Fast orbit measurement method and device, computer device, storage medium and product

Abstract

The application discloses a kind of fast track measurement method, device, computer equipment, storage medium and product.The method is based on the image alignment laser point position of CCD camera acquisition, determines target position track data based on laser ranging, measurement head angle data and trolley tilt data etc at reflecting target, determines in-transit track data based on gyro data, odometer data and trolley tilt data etc between reflecting target, and based on target position track data, in-transit track data is corrected, realizes automatic identification and accurately moves to control point and carries out automatic measurement, and after completing control point measurement, automatically starts walking to start next interval measurement, and only needs to measure one reflecting target at each control point, measurement efficiency is greatly improved, also guarantees measurement accuracy, compared with inertial navigation trolley, expensive inertial navigation and automatic total station are saved, greatly reduce cost, and overall intelligent level is high, and the technical requirement to operator is also greatly reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of track measurement technology, and in particular to a rapid track measurement method, apparatus, computer equipment, storage medium and product. Background Technology

[0002] In the construction, overhaul, operation and maintenance of high-speed rail, conventional rail, subway and intercity rail, it is necessary to accurately measure the spatial position and geometric state data of the track, including the absolute coordinates of the left and right track elevations and the track centerline, as well as the horizontal and vertical deviations from the line design values, the track gauge and level (superelevation) of the left and right rails, and further calculate the smoothness values ​​of the track line such as alignment, elevation, torsion, TQI.

[0003] The existing absolute measuring trolley is set up using an automatic total station, then the coordinates of a precision prism on the trolley are locked and measured, and data from the tilt and gauge sensors are read. This requires the absolute measuring trolley to be stationary during measurement. In actual operation, the trolley is pushed to the sleeper to be measured to begin the measurement, and after the measurement is completed, the trolley is pushed to the next sleeper. This method offers high measurement accuracy but has very low operational efficiency.

[0004] The existing inertial navigation measurement trolley continuously measures the spatial position and geometric state data of the track using an inertial navigation system mounted on the track trolley. To ensure accuracy, the inertial navigation measurement trolley stops and comes to a standstill every 120-150 meters. A high-precision fully automatic total station mounted on the track trolley then observes eight CP3 control points to obtain the spatial position (absolute coordinates) of the fully automatic total station, which in turn determines the spatial position of the inertial navigation system and corrects the inertial navigation data. In this mode, the cost of the inertial navigation system and the high-precision fully automatic total station is high. Observing eight CP3 control points with the fully automatic total station requires the installation of precision prisms, and the time spent installing and observing the prisms is much longer than the time required for continuous measurement of a section using inertial navigation. Furthermore, the human operator's non-uniform motion during the movement introduces inertia and acceleration changes, affecting the measurement accuracy of the inertial navigation system. Summary of the Invention

[0005] This invention provides a rapid track measurement method, device, computer equipment, storage medium, and product to achieve continuous, dynamic, rapid, and high-precision measurement of track spatial position and geometric state at low cost.

[0006] In a first aspect, embodiments of the present invention provide a rapid track measurement method applied to a track inspection trolley. The track inspection trolley includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. The method includes:

[0007] The CCD camera acquires track-side images in real time. After the image of the reflective target appears in the track-side image, the position of the track inspection trolley and the direction of the measuring head are adjusted based on the position of the reflective target in the track-side image, so that the laser point of the laser ranging module hits the center of the reflective target.

[0008] The distance data of the reflective target is measured by the laser ranging module, and the angle data of the absolute scale built into the servo motor is read. The target tilt data of the track inspection trolley is collected by the dual-axis tilt sensor, and the target track gauge data is measured by the track gauge sensor.

[0009] The target trajectory data of the current reflective target position is determined based on the distance data, the angle data, the target tilt data, and the target track gauge data, and the mileage value of the odometer is set based on the target trajectory data.

[0010] The track inspection trolley is controlled to move to the next reflective target, and the angular velocity data of the gyroscope, the mileage data of the odometer, the tilt data of the dual-axis tilt sensor, and the track gauge data of the track gauge sensor are read in real time.

[0011] The travel trajectory data between the two reflective targets is determined based on the travel angular velocity data, travel distance data, travel tilt data, and travel gauge data.

[0012] The trajectory data between the two reflective targets is linearly corrected based on the target trajectory data of the two reflective target positions.

[0013] Optionally, adjusting the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target, includes:

[0014] The first traveling distance is determined based on the horizontal distance between the center of the reflective target and the center of the image in the track side image, the camera focal length, and the initial approximate distance between the center of the reflective target and the CCD camera, and the track inspection trolley is driven to move according to the first traveling distance;

[0015] The first adjustment angle is determined based on the initial approximate distance between the center of the reflective target and the laser ranging module, as well as the height difference between the center of the reflective target and the laser ranging module. The servo motor is then driven to adjust the direction of the measuring head based on the first adjustment angle, so that the laser point of the laser ranging module hits the reflective target.

[0016] The laser ranging module measures the actual distance to the reflective target, reads the actual angle of the absolute dial, and acquires an image of the current position using the CCD camera.

[0017] The second traveling distance and the second adjustment angle are determined based on the actual distance, the actual angle, and the position of the reflective target in the current position image. The track inspection trolley is driven to move according to the second traveling distance, and the servo motor is driven to adjust the direction of the measuring head according to the second adjustment angle.

[0018] Optionally, the step of determining the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data, and the target trajectory distance data includes:

[0019] Based on the distance data, the angle data, and the current center coordinates of the reflective target, the mileage and coordinates of the laser ranging module are determined;

[0020] The center coordinates of the gyroscope are determined based on the coordinates of the laser ranging module, the target tilt data, and the relative positional relationship between the laser ranging module and the gyroscope.

[0021] The target track data is determined based on the center coordinates of the gyroscope device, the target tilt data, the target track gauge data, the mileage of the laser ranging module, and the relative positional relationship between the gyroscope device and the wheels of the track inspection trolley.

