A dynamic coordinate calculation method and device for vacuum pipeline plane control points

Abstract

The application provides a kind of vacuum pipeline plane control point dynamic coordinate calculation method and device, belong to high-speed maglev vacuum pipeline control survey technical field, the method includes: by being laid in the corresponding position of control network point environmental parameter monitoring sensor and establishing identity mapping relationship, realize the accurate association binding of control network point space position and sensor monitoring data. By static reference measurement in stable environment period and synchronous acquisition sensor time series data, obtain the initial observation value of high-precision control network point. By establishing independent coordinate system and carrying out constraint adjustment, obtain the initial plane coordinate and initial average temperature of control network point under specific environmental state. Finally, by dynamic correction of initial plane coordinate according to sensor real-time reading, the accurate coordinate of control network point can be calculated in real time no matter how the deformation body occurs longitudinal expansion and contraction with the change of environmental temperature, so as to ensure the continuous effectiveness and high precision of measurement reference.

Description

Technical Field

[0001] This invention relates to the field of high-speed maglev vacuum pipeline control and measurement technology, and in particular to a method and apparatus for calculating the dynamic coordinates of plane control points in a vacuum pipeline. Background Technology

[0002] The multi-mode coupled rail transit dynamic model test platform is a comprehensive research facility integrating vacuum pipelines, magnetic levitation, and wheel-rail systems. The core of the project is an elevated vacuum pipeline test line with a length of approximately 1.62 kilometers and an inner diameter of 3 meters. The air pressure inside the pipeline can be adjusted between 0.005 and 1.0 standard atmospheres, aiming to achieve ultra-high-speed operation tests at 1500 km / h.

[0003] This ultra-long metal pipeline has fixed supports only at two piers (4# and 5#), with the rest using movable supports. Changes in ambient temperature cause significant longitudinal thermal expansion and contraction deformation of the entire pipeline. The primary horizontal control network (CFII) deployed inside the pipeline serves as the benchmark for measuring and controlling the installation of internal pipeline facilities; the CFII control points are directly fixed to the inner wall of the pipeline. Therefore, the actual spatial position of the CFII control points will shift longitudinally along with the pipeline. This characteristic presents two technical challenges to the measurement and use of the CFII control network: (1) Problem of instantaneous failure of reference: The coordinates of CFII points obtained by traditional measurement and adjustment are only "instantaneous coordinates" under specific temperature conditions at the time of measurement. When the pipeline temperature changes, the coordinates of all CFII points have changed, and the previously measured coordinates are no longer accurate and cannot be directly used as the reference for subsequent straightness measurement and control of equipment in the pipeline.

[0004] (2) Measurement accuracy decay problem: During the measurement of the CFII control network, if the temperature changes continuously and the pipeline expands and contracts continuously, the station and prism will be in a "slow motion state" during the measurement process, which will introduce an immeasurable systematic error and significantly reduce the measurement accuracy of the CFII control network.

[0005] Currently, no mature solutions exist, either domestically or internationally, for maintaining the reference of static control networks located within continuously deformable bodies. Traditional methods for measuring and using plane control networks assume that control points are stable and unchanging, which clearly cannot meet the ultra-high accuracy and real-time requirements of this experimental platform. Therefore, there is an urgent need to invent a new method capable of dynamically tracking, calculating, and correcting the real-time coordinates of control points. Summary of the Invention

[0006] This invention provides a method and apparatus for dynamic coordinate calculation of planar control points in a vacuum pipeline, which overcomes the shortcomings of the prior art and enables dynamic tracking, calculation and correction of the real-time coordinates of control points.

[0007] In a first aspect, the present invention provides a method for calculating the dynamic coordinates of a plane control point in a vacuum pipeline, comprising: Environmental parameter monitoring sensors were deployed at the corresponding locations of the control points of the deformable body, and an identity mapping relationship between the control points and the sensors was established. Based on the identity mapping relationship, static benchmark measurements are performed on the control points during periods of environmental stability, and time-series data from associated sensors are collected synchronously to obtain the initial observation values ​​of the control points. An independent coordinate system is established based on the initial observations of the control points and constrained adjustment is performed to obtain the initial plane coordinates and initial average temperature of the control points. Based on the initial average temperature, the initial plane coordinates of the control points are dynamically corrected according to the real-time readings of the sensors to obtain the real-time plane coordinates of the control points.

