The Research Of Non-contact Obstacle Detection System For Urban Rail Vehicle

As the process of modernization continues to accelerate,the obstacle detection technology for rail traffic safety and derailment is the choke point of the unmanned rail train,which is the hot research field.In this paper,based on comparison of the existing contact obstacle detection system and reference to the obstacle detection methods of intelligent vehicle at home and abroad,this paper presents a sort of non-contact obstacle detection method,and designs a set of corresponding obstacle detection system.Firstly,on the basis of characteristics of unmanned urban rail train:multi-line laser radar and camera are used as obstacle detection tools,in accordance to the characteristics of laser radar and video images,a method is proposed for the obstacle detection on the rail surface.In the system,when the train travels in a straight track,the relative position of the track boundary and the laser radar is served as limited condition of the detection o remove the interference points and realize the obstacle detection;when it runs on a curve,the system applies video processing technology to extract the images of track boundaries.The internal and external parameter matrix of the camera convert the points scanned by laser radar to the corresponding projection points on the image.Finally,through judging whether the projected points fall on the image in the track boundary region,it can be known they are obstacles or not.Grounded on the theoretical analysis,the system is composed of a vehicle chassis and a derailment detection module,wherein the vehicle chassis comprises an industrial computer and a main control panel.The hardware design mainly includes the hardware designs of the main control panel which use STM32 as the core control chip and the hardware designs of the derailment detection module.The software is composed of upper computer software which is used to process laser radar and camera data,and of lower computer software which is used to control the main control panel and the derailment detection module.Finally,this paper builds an experimental platform for the non-contact obstacle detection system of urban rail transit train and designs function test to check the basic function of the system.The experimental results show that the method proposed in this paper can be applied and the whole system scheme is feasible.