CN115657067A - Multi-scale array type laser radar measuring system and method for acquiring track boundary conditions - Google Patents
Multi-scale array type laser radar measuring system and method for acquiring track boundary conditions Download PDFInfo
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Abstract
The invention discloses a multi-scale array type laser radar measuring system and a method for acquiring track boundary conditions, wherein the multi-scale array type laser radar measuring system comprises the following components: the system comprises four laser radars, a mileage positioning unit and a data synchronous acquisition unit, wherein the four laser radars are arranged at intervals along the circumferential direction, the top high-precision laser radars scan upwards perpendicular to a track surface, the two side wide-angle laser radars are arranged in parallel and scan towards the left side and the right side respectively, the bottom wide-angle laser radars scan downwards perpendicular to the track surface, and the mileage positioning unit is used for acquiring mileage data; the multi-scale array type laser radar measuring system is used for accurately measuring and adjusting the general speed railway, mainly has the main functions of measuring the data capable of acquiring the boundary conditions of the track while the inertial navigation track detector measures the geometric state of the track, and solves the problem that the inertial navigation track detector cannot measure the boundary conditions of the track.
Description
Technical Field
The invention belongs to the technical field of railway track boundary condition measuring systems, and particularly relates to a multi-scale array type laser radar measuring system and a method for acquiring a track boundary condition.
Background
At present, an inertial navigation track detector is generally used for measuring the geometric state of a track in the precision measurement of a general-speed railway track, but the boundary conditions (the guidance height, the pull-out value, the limit and the ballast amount of a contact network) of the track cannot be measured, so that the problem that the design of a track precision adjustment scheme is unscientific, not strict and difficult to implement exists. For example, boundary condition measurement is performed by an existing three-dimensional laser radar or a high-precision 2D laser scanner on the market, and the problems of high equipment cost, precision redundancy, heavy weight and the like exist. For example, lidar today has high and low ends. The high-end laser radar has high precision (up to millimeter level), wide measurement range (the angle of view is 240-360 degrees), but high price (50-90 ten thousand); the low-end laser radar product has low price (3-10 ten thousand), low precision (generally 5mm-5 cm) and narrow measuring range (30-190 degrees).
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-scale array type laser radar measuring system for measuring the boundary conditions of the rails of the general-speed railway, which can be carried on a mobile inertial navigation rail detector to obtain the data of the boundary conditions of the measured rails. The laser radar measuring device adopts a modular design, the precision meets the measuring requirement, the cost is reduced by 80 percent compared with the cost of the laser radar in the market, and the laser radar measuring device has the characteristics of light weight and low power consumption.
The invention also aims to provide a method for acquiring the boundary condition of the track by adopting the multi-scale array type laser radar measuring system, after the multi-scale array type laser radar measuring system is carried on a mobile inertial navigation track detector to complete work, all data in a point cloud resolving module in the multi-scale array type laser radar measuring system are transmitted to a data processing upper computer, and the guidance height, the pull-out value, the boundary and the ballast amount of the contact net are obtained through calculation of the data processing upper computer.
The purpose of the invention is realized by the following technical scheme.
A multi-scale array type laser radar measuring system for measuring boundary conditions of a common-speed railway track comprises: the system comprises four laser radars, a mileage positioning unit and a data synchronous acquisition unit, wherein the four laser radars are a top high-precision laser radar, a bottom wide-angle laser radar and two side wide-angle laser radars, the top high-precision laser radar, the two side wide-angle laser radars and the bottom wide-angle laser radar are arranged at intervals along the circumferential direction, the top high-precision laser radar scans upwards perpendicular to the rail surface and acquires point clouds of a contact network for obtaining the height guiding value and the pull-out value of the contact network; the two side wide-angle laser radars are arranged in parallel and scan towards the left side and the right side respectively, and three-dimensional point clouds of side structures are collected to obtain a limit value of the position of the contact net rod; scanning downwards by a wide-angle laser radar at the bottom surface, which is vertical to the track surface, and collecting point cloud of the ballast for obtaining the ballast amount;
the mileage positioning unit is used for acquiring mileage data;
the data synchronization acquisition unit is used for acquireing top high accuracy laser radar, two side wide angle laser radar, bottom surface wide angle laser radar and mileage positioning unit's data and for its power supply, and the data synchronization acquisition unit includes: the system comprises a synchronization module and a point cloud resolving module, wherein the synchronization module realizes time synchronization of four laser radars, a mileage positioning unit and a data synchronous acquisition unit, and data synchronized by the four laser radars and the mileage positioning unit are preliminarily resolved by the point cloud resolving module and then stored in the point cloud resolving module of the data synchronous acquisition unit in real time.
