CN109933075A - A kind of single line laser radar survey barrier method for full-automatic unmanned rail vehicle - Google Patents
A kind of single line laser radar survey barrier method for full-automatic unmanned rail vehicle Download PDFInfo
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Abstract
The invention discloses a kind of single line laser radars for full-automatic unmanned rail vehicle to survey barrier method, and method and step is as follows, and a. laser radar sends data frame to controller；B. every frame data are handled；C. image segmentation is carried out；D. Descartes's rectangular co-ordinate is converted the data into；E. it calibrates and is demarcated；F. laser radar driving direction corresponding angle is determined；G. data within the scope of effective angle are intercepted；H. Hough transformation is carried out, and obtains the rail walls of track two sides or the scanning curve of guardrail；I. sliding mean filter processing is carried out to two straight line parameters；J. barrier is judged whether there is, and feeds back to controller.Compared with prior art, single line laser radar of the invention surveys the pith that barrier algorithm is vehicle driving safety safeguards system, it can guarantee unmanned railcar in the process of moving, it accurately detects the barrier that can be collided with vehicle, and takes effective measures guarantee and do not crash.
Description
Technical field
The present invention relates to remote control, monitoring field more particularly to a kind of single lines for full-automatic unmanned rail vehicle
Laser radar surveys barrier method.
Background technique
The detection of the railroad flaws such as existing railway, subway is completed by artificial walking or large-scale manned automatic maintenance vehicle.
Artificial walking monitoring efficiency is lower, and erroneous detection easily occurs；(tens is even several over long distances not yet for railway track traffic system at present
Hundred kilometers) application of unmanned detection system.The unmanned security level that can reduce detection vehicle, and it executes operation
Efficiency is much higher than artificial detection.But due to the track obstacle that the criss-cross complexity of track and not timing generate, such as massif
Falling rocks landslide etc., unmanned to railcar causes seriously to hinder, it is therefore desirable to manned carry out artificial detection.Although large size carries
People's vehicle safety rank is high (manned equipment), but figure is huge, and not easy to use, personnel demand amount is big, and lower efficiency is lower.
Summary of the invention
The object of the invention is that provide it is a kind of solve the above problems can guarantee that unmanned railcar is travelling
In the process, it accurately detects the barrier that can be collided with vehicle, and takes effective measures guarantee and do not crash.
To achieve the goals above, the technical solution adopted by the present invention is that: it is a kind of for full-automatic unmanned rail vehicle
Single line laser radar surveys barrier method, it is characterised in that: and method and step is as follows,
A. laser radar is connect with controller by Ethernet, sends data frame to controller using udp protocol；
B. controller carries out intensive repeated data filtering to every frame data and shapingization is handled；
C. image segmentation is carried out according to the feature of track and rail walls；
D. Descartes's rectangular co-ordinate is then converted the data by coordinates transformation method；
E. the light angle for determining that laser radar is overlapped with cartesian coordinate system y-axis is calibrated, and is demarcated；
F. start angle and angle at the end are calculated according to vehicle-mounted alignment surface, and determines laser radar driving direction corresponding angles
Degree；
G. after the corresponding angle for determining laser radar driving direction, data within the scope of effective angle are intercepted；
H. Hough transformation is carried out to image data in effective range and obtains two optimal straight line parameters of straightness, and obtained
The rail walls of track two sides or the scanning curve of guardrail, laser radar direction of advance in this two curves for detection of obstacles
Range；
I. sliding mean filter processing is carried out to two straight line parameters；
J. whether detection detection of obstacles range has laser reflection point, judges whether there is barrier, and feed back to controller.
Preferably, sending data frame, every frame data to controller with the frequency usage udp protocol of 100Hz in step a
Containing 2000 groups of data, every 0.18 ° one group, every group of data contain three reflection point distance, angle and reflected signal strength numbers
According to, and sliding mean filter processing is carried out by window of 10 frames.
Preferably, it is that Sin and cos is used shaping inquiring arithmetic that controller, which carries out shaping algorithm process, in step b
Substitution.
