The invention provides an obstacle detection system and method for a railway operation line, the system comprises a data acquisition unit, a data processing unit, a grid construction unit and a data judgment unit, the data acquisition unit is used for acquiring continuous point cloud data, the data processing unit is used for processing the continuous point cloud data, and the data judgment unit is used for judging the continuous point cloud data; the grid construction unit is used for constructing voxel grids in a detection area, setting the voxel grids corresponding to the background point cloud data to be occupied, and obtaining a voxel grid background model of the detection area; and the data judgment unit is used for judging whether the voxel grid corresponding to the continuous point cloud data is occupied in the voxel grid background model or not, and sending obstacle alarm information. According to the invention, the spatial voxel grid is constructed through the three-dimensional laser radar according to the continuous point cloud data, thereby achieving the accurate measurement of the railway operation line obstacle, and solving the problems that an existing detection system is inaccurate in measurement result, is poor in safety, and is liable to cause safety accidents.
本申请提供了一种用于铁路运行线路的障碍物检测系统及方法,所述系统包括:数据获取单元、数据处理单元、网格构建单元和数据判断单元,数据获取单元用于获取连续点云数据,数据处理单元用于对连续点云数据进行处理,得到背景点云数据,网格构建单元用于在检测区域构建体素网格,将背景点云数据对应的体素网格设置为占用,得到检测区域的体素网格背景模型;数据判断单元用于判断连续点云数据对应的体素网格在体素网格背景模型中是否被占用,发送障碍物报警信息。本申请通过三维激光雷达根据连续点云数据构建空间体素网格,实现了对铁路运行线路障碍物的准确测量,解决了现有检测系统测量结果不准确,安全性差,容易造成安全事故的问题。
Obstacle detection system and method for railway operation line
一种用于铁路运行线路的障碍物检测系统及方法
2023-03-07
Patent
Electronic Resource
Chinese