Railway track gauge and horizontal parameter measuring method based on vehicle-mounted Lidar point cloud

Abstract

The invention discloses a railway track gauge and horizontal parameter measuring method based on vehicle-mounted Lidar point cloud. The method includes the following steps that S1, a track model is established; S2, the track model and the vehicle-mounted Lidar track point cloud are initially matched; S3, the track model and the vehicle-mounted Lidar track point cloud are precisely matched, the distances from left and right working edges and an upper tread surface of the steel track model to the corresponding vehicle-mounted Lidar point cloud are calculated separately, and the gauge is adjustedaccording to the distances from the working edges of the steel track model to the vehicle-mounted Lidar point cloud; and S4, the step S3 is repeated iteratively until the distances from the working edges and the upper tread surface of the steel track model to the vehicle-mounted Lidar point cloud are smaller than a preset threshold value. The method realizes high-precision measurement of geometric parameters of a railway track, realizes matching of the track model considering the gauge and horizontal parameters with the vehicle-mounted Lidar track point cloud, and the gauge and the horizontalparameters of a railway track are measured based on the track model, so that technical support is provided for railway track measurement by using the vehicle-mounted Lidar technology.

Description

technical field [0001] The invention relates to the technical field of track measurement, in particular to a method for measuring railway track gauge and horizontal parameters based on a vehicle-mounted Lidar point cloud. Background technique [0002] At present, the measurement of railway track gauge and horizontal parameters mainly relies on manual methods such as gauge rulers and track inspection trolleys. As of 2017, the operating mileage of China's railways has exceeded 120,000 kilometers. Traditional track measurement methods can no longer meet the requirements of rapid railway development in terms of measurement accuracy, operational efficiency, operational safety, and operational interference. In this case, through the technical changes in the way of obtaining measurement data in the field, it is urgent to find new railway measurement technologies and methods that are efficient, safe, and have low or zero interference to operations. Vehicle-mounted Lidar (Light Dete...

AI Technical Summary

Problems solved by technology

Since the rail point cloud obtained by using the on-board Lidar is only unstructured discrete points, the rail point cloud contains random errors and a large number of noise points, and some rail point clouds are missing due to scanning occlusion, so how to use the scattered rail point cloud to obtain railway The geometric parameters of the track are the problems and difficulties to be solved urgently when the vehicle-mounted Lidar technology is used in railway measurement

[0003] Chinese Invention Patent Publication No. CN104236499A discloses a railway automatic measurement method based on point cloud data, which can obtain the gauge and horizontal parameters of the railway track from the point cloud, but has the following disadvantages: 1. The impact of noise and uneven density on the measurement results, first conduct principal component analysis on each point in the rail point cloud, and fit the points with similar correlation in a certain range of space into a more robust point, and then through upsampling Interpolate the existing points in the neighborhood space of each point to increase the point density

Since the working edge of the rail is composed of a plane and multiple curved surfaces, the accuracy of the working edge of the rail only using the plane fitting algorithm does not meet the requirements of track measurement accuracy

And because the rail has a definite geometric structure, the points used to measure the track level and gauge in the rail have a clear spatial position relationship, but the track level and gauge measurement points obtained by this method do not have a clear spatial position relationship, so The accuracy of track level and gauge parameters measured by this method does not meet the requirements of track measurement

3. The left and right rails of the railway track are parallel, but the working edge planes of the left and right rails obtained by this method using the plane fitting algorithm are not parallel, so the gauge measurement points based on the working edge planes are not accurate

This method cannot obtain the gauge parameters of the track, and because this method can only obtain the elevation of the top of the left and right rails, and does not establish the corresponding relationship between the center points of the left and right rails, it cannot measure high-precision track level parameters

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