An online detection method based on laser radar

Abstract

The invention discloses an online detection method based on laser radar, which includes the following steps: S1, point cloud acquisition: establish a global coordinate system, a vehicle body coordinate system and a measurement coordinate system at the initial position of an intelligent inspection robot, and measure the laser radar The coordinates of the detection points in the global coordinate system are converted into position coordinates in the global coordinate system; S2, point cloud preprocessing: calculate the orbit plane through the point cloud data of all detection points in the global coordinate system; S3, early warning judgment: scan the real-time measurement of the laser radar The point is projected onto the orbital plane extracted in step S2, and the projection distance to the orbital plane is calculated. When the projection distance is less than the set threshold, it is determined that the foreign object has invaded the limit; when the projection distance is greater than the set threshold, it is determined that the foreign object does not invade the limit. . The detection method provided by the invention simplifies the problem of three-dimensional space into one-dimensional space for judgment, reduces the calculation amount under the condition of ensuring detection accuracy, and realizes real-time limit detection in rail transit tunnels.

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...

AI Technical Summary

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

Images