Contact network height guide and pull-out value automatic detection method based on vehicle-mounted mobile laser point cloud

Abstract

The invention discloses a contact network height guide and pull-out value automatic detection method based on vehicle-mounted mobile laser point cloud. The method comprises the steps: firstly, setting an angle segmentation threshold value according to a scanning angle corresponding to a track structure and a contact network structure, carrying out the segmentation to obtain a track point cloud and a contact network point cloud, and removing the point cloud noise through a statistical filtering algorithm; secondly, based on a trajectory of mobile scanning, adopting a cuboid segmentation algorithm to segment a steel rail point cloud, and adopting a cylinder segmentation algorithm to segment a contact line and a positioning point cloud; thirdly, using PCA and GICP to register steel rail point clouds, extracting contact line point clouds by RANSAC, and extracting suspension point clouds by a dimension analysis method; and finally, calculating the conduction height and the pull-out value of the contact line according to the conduction height and pull-out value definition. The method has the characteristics of high precision, high efficiency, high automation degree and the like, can be used as an effective supplement of a normal detection mode of the contact network height guide and pull-out value, and serves static acceptance of a newly built railway and operation detection of an existing railway line.

Description

technical field [0001] The invention relates to the field of rapid comprehensive detection of rail transit, in particular to an automatic detection method for catenary height and pull-out value based on vehicle-mounted mobile laser point cloud. Background technique [0002] The railway is an important national infrastructure, the main artery of the national economy, and plays a key role in the comprehensive transportation system. In 1975, the entire Baocheng Railway was electrified and became the first electrified railway in my country. Since then, my country's electrified railways have developed rapidly. As of the end of 2020, the total mileage of my country's railway operations has exceeded 146,300 kilometers, of which high-speed railways have reached 38,000 kilometers, 106,000 kilometers of electrified railways, and an electrification rate of 72.8%. As the core part of electrified railway, catenary plays an important role in ensuring the safety of railway transportation,...

AI Technical Summary

Problems solved by technology

However, this method has the following disadvantages: (1) This method fails when the pull-out value at the catenary column is not an extreme value; (2) This method does not detect the guide height and pull-out value at the suspension point of the hanging string

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