Preferably, for origin in polar coordinate system origin, x-axis direction is vertical with orbital direction in step d, y-axis direction with
Orbital direction is parallel.
Preferably, in step f, in order to determine light angle that laser radar is overlapped with cartesian coordinate system y-axis, system
The alignment surface of one standard is installed on vehicle, alignment surface is vertical with orbital plane, and the angle at two edge and origin line
Degree and apart from can survey, remembers that this two lines are lubber-line 1 and lubber-line 2, when calibration, by measurement laser radar scanning line with
The angle that this two lubber-lines are overlapped, can calculate the light angle that laser radar is overlapped with y-axis.
Preferably, in step f, the rail walls of some section tracks two sides only have that side is substantially parallel with track, another
Side differential seat angle is larger, is determined according to the laser radar angle of calibration and uses which side rail walls as reference.
Preferably, carrying out Hough transformation again after lidar measurement data are carried out secondary sparse processing in step h.
Preferably, after detecting reflection point, barrier sliding-window filtering is carried out to reflectance data, into one in step j
Step judges whether it is effective barrier, then carries out alarm warning if effective barrier, and then system is discriminated whether controllable
It in dynamic range, when being judged as effective barrier and not in controllably braking range, stops in emergency, when being judged as effective obstacle
Object carries out the parking of vehicle reduction of speed in controllably braking range.
Preferably, using single line laser radar, horizontal scan angle resolution ratio is 0.18 ° in step a, distance is measured
It is 100 meters.
Preferably, in step a, laser radar scanning identity distance 25~50cm of orbital plane, laser radar mounting surface, levelness
Better than 0.2 °.
Compared with the prior art, the advantages of the present invention are as follows: it is vehicle row that single line laser radar of the invention, which surveys barrier algorithm,
The pith of safe-guard system is sailed, can guarantee unmanned railcar in the process of moving, accurately detect meeting and vehicle
The barrier to collide, and take effective measures guarantee and do not crash.To realize the small of maintenance vehicle
Type, overlength distance telemetering.
Detailed description of the invention
Fig. 1 is laser radar horizontal sweep schematic diagram of the present invention；
Fig. 2 is that survey of the invention hinders method flow diagram；
Fig. 3 is that laser radar of the invention calibrates schematic diagram；
Fig. 4 is the polar coordinates of straight line l of the invention；
Fig. 5 is one frame data of laser radar in actual measurement tunnel；
Fig. 6 is a sparse graph of the invention；
Fig. 7 is the secondary sparse graph of the present invention；
Fig. 8 is detection of obstacles interval diagram.
Specific embodiment
The invention will be further described below.
Since rail traffic road environment feature is more apparent, do not need to carry out three-dimensional reconstruction to entire running environment, and examine
Consider multi-thread radar data more (16 times of single line radar), respond the unfavorable factors such as slower, this system uses single line laser radar
Carry out automatic obstacle avoidance processing.For single line laser radar in the horizontal plane with the frequency of 100Hz, 0.18 ° of resolution ratio carries out 360 ° of scannings,
A frame data can be obtained in every 10ms, and response speed is high.
Embodiment 1: referring to Fig. 1, Fig. 2, a kind of single line laser radar survey barrier method for full-automatic unmanned rail vehicle,
Method and step is as follows,
A. laser radar is connect with controller by Ethernet, sends data frame to controller using udp protocol；, with
The frequency usage udp protocol of 100Hz sends data frame to controller, and every frame data contain 2000 groups of data, every 0.18 ° one
Group, every group of data contain three reflection point distance, angle and reflected signal strength data；
B. controller carries out intensive repeated data filtering to every frame data and shapingization is handled；
The characteristics of laser radar scanning, closer point is more intensive, cause point on straight line from closely to long-range it is close to
Sparse process makes intensive point rarefaction if filtered without intensive repeated data, will lead to close place and becomes in Hough
Change that middle contribution margin is excessive, remote point contributes straight line too small.