In the above technical solution, further comprising: and the data synchronous acquisition unit uploads the data of the four laser radars and the mileage positioning unit to the data processing upper computer, and the data processing upper computer supplies power to the data synchronous acquisition unit and controls the startup and shutdown, data acquisition and parameter setting of the multi-scale array type laser radar measuring system.
In the technical scheme, the measurement accuracy of the top high-accuracy laser radar is better than 5mm, the range of the vision field is 45 to 60 degrees, the measurement accuracy of the side wide-angle laser radar is better than 10mm, the range of the vision field is 120 to 180 degrees, the measurement accuracy of the bottom wide-angle laser radar is 20 to 40mm, and the range of the vision field is 120 to 180 degrees.
In the above technical solution, further comprising: the four laser radars are fixed on the bottom plate through radar supports, are all positioned in the shell and are fixedly installed with the shell through the bottom plate, and four through holes are formed in the shell, are opposite to one laser radar respectively and are used for penetrating transmitted and received signals;
the data synchronous acquisition unit is fixed on the bottom plate and is fixed in the shell through the bottom plate.
In the technical scheme, the data processing upper computer is connected with a display.
A method of obtaining a track boundary condition, comprising:
(1) all data in the point cloud resolving module in the multi-scale array type laser radar measuring system are transmitted to a data processing upper computer, and mileage data are linearly stretched based on initial mileage and ending mileage by using a mileage stretching algorithm to obtain corrected mileage data;
(2) fusing the data after the synchronization of the top high-precision laser radar, the data after the synchronization of the side wide-angle laser radar and the corrected mileage data to generate a line three-dimensional point cloud;
obtaining a three-dimensional point cloud of a cross section of the position of the contact net rod based on the three-dimensional point cloud of the line by using an intelligent extraction algorithm of the contact net rod, and sequentially filtering, dividing and fitting the three-dimensional point cloud of the cross section of the position of the contact net rod to obtain a leading height and a pulling-out value of the contact net and a limit value of the position of the contact net rod;
and fusing the data synchronized by the wide-angle laser radar on the bottom surface with the corrected mileage data to generate a ballast cross section point cloud with a fixed mileage interval, and processing the ballast cross section point cloud by adopting a ballast extraction algorithm to obtain the ballast quantity.
In the technical scheme, the method for intelligently extracting the algorithm by contacting the net rods comprises the following steps:
establishing a contact network pole spatial domain search window based on a railway electric affair machine account;
II, taking the rail direction as a search direction, and performing traversing search on the contact net rods on the three-dimensional point cloud of the route based on a search window of the space domain of the contact net rods to obtain the point cloud of the contact net rods of the search window;
III, denoising the point cloud of the contact net rod of the search window, and calculating the mileage of the contact net rod;
and IV, according to the mileage of the contact net rod, dividing the three-dimensional point cloud of the cross section of the contact net rod position from the three-dimensional point cloud of the line.
In the technical scheme, the fixed mileage interval is 1 to 10 meters.
In the above technical scheme, the ballast extraction algorithm:
A. removing steel rail point clouds in the point clouds on the cross sections of the railway ballasts through filtering based on the track positions;
B. fitting the point cloud of the cross section of the railway ballast after the point cloud of the steel rail is removed into a railway ballast surface curve through a fitting algorithm;
C. calculating the quantity of the ballast on the surface on each cross section based on the ballast surface curve and the ballast design data;
D. and calculating the ballast quantity between the two cross sections based on the fixed mileage interval.
Compared with the prior art, the invention has the following beneficial effects:
1. the multi-scale array type laser radar measuring system is used for accurately measuring and adjusting the general speed railway, and mainly has the advantages that when the inertial navigation rail detector measures the geometric state of the track, data capable of calculating the boundary conditions (the guidance height, the pull-out value, the limit and the ballast quantity of a contact network) of the track are obtained, and the problem that the inertial navigation rail detector cannot measure the boundary conditions of the track is solved;
2. the multi-scale array type laser radar measuring system provided by the invention meets the measuring precision requirements of various track boundary conditions by adopting the concept of multi-scale laser radar integration design aiming at different measuring precision requirements of track boundaries in the precision measuring process of the tracks of the ordinary speed railway. The measurement precision of the boundary conditions of the tracks is different, wherein the measurement precision of the leading height and the pulling-out value of the contact network requires 5mm, the measurement precision of the limit requires 2cm, and the measurement precision of the ballast quantity requires 2-5cm. The method adopts a high-precision solid laser radar with high precision, small range and small measuring range as the top high-precision laser radar to measure the height guiding and pulling-out values of the contact network; two medium-precision large-range solid laser radars are adopted as side wide-angle laser radars to carry out limit measurement; a low-precision and low-cost laser radar is used as a bottom wide-angle laser radar for measuring the ballast quantity. All laser radars are subjected to unified time service through the synchronization module, and are positioned through the mileage positioning unit meter.
