The invention discloses an online detection method based on a
laser radar, and the method comprises the following steps: S1,
point cloud acquisition: establishing a
global coordinate system, a vehiclebody coordinate
system and a measurement coordinate
system at an initial position of an intelligent inspection
robot, and converting detection point coordinates, measured by a
lidar, into position coordinates in the
global coordinate system; S2,
point cloud preprocessing: calculating an
orbital plane by
point cloud data of all the detection points located in the
global coordinate system; S3, early warning judgment: projecting a real-time measured scanning point of the
lidar to the
orbital plane extracted at step S2, and calculating the
projection distance from the scanning point to the
orbital plane, determining that a
foreign object invades the boundary if the
projection distance is less than a set threshold value, or determining that the
foreign object does not invade the boundary if the
projection distance is greater than the set threshold value. The method provided by the invention enables a problem of a three-dimensional space into a one-dimensional space for judgment, reduces the calculation burden under the condition that the detection precision is guaranteed, and achieves the real-time boundary invasion detection in a tunnel of
rail traffic.