Railway line obstacle automatic recognition method based on two-dimensional laser radar

Abstract

The invention provides a railway line obstacle automatic recognition method based on a two-dimensional laser radar. The method particularly comprises steps: 1) reciprocating step plane scanning is carried out through the two-dimensional laser radar arranged above the railway line, and whether an obstacle exists is judged preliminarily according to the acquired reciprocating plane scanned data; 2)if an obstacle exists, whether the obstacle belongs to a temporary obstacle is judged according to the reciprocating plane scanned data and pre-stored background data, and a rough existing angle rangeof the temporary obstacle is acquired; 3) single fine step scanning is carried out in the rough existing angle range of the temporary obstacle, and the obstacle information of the temporary obstacleis acquired; 4) according to the obstacle information and a pre-stored steel rail position, whether the obstacle is a train wheel is judged, and the obstacle information in a global obstacle list is updated; and 5) the existing time of the obstacle information in the global obstacle list is accumulated, and when the accumulated existing time exceeds a preset time threshold, alarming information isgenerated.

Description

Technical field [0001] The invention relates to a method for automatically identifying obstacles on a railway line, in particular to a method for automatically identifying obstacles on a railway line based on a two-dimensional laser radar. Background technique [0002] At present, dangerous sections along the railway, such as tunnel entrances, road cuts, high slopes, and other areas, do not have effective monitoring methods for obstacles such as falling rocks on the railway line, and rely on manual inspections and driver reports. For obstacles such as large falling rocks or animals stranded on the railway, if they are not found in time, they are likely to be hit by the running train and cause traffic accidents. [0003] In order to solve the above problems, people have been looking for more ideal technical solutions. Summary of the invention [0004] The purpose of the present invention is to address the shortcomings of the prior art, thereby providing a method for automatically id...

AI Technical Summary

Problems solved by technology

[0002] At present, in dangerous sections along the railway line, such as tunnel entrances, road cuttings, high slopes and other areas, there is no effective monitoring method for obstacles such as falling rocks on the railway line, and all rely on manual inspections and driver reports.

For obstacles such as large falling rocks or animals stranded on the railway, once they are not found in time, they are easy to be hit by running trains, causing traffic accidents

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