[0008] Furthermore, the step of deploying environmental parameter monitoring sensors at corresponding locations of the control points on the deformable body and establishing an identity mapping relationship between the control points and the sensors includes: A temperature sensor and a longitudinal displacement sensor are respectively installed on the outside of the pipeline at the location corresponding to each primary plane control point inside the pipeline. Each primary plane control point and its corresponding temperature sensor and longitudinal displacement sensor are assigned a unique number; Establish the number correspondence between the primary planar control points and the corresponding sensors to obtain the identity mapping relationship.

[0009] Furthermore, the step of performing static benchmark measurements on the control points during stable environmental periods based on the identity mapping relationship and simultaneously collecting time-series data from associated sensors to obtain initial observations of the control points includes: During the selected meteorologically stable period, a total station was used to conduct rapid initial measurements of all primary plane control points within the pipeline, and the station number and start and end times of each measurement were recorded during the measurement process. The initial readings of all temperature sensors and longitudinal displacement sensors are recorded synchronously within the corresponding measurement start and end time by the data acquisition system to obtain the initial observation values ​​of the control network points.

[0010] Furthermore, the step of establishing an independent coordinate system based on the initial observations of the control network points and performing constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control network points includes: A longitudinal and transverse coordinate system is established in the inner plane of the pipeline, with the preset feature point near the starting end of the pipeline as the origin and the pipeline design centerline direction as the X-axis direction. Based on the initial observations of the control network points, a point-to-direction constrained adjustment method is used for data processing. The coordinates of the origin and the azimuth of the X-axis are fixed to obtain the initial plane coordinates and initial average temperature of all primary plane control network points at the initial measurement time and temperature conditions.

[0011] Furthermore, the step of dynamically correcting the initial planar coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time planar coordinates of the control points includes: Based on the initial average temperature, obtain the current real-time readings and current temperature of the temperature sensor and longitudinal displacement sensor at the target primary plane control point; Based on the current real-time reading of the longitudinal displacement sensor, the longitudinal displacement of the primary plane control point since the initial measurement time is obtained. Based on the current real-time readings and the longitudinal displacement, determine the real-time longitudinal coordinates of the primary plane control points. Alternatively, the theoretical longitudinal scaling amount can be determined based on the current temperature and initial average temperature at the target primary plane control point, and used as the real-time longitudinal coordinate of the primary plane control point. The specific methods for determining the theoretical longitudinal scaling amount include: ; in, This is the theoretical longitudinal stretching amount. The coefficient of thermal expansion of the pipe material. This represents the theoretical distance from the primary plane control point to the fixed support. The current temperature at the target primary plane control point. The initial average temperature; Based on the deformation characteristics of pipelines, which are mainly longitudinal deformations and have negligible lateral deformations due to thermal expansion and contraction, the real-time lateral coordinates of the primary plane control points are determined.

[0012] Furthermore, after dynamically correcting the initial planar coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time planar coordinates of the control points, the method further includes: Obtain the real-time plane coordinates of at least four primary plane control points as known points, and perform free stationing measurements with a total station; The accuracy of the real-time plane coordinates is verified by analyzing the residuals and point accuracy after free station setup; if the accuracy meets the preset requirements, the real-time plane coordinates are confirmed to be reliable; if not, a system check or remeasurement is triggered. The free station measurement is a free station set up at any position within the pipeline; the real-time plane coordinates of the at least four primary plane control network points are input into the total station as backsight known points; the total station calculates the coordinates and station accuracy of the station, and when a significant deviation is found in the residual of a certain primary plane control network point, it is determined that there is an anomaly in the sensor or initial data of that primary plane control network point, and a system check is required.

[0013] Secondly, the present invention also provides a dynamic coordinate calculation device for a plane control point in a vacuum pipeline, comprising: a mapping relationship acquisition module, used to deploy environmental parameter monitoring sensors at the corresponding positions of the control points of the deformable body and establish an identity mapping relationship between the control points and the sensors; a data processing module, used to perform static benchmark measurements on the control points during a stable environmental period based on the identity mapping relationship and simultaneously collect time-series data from associated sensors to obtain initial observation values ​​of the control points; an initial calibration module, used to establish an independent coordinate system based on the initial observation values ​​of the control points and perform constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control points; and a coordinate calculation module, used to dynamically correct the initial plane coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time plane coordinates of the control points.