3. The multi-scale array type laser radar measuring system provided by the invention has the advantage that the equipment cost is obviously reduced on the premise of meeting the measurement precision through system integration. Aiming at various precision requirements of track boundary condition measurement, the low-end laser radars with different precisions and measurement ranges are integrated into a laser radar with applicable precision, full range and low cost on the basis of a time synchronization technology and an embedded development technology, and the cost is 1/5 of that of the high-end laser radar.
Drawings
FIG. 1 is a schematic structural diagram of a multi-scale array type lidar measurement system of the present invention;
FIG. 2 is a block diagram of a multi-scale array lidar measurement system of the present invention;
FIG. 3 is a schematic structural diagram (in use) of the multi-scale array type lidar measurement system of the present invention;
FIG. 4 is a diagram showing the physical appearance of the multi-scale array type laser radar measuring system of the present invention;
FIG. 5 is a physical diagram of the multi-scale array lidar measurement system of the present invention (housing not shown);
FIG. 6 is a physical diagram of the multi-scale array lidar measurement system of the present invention (housing not shown);
FIG. 7 is a process of a method for obtaining track boundary conditions based on a multi-scale array lidar measurement system.
Wherein, in the figure, 1: top high accuracy laser radar, 2: side wide-angle lidar, 3: bottom surface wide-angle lidar, 4: mileage positioning unit, 5: data synchronous acquisition unit, 6: data processing upper computer, 7: contact net, 8: steel rail, 9: ballast, 10: case, 11: integrated electrical interface of upper computer, 12: mileage positioning unit integrated electrical interface, 13: lidar integrated electrical interface, 14: radar mount, 15: bottom plate, 17: synchronization module, 18: and a point cloud calculating module.
Detailed Description
The technical scheme of the invention is further explained by combining specific examples.
Example 1
As shown in fig. 1, a multi-scale array type lidar measurement system for measuring boundary conditions of a common-speed railway track comprises: the system comprises four laser radars, a mileage positioning unit 4 and a data synchronous acquisition unit 5, wherein the four laser radars are a top high-precision laser radar 1, a bottom wide-angle laser radar 3 and two side wide-angle laser radars 2, the top high-precision laser radar 1, the two side wide-angle laser radars 2 and the bottom wide-angle laser radar 3 are arranged at intervals along the circumferential direction, as shown in fig. 3, the top high-precision laser radar 1 is vertically and upwards scanned on a track surface, and point clouds of a contact net 7 are acquired and used for acquiring the height guiding value and the pull-out value of the contact net 7; the two side wide-angle laser radars 2 are arranged in parallel and scan towards the left side and the right side respectively, and three-dimensional point clouds of side structures are collected to obtain a limit value of the position of the contact net rod; the bottom surface wide-angle laser radar 3 scans downwards perpendicular to the track surface and collects point clouds of the railway ballast 9 to obtain the quantity of the railway ballast;
the mileage positioning unit 4 is used for acquiring mileage data;
data synchronization acquisition unit 5 is used for acquireing top high accuracy laser radar 1, two side wide angle laser radar 2, bottom surface wide angle laser radar 3 and mileage positioning unit 4's data and for its power supply, as shown in fig. 2, data synchronization acquisition unit 5 includes: a synchronization module 17 (the synchronization module 17 comprises a time service module) and a point cloud calculating module 18, wherein the synchronization module 17 transmits PPS (pulse per second) pulse signals and time data packets in standard format to the laser radar and mileage positioning unit 4 to realize the time synchronization of the four laser radars, the mileage positioning unit 4 and the data synchronous acquisition unit 5. After receiving the PPS second pulse signals and the time data packets, the four laser radars and the mileage positioning unit 4 can stamp the data with time stamps, and the data synchronized by the four laser radars and the mileage positioning unit 4 is preliminarily analyzed through the point cloud calculating module 18 and then stored in the point cloud calculating module 18 of the data synchronous acquisition unit 5 in real time.
The method for acquiring the track boundary condition based on the multi-scale array type laser radar measuring system comprises the following steps:
(1) after the multi-scale array type laser radar measuring system is carried on a mobile inertial navigation track detector to complete work, on the basis of starting and stopping mileage input on site, mileage data in the mileage positioning unit 4 is corrected through a mileage stretching algorithm to obtain corrected mileage data, the accumulated measuring error of the mileage positioning unit 4 is reduced, and the mileage data acquired by the mileage positioning unit 4 is consistent with the site;
(2) generating line three-dimensional point cloud by using the data after the synchronization of the top high-precision laser radar, the data after the synchronization of the side wide-angle laser radar and the corrected mileage data through a multi-source data fusion algorithm;
extracting the positions of the contact net rods and the cross sections of the positions of the contact net rods from the three-dimensional point cloud of the line through an intelligent extraction algorithm of the contact net rods; automatically measuring the leading height and the pull-out value of the contact net 7 and the limit value of the position of a contact net rod by intelligently filtering, dividing and fitting the point cloud of the cross section;
generating a ballast cross section point cloud of a specific section by using the synchronized data of the bottom wide-angle laser radar and the corrected mileage data through a multi-source data fusion algorithm; filtering the steel rail surface and the sleeper surface by a large filtering algorithm based on characteristic analysis (the steel rail 8 is shown in figure 3), and cleaning the point cloud of the cross section of the railway ballast; realizing breakpoint fitting and curve smoothing of a railway ballast surface through a railway ballast fitting algorithm; and calculating to obtain the ballast quantity based on the section spacing parameters and the ballast curve values.
