A Point Cloud Based Obstacle Detection Method for Maglev Tracks

A technology of obstacle detection and magnetic levitation, which is applied in the fields of instrument, calculation, character and pattern recognition, etc., can solve the problems of high difficulty and high cost, and achieve the effect of efficient acquisition, overcoming heavy workload, and speeding up the efficiency of feature matching.

CN109657698BActive Publication Date: 2021-09-03TONGJI UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-09-03

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Abstract

The invention relates to a method for detecting obstacles on a magnetic levitation track based on a point cloud, comprising the following steps: 1) building a vehicle-mounted mobile scanning system for a magnetic levitation track; ; 3) establish a K-D tree index, and carry out feature matching with the point cloud data to be detected to obtain the obstacle point cloud; 4) after the obstacle point cloud is carried out to the European clustering process, obtain the obstacle point cloud clustering set; 5 ) Finally, the outline and position of each independent obstacle are output, which realizes the automatic detection of obstacles on the magnetic levitation track surface. Compared with the prior art, the present invention has stronger environmental perception capability, and can provide information support for the operation and maintenance safety of the maglev, and the like.
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Description

technical field

[0001] The invention relates to a method for detecting obstacles on a magnetic levitation track, in particular to a method for detecting obstacles on a magnetic levitation track based on point clouds. Background technique

[0002] Maglev transportation relies on electromagnetic force to make the train float on the track and "fly close to the ground". It has the advantages of fast speed, low power consumption, no friction, low noise, and long life. As a new cutting-edge rail transit technology, it has been increasingly used attention of many countries. With the improvement of the design speed requirements for maglev, it is necessary to detect obstacles on the maglev track surface and eliminate them in time, so as to avoid the high-voltage current causing obstacles to be energized, thereby causing certain damage to the track surface; The danger caused by collision with obstacles during driving ensures the safety of driving routes.

[0003] At present, there a...

Examples

Embodiment Construction

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0034] The present invention designs a set of multi-sensor integrated vehicle-mounted laser scanning system for the magnetic levitation track. The laser scanner can record the distance, angle, intensity information, etc. The 3D laser point cloud data in the local coordinate system can quickly reconstruct the maglev track model. After obtaining the original reference point cloud of the maglev rail surface and the point cloud data to be detected by mobile sc...