[0014] Thirdly, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the dynamic coordinate calculation method for the plane control point of the vacuum pipeline as described above.

[0015] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the dynamic coordinate calculation method for the planar control points of a vacuum pipeline as described above.

[0016] The method and apparatus for calculating the dynamic coordinates of planar control points in a vacuum pipeline provided by this invention have the following advantages compared to existing technologies: This invention achieves precise correlation and binding between the spatial location of control network points and sensor monitoring data by deploying environmental parameter monitoring sensors at corresponding locations and establishing an identity mapping relationship. By performing static benchmark measurements during periods of environmental stability and simultaneously acquiring time-series sensor data, high-precision initial observation values ​​for the control network points are obtained, effectively separating errors introduced by environmental changes during measurement. By establishing an independent coordinate system and performing constrained adjustment, the initial planar coordinates and initial average temperature of the control network points under specific environmental conditions are obtained, establishing a benchmark for subsequent dynamic calculations. Finally, by dynamically correcting the initial planar coordinates based on real-time sensor readings, the precise coordinates of the control network points can be calculated in real time regardless of how the deformable body expands or contracts with changes in ambient temperature. This ensures the continuous effectiveness and high precision of the measurement benchmark under any time and temperature conditions, providing a reliable dynamic benchmark guarantee for the high-precision installation and control of equipment within the pipeline. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a method for calculating the dynamic coordinates of optional vacuum pipeline plane control points according to an embodiment of the present invention. Figure 2 This is a schematic diagram showing the location of an optional temperature and displacement sensor and CFII control point provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of an optional total station measurement of the CFII plane control network within a pipeline, provided by an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of an optional electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] It should be noted that in the description of the embodiments of the present invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0021] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more.

[0022] In one embodiment, the present invention provides a method for calculating the dynamic coordinates of planar control points in a vacuum pipeline, which is applied to the field of control and measurement of ultra-long metal pipelines in a multi-mode coupled rail transit dynamic model test platform.

[0023] The core of the test platform project is an elevated vacuum pipeline test line approximately 1.62 kilometers long and 3 meters in inner diameter. The gas pressure inside the pipeline can be adjusted between 0.005 and 1.0 standard atmospheres, aiming to achieve ultra-high-speed operation tests at 1500 km / h. The ultra-long metal pipeline has fixed supports only at two piers (4# and 5#), with the rest being movable supports. Changes in ambient temperature will cause significant longitudinal thermal expansion and contraction deformation of the entire pipeline. The control points of the primary plane control network (CFII) deployed inside the pipeline are directly fixed to the inner wall of the pipeline. Therefore, the actual spatial position of the control points will shift longitudinally along with the pipeline, causing the "instantaneous coordinates" obtained by traditional measurement methods to quickly become invalid after temperature changes, making them unusable as a reference for subsequent high-precision installation and control of equipment within the pipeline.

[0024] In response to the above technical issues, Figure 1 This is a flowchart illustrating a method for calculating the dynamic coordinates of optional vacuum pipeline plane control points according to an embodiment of the present invention. Figure 1 As shown, including but not limited to the following steps: S102, Environmental parameter monitoring sensors are deployed at the corresponding locations of the control points of the deformable body and an identity mapping relationship between the control points and the sensors is established. S104, Based on the identity mapping relationship, static benchmark measurements are performed on the control points during stable environmental periods, and time-series data from associated sensors are collected synchronously to obtain the initial observation values ​​of the control points; S106. Based on the initial observations of the control network points, an independent coordinate system is established and constrained adjustment is performed to obtain the initial plane coordinates and initial average temperature of the control network points. S108, Based on the initial average temperature, the initial plane coordinates of the control network points are dynamically corrected according to the real-time readings of the sensors to obtain the real-time plane coordinates of the control network points.