[0022] Optionally, determining the orbital data between the two reflective targets based on the inter-travel angular velocity data, the inter-travel mileage data, the inter-travel tilt data, and the inter-travel gauge data includes:

[0023] The travel angular velocity data is determined relative to the time taken from the reflective target, and the travel angular velocity data within the time taken is integrated to obtain the angular offset data;

[0024] The relative distance traveled from the reflective target is determined based on the travel distance data.

[0025] Based on the initial center coordinates of the gyroscope when it starts from the reflective target, the angular offset data, the forward distance, and the tilt data during travel, the real-time center coordinates of the gyroscope at the current mileage are determined.

[0026] The track data during travel is determined based on the real-time center coordinates of the gyroscope, the tilt data during travel, the track gauge data during travel, the mileage data during travel, and the relative positional relationship between the gyroscope and the wheels of the track inspection trolley.

[0027] Optionally, the step of linearly correcting the inter-target trajectory data based on the target trajectory data of the two target positions includes:

[0028] The reference interval mileage between the two reflective targets is determined based on the target trajectory data of the two reflective targets' positions.

[0029] The statistical interval mileage between the two reflective targets is determined based on the orbital data during the journey.

[0030] The unit mileage correction value is determined based on the baseline interval mileage and the statistical interval mileage.

[0031] The mileage values ​​recorded in the travel track data are corrected according to the unit mileage correction value.

[0032] Optionally, controlling the track inspection trolley to proceed to the next reflector target includes:

[0033] The track inspection trolley is controlled to move forward at a preset speed at a constant speed, and the track inspection trolley is controlled to decelerate after the image of the reflective target appears in the track side image acquired in real time by the CCD camera.

[0034] Secondly, embodiments of the present invention also provide a rapid track measurement device applied to a track inspection trolley. The track inspection trolley includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. The device includes:

[0035] The laser point alignment module is used to acquire track side images in real time through the CCD camera, and after the image of the reflective target appears in the track side image, adjust the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target.

[0036] The target position data acquisition module is used to measure the distance data of the reflective target through the laser ranging module, read the angle data of the absolute scale built into the servo motor, collect the target position tilt data of the track inspection trolley through the dual-axis tilt sensor, and measure the target position track gauge data through the track gauge sensor.

[0037] The target trajectory data determination module is used to determine the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data and the target track gauge data, and to set the mileage value of the odometer based on the target trajectory data.

[0038] The in-journey data acquisition module is used to control the track inspection trolley to move to the next reflective target and read in real time the in-journey angular velocity data of the gyroscope, the in-journey mileage data of the odometer, the in-journey tilt data of the dual-axis tilt sensor, and the in-journey track gauge data of the track gauge sensor.

[0039] The in-journey trajectory data determination module is used to determine the in-journey trajectory data between the two reflective targets based on the in-journey angular velocity data, the in-journey mileage data, the in-journey tilt data, and the in-journey track gauge data.

[0040] The in-journey trajectory data correction module is used to linearly correct the in-journey trajectory data between the two reflective targets based on the target position trajectory data of the two reflective targets.

[0041] Thirdly, embodiments of the present invention also provide a computer device, the computer device comprising:

[0042] One or more processors;

[0043] Memory, used to store one or more programs;

[0044] When the one or more programs are executed by the one or more processors, the one or more processors implement the rapid orbit measurement method provided in any embodiment of the present invention.

[0045] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the rapid orbit measurement method provided in any embodiment of the present invention.

[0046] Fifthly, embodiments of the present invention also provide a computer program product, which includes a computer program that, when executed by a processor, implements the rapid orbit measurement method provided in any embodiment of the present invention.

[0047] This invention provides a rapid track measurement method. A CCD camera acquires real-time side images of the track. When a reflective target appears in the side image, the position of the track inspection trolley and the direction of the measuring head are adjusted based on the target's position in the image. This ensures the laser point of the laser ranging module hits the center of the reflective target, allowing for the measurement of distance data to the target at that position. The method also reads angle data representing the measuring head's direction, target tilt data of the track inspection trolley, and target gauge data. Based on these data, the target track data for the current reflective target position is determined, and the odometer's mileage value is set accordingly. After completing a target measurement, the track inspection trolley moves to the next reflective target. During the movement, real-time data on angular velocity, mileage, tilt, and gauge are read. Based on these data, the track data between reflective targets is determined, and the track data between two reflective targets is linearly corrected based on the target track data at the corresponding two target positions. The rapid track measurement method provided in this invention can automatically identify control points and move precisely to the control points for automatic measurement. After completing the control point measurement, it automatically starts walking to begin the next interval measurement. At each control point, only one reflective target needs to be measured, which greatly improves the measurement efficiency. At the same time, by integrating a gyroscope device, laser rangefinder, absolute circle angle measurement, odometer, and dual-axis tilt sensor to measure the tilt of the entire equipment, the measurement accuracy is also guaranteed. Compared with an inertial navigation trolley, it eliminates the need for expensive inertial navigation and automatic total station, greatly reducing costs. Moreover, the overall level of intelligence is high, and the technical requirements for operators are greatly reduced. Attached Figure Description

[0048] Figure 1 This is a flowchart of the rapid track measurement method provided in Embodiment 1 of the present invention;

[0049] Figure 2 This is a schematic diagram of the structure of the rapid track measuring device provided in Embodiment 2 of the present invention;

[0050] Figure 3 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0052] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0053] Example 1

[0054] Figure 1 This is a flowchart of a rapid track measurement method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations involving the measurement of track spatial position and geometric state data. The method can be executed by the rapid track measurement device provided in this embodiment, which can be implemented in hardware and / or software, and is generally integrated into a computer device. The method can be applied to a track inspection trolley, which includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. Figure 1 As shown, the method specifically includes the following steps:

[0055] S11. The track side image is acquired in real time by the CCD camera, and after the image of the reflective target appears in the track side image, the position of the track inspection trolley and the direction of the measuring head are adjusted based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target.

[0056] S12. The distance data of the reflective target is measured by the laser ranging module, and the angle data of the absolute dial built into the servo motor is read. The target tilt data of the track inspection trolley is collected by the dual-axis tilt sensor, and the target track gauge data is measured by the track gauge sensor.

[0057] S13. Determine the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data, and the target track gauge data, and set the mileage value of the odometer based on the target trajectory data.