Since controller is Embedded PLC, Floating-point Computation capability efficiency is poor, and laser radar data amount is larger, therefore
Data are carried out to calculate shapingization processing, are converted into integer calculations (including the equal shapingization processing of sin and cos)；(floating number amplification
It is rounded and whether does not need)
Controller in data sin and cos carry out shaping processing, Sin and cos is replaced using shaping inquiring arithmetic
Generation.Inquiring arithmetic, establish 3600 points shaping array (sin and each one of cos) (amplification 65535 times -- new modification,
Increase computational accuracy), for array indexing from 0~3599 i.e. 0 ° to 359.9 °, resolution ratio is 0.1 °, and indexing corresponding magnitude value indicates
Sin ((index value/10.0) °) or cos ((index value/10.0) °) be for example: sin (90 °)=1, then sin_talbe [900]=
Int (1.0f*65535)=65535.
C. image segmentation is carried out according to the feature of track and rail walls
(the characteristics of rail traffic: route is fixed, and track and tunnel wall or guardrail are directly substantially parallel, and wall locations away from
From at least 1.5 meters of orbit centre.I.e. in the polar equation parameter (ρ, θ) of wall straight line, at least more than 1.5 meters, θ value connects ρ value
Nearly 90 ° -- direction of advance is 0 °, according to this condition, can only consider the data of range in rail walls frame)
Fig. 5 is one frame data of laser radar in actual measurement tunnel, more than 1000 data points, in order to improve calculating speed, root
Processing is split to point cloud chart picture according to the characteristics of rail traffic.From fig. 5, it is seen that due to track and rail walls angle compared with
Small, the parameter (ρ, θ) of rail walls linear equation to be sought, θ value is close to 90 degree (with orbital direction angle)；Its ρ value is at least big
In 1.5 meters (rail walls are at a distance from orbit centres).According to this feature, image is divided according to shown in Fig. 5, carries out Hough change
Changing is the data only considered in two rail walls frames up and down.
D. Descartes's rectangular co-ordinate is then converted the data by coordinates transformation method；In order to calculate unification (shaping
Various algorithms), polar data is converted into cartesian cartesian coordinate system, laser radar initial data uses polar coordinates table
Show；For its origin at polar coordinate system origin (laser radar rotating shaft center point), x-axis direction is vertical with orbital direction, y-axis direction with
Orbital direction is parallel.
The polar equation of straight line l in Fig. 4 are as follows:
Wherein (δ, α) is any point on straight line, and ρ, θ are straight line parameter, and formula (1) is converted are as follows:
Since laser radar data is polar coordinate representation (distance, angle), carrying out Hough transformation according to (2) formula can be very big
Reduction calculation amount.
E. the light angle for determining that laser radar is overlapped with cartesian coordinate system y-axis is calibrated, and is demarcated；
In order to determine that light angle that laser radar is overlapped with cartesian coordinate system y-axis, system are equipped with one on vehicle
The alignment surface of a standard is as shown in figure 3, have an alignment surface apart from 50~100cm of laser radar in detection measurement, the school
Quasi- face width is greater than 10cm, and for calibrating laser radar setting angle and radar data accuracy, alignment surface is vertical with orbital plane,
And the angle and distance at two edge and origin line can be surveyed, and remember that this two lines are lubber-line 1 and lubber-line 2, calibration
When, the angle being overlapped by measuring laser radar scanning line with this two lubber-lines can calculate laser radar and be overlapped with y-axis
Light angle.