[0025] In this embodiment, environmental parameter monitoring sensors are deployed at the corresponding locations of the control points on the deformable body, and an identity mapping relationship between the control points and the sensors is established. Based on the identity mapping relationship, static benchmark measurements are performed on the control points during periods of environmental stability, and time-series data from associated sensors are simultaneously collected to obtain the initial observation values ​​of the control points. An independent coordinate system is established based on the initial observation values ​​of the control points, and constrained adjustment is performed to obtain the initial plane coordinates and initial average temperature of the control points. Based on the initial average temperature, the initial plane coordinates of the control points are dynamically corrected according to the real-time sensor readings to obtain the real-time plane coordinates of the control points.

[0026] This invention transforms traditional static measurement benchmarks into dynamically usable real-time benchmarks, fundamentally solving the problem of control point benchmark failure within ultra-long deformable bodies, and enabling the acquisition of high-precision real-time coordinates of control points at any time and under any temperature conditions.

[0027] In an optional embodiment, the method for calculating the dynamic coordinates of the planar control points of the vacuum pipeline provided in this embodiment, which involves setting up environmental parameter monitoring sensors at the corresponding positions of the control network points of the deformable body and establishing an identity mapping relationship between the control network points and the sensors, includes setting up a temperature sensor and a longitudinal displacement sensor on the outside of the pipeline at the corresponding positions of each primary planar control network point in the pipeline. Each primary plane control point and its corresponding temperature sensor and longitudinal displacement sensor are assigned a unique number; Establish the number correspondence between the primary planar control points and the corresponding sensors to obtain the identity mapping relationship.

[0028] Specifically, Figure 2 This is a schematic diagram illustrating the optional placement of temperature and displacement sensors and CFII control points according to an embodiment of the present invention. Figure 2As shown, firstly, a pair of primary plane control points 2 are set up at regular intervals (approximately 200 meters) on both sides of the inner side of the vacuum pipe 1. These control points are required to be positioned directly above the pier 6, with their measuring ends connected to angle steel 7 welded to the pipe 1, for directly measuring the longitudinal displacement of that point relative to the fixed end. Then, on the outer side of the pipe at the location corresponding to each primary plane control point 2, a temperature sensor 4 and a longitudinal displacement sensor 3 are respectively installed. The longitudinal displacement sensor 3 can be a draw-wire displacement gauge or a laser rangefinder, and the temperature sensor 4 can be a contact temperature sensor.

[0029] Next, a unique number is assigned to each primary plane control point and its corresponding temperature sensor and longitudinal displacement sensor. Finally, the number correspondence between the primary plane control points and their corresponding sensors is established, resulting in an identity mapping relationship, thereby realizing the association and binding of the spatial location of the control points with the sensor monitoring data.

[0030] It is worth noting that the reference end of the longitudinal displacement sensor can be fixed on the top of the pier, which serves as a relatively stable reference. The measuring end of the longitudinal displacement sensor is connected to the angle steel welded to the outer wall of the pipe, and is used to directly measure the longitudinal displacement of the primary plane control point relative to the fixed end. Placing the sensor outside the pipe avoids interference with the vacuum environment, and using the pier as a reference improves the accuracy of displacement measurement.

[0031] In an optional embodiment, the dynamic coordinate calculation method for vacuum pipeline plane control points provided in this embodiment, which involves performing static benchmark measurements on the control points during a stable environmental period based on the identity mapping relationship and simultaneously acquiring time-series data from associated sensors to obtain initial observations of the control points, includes: During the selected meteorologically stable period, a total station was used to conduct rapid initial measurements of all primary plane control points within the pipeline, and the station number and start and end times of each measurement were recorded during the measurement process. The initial readings of all temperature sensors and longitudinal displacement sensors are recorded synchronously within the corresponding measurement start and end time by the data acquisition system to obtain the initial observation values ​​of the control network points.

[0032] In this embodiment, a period of relatively small nighttime temperature variation is selected as the meteorologically stable period. During this period, a high-precision intelligent total station 8 (e.g., a surveying robot) can be used to perform rapid initial measurements on all primary plane control points within the pipeline. Figure 3 This is a schematic diagram of an optional total station measurement of a CFII plane control network within a pipeline, provided by an embodiment of the present invention. Figure 3As shown. The measurement method can employ the free-station corner intersection method. Two pairs of control points are used before and after each station measurement. During the measurement process, the total station and control software automatically record the station number and start and end times of each measurement, as well as the start and end times and corner observation values ​​for each measurement cycle. Simultaneously, the initial readings of all temperature sensors and longitudinal displacement sensors are recorded synchronously through the data acquisition system within the corresponding measurement start and end times, obtaining the initial observation values ​​of the control network points.