[0058] S14. Control the track inspection trolley to move to the next reflective target, and read in real time the angular velocity data of the gyroscope, the mileage data of the odometer, the tilt data of the dual-axis tilt sensor, and the gauge data of the gauge sensor.

[0059] S15. Determine the travel trajectory data between the two reflective targets based on the travel angular velocity data, travel distance data, travel tilt data, and travel gauge data.

[0060] S16. Linearly correct the travel trajectory data between the two reflective targets based on the target trajectory data of the two reflective target positions.

[0061] Specifically, the track inspection trolley may include a control module, gyroscope devices, measuring devices, dual-axis tilt sensors, track gauge sensors, and odometers. These components can communicate with a host computer via the control module. The host computer is the aforementioned computer device, which can be a laptop or other mobile terminal for on-site operation. The host computer can connect to the control module via serial port, USB, or Bluetooth. In actual use, the user can power on each module and start it working. The host computer software can then collect data from the gyroscope device, measuring devices, track gauge sensor, and dual-axis tilt sensor, and perform calibrations accordingly. After calibration, the track inspection trolley can be pushed to the vicinity of control point P0 at the starting point of the area to be tested. Each control point Pi in the area to be tested is equipped with a reflective target, which can be a precision measuring prism. The host computer can then control the CCD camera to begin continuous high-speed photography and process each returned frame.

[0062] As the track inspection trolley moves and takes pictures, once the image of a reflective target appears in the acquired track-side image, the position of the trolley and the direction of the measuring head can be adjusted based on the position of the reflective target in the track-side image. This ensures that the laser point of the laser ranging module hits the center of the reflective target, thus ensuring accurate subsequent laser ranging results. The CCD camera can be positioned facing the direction of travel, and its height can be set according to the position of the reflective target. The track inspection trolley may also include a drive motor, which the host computer can control to move the trolley forward or backward.

[0063] In an optional implementation, adjusting the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target, includes: determining a first travel distance based on the horizontal distance between the center of the reflective target and the center of the image in the track side image, the camera focal length, and the initial approximate distance between the center of the reflective target and the CCD camera, and driving the track inspection trolley to move according to the first travel distance; determining a first adjustment angle based on the initial approximate distance between the center of the reflective target and the laser ranging module and the height difference between the center of the reflective target and the laser ranging module, and driving the servo motor to adjust the direction of the measuring head according to the first adjustment angle, so that the laser point of the laser ranging module hits the reflective target; measuring the actual distance to the reflective target through the laser ranging module, reading the actual angle of the absolute dial, and acquiring a current position image through the CCD camera; determining a second travel distance and a second adjustment angle based on the actual distance, the actual angle, and the position of the reflective target in the current position image, and driving the track inspection trolley to move according to the second travel distance, and driving the servo motor to adjust the direction of the measuring head according to the second adjustment angle.

[0064] Specifically, after a reflective target appears in the track side image, a rough initial travel distance and initial adjustment angle can be calculated for control. The initial travel distance can be calculated using the following formula:

[0065] Dist Move = HD Image × HD Target ÷ f0;

[0066] Among them, Dist Move HD represents the first walking distance. Image This indicates the horizontal distance between the center of the reflecting target and the center of the image in the orbital side image at this time, HD Target Here, f represents the initial approximate distance from the center of the reflective target to the CCD camera, and f0 represents the camera's focal length. The track inspection trolley can then be controlled to move forward or backward based on this initial travel distance to ensure the reflective target image reaches the image center as much as possible. Specifically, the first adjustment angle can be calculated using the following formula:

[0067] VA Move = arctan(VD diff ÷ HD Target );

[0068] Among them, VA Move Indicates the first adjustment angle, VD diff HD represents the height difference between the center of the reflecting target and the laser ranging module. TargetThis represents the initial approximate distance from the center of the reflective target to the laser ranging module. The servo motor can be driven by the first adjustment angle to rotate the measuring head vertically. The initial direction can be horizontal, adjusting the height of the emitted laser so that the laser point hits the reflective target, and preferably the vertical center area of ​​the target. The laser ranging module can be placed near the CCD camera, and the laser direction can be consistent with the camera's shooting direction, thus making the two initial approximate distances close. Specifically, the approximate distance between the measuring head and the center of the reflective target can be used, given the coordinates of the reflective target center (X...). P Y P H P The horizontal distance HD between the center of the reflective target and the centerline of the line can be obtained through line calculation. Target-Center And the vertical distance VD between the center of the reflective target and the centerline of the line. Target-Center Meanwhile, based on the equipment calibration parameters of the track inspection trolley, the horizontal distance HD between the measuring head and the centerline of the track can be determined. Disto-Center And the vertical distance VD between the measuring head and the centerline of the line. Disto-Center The approximate distance between the measuring head and the center of the reflecting target, and the height difference between the center of the reflecting target and the laser ranging module, are respectively:

[0069] HD Target = HD Target-Center + HD Disto-Center ;

[0070] VD diff = VD Target-Center - VD Disto-Center ;

[0071] After completing the initial rough control, the host computer can control the laser ranging module to measure the actual distance SD to the reflecting target at this time. temp And read the actual angle VA of the servo motor's built-in absolute scale at this time. temp Simultaneously, it can acquire the current position image captured by the CCD camera. Then, based on the actual distance, actual angle, and the position of the reflective target in the current position image, a more precise second traveling distance and second adjustment angle can be calculated for control. The calculation process is similar to the coarse control described above. Thus, the track inspection trolley is controlled to move forward or backward based on the second traveling distance, and the servo motor is driven to rotate the measuring head vertically based on the second adjustment angle, ensuring that the laser point of the laser ranging module accurately hits the center of the reflective target.

[0072] After the laser point position is adjusted, the laser ranging module can be controlled to measure the distance to the reflective target and read the angle data of the high-precision absolute dial built into the servo motor. Simultaneously, the target tilt data of the track inspection trolley is collected by a dual-axis tilt sensor, and the target gauge data is measured by a gauge sensor. The tilt data includes Tx and Ty, which characterize the tilt values ​​of the entire track inspection trolley in the lateral and longitudinal directions, i.e., the angle of deviation from the horizontal plane. Tx is the rotation angle around the X-axis (track direction), and Ty is the rotation angle around the Y-axis (track normal direction).