All initial data of laser radar, first carry out light angle adjustment before algorithm process.That is direction of advance and y-axis weight
The light angle of conjunction is 0 °, is incremented by along clockwise direction, if do not demarcated, will be unable to determine accurate orbital direction；
The rail walls of some section tracks two sides only have that side is substantially parallel with track (such as turnout), other side differential seat angle compared with
Greatly, according to the laser radar angle of calibration determine use which side rail walls as refer to (usually with Calibration Base Line --- y-axis put down
The preferable side of row degree)
F. start angle and angle at the end are calculated according to vehicle-mounted alignment surface, and determines laser radar driving direction corresponding angles
Degree；
Machining guarantees alignment surface at a distance from installation center point and relative angle, mark timing acquisition laser radar are practical
Scan data, it is the longer apart from measuring point of a mutation other than alignment surface that the laser radar data of alignment surface, which is straight line,
The corresponding angle in the sudden change region at two edges is exactly collimation angle (start angle and angle at the end), is determined according to collimation angle
Laser radar driving direction corresponding angle；
G. after the corresponding angle for determining laser radar driving direction, data within the scope of effective angle are intercepted；
H. Hough transformation is carried out to image data in effective range and obtains two optimal straight line parameter (vertical rails of straightness
Each one of the positive and negative axis of the axis in road direction), it is therefore an objective to obtain the rail walls of track two sides or the scanning curve of guardrail；It selects
Two optimal straight lines of straightness: just half using Hough transformation removal straight line gradient less than 5 °, and in the same coordinate system X-axis
The repetition straight line of axis or negative semiaxis.
Due to remoter apart from laser radar, the distance between adjacent two light is bigger, i.e., for the reflection of rail walls
For point, closer to the place of laser radar, point cloud is more intensive, and about remote place point cloud is more sparse.Not carrying out processing to cloud makes
It when detecting straight line with Hough transformation, is interfered vulnerable near point point off density cloud, rail walls detection straight line is easy to produce shake.Therefore to point
Cloud atlas carries out secondary sparse variation and eliminates this influence.
Lidar measurement data unit be centimetre, direct measurement data is rounded up to as unit of rice, can be obtained
A sparse graph as shown in FIG. 6.
Primary sparse point cloud chart is eliminated along the point dot interlace that laser radar fixed setting is connected, can be obtained secondary dilute shown in Fig. 7
Dredge point cloud.As previously mentioned, radar range finding it is remoter point its sparse degree it is bigger, therefore when carrying out Hough transformation, use picture point
Measurement distance is voted as weighting parameters, can be obtained stable rail walls curve.
It using two sides rail walls as track reference direction, crosses point (- 1.4 meters, 0), point (1.4 meters, 0) each standardized item is parallel to
The curve of orbital plane, direction of advance is to be that the green line in detection of obstacles range Fig. 8 indicates to calculate gained rail in this two curves
Road wall curve, yellow be it is parallel with rail walls, be spaced 1.4 meters of two curves away from laser radar (orbit centre), centre is
Detection of obstacles section.
I. sliding mean filter processing is carried out by window of 10 frames to two straight line parameters, calculated using orbit centre as origin
Liang Tiao obstacle recognition area straight line parameter；
J. whether detection detection of obstacles range has laser reflection point, judges whether there is barrier, and feed back to controller.
After detecting reflection point, barrier sliding-window filtering is carried out to reflectance data, it is further with 500ms filtering processing
Judge whether it is effective barrier, then carry out alarm warning if effective barrier, then system discriminates whether controllably braking
In range, when being judged as effective barrier and not braking in range controllably, i.e., when obstacle distance is less than 30 meters, carry out urgent
Parking, when be judged as effective barrier controllably braking range in, carry out the parking of vehicle reduction of speed.
Preferably, laser radar uses single line laser radar, and horizontal scan angle resolution ratio is 0.18 °, measurement
Distance is 100 meters.0.18 ° is horizontal angular resolution, and lower scanning resolution is capable of providing more environmental informations, closeer
The environmental scanning point cloud chart of collection, is conducive to the algorithm process in later period.100 meters of measurement distances, the system the max speed are 60Km/h,
Braking distance is less than or equal to 35 meters, can provide twice of braking distance or more of early warning range, safer.Laser radar scanning face
Away from 25~50cm of orbital plane, laser radar mounting surface, levelness is better than 0.2 °, keeps light substantially parallel with orbital plane.Angle mistake
Greatly, it will lead to laser radar and shine directly into closer ground or overhead.
The single line laser radar of this patent design surveys barrier algorithm, is the pith of vehicle driving safety safeguards system, energy
Enough guarantee unmanned railcar in the process of moving, accurately detects the barrier that can be collided with vehicle, and taken
The measure guarantee of effect does not crash.