[0033] This embodiment minimizes the interference of environmental factors on the measurement results by conducting initial measurements during a period of stable weather (especially with small temperature changes), ensuring the benchmark accuracy of the initial plane coordinates and initial average temperature. At the same time, it adopts a high-precision intelligent total station (measuring robot) and the free station corner intersection method, combined with rapid measurement, which can efficiently and accurately acquire a large amount of observation data, reducing the error introduced by the slight deformation of the pipeline during the measurement process, and providing the most reliable static benchmark for subsequent dynamic coordinate correction.

[0034] In an optional embodiment, the dynamic coordinate calculation method for the plane control points of the vacuum pipeline provided in this embodiment, which involves establishing an independent coordinate system based on the initial observations of the control network points and performing constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control network points, includes: A longitudinal and transverse coordinate system is established in the inner plane of the pipeline, with the preset feature point near the starting end of the pipeline as the origin and the pipeline design centerline direction as the X-axis direction. Based on the initial observations of the control network points, a point-to-direction constrained adjustment method is used for data processing. The coordinates of the origin and the azimuth of the X-axis are fixed to obtain the initial plane coordinates and initial average temperature of all primary plane control network points at the initial measurement time and temperature conditions.

[0035] In this embodiment, a pre-defined feature point (such as a point on the design centerline) near the starting end of the pipeline is used as the origin (0,0), and a longitudinal and transverse coordinate system is established in the inner plane of the pipeline with the design centerline direction of the pipeline as the X-axis direction. The establishment of this coordinate system is based on the deformation characteristics that the thermal expansion and contraction deformation of the pipeline will only cause longitudinal deformation of the pipeline, while the inner diameter of the pipeline is small and therefore the transverse deformation can be ignored.

[0036] The measurement data is imported into the data processing center. Based on the initial observations of the aforementioned control points, a point-to-direction constrained adjustment method is used for data processing. This involves fixing the coordinates of the origin and the azimuth of the X-axis to obtain the initial plane coordinates of all primary plane control points at the initial measurement time and temperature conditions. and initial average temperature The initial planar coordinates and initial average temperature are then saved and recorded in the data processing center. It should be noted that since the thermal expansion and contraction deformation of the pipeline mainly causes longitudinal deformation, while the lateral deformation is negligible, a longitudinal and lateral coordinate system is established within the pipeline. The preset centerline point at the pipeline end is used as the origin, and the pipeline design direction is used as the X-axis. A point-to-direction constraint adjustment is adopted to accurately obtain the initial state of all control network points under the average temperature during the measurement period, which serves as the benchmark for all subsequent dynamic corrections.

[0037] In an optional embodiment, the dynamic coordinate calculation method for the planar control points of the vacuum pipeline provided in this embodiment, which involves dynamically correcting the initial planar coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time planar coordinates of the control points, includes: Based on the initial average temperature, obtain the current real-time readings and current temperature of the temperature sensor and longitudinal displacement sensor at the target primary plane control point; Based on the current real-time reading of the longitudinal displacement sensor, the longitudinal displacement of the primary plane control point since the initial measurement time is obtained. Based on the current real-time readings and the longitudinal displacement, determine the real-time longitudinal coordinates of the primary plane control points. Alternatively, the theoretical longitudinal scaling amount can be determined based on the current temperature and initial average temperature at the target primary plane control point, and used as the real-time longitudinal coordinate of the primary plane control point. The specific methods for determining the theoretical longitudinal scaling amount include: ; in, This is the theoretical longitudinal stretching amount. The coefficient of thermal expansion of the pipe material. This represents the theoretical distance from the primary plane control point to the fixed support. The current temperature at the target primary plane control point. The initial average temperature; Based on the deformation characteristics of pipelines, which are mainly longitudinal deformations and have negligible lateral deformations due to thermal expansion and contraction, the real-time lateral coordinates of the primary plane control points are determined.