[0073] Then, based on the distance data, angle data, target tilt data, and target gauge data recorded after the laser point at the current reflective target position is aligned, the target trajectory data at the current reflective target position can be calculated. The target trajectory data can include the horizontal and vertical deviations of the left and right rails, the horizontal and vertical deviations of the track centerline, the track gauge value, the superelevation value (horizontal value), the mileage value, the coordinates of the top center of the left and right rails, and the coordinates of the track centerline, etc.

[0074] In an optional implementation, determining the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data, and the target track gauge data includes: determining the mileage and coordinates of the laser ranging module based on the distance data, the angle data, and the center coordinates of the current reflective target; determining the center coordinates of the gyroscope device based on the coordinates of the laser ranging module, the target tilt data, and the relative positional relationship between the laser ranging module and the gyroscope device; and determining the target trajectory data based on the center coordinates of the gyroscope device, the target tilt data, the target track gauge data, the mileage of the laser ranging module, and the relative positional relationship between the gyroscope device and the wheels of the track inspection trolley.

[0075] Specifically, given the center coordinates of the current reflector target, the mileage DK at the current target position can be calculated through route calculation. Since the laser point is precisely aimed at the center of the reflector target, the mileage of the laser ranging module is consistent with that of the current reflector target. Then, based on the obtained distance data SD and angle data VA, the horizontal distance HD between the laser ranging module and the center of the reflector target can be calculated. Disto-Target and vertical distance VD Disto-Target They are respectively:

[0076] HD Disto-Target = SD × cos(VA);

[0077] VD Disto-Target = SD × sin(VA);

[0078] Then, based on the horizontal distance HD between the center of the reflective target and the centerline of the line... Target-Center and vertical distance VD Target-Center The horizontal distance HD between the laser ranging module and the centerline of the line can be calculated. Disto- Center and vertical distance VD Disto- Center They are respectively:

[0079] HD Disto-Center = HD Target-Center - HD Disto-Target ;

[0080] VD Disto-Center = VD Target-Center - VD Disto-Target ;

[0081] Based on the mileage measured by the laser ranging module, and the horizontal and vertical distances between the laser ranging module and the centerline of the route, the coordinates (X, Y, F) of the laser ranging module can be obtained through route calculation. C Y C H C ).

[0082] Furthermore, based on the obtained coordinates of the laser ranging module, the target tilt data, and the relative positional relationship between the laser ranging module and the gyroscope device, the center coordinates (X, Y) of the gyroscope device can be calculated. T Y T H T The relative positional relationship can be established using a fixed geometric relationship between the center position of the measuring head and the center position of the gyroscope. Specifically, this can be determined based on the equipment calibration parameters of the track inspection trolley, where the horizontal distance HD between the gyroscope and the laser ranging module is known. Gyroscope-Disto and vertical distance VD Gyroscope-Disto Then, by combining the target tilt data, the coordinates of the laser ranging module are rotated and translated using a three-dimensional spatial coordinate transformation to obtain the center coordinates of the gyroscope device.

[0083] Furthermore, based on the obtained center coordinates of the gyroscope, target tilt data, target gauge data, and the relative positional relationship between the gyroscope and the wheels (traveling wheels, adjacent wheels, etc.) of the track inspection trolley, combined with track design parameters (such as horizontal, longitudinal slope, and superelevation parameters), the following can be calculated: Gauge, Superelevation Supe of the left and right tracks, and Vertical Deviation (VertDiff) between the center of the top surface of the left and right rails and the design value. Left VertDiff Right HoriDiff and horizontal deviation Left HoriDiff Right Vertical deviation of the track centerline from the design value (VertDiff) center HoriDiff and horizontal deviation centerFurthermore, the center coordinates (X, X) of the top surface of the left rail can be calculated. Left Y Left H Left ), center coordinates of the top surface of the right rail (X) Right Y Right H Right ) and orbital centerline coordinates (X Center Y Center H Center This calculation process can employ conventional forward line calculation methods. Simultaneously, the mileage DK from the laser ranging module can be used as the mileage value at the corresponding location.

[0084] Upon reaching the target position each time, the corresponding target trajectory data can be calculated using the above process. The odometer value can then be updated to the corresponding odometer value, i.e., the odometer DK of the laser ranging module, to ensure accurate subsequent odometer recording. After each calculation, the host computer can control the track inspection trolley to move to the next target and dynamically and continuously read the angular velocity data of the gyroscope, the odometer's odometer data, the tilt data of the dual-axis tilt sensor, and the track gauge data of the gauge sensor during the trolley's movement. Simultaneously, the CCD camera continuously takes high-speed photos until the target image reappears in the image captured by the CCD camera, indicating that the next target position has been reached. A high-precision odometer can be used, and one or more can be employed, such as odometers installed on each wheel of the track inspection trolley, with their data processed separately.

[0085] In an optional implementation, controlling the track inspection trolley to move to the next reflective target includes: controlling the track inspection trolley to move forward at a preset speed at a constant speed, and controlling the track inspection trolley to decelerate after the reflective target image appears in the track side image acquired in real time by the CCD camera. Specifically, the host computer can control the walking drive motor to rotate at a set speed so that the track inspection trolley moves forward at a preset speed at a constant speed. When the reflective target image appears, the track inspection trolley can be controlled to decelerate to a stop so that the measurement of the position of the next reflective target can begin.

[0086] After obtaining the angular velocity, mileage, tilt, and gauge data at a specific location during the journey, the track data for the current position can be calculated based on this data. The track data can include the horizontal and vertical deviations of the left and right rails, the horizontal and vertical deviations of the track centerline, the gauge value, the superelevation (horizontal value), the mileage value, the coordinates of the top center of the left and right rails, and the coordinates of the track centerline, etc.

