基于三维激光雷达的轨道异物监测系统与方法研究  

Research on Rail Foreign Object Surveillance System and Method Based on Three-dimensional Laser Radar

作　　者：赵宁 孙剑冰 吴磊 唐晨欢 ZHAO Ning;SUN Jianbing;WU Lei;TANG Chenhuan(Tianjin Jintie Electronic Technology Co.,Ltd.,Tianjin 3003811,China)

机构地区：[1]天津津铁电子科技有限公司,天津3003811

出　　处：《智慧轨道交通》2025年第1期1-7,共7页INTELLIGENT RAIL TRANSIT

摘　　要：传统的轨道异物监测方式受限于实时性不足和虚警率偏高,难以满足现代轨道交通对安全性的高要求。文章旨在解决轨道交通中异物监测面临的挑战,提出了一种基于Tele-15三维激光雷达的轨道异物监测系统。轨道异物监测系统采用模块化设计,包括数据采集、预处理、异物监测和用户界面等模块。Tele-15三维激光雷达可以高精度、远距离探测点云数据,消除了光线和天气的影响,确保了点云数据采集的准确性。设计了坐标转换和旋转矩阵的标定算法,实现了激光雷达坐标系与全局坐标系的对齐,提高了系统的稳定性和可靠性。同时设计了轨道异物监测算法,解决了点云数据实时监测的问题。基于轨道异物监测系统开展了现场环境功能试验,试验结果表明在20~200 m出现人员时,轨道异物监测系统能够即时报警,可有效降低误报率,提升轨道交通的安全性。同时,系统还具有直观的人机交互界面,方便用户进行数据观察和分析,为提升轨道交通安全提供了新的技术手段。The traditional rail foreign object surveillance method is limited by real time deficiency and high false alarm rate,which is difficult to meet the high safety requirements of modern rail transit.This paper aims to solve the challenges faced by foreign object surveillance in rail transit,and proposes a rail foreign object surveillance system based on Tele-15 three-dimensional laser radar.The rail foreign object surveillance system adopts a modular design,including data acquisition,preprocessing,foreign object surveillance and user interface.Tele-15 laser radar can detect point cloud data with high accuracy and long distances,eliminating the influence of light and weather,and ensuring the accuracy of point cloud data.The calibration algorithm of coordinate transformation and rotation matrix is designed,and the alignment of laser radar coordinate system with global coordinate system is realized,which improves the stability and reliability of the system.At the same time,the rail foreign object surveillance algorithm is designed to solve the problem of real-time surveillance of point cloud data.Based on the rail foreign object surveillance system,the field environmental function test was carried out.The test results showed that when people appear at 20~200 m,the rail foreign object surveillance system can give an immediate alarm.This can effectively reduce the false alarm rate and improve the safety of rail transit.At the same time,the system also has an intuitive human-computer interaction interface,which is convenient for users to observe and analyze data,and provides a new technical means for improving the safety of rail transit.

关 键 词：铁路轨道 异物监测 Tele-15三维激光雷达 点云数据 滤波算法 

分 类 号：U216.3[交通运输工程—道路与铁道工程]