A kind of full-automatic unmanned driving's rail vehicle safe-guard system, including Mini-railway vehicle, interior be equipped with of vehicle are driven
The controller that motor-car is advanced, controller use High performance industrial PLC, including the event of normally travel, monitoring remote video, vehicle
Barrier to lose control of one's vehicle and is travelled to five safe-guard systems of obstacle quality testing,
(1) normally travel safe-guard system,
A measurement wheel is added on vehicle, which is equipped with high precision position encoder, and high precision position is compiled
The measurement accuracy of code device is better than 1mm, and detection precision is high.It is coaxial using shaft coupling between high precision position encoder and measurement wheel
Installation, measurement wheel is standard cylindrical wheel body (different with rail wheel), is pressed in orbital plane using spring, and measurement wheel follows
Vehicle movement drives encoder rotation, pulse signal is sent to controller when encoder rotates, to controller when encoder rotates
Pulse signal (1mm sends a pulse) is sent, controller is according to pulse count calculation vehicle movement distance；In this system application
In, carrier of the railcar as railroad flaws vision measurement system needs to provide driving pulse to vision measurement system, and vision is surveyed
It measures the every 1mm of system requirements and one pulse is provided, the measurement accuracy of high precision position encoder need to be better than 1mm.
Track unit of operation fixes position (every 1Km) on its target track and is equipped with Ground Electronic mark used for positioning
Label, number are corresponded with absolute position, and the high accuracy positioning electricity to match with Ground Electronic label is added on vehicle
Sub- beacon reader calibrates the encoder on vehicle using the calibration system that track unit of operation has by oneself, so that it is determined that
The absolute position of vehicle.Since the measurement wheel that is installed on vehicle is there may be skidding, crossing turnout the factors such as to takeoff, cause to measure
Wheel can generate cumulative errors when prolonged exercise, therefore the absolute position of vehicle is determined by the way of electronic beacon,
To realize the precise positioning of vehicle.
Electronic beacon has Multiple Type (each track operator, such as Chengdu subway, Beijing Metro etc., the mark used
Quasi- and product is variant, and the high accuracy positioning electronic beacon of use is matched according to concrete model.
Electronic beacon is divided into two equipment of reader (antenna) and label, and label is placed on the fixation position of target track,
Reader (antenna) is installed on vehicle.Absolute position: i.e. using track one end as starting point, electronic beacon is relative to track starting point
Absolute distance.
When vehicle is by above label, the signal of label can be received, so that it is determined that the absolute position of vehicle.
The accurate construction numerical map of target track is loaded under in controller, which contains target track operation interval
Interior all ramps, bend, turnout, website and positioning electronic beacon accurate location information, and contain corresponding speed limit data,
The accurate location data of vehicle is obtained by encoder and electronic beacon, controller can be obtained by encoder and electronic beacon
The accurate location data of vehicle, and the data of middle target track operation area according to the map, pass through the dynamics calculation of vehicle, determine
Vehicle sets the reasonable speed of vehicle in the maximum safe velocity on each bend, ramp and turnout；Enable in rail vehicle
Speed and turnout is adjusted flexibly according to target track environment complicated and changeable, substantially increase flexibility and full-automatic unmanned drives
The safety sailed.
Vehicle is before normal operation, and operation interval of the vehicle on target track, vehicle is arranged in location information according to the map
It can only be travelled in the section, alarm of then stopping beyond driving range.
(2) monitoring remote video safe-guard system
One and monitoring camera are respectively loaded before and after vehicle, monitoring camera is electrically connected with the controller, monitoring camera
By video clouds such as Haikang prestige views by camera real-time data transmission to remote monitoring end, the operator of remote monitoring end can root
It according to video information, observes whether direction of travel has barrier or people, is decided whether to stop vehicle according to the experience of operator,
To cope with emergency, it is ensured that safety accident does not occur.Recycling maintenance is carried out after carrying out parking alarm.