[0087] In an optional implementation, determining the inter-trajectory data between the two reflective targets based on the inter-trajectory angular velocity data, the inter-trajectory mileage data, the inter-trajectory tilt data, and the inter-trajectory gauge data includes: determining the inter-trajectory angular velocity data relative to the time taken from the reflective target, and integrating the inter-trajectory angular velocity data within the taken time to obtain angular offset data; determining the forward distance relative to the reflective target based on the inter-trajectory mileage data; determining the real-time center coordinates of the gyroscope at the current mileage based on the initial center coordinates of the gyroscope when it starts from the reflective target, the angular offset data, the forward distance, and the inter-trajectory tilt data; and determining the inter-trajectory data based on the real-time center coordinates of the gyroscope, the inter-trajectory tilt data, the inter-trajectory gauge data, the inter-trajectory mileage data, and the relative positional relationship between the gyroscope and the wheels of the track inspection trolley.

[0088] Specifically, the time ΔT taken for the track inspection trolley to depart from the reflector target can be calculated in real time. Then, for a specific position during the journey, the angular velocity data collected by the gyroscope within that time period can be integrated to calculate the angular deviation at that position. The angular velocity data can include the angular velocities SA of the gyroscope along the X and Z axes. Xi SA Zi The corresponding integrals yield the angular deflection values ​​RA along the X and Z axes. Xi RA Zi Simultaneously, the distance traveled relative to the target from that position can be determined based on the odometer data collected during travel, ΔDK. i Additionally, referring to the above explanation, the center coordinates of the gyroscope at the starting reflector target position can be used as the initial center coordinates. Then, based on the initial center coordinates, angular offset data, travel distance, and tilt data at that position, the real-time center coordinates of the gyroscope at the current mileage can be determined. Specifically, this can be calculated using conventional forward calculation methods.

[0089] Once the real-time center coordinates of the gyroscope at a certain position during the journey are obtained, the track data at the current mileage can be calculated using conventional forward calculation methods based on the real-time center coordinates at that position, the inclination data during the journey, the track gauge data during the journey, the mileage data during the journey, and the relative positional relationship between the gyroscope and the wheels (running wheels, adjacent wheels, etc.) of the track inspection trolley, combined with the line design parameters (such as horizontal, longitudinal slope and superelevation parameters, etc.).

[0090] The calculation process continues until the image of the reflecting target appears in the real-time image captured by the CCD camera. This allows us to obtain all the inter-trajectory data between the two reflecting targets. Specifically, this may include: the gauge value. i Superior values ​​of the left and right tracksi Vertical deviation (VertDiff) between the center of the top surface of the left and right rails and the design value Lefti VertDiff Righti HoriDiff and horizontal deviation Lefti HoriDiff Righti Vertical deviation of the track centerline from the design value (VertDiff) centeri HoriDiff and horizontal deviation centeri The center coordinates of the top surface of the left rail (X) Lefti Y Lefti H Lefti ), center coordinates of the top surface of the right rail (X) Righti Y Righti H Righti ) and orbital centerline coordinates (X Centeri Y Centeri H Centeri ), Mileage DK i (Distance data collected by the odometer at the corresponding location).

[0091] Based on the above, the target trajectory data at each reflector position and the travel trajectory data between every two reflectors can be obtained. Furthermore, for each segment of travel trajectory data, linear corrections can be applied based on the target trajectory data at the corresponding first and last reflector positions to correct errors introduced by the odometer and gyroscope. Simultaneously, each time a reflector is reached, the odometer's odometer value can be updated using the calculated target trajectory data, thus ensuring a more accurate starting state for each segment of travel trajectory data and improving the overall accuracy of the travel trajectory data calculation.

[0092] In an optional implementation, the linear correction of the travel trajectory data between the two reflective targets based on the target position trajectory data of the two reflective targets includes: determining a reference interval mileage between the two reflective targets based on the target position trajectory data of the two reflective targets; determining a statistical interval mileage between the two reflective targets based on the travel trajectory data; determining a unit mileage correction value based on the reference interval mileage and the statistical interval mileage; and correcting the mileage value recorded in the travel trajectory data based on the unit mileage correction value.

[0093] Specifically, the baseline mileage between the two reflector targets can be obtained by subtracting the mileage values ​​at their locations. Simultaneously, the statistical mileage between the two reflector targets can be obtained by subtracting the mileage values ​​from the trajectory data at the endpoint and the trajectory data at the starting point. This statistical mileage is the mileage recorded by the odometer between the two reflector targets. Furthermore, the unit mileage correction value, i.e., the value that needs to be corrected per unit mileage, can be determined based on the baseline mileage and the statistical mileage. Specifically, this can be:

[0094] dDKCorr = (DKs - DKb) ÷ DKb;

[0095] Where dDKCorr represents the unit mileage correction value, DKs represents the mileage of the statistical interval, and DKb represents the mileage of the reference interval. Subsequently, the mileage values ​​recorded in the inter-target trajectory data can be corrected based on this unit mileage correction value. Specifically, this can be done as follows:

[0096] DKCorr i = DK i - DK i × dDKCorr;

[0097] Among them, DKCorr i This indicates the corrected mileage value, DK. i This represents the mileage value before correction, i.e., the mileage value recorded in the track data during travel. For example, a linear correction is performed on the mileage value in the track data saved between control points P0 and P1. If the baseline interval mileage between P0 and P1 is 50 meters and the statistical interval mileage is 50.05 meters, then the mileage difference is 0.05 meters, or 50 millimeters. Therefore, the mileage correction per meter is 50mm ÷ 50 = 1mm, meaning the unit mileage correction is 1mm / m. Then, the saved mileage value is corrected. If the mileage value before correction is 10 meters, then the corrected mileage is 10 - 10 × 0.01 = 9.99 meters. If the mileage value before correction is 20 meters, then the corrected mileage is 20 - 20 × 0.01 = 19.98 meters.

