The invention discloses an accompanying active track obstacle detection method, and the method comprises the steps: obtaining the movement speed of a train, and collecting a track line video image and a three-dimensional point cloud at the same speed and in the same direction with the train; processing and analyzing the acquired track line video image and the three-dimensional point cloud, performing target detection and recognition on an obstacle according to an analysis result, and sending a recognition result to a train control system; the accompanying active detection robot is adopted to synchronously run along with the running direction of the train, detect front obstacles and communicate with the train in real time, and the problems that due to the long detection distance, the spatial resolution of a sensor is reduced, and a curve is shielded can be effectively solved; and meanwhile, the robot adopts front and back bidirectional detection, so that the same obstacle can be confirmed twice, and the detection reliability is further improved.

    本发明公开了一种伴随主动式轨道障碍物探测方法,所述方法包括:获取列车运动速度,并与列车同速同向采集轨道线路视频图像以及三维点云;对采集的轨道线路视频图像以及三维点云进行处理分析,根据分析结果对障碍物进行目标检测和识别,并将识别结果发送至列车控制系统;本发明采用伴随主动式的探测机器人,跟随列车行驶方向进行同步行驶,对前方障碍物进行探测,并同列车进行实时通信,能够有效解决探测距离远导致传感器的空间分辨率下降以及弯道遮挡等问题;同时,机器人采用前后双向探测,能够对同一障碍物进行前后两次确认,进一步提高了检测的可靠性。


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    Title :

    Accompanying active track obstacle detection method and device


    Additional title:

    一种伴随主动式轨道障碍物探测方法及装置


    Contributors:
    GONG ZHENG (author) / CHEN SHILIN (author) / WANG MANYI (author) / WANG HUAN (author)

    Publication date :

    2024-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B61L Leiten des Eisenbahnverkehrs , GUIDING RAILWAY TRAFFIC / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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