[0038] In this embodiment, when it is necessary to perform installation monitoring and control of facilities and equipment within the pipeline, the current real-time readings of the temperature sensor and longitudinal displacement sensor at the target primary plane control point are read to obtain the current temperature. The longitudinal displacement of the primary plane control point since the initial measurement time is obtained directly based on the current real-time reading of the longitudinal displacement sensor. Because the direct readings of the longitudinal displacement sensor directly reflect the physical displacement and have the highest accuracy, the real-time longitudinal coordinates of this primary plane control point are calculated. ;or.

[0039] When longitudinal displacement sensor data is unavailable, as a backup plan, the current temperature at the target primary plane control point is used. Initial average temperature The theoretical distance L from the primary plane control point to the fixed support and the coefficient of thermal expansion of the pipeline material. Calculate the theoretical longitudinal stretching And calculate the real-time longitudinal coordinates Meanwhile, based on the deformation characteristics of pipelines, where thermal expansion and contraction primarily involve longitudinal deformation with negligible lateral deformation, the real-time lateral coordinates of the primary plane control points were determined. Through the above dynamic real-time coordinate calculation, regardless of the deformation of the pipeline, the system can calculate the precise coordinates of each control point in real time and dynamically, thus ensuring that the measurement benchmark is always effective.

[0040] In an optional embodiment, the dynamic coordinate calculation method for the planar control points of the vacuum pipeline provided in this embodiment, after dynamically correcting the initial planar coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time planar coordinates of the control points, further includes: Obtain the real-time plane coordinates of at least four primary plane control points as known points, and perform free stationing measurements with a total station; The accuracy of the real-time plane coordinates is verified by analyzing the residuals and point accuracy after free station setup; if the accuracy meets the preset requirements, the real-time plane coordinates are confirmed to be reliable; if not, a system check or remeasurement is triggered. The free station measurement is a free station set up at any position within the pipeline; the real-time plane coordinates of the at least four primary plane control network points are input into the total station as backsight known points; the total station calculates the coordinates and station accuracy of the station, and when a significant deviation is found in the residual of a certain primary plane control network point, it is determined that there is an anomaly in the sensor or initial data of that primary plane control network point, and a system check is required.

[0041] In this embodiment, surveyors use a total station to conduct free-station measurements at any location within the pipeline, inputting the real-time plane coordinates of at least four primary plane control points as backsight known points. The total station calculates the coordinates of the station location and the station accuracy. The accuracy of the real-time plane coordinates is verified by analyzing the residuals and point accuracy after free station setup. If the verified accuracy meets the preset requirements, the real-time plane coordinates are confirmed to be reliable; otherwise, a system check or re-measurement is triggered.

[0042] When a significantly large residual is found at a primary plane control point, it is determined that there is an anomaly in the sensor or initial data of that primary plane control point, requiring a system check. The calculated real-time plane coordinates are verified through the aforementioned free-station measurements and residual analysis to ensure their accuracy and reliability, forming a closed-loop dynamic measurement and correction system. This continuously guarantees the accuracy and reliability of the real-time plane coordinates of the control points, maintaining the validity of the measurement benchmark.

[0043] The method described in the above embodiments of the present invention can be executed by a dynamic coordinate calculation system that implements the above method, the system mainly comprising: The sensor unit, consisting of temperature sensors, longitudinal displacement sensors, and optional lateral displacement sensors deployed on the outside of the pipeline at each primary plane control point, is used to collect pipeline temperature and point displacement data. The measurement unit, including a high-precision intelligent total station (measuring robot), prism, and supporting equipment, is used to perform initial control network measurements and free station verification measurements. The data acquisition and transmission unit automatically collects, stores, and transmits sensor data. The data processing center stores the correspondence between sensors and control points, initial plane coordinates, initial average temperature, and pipeline physical parameters (such as the coefficient of thermal expansion α and fixed support positions). The coordinate calculation module runs a dynamic real-time coordinate calculation algorithm, receives real-time sensor data, and outputs the real-time plane coordinates of the primary plane control points; the adjustment calculation module performs constrained adjustment calculations for the initial measurements of the primary plane control network. The verification module verifies accuracy based on the free station setup results from the intelligent total station.

[0044] By constructing a dynamic coordinate calculation system through modular design, a high degree of automation, integration, and intelligence is achieved. The sensor unit and measurement unit are responsible for data input, the data acquisition and transmission unit ensures the real-time performance and reliability of the data stream, the data processing center serves as the core to store and manage all key parameters, and the coordinate calculation, adjustment calculation, and verification modules are respectively responsible for algorithm execution and result quality control, which significantly improves the efficiency and reliability of data processing.