[0098] Additionally, a similar method can be used to measure the vertical deviation (VertDiff) between the center of the top surface of all left and right rails and the design value, stored in the track data during travel. Lefti VertDiff Righti HoriDiff and horizontal deviation Lefti HoriDiff Righti And the vertical deviation of the track centerline from the design value (VertDiff) centeri HoriDiff and horizontal deviation centeri Perform linear correction to obtain the vertical deviation (VertDiffCor) between the center of the top surface of the left and right rails and the design value after correction. Lefti VertDiffCor Righti and horizontal deviation HoriDiffCor Lefti HoriDiffCor Righti And the vertical deviation between the corrected track centerline and the design value (VertDiffCor) centeri and horizontal deviation HoriDiffCorcenteri Furthermore, based on these corrected data and combined with the track design parameters, the coordinates of the center of the top of all left and right rails and the coordinates of the track centerline stored in the track data during operation can be recalculated to obtain the corrected center coordinates of the top surface of the left rail (XCor). Lefti YCor Lefti HCor Lefti Corrected center coordinates of the top surface of the right rail (XCor) Righti YCor Righti HCor Righti ) and corrected orbital centerline coordinates (XCor Centeri YCor Centeri HCor Centeri ).

[0099] The technical solution provided by this invention uses a CCD camera to acquire track-side images in real time. When a reflective target appears in the track-side image, the position of the track inspection trolley and the direction of the measuring head can be adjusted based on the position of the reflective target in the image, so that the laser point of the laser ranging module hits the center of the reflective target. Then, the distance data of the reflective target is measured at this position, and the angle data representing the direction of the measuring head, the target tilt data of the track inspection trolley, and the target track gauge data are read. Based on these data, the target track data of the current reflective target position is determined, and the odometer value is set accordingly. After completing the measurement of one target position, the track inspection trolley is controlled to move to the next reflective target. During the movement, the angular velocity data, mileage data, tilt data, and track gauge data are read in real time. Based on these data, the track data between the reflective targets is determined, and the track data between the two reflective targets is linearly corrected according to the target track data of the corresponding two reflective target positions. This allows for automatic identification of control points and precise movement to those points for automatic measurement. After completing the control point measurement, the device automatically starts moving to begin the next interval measurement. At each control point, only one reflective target needs to be measured, greatly improving measurement efficiency. Furthermore, by integrating gyroscopes, laser rangefinders, absolute angle measuring devices, odometers, and dual-axis tilt sensors to measure the tilt of the entire device, measurement accuracy is ensured. Compared to inertial navigation trolleys, this eliminates the need for expensive inertial navigation systems and automatic total stations, significantly reducing costs. Moreover, the overall level of intelligence is high, greatly reducing the technical requirements for operators.

[0100] Example 2

[0101] Figure 2This is a schematic diagram of the rapid track measurement device provided in Embodiment 2 of the present invention. This device can be implemented in hardware and / or software, and is generally integrated into a computer device to execute the rapid track measurement method provided in any embodiment of the present invention. Specifically, it can be applied to a track inspection trolley, which includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. Figure 2 As shown, the device includes:

[0102] The laser point alignment module 21 is used to acquire track side images in real time through the CCD camera, and after the image of the reflective target appears in the track side image, adjust the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target.

[0103] The target position data acquisition module 22 is used to measure the distance data of the reflective target through the laser ranging module, read the angle data of the absolute scale built into the servo motor, collect the target position tilt data of the track inspection trolley through the dual-axis tilt sensor, and measure the target position track gauge data through the track gauge sensor.

[0104] The target trajectory data determination module 23 is used to determine the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data and the target track gauge data, and to set the mileage value of the odometer based on the target trajectory data.

[0105] The data acquisition module 24 is used to control the track inspection trolley to move to the next reflective target and read the angular velocity data of the gyroscope device, the mileage data of the odometer, the tilt data of the dual-axis tilt sensor, and the gauge data of the gauge sensor in real time.

[0106] The in-journey trajectory data determination module 25 is used to determine the in-journey trajectory data between the two reflective targets based on the in-journey angular velocity data, the in-journey mileage data, the in-journey tilt data, and the in-journey track gauge data.

[0107] The in-journey trajectory data correction module 26 is used to linearly correct the in-journey trajectory data between the two reflective targets based on the target position trajectory data of the two reflective targets.

[0108] The technical solution provided by this invention uses a CCD camera to acquire track-side images in real time. When a reflective target appears in the track-side image, the position of the track inspection trolley and the direction of the measuring head can be adjusted based on the position of the reflective target in the image, so that the laser point of the laser ranging module hits the center of the reflective target. Then, the distance data of the reflective target is measured at this position, and the angle data representing the direction of the measuring head, the target tilt data of the track inspection trolley, and the target track gauge data are read. Based on these data, the target track data of the current reflective target position is determined, and the odometer value is set accordingly. After completing the measurement of one target position, the track inspection trolley is controlled to move to the next reflective target. During the movement, the angular velocity data, mileage data, tilt data, and track gauge data are read in real time. Based on these data, the track data between the reflective targets is determined, and the track data between the two reflective targets is linearly corrected according to the target track data of the corresponding two reflective target positions. This allows for automatic identification of control points and precise movement to those points for automatic measurement. After completing the control point measurement, the device automatically starts moving to begin the next interval measurement. At each control point, only one reflective target needs to be measured, greatly improving measurement efficiency. Furthermore, by integrating gyroscopes, laser rangefinders, absolute angle measuring devices, odometers, and dual-axis tilt sensors to measure the tilt of the entire device, measurement accuracy is ensured. Compared to inertial navigation trolleys, this eliminates the need for expensive inertial navigation systems and automatic total stations, significantly reducing costs. Moreover, the overall level of intelligence is high, greatly reducing the technical requirements for operators.

[0109] Based on the above technical solution, optionally, the laser dot alignment module 21 is specifically used for:

[0110] The first traveling distance is determined based on the horizontal distance between the center of the reflective target and the center of the image in the track side image, the camera focal length, and the initial approximate distance between the center of the reflective target and the CCD camera, and the track inspection trolley is driven to move according to the first traveling distance;

[0111] The first adjustment angle is determined based on the initial approximate distance between the center of the reflective target and the laser ranging module, as well as the height difference between the center of the reflective target and the laser ranging module. The servo motor is then driven to adjust the direction of the measuring head based on the first adjustment angle, so that the laser point of the laser ranging module hits the reflective target.

[0112] The laser ranging module measures the actual distance to the reflective target, reads the actual angle of the absolute dial, and acquires an image of the current position using the CCD camera.