(3) vehicle trouble states safe-guard system
Vehicle considers the security control of fault condition, when controller detects critical failure, carries out parking maintenance alarm.
High-precision encoder communication failure, electronic map data failure, localizer beacon communication failure, laser radar communication event
Barrier, remote control terminal communication failure, driving motor communication failure, driving motor performance fault, battery system communication failure, battery
Internal system failure, braking system faults.It is considered as critical failure when detecting the above failure, carries out parking alarm.
If motor being capable of automatic braking after wherein detecting motor and controller communication failure.The power of automatic braking is led
Drawing motor is customed product, is controlled by software program, and the function of braking, power traction motor tool are immediately performed after open close letter
There is a high-power braking resistor, when executing braking, driving motor is converted to generator mode, converts vehicle movement energy to
Electric energy is consumed by braking resistor, to realize automatic braking.
Warning message is sent to remote monitoring end if detecting the light alerting system system failure and continues to execute operation.Whether
Parking maintenance is determined by remote monitoring end operator.
(4) safe-guard system to lose control of one's vehicle,
To lose control of one's vehicle, refer to vehicle due to certain uncertainty, cause not according to setting speed traveling, hypervelocity, system
The special circumstances such as dynamic failure, controller are crashed, motor driver crashes.Under these uncontrollable states, safety safeguards system
A heavy current breaker is set, can by force be cut off motor power, and alarm of stopping, to ensure safety traffic.
The mode for carrying out detection judgement to critical failure and to lose control of one's vehicle is as follows:
High-precision encoder communication failure:
By RS232 connection between master controller PLC and high-precision encoder processing module, custom protocol is used
CRC16 verification.If PLC does not receive data or continuous 10 times receive wrong check-up data in 10ms, that is, think failure.
Electronic map data failure:
Electronic map data is stored in two pieces of independent regions Flash, is compared such as inconsistent i.e. failure；
Electronic map respectively classifies (turnout, ramp, bend, electronic beacon) according to distance from closely arranging to remote sequence,
Such as occur out-of-order being failure；
All kinds of map datums include CRC16 verification, and there are check errors, that is, failures when such as reading.
Localizer beacon communication failure:
Electronic beacon reader is connect with PLC by tcp, such as tcp disconnecting, electronic beacon initialization unsuccessfully i.e. event
Barrier；
Vehicle driving does not obtain bootstrap information within the scope of positive and negative 10 meters of the set distance of electronic beacon on the electronic map
That is failure.
Laser radar communication failure:
Laser radar and PLC are connected using UDP, and radar just persistently sends data after powering on, as PLC 10ms does not receive number
According to i.e. failure；
Laser radar has a calibration face, and distance by radar demarcates the distance in face and relative angle determines, such as continuously receives 5
Frame wrong data (the corresponding measurement distance of angle differs 10cm with calibration distance) judges radar fault.
Remote control terminal communication failure:
Once remote control terminal begins to be in continuous communication with each other with PLC successful connection, 5S does not receive data i.e. failure；
Dynamic communications failure:
Motor is connect with PLC by CAN bus, and data are persistently sent, and 100ms does not receive data i.e. failure.Driving motor
Performance fault:
Motor driver continues to send internal state (error code) to PLC, and PLC receives error code i.e. failure.Battery system
Communication failure:
Battery is connect with PLC by CAN bus, and data are persistently sent, and 100ms does not receive data i.e. failure.Battery system
Internal fault:
Battery last sends internal state (error code) to PLC, and PLC receives error code i.e. failure.
Braking system faults:
After PLC sends braking instruction, such as detects speed reduction of speed and be expected not being inconsistent to judge braking system faults.
(5) it travels to detection of obstacles safe-guard system
Vehicle is respectively equipped with an one-line scanning laser radar in front and back ends, and horizontal scan angle resolution ratio is 0.18 °,
Lower scanning resolution is capable of providing more environmental informations, and more dense environmental scanning point cloud chart is conducive to the calculation in later period
Method processing.The system the max speed is 60Km/h, and braking distance is less than or equal to 35 meters, can provide twice of braking distance or more
Early warning range, it is safer, therefore it is suitable that scanning distance, which is 100 meters,.Being able to detect in driving direction by special algorithm can
The barrier that can be collided with vehicle detects barrier alarm, parking.
