Full-automatic platform gauge measuring method based on laser radar

Abstract

The invention relates to a full-automatic platform gauge measuring method based on a laser radar. According to the technical scheme, the method comprises the steps of obtaining the point cloud data of a station and a rail area; segmenting a platform plane and a rail plane from the point cloud data by using a segmentation algorithm based on region growth, and adding reflectivity information in region growth segmentation; transforming a data point set of the platform plane and the rail plane into a plane parallel to a coordinate axis through coordinate transformation; according to the position of a platform and the priori knowledge related to the rail distance, drawing a rail region of interest on the rail plane, utilizing a neural network pointnet + + to complete rail segmentation, wherein the input of the pointnet + + is 4-dimensional and 3-dimensional coordinates + 1-dimensional reflectivity; and carrying out plane fitting on the rail plane and the platform plane, calculating the vertical plane of the rail edge and the vertical plane of the platform edge, calculating the distance between the vertical planes of the rail and the platform, and completing the gauge measurement. The method is suitable for the field of radar point cloud distance measurement.

Description

technical field [0001] The invention relates to a laser radar-based fully automatic platform limit measurement method. Applicable to the field of radar point cloud ranging. Background technique [0002] With the continuous improvement of the high-speed rail system, the number of high-speed rail stations is also increasing rapidly. The boundary between the railway platform and the rails is an important guarantee to ensure the safety of railway operation, especially the high-speed rail platform. The distance from the edge of the platform when the high-speed rail stops is an important measurement Different models have different distance values, and the centimeter-level or even millimeter-level deformation of the rails or platforms will have an important impact on the safe docking of trains. Therefore, the monitoring and management of station area platform boundaries has become one of the key tasks of railway safety work one. [0003] The existing domestic and foreign research...

AI Technical Summary

Problems solved by technology

[0003] The existing domestic and foreign research methods on the measurement of high-speed rail platform boundaries can be divided into infrared, sound wave, camera, radar, etc. from the types of sensors. The ranging method based on infrared sensors and ultrasonic sensors has high accuracy, but the The information is relatively limited, and most of them adopt the form of slide rail movement, which requires additional manpower to assist. During the skylight period, the laser measuring trolley is used to measure the distance between the middle of the rail track and the edge of the platform at certain fixed points. The measurement process of this method is complicated. The operation process is cumbersome and the measurement time is limited, which is not conducive to unified and automated surveying; based on the limit range measurement of industrial camera vision, most scenes are fixed equipment, which reduces the accuracy loss caused by movement to a certain extent, but the camera The image quality is greatly affected by weather, light, and environment, which directly affects the subsequent image processing, and ordinary cameras have no depth information, and the measurement accuracy cannot be guaranteed

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