[0113] The second traveling distance and the second adjustment angle are determined based on the actual distance, the actual angle, and the position of the reflective target in the current position image. The track inspection trolley is driven to move according to the second traveling distance, and the servo motor is driven to adjust the direction of the measuring head according to the second adjustment angle.

[0114] Based on the above technical solution, optionally, the target trajectory data determination module 23 is specifically used for:

[0115] Based on the distance data, the angle data, and the current center coordinates of the reflective target, the mileage and coordinates of the laser ranging module are determined;

[0116] The center coordinates of the gyroscope are determined based on the coordinates of the laser ranging module, the target tilt data, and the relative positional relationship between the laser ranging module and the gyroscope.

[0117] The target track data is determined based on the center coordinates of the gyroscope device, the target tilt data, the target track gauge data, the mileage of the laser ranging module, and the relative positional relationship between the gyroscope device and the wheels of the track inspection trolley.

[0118] Based on the above technical solution, optionally, the in-journey trajectory data determination module 25 is specifically used for:

[0119] The travel angular velocity data is determined relative to the time taken from the reflective target, and the travel angular velocity data within the time taken is integrated to obtain the angular offset data;

[0120] The relative distance traveled from the reflective target is determined based on the travel distance data.

[0121] Based on the initial center coordinates of the gyroscope when it starts from the reflective target, the angular offset data, the forward distance, and the tilt data during travel, the real-time center coordinates of the gyroscope at the current mileage are determined.

[0122] The track data during travel is determined based on the real-time center coordinates of the gyroscope, the tilt data during travel, the track gauge data during travel, the mileage data during travel, and the relative positional relationship between the gyroscope and the wheels of the track inspection trolley.

[0123] Based on the above technical solution, optionally, the in-journey track data correction module 26 is specifically used for:

[0124] The reference interval mileage between the two reflective targets is determined based on the target trajectory data of the two reflective targets' positions.

[0125] The statistical interval mileage between the two reflective targets is determined based on the orbital data during the journey.

[0126] The unit mileage correction value is determined based on the baseline interval mileage and the statistical interval mileage.

[0127] The mileage values ​​recorded in the travel track data are corrected according to the unit mileage correction value.

[0128] Based on the above technical solution, optionally, the in-journey data acquisition module 24 is specifically used for:

[0129] The track inspection trolley is controlled to move forward at a preset speed at a constant speed, and the track inspection trolley is controlled to decelerate after the image of the reflective target appears in the track side image acquired in real time by the CCD camera.

[0130] The rapid track measurement device provided in the embodiments of the present invention can execute the rapid track measurement method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0131] It is worth noting that in the above embodiments of the rapid track measurement device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0132] Example 3

[0133] Figure 3 This is a schematic diagram of the structure of a computer device provided in Embodiment 3 of the present invention, showing a block diagram of an exemplary computer device suitable for implementing the embodiments of the present invention. Figure 3 The computer device shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. Figure 3 As shown, the computer device includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of processors 31 in the computer device can be one or more. Figure 3 Taking a processor 31 as an example, the processor 31, memory 32, input device 33, and output device 34 in a computer device can be connected via a bus or other means. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0134] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the rapid orbit measurement method in this embodiment of the invention (e.g., the laser point alignment module 21, target data acquisition module 22, target orbit data determination module 23, in-journey data acquisition module 24, in-journey orbit data determination module 25, and in-journey orbit data correction module 26 in the rapid orbit measurement device). The processor 31 executes various functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 32, thereby realizing the aforementioned rapid orbit measurement method.

[0135] The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 32 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 32 may further include memory remotely located relative to the processor 31, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0136] Input device 33 can be used to acquire various data collected by the track inspection trolley, and to generate key signal inputs related to user settings and function control of the computer equipment. Output device 34 can be used to send control commands to the track inspection trolley to control its movement, measurement, photography, etc.

[0137] Example 4

[0138] Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a rapid track measurement method. This method is applied to a track inspection trolley, which includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. The method includes:

[0139] The CCD camera acquires track-side images in real time. After the image of the reflective target appears in the track-side image, the position of the track inspection trolley and the direction of the measuring head are adjusted based on the position of the reflective target in the track-side image, so that the laser point of the laser ranging module hits the center of the reflective target.

[0140] The distance data of the reflective target is measured by the laser ranging module, and the angle data of the absolute scale built into the servo motor is read. The target tilt data of the track inspection trolley is collected by the dual-axis tilt sensor, and the target track gauge data is measured by the track gauge sensor.

[0141] The target trajectory data of the current reflective target position is determined based on the distance data, the angle data, the target tilt data, and the target track gauge data, and the mileage value of the odometer is set based on the target trajectory data.

[0142] The track inspection trolley is controlled to move to the next reflective target, and the angular velocity data of the gyroscope, the mileage data of the odometer, the tilt data of the dual-axis tilt sensor, and the track gauge data of the track gauge sensor are read in real time.

[0143] The travel trajectory data between the two reflective targets is determined based on the travel angular velocity data, travel distance data, travel tilt data, and travel gauge data.

[0144] The trajectory data between the two reflective targets is linearly corrected based on the target trajectory data of the two reflective target positions.

[0145] Storage media can be any type of memory device or storage device. The term "storage media" is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a computer system in which the program is executed, or may reside in a different second computer system connected to the computer system via a network (such as the Internet). The second computer system can provide program instructions to the computer for execution. The term "storage media" can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) that can be executed by one or more processors.

[0146] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the rapid orbit measurement method provided in any embodiment of the present invention.

[0147] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0148] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0149] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, 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 a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including 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 of the present invention.

[0150] Example 5

[0151] Embodiment 5 of the present invention also provides a computer program product, which includes a computer program (also referred to as code or instructions). The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it is used to execute the rapid orbit measurement method provided in any of the above embodiments, and has the corresponding beneficial effects of executing the method.

