摘要
为避免养路机械在施工过程中碰到接触网支柱而造成安全事故,开发了一套能够实现智能化辅助避障的接触网支柱识别与定位系统。该系统采用能在夜间和恶劣天气条件下工作的三维激光雷达获取视场点云数据,采取欧氏聚类和特征匹配相结合的障碍物识别算法,采用窗口滤波得出接触网支柱准确的位置信息。现场试验结果表明,该系统可以实时准确地识别并定位接触网支柱,定位精度满足现场应用要求。
In order to avoid the safety accidents caused by the catenary mast encountered by the track maintenance machinery in the construction process,a set of catenary mast identification and positioning system which can realize intelligent auxiliary obstacle avoidance was developed.The system used the three-dimensional lidar which can work at night and in bad weather conditions to obtain the field point cloud data,adopted the obstacle recognition algorithm combining Euclidean clustering and feature matching,and used window filtering to obtain the accurate position information of catenary mast.The field test results show that the system can accurately identify and locate the catenary mast in real time,and the positioning accuracy could meet the requirements of field application.
作者
刘尚昆
朱广平
王波
高春雷
徐济松
LIU Shangkun;ZHU Guangping;WANG Bo;GAO Chunlei;XU Jisong(Railway Engineering Research Institute,China Academy of Railway Sciences Corporation Limited,Beijing 100081,China;China Railway Xi’an Group Co.Ltd.,Xi’an 712400,China;CRCC High-tech Equipment Corporation Limited,Kunming 650215,China)
出处
《铁道建筑》
北大核心
2021年第10期133-135,共3页
Railway Engineering
基金
中国铁道科学研究院集团有限公司基金(2019YJ049)。
关键词
养路机械
避障系统
激光雷达
坐标转换
欧氏聚类
支柱识别
track maintenance machinery
obstacle avoidance system
lidar
coordinate transformation
Euclidean clustering
mast identification
