Track surrounding environment monitoring method and system

Abstract

The invention relates to a track surrounding environment monitoring method and system. The method comprises the steps of detecting world coordinate information and motion parameter information of a component trolley, and determining real-time pose information of the trolley; scanning the surrounding environment of the track by a scanning component, and acquiring three-dimensional coordinate information of a point in the surrounding environment relative to a center point of the scanning component; determining the three-dimensional coordinate information of the point in the surrounding environment relative to a center point of a detection component, and determining world coordinate information of a point in the surrounding environment. The real-time pose information of the trolley is determined through the world coordinate information and the motion parameter information collected by the detection component, then the three-dimensional coordinate information of the point in the surrounding environment relative to the center point of the detection component is acquired, the real-time pose information of the trolley is combined to determine the world coordinate information of points inthe surrounding environment, the detection precision is greatly improved, the detection efficiency is improved, the detection cost is reduced, and a new solution and idea are provided for track movingtype scanning measurement.

Description

technical field [0001] The invention relates to the technical field of track measurement, in particular to a method and system for monitoring the surrounding environment of a track. Background technique [0002] At present, the orbital mobile 3D laser scanning generally adopts the same solution as the road mobile 3D laser scanning, that is, the GNSS, IMU and 3D laser scanning components are fixed together to form a fixed structural part, and the system is calibrated in advance to realize The central point among the three is unified, and a synchronization circuit board is built in, which automatically performs synchronous operation during work. The fixed structural parts are bulky and heavy, but they are convenient for loading and unloading, and can complete the measurement task more conveniently. When it is applied on the track trolley, a fixed platform plate is generally installed on the track trolley, and then the structural member is fixed with screws. [0003] The curr...

AI Technical Summary

Problems solved by technology

[0003] The current technology of mobile 3D laser scanning using GNSS, IMU and 3D laser scanning components is relatively mature. The first disadvantage is that the positioning accuracy of GNSS is 1 cm in the plane and 2 cm in elevation, which is not enough for the occasions with high requirements; the second is The GNSS system has requirements for the measurement environment, and it cannot be used when the signal is interfered or blocked (for example, there are strong reflections of electromagnetic wave signals such as surrounding water bodies, and signals in tunnels, culverts, and station roofs are blocked)

Under such conditions, traditional measurement methods cannot be used

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