[0152] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A rapid track measurement method, characterized in that, The method is applied to a track inspection trolley, which includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. The CCD camera acquires track-side images in real time. After the image of the reflective target appears in the track-side image, the position of the track inspection trolley and the direction of the measuring head are adjusted based on the position of the reflective target in the track-side image, so that the laser point of the laser ranging module hits the center of the reflective target. The distance data of the reflective target is measured by the laser ranging module, and the angle data of the absolute scale built into the servo motor is read. The target tilt data of the track inspection trolley is collected by the dual-axis tilt sensor, and the target track gauge data is measured by the track gauge sensor. The target trajectory data of the current reflective target position is determined based on the distance data, the angle data, the target tilt data, and the target track gauge data, and the mileage value of the odometer is set based on the target trajectory data. The track inspection trolley is controlled to move to the next reflective target, and the angular velocity data of the gyroscope, the mileage data of the odometer, the tilt data of the dual-axis tilt sensor, and the track gauge data of the track gauge sensor are read in real time. The travel trajectory data between the two reflective targets is determined based on the travel angular velocity data, travel distance data, travel tilt data, and travel gauge data. The trajectory data between the two reflective targets is linearly corrected based on the target trajectory data of the two reflective target positions.

2. The rapid track measurement method according to claim 1, characterized in that, The step of adjusting the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target, includes: The first traveling distance is determined based on the horizontal distance between the center of the reflective target and the center of the image in the track side image, the camera focal length, and the initial approximate distance between the center of the reflective target and the CCD camera, and the track inspection trolley is driven to move according to the first traveling distance; The first adjustment angle is determined based on the initial approximate distance between the center of the reflective target and the laser ranging module, as well as the height difference between the center of the reflective target and the laser ranging module. The servo motor is then driven to adjust the direction of the measuring head based on the first adjustment angle, so that the laser point of the laser ranging module hits the reflective target. The laser ranging module measures the actual distance to the reflective target, reads the actual angle of the absolute dial, and acquires an image of the current position using the CCD camera. The second traveling distance and the second adjustment angle are determined based on the actual distance, the actual angle, and the position of the reflective target in the current position image. The track inspection trolley is driven to move according to the second traveling distance, and the servo motor is driven to adjust the direction of the measuring head according to the second adjustment angle.

3. The rapid track measurement method according to claim 1, characterized in that, The step of determining the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data, and the target trajectory distance data includes: Based on the distance data, the angle data, and the current center coordinates of the reflective target, the mileage and coordinates of the laser ranging module are determined; The center coordinates of the gyroscope are determined based on the coordinates of the laser ranging module, the target tilt data, and the relative positional relationship between the laser ranging module and the gyroscope. The target track data is determined based on the center coordinates of the gyroscope device, the target tilt data, the target track gauge data, the mileage of the laser ranging module, and the relative positional relationship between the gyroscope device and the wheels of the track inspection trolley.

4. The rapid track measurement method according to claim 1, characterized in that, The step of determining the orbital data between the two reflective targets based on the inter-travel angular velocity data, inter-travel mileage data, inter-travel tilt data, and inter-travel gauge data includes: The travel angular velocity data is determined relative to the time taken from the reflective target, and the travel angular velocity data within the time taken is integrated to obtain the angular offset data; The relative distance traveled from the reflective target is determined based on the travel distance data. Based on the initial center coordinates of the gyroscope when it starts from the reflective target, the angular offset data, the forward distance, and the tilt data during travel, the real-time center coordinates of the gyroscope at the current mileage are determined. The track data during travel is determined based on the real-time center coordinates of the gyroscope, the tilt data during travel, the track gauge data during travel, the mileage data during travel, and the relative positional relationship between the gyroscope and the wheels of the track inspection trolley.

5. The rapid track measurement method according to claim 1, characterized in that, The linear correction of the inter-target trajectory data based on the target trajectory data of the two target positions includes: The reference interval mileage between the two reflective targets is determined based on the target trajectory data of the two reflective targets' positions. The statistical interval mileage between the two reflective targets is determined based on the orbital data during the journey. The unit mileage correction value is determined based on the baseline interval mileage and the statistical interval mileage. The mileage values ​​recorded in the travel track data are corrected according to the unit mileage correction value.

6. The rapid track measurement method according to claim 1, characterized in that, The control of the track inspection trolley to move to the next reflector target includes: The track inspection trolley is controlled to move forward at a preset speed at a constant speed, and the track inspection trolley is controlled to decelerate after the image of the reflective target appears in the track side image acquired in real time by the CCD camera.

7. A rapid track measuring device, characterized in that, This system is applied to a track inspection trolley, which includes: a measuring device, a dual-axis tilt sensor, a gyroscope, a track gauge sensor, and an odometer. The measuring device includes a measuring head and a servo motor for adjusting the direction of the measuring head. The measuring head includes a CCD camera and a laser ranging module. The device includes: The laser point alignment module is used to acquire track side images in real time through the CCD camera, and after the image of the reflective target appears in the track side image, adjust the position of the track inspection trolley and the direction of the measuring head based on the position of the reflective target in the track side image, so that the laser point of the laser ranging module hits the center of the reflective target. The target position data acquisition module is used to measure the distance data of the reflective target through the laser ranging module, read the angle data of the absolute scale built into the servo motor, collect the target position tilt data of the track inspection trolley through the dual-axis tilt sensor, and measure the target position track gauge data through the track gauge sensor. The target trajectory data determination module is used to determine the target trajectory data of the current reflective target position based on the distance data, the angle data, the target tilt data and the target track gauge data, and to set the mileage value of the odometer based on the target trajectory data. The in-journey data acquisition module is used to control the track inspection trolley to move to the next reflective target and read in real time the in-journey angular velocity data of the gyroscope, the in-journey mileage data of the odometer, the in-journey tilt data of the dual-axis tilt sensor, and the in-journey track gauge data of the track gauge sensor. The in-journey trajectory data determination module is used to determine the in-journey trajectory data between the two reflective targets based on the in-journey angular velocity data, the in-journey mileage data, the in-journey tilt data, and the in-journey track gauge data. The in-journey trajectory data correction module is used to linearly correct the in-journey trajectory data between the two reflective targets based on the target position trajectory data of the two reflective targets.

8. A computer device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the rapid orbit measurement method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the rapid orbit measurement method as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the rapid orbit measurement method as described in any one of claims 1-6.

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