Above to a kind of single line laser radar survey barrier method for full-automatic unmanned rail vehicle provided by the present invention
Exhaustive presentation is carried out, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to change of the invention
It will be possible, without exceeding accessory claim defined conception and scope with improving, in conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of single line laser radar for full-automatic unmanned rail vehicle surveys barrier method, it is characterised in that: method and step is such as
Under,
A. laser radar is connect with controller by Ethernet, sends data frame to controller using udp protocol；
B. controller carries out intensive repeated data filtering to every frame data and shapingization is handled；
C. image segmentation is carried out according to the feature of track and rail walls；
D. Descartes's rectangular co-ordinate is then converted the data by coordinates transformation method；
E. the light angle for determining that laser radar is overlapped with cartesian coordinate system y-axis is calibrated, and is demarcated；
F. start angle and angle at the end are calculated according to vehicle-mounted alignment surface, and determines laser radar driving direction corresponding angle；
G. after the corresponding angle for determining laser radar driving direction, data within the scope of effective angle are intercepted；
H. Hough transformation is carried out to image data in effective range and obtains two optimal straight line parameters of straightness, and obtain track
The rail walls of two sides or the scanning curve of guardrail, laser radar direction of advance in this two curves be detection of obstacles model
It encloses；
I. sliding mean filter processing is carried out to two straight line parameters；
J. whether detection detection of obstacles range has laser reflection point, judges whether there is barrier, and feed back to controller.
2. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
It is characterized in that: in step a, data frame being sent to controller with the frequency usage udp protocol of 100Hz, every frame data contain 2000
Group data, every 0.18 ° one group, every group of data contain three reflection point distance, angle and reflected signal strength data, and with 10
Frame is that window carries out sliding mean filter processing.
3. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
Be characterized in that: in step b, it is to substitute Sin and cos using shaping inquiring arithmetic that controller, which carries out shaping algorithm process,.
4. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
Be characterized in that: in step d, for origin in polar coordinate system origin, x-axis direction is vertical with orbital direction, y-axis direction and orbital direction
In parallel.
5. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
Be characterized in that: in step f, in order to determine light angle that laser radar is overlapped with cartesian coordinate system y-axis, system is on vehicle
The alignment surface of one standard is installed, alignment surface is vertical with orbital plane, and the angle and distance at two edge and origin line
It can survey, remember that this two lines are lubber-line 1 and lubber-line 2, when calibration, pass through measurement laser radar scanning line and this two schools
The angle that directrix is overlapped, can calculate the light angle that laser radar is overlapped with y-axis.
6. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 5 surveys barrier method,
Be characterized in that: in step f, the rail walls of some section tracks two sides only have that side is substantially parallel with track, other side differential seat angle
It is larger, it is determined according to the laser radar angle of calibration and uses which side rail walls as reference.
7. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
It is characterized in that: in step h, carrying out Hough transformation again after lidar measurement data are carried out secondary sparse processing.
8. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
It is characterized in that: in step j, after detecting reflection point, barrier sliding-window filtering being carried out to reflectance data, further judgement is
No is effective barrier, then carries out alarm warning if effective barrier, and then system discriminates whether in controllably braking range,
When being judged as effective barrier and not in controllably braking range, stop in emergency, when being judged as effective barrier controllable
It brakes in range, carries out the parking of vehicle reduction of speed.
9. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
Be characterized in that: in step a, using single line laser radar, horizontal scan angle resolution ratio is 0.18 °, and measurement distance is 100 meters.
10. a kind of single line laser radar for full-automatic unmanned rail vehicle according to claim 1 surveys barrier method,
Be characterized in that: in step a, laser radar scanning identity distance 25~50cm of orbital plane, laser radar mounting surface, levelness is better than
0.2°。
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