Online detection method based on laser radar

Abstract

The invention discloses an online detection method based on a laser radar, and the method comprises the following steps: S1, point cloud acquisition: establishing a global coordinate system, a vehiclebody coordinate system and a measurement coordinate system at an initial position of an intelligent inspection robot, and converting detection point coordinates, measured by a lidar, into position coordinates in the global coordinate system; S2, point cloud preprocessing: calculating an orbital plane by point cloud data of all the detection points located in the global coordinate system; S3, early warning judgment: projecting a real-time measured scanning point of the lidar to the orbital plane extracted at step S2, and calculating the projection distance from the scanning point to the orbital plane, determining that a foreign object invades the boundary if the projection distance is less than a set threshold value, or determining that the foreign object does not invade the boundary if the projection distance is greater than the set threshold value. The method provided by the invention enables a problem of a three-dimensional space into a one-dimensional space for judgment, reduces the calculation burden under the condition that the detection precision is guaranteed, and achieves the real-time boundary invasion detection in a tunnel of rail traffic.

Description

technical field [0001] The invention relates to the field of rail transit safety, in particular to an online detection method for detecting the invasion of foreign objects in tunnels based on laser radar. Background technique [0002] With the increasing population of big cities, road traffic is increasingly unable to meet the rapidly increasing traffic usage of people. The development of urban rail transit plays an important role in alleviating urban traffic congestion. Since the first subway was built in London in 1863, the subway, as an important means of urban rail transit, has been widely used in developed countries such as Europe and the United States, as well as domestic Beijing, Shanghai, Guangzhou, Shenzhen and other developed areas. [0003] Urban rail transit is a special service industry. In addition to the personal safety of employees, it also includes the personal safety of passengers and the operation safety of various equipment and facilities in the productio...

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Problems solved by technology

[0005] The present invention aims to overcome the problems in the prior art that the tunnel intrusion detection has large errors and cannot achieve real-time performance, and provides an online detection method based on laser radar, which can realize online real-time detection and has a high accuracy rate

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