[0045] The method described in the above embodiments of the present invention is not only applicable to the high-speed magnetic levitation vacuum pipeline test platform, but can also be extended to other similar long metal structures, such as large bridges, ships, and spacecraft shells, for maintaining internal precision measurement benchmarks, and has significant versatility and promotional value.

[0046] The present invention also provides a dynamic coordinate calculation device for plane control points of a vacuum pipeline, comprising: The mapping relationship acquisition module is used to deploy environmental parameter monitoring sensors at the corresponding locations of the control points of the deformable body and establish the identity mapping relationship between the control points and the sensors. The data processing module is used to perform static benchmark measurements on the control points during stable environmental periods based on the identity mapping relationship and to synchronously collect time-series data from associated sensors to obtain the initial observation values ​​of the control points. The initial calibration module is used to establish an independent coordinate system based on the initial observations of the control network points and perform constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control network points. The coordinate calculation module is used to dynamically correct the initial plane coordinates of the control network points based on the initial average temperature and real-time sensor readings, so as to obtain the real-time plane coordinates of the control network points.

[0047] It should be noted that the dynamic coordinate calculation device for the vacuum pipeline plane control point provided in this embodiment of the invention can execute the dynamic coordinate calculation method for the vacuum pipeline plane control point described in any of the above embodiments during specific operation, which will not be elaborated in this embodiment.

[0048] The device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions from the memory 430 to execute a method for calculating the dynamic coordinates of control points on the vacuum pipeline plane. This method includes: S1, acquire image data of the metal roof surface by taking aerial photos from a preset height above the metal roof of the railway passenger station using a drone; S2, preprocess the image data according to the image data and the GPS location information of the UAV to obtain preprocessed image data; S3, input the preprocessed image data into the target detection model, and output the disease detection result including the disease category, the pixel coordinates of the disease in the image, and the confidence score; the target detection model replaces the original C3k2 module in the backbone network with the C3k2_RFAConv module and embeds the CBAM attention mechanism after the P3, P4, and P5 feature map output nodes to suppress metal reflection interference and extract multi-scale disease features; S4. Based on the GPS location information and UAV attitude data, the pixel coordinates are mapped to the roof global coordinate system to generate the world coordinates of the defect. S5. Write the disease category, world coordinates, and confidence score into the inspection database; when the confidence score is greater than a preset threshold, trigger a real-time alarm and generate a visual maintenance work order carrying the disease category, world coordinates, and relative structural feature location description, and push it to the operation and maintenance terminal.

[0049] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0050] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer is able to execute the dynamic coordinate calculation method for the vacuum pipeline plane control point provided in the above embodiments.

[0051] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dynamic coordinate calculation method for the planar control points of the vacuum pipeline provided in the above embodiments.

[0052] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0053] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the dynamic coordinates of planar control points in a vacuum pipeline, characterized in that, include: Environmental parameter monitoring sensors were deployed at the corresponding locations of the control points of the deformable body, and an identity mapping relationship between the control points and the sensors was established. Based on the identity mapping relationship, static benchmark measurements are performed on the control points during periods of environmental stability, and time-series data from associated sensors are collected synchronously to obtain the initial observation values ​​of the control points. An independent coordinate system is established based on the initial observations of the control points and constrained adjustment is performed to obtain the initial plane coordinates and initial average temperature of the control points. Based on the initial average temperature, the initial plane coordinates of the control points are dynamically corrected according to the real-time readings of the sensors to obtain the real-time plane coordinates of the control points.

2. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 1, characterized in that, The step of deploying environmental parameter monitoring sensors at corresponding locations of the control points of the deformable body and establishing an identity mapping relationship between the control points and the sensors includes: A temperature sensor and a longitudinal displacement sensor are respectively installed on the outside of the pipeline at the location corresponding to each primary plane control point inside the pipeline. Each primary plane control point and its corresponding temperature sensor and longitudinal displacement sensor are assigned a unique number; Establish the number correspondence between the primary planar control points and the corresponding sensors to obtain the identity mapping relationship.

3. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 1, characterized in that, The process of performing static benchmark measurements on control points during stable environmental periods based on the identity mapping relationship and simultaneously acquiring time-series data from associated sensors to obtain initial observations of the control points includes: During the selected meteorologically stable period, a total station was used to conduct rapid initial measurements of all primary plane control points within the pipeline, and the station number and start and end times of each measurement were recorded during the measurement process. The initial readings of all temperature sensors and longitudinal displacement sensors are recorded synchronously within the corresponding measurement start and end time by the data acquisition system to obtain the initial observation values ​​of the control network points.

4. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 1, characterized in that, The process of establishing an independent coordinate system based on the initial observations of the control network points and performing constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control network points includes: A longitudinal and transverse coordinate system is established in the inner plane of the pipeline, with the preset feature point near the starting end of the pipeline as the origin and the pipeline design centerline direction as the X-axis direction. Based on the initial observations of the control network points, a point-to-direction constrained adjustment method is used for data processing. The coordinates of the origin and the azimuth of the X-axis are fixed to obtain the initial plane coordinates and initial average temperature of all primary plane control network points at the initial measurement time and temperature conditions.

5. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 1, characterized in that, The step of dynamically correcting the initial plane coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time plane coordinates of the control points includes: Based on the initial average temperature, obtain the current real-time readings and current temperature of the temperature sensor and longitudinal displacement sensor at the target primary plane control point; Based on the current real-time reading of the longitudinal displacement sensor, the longitudinal displacement of the primary plane control point since the initial measurement time is obtained. Based on the current real-time readings and the longitudinal displacement, determine the real-time longitudinal coordinates of the primary plane control points. Alternatively, the theoretical longitudinal scaling amount can be determined based on the current temperature and initial average temperature at the target primary plane control point, and used as the real-time longitudinal coordinate of the primary plane control point. The specific methods for determining the theoretical longitudinal scaling amount include: ； in, This is the theoretical longitudinal stretching amount. The coefficient of thermal expansion of the pipe material. This represents the theoretical distance from the primary plane control point to the fixed support. The current temperature at the target primary plane control point. The initial average temperature; Based on the deformation characteristics of pipelines, which are mainly longitudinal deformations and have negligible lateral deformations due to thermal expansion and contraction, the real-time lateral coordinates of the primary plane control points are determined.

6. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 5, characterized in that, After dynamically correcting the initial plane coordinates of the control points based on the initial average temperature and real-time sensor readings to obtain the real-time plane coordinates of the control points, the process further includes: Obtain the real-time plane coordinates of at least four primary plane control points as known points, and perform free stationing measurements with a total station; The accuracy of the real-time plane coordinates is verified by analyzing the residuals and point accuracy after free station setup. If the accuracy meets the preset requirements, the real-time plane coordinates are confirmed to be reliable. If not, the system is triggered to check or remeasure.

7. The method for calculating the dynamic coordinates of planar control points in a vacuum pipeline according to claim 6, characterized in that, The free station measurement is a free station set up at any position within the pipeline; the real-time plane coordinates of the at least four primary plane control network points are input into the total station as backsight known points; the total station calculates the coordinates and station accuracy of the station, and when a significant deviation is found in the residual of a certain primary plane control network point, it is determined that there is an anomaly in the sensor or initial data of that primary plane control network point, and a system check is required.

8. A dynamic coordinate calculation device for planar control points in a vacuum pipeline, characterized in that, include: The mapping relationship acquisition module is used to deploy environmental parameter monitoring sensors at the corresponding locations of the control points of the deformable body and establish the identity mapping relationship between the control points and the sensors. The data processing module is used to perform static benchmark measurements on the control points during stable environmental periods based on the identity mapping relationship and to synchronously collect time-series data from associated sensors to obtain the initial observation values ​​of the control points. The initial calibration module is used to establish an independent coordinate system based on the initial observations of the control network points and perform constrained adjustment to obtain the initial plane coordinates and initial average temperature of the control network points. The coordinate calculation module is used to dynamically correct the initial plane coordinates of the control network points based on the initial average temperature and real-time sensor readings, so as to obtain the real-time plane coordinates of the control network points.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the dynamic coordinate calculation method for the plane control points of the vacuum pipeline as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic coordinate calculation method for the plane control point of the vacuum pipeline as described in any one of claims 1 to 7.

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