresponding spatial coordinate data is associated and obtained, including the spatial position values in X, Y and Z directions. At the same time, the path index number is obtained. On the basis of establishing the measuring point path mapping relationship, the spatial position of each measuring point is judged based on the structure boundary. The judgment process takes the design boundary as the reference, and compares each coordinate of the measuring point with the coordinate range of the structure boundary. When the coordinate of the 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 by the screening result. The measuring point number, path number and coordinate value constitute the spatial position relationship table, which is arranged as the abnormal measuring point spatial position set. In actual engineering, if the M12 measuring point is at the position of path 101, its X, Y and Z coordinates are 23.4, 10.1 and 3.0 respectively. If the design boundary range is X∈[20, 23], Y∈[9, 11] and Z∈[2.5, 3.0], it can be judged that the X direction is out of bounds. The point is an abnormal measuring point. At the same time, M13 and M14 are at path indexes 102 and 103, and the coordinate values also have out-of-bound conditions. The following data table is established:

[0139] Table 5 Abnormal measurement point and path index mapping example table:

[0140] ;

[0141] As shown in Table 5, M12 to M14 are first partition offset measurement points, M21 to M23 are second partition measurement points, abnormal points on the path segment are screened out after structure boundary comparison, and are summarized as an abnormal measurement point spatial position set.

[0142] The structure offset 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 offset relationship between the measurement point and the corresponding standard structure, obtains the offset direction and offset degree of the measurement point in the standard cross-section, and combines the geometric shape parameters of the cross-section structure to divide the offset level, and obtains the structure offset level quantity;

[0143] Call the abnormal measurement point spatial position set recorded in Table 5, extract the path index of each measurement point, match the standard cross-section structure corresponding to the index in the structure database, obtain the theoretical spatial boundary point of the standard structure, compare the actual position of the measurement point with the boundary position of the standard structure, calculate the distance difference value in three coordinate directions, and use it as the basis for structure offset judgment. At the same time, extract the structure shape parameters of each cross-section, such as boundary line segment length, node angle information, etc., compare the offset direction of the measurement point spatial position in the three-dimensional structure, and use the direction vector angle value as the offset direction classification reference item. The angle between 0 and 30 degrees is straight offset, the angle between 30 and 60 degrees is oblique offset, and the angle greater than 60 degrees is structure boundary vertical offset. After the direction is determined, the offset amplitude threshold is introduced again, which is set to 0.8 meters according to the design specification. If the spatial distance difference of a measurement point is greater than 0.8 meters, it is determined as a structure offset abnormal point. The offset amount of measurement points M12 to M14 is 1.0 meters, 1.3 meters and 1.2 meters respectively, all of which exceed the set offset threshold. Combined with the offset direction which is within the interval of 30 degrees, it is judged as a parallel direction abnormal point. The measurement points of this type are sorted and grouped according to the direction type and offset degree, a structure offset level table is formed, the offset level value of each measurement point is extracted, and the path index is organized to obtain the structure offset level quantity.

[0144] The deformation result generation submodule judges the offset trend of the whole path segment according to the structure offset level quantity, combines the measurement point path position and spatial distribution characteristics, sorts the measurement point offset level and outputs it in path order, constructs the offset level sequence of the continuous path segment, and generates real-time deformation mapping results;

[0145] According to the structural offset level quantity, the number information of each measuring point in the path segment is called, the measuring point position sequence is constructed, it is combined with the offset level, it is sorted according to the path index, the offset level of all measuring points in the continuous path segment is averaged, the path segment offset level set is formed, the difference of offset level value in the path segment is compared, the offset change interval range is demarcated, and the level difference between adjacent path segments is judged, if the level change exceeds two levels, it is marked as a mutation point, the spatial coordinates of all measuring points in the path segment are collected, the path segment offset level distribution atlas is drawn, and the atlas is combined with the actual path space structure, the offset level of each measuring point position is marked, the path segment offset trend line is formed, the offset level, path number, spatial coordinates, trend line data and other contents of all path segments are summarized, and the structural deformation data table is exported as the basis for the overall offset evaluation of the path segment, and the real-time deformation surveying result is constructed.

[0146] The above is only a specific embodiment 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 changes or replacements within the technical range disclosed by the present application, which should be covered within 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 real-time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for railway tunnel deformation 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 real time mapping system for railway tunnel deformation 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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 real time mapping system for deformation of railway tunnels 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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