Example 2
On the basis of the embodiment 1, the method further comprises the following steps: the data processing upper computer 6 is used for uploading data of the four laser radars and the mileage positioning unit 4 to the data processing upper computer 6 through the upper computer comprehensive electrical interface 11 by the data synchronous acquisition unit 5, and the data processing upper computer 6 supplies power to the data synchronous acquisition unit 5 through the upper computer comprehensive electrical interface 11; the data processing upper computer 6 controls the on-off, data acquisition and various parameter settings of the multi-scale array type laser radar measuring system through the communication protocol and standard instruction of each laser radar; the data processing upper computer 6 is connected with a display.
The working process of the multi-scale array type laser radar measuring system carried on the movable inertial navigation rail detector comprises the following steps:
and 4, after the data acquisition is finished, the finished mileage input by the data processing upper computer 6 is transmitted to the point cloud calculating module 18, the point cloud calculating module 18 forwards the finished mileage to the mileage positioning unit 4, the mileage positioning unit 4 records the finished mileage, the multi-scale array type laser radar measuring system is closed by the data processing upper computer 6, the data acquisition is stopped, and the point cloud calculating module 18 stops recording.
Example 3
On the basis of the embodiment 2, the top high-precision laser radar 1 has a narrow viewing range, the measurement precision is better than 5mm, the viewing range is 45-60 degrees, the side wide-angle laser radar 2 has a wide viewing range, the measurement precision is better than 10mm, the viewing range is 120-180 degrees, the measurement precision of the bottom wide-angle laser radar 3 is 20-40mm, and the viewing range is 120-180 degrees.
As shown in fig. 4 to 6, the present invention further includes: the shell 10 and the bottom plate 15 are integrally fixed on the bottom plate 15 through the radar supports 14 as shown in fig. 6, the four laser radars are all located in the shell 10 and fixedly installed on the shell 10 through the bottom plate 15, and the shell 10 is provided with four through holes which are respectively opposite to one laser radar and used for passing through transmitted and received signals.
The data synchronous acquisition unit 5 is fixed on the bottom plate 15 and is fixed in the casing 10 through the bottom plate 15.
The casing 10 is mainly used for fixing, connecting and packaging the four laser radars, the mileage positioning unit 4 and the data synchronous acquisition unit 5, the casing 10 can be made of carbon nano materials, the rigidity is kept, the portability is realized, and relative calibration parameters among the four laser radars, the mileage positioning unit 4 and the data synchronous acquisition unit 5 can be ensured to be unchanged for a long time; the enclosure 10 has a waterproof design and a protection grade of IP68, and can ensure normal operation in a light rain environment.
The data synchronous acquisition unit 5 is connected with the four laser radars through the laser radar comprehensive electrical interface 13, and the data synchronous acquisition unit 5 is connected with the mileage positioning unit 4 through the mileage positioning unit comprehensive electrical interface 12.
Example 4
As shown in fig. 7, a method for obtaining a track boundary condition includes:
(1) all data in the point cloud calculation module 18 of the multi-scale array type laser radar measurement system in any one of embodiments 1 to 3 are transmitted to the data processing upper computer 6, and the mileage data is linearly stretched based on the initial mileage and the final mileage by using a mileage stretching algorithm (patent publication number: CN 111547084A), so that corrected mileage data is obtained and is used for correcting the mileage data, the accumulated measurement error of the mileage positioning unit 4 is reduced, and the collected mileage data is ensured to be consistent with the field;
(2) fusing the data synchronized by the top high-precision laser radar, the data synchronized by the side wide-angle laser radar and the corrected mileage data to generate line three-dimensional point cloud;
obtaining a three-dimensional point cloud of a cross section of the position of the contact net rod based on the three-dimensional point cloud of the line by using an intelligent extraction algorithm of the contact net rod, and sequentially filtering, dividing and fitting the three-dimensional point cloud of the cross section of the position of the contact net rod to obtain a leading height and a pulling-out value of the contact net and a limit value of the position of the contact net rod;
the method for intelligently extracting the algorithm by contacting the net rods comprises the following steps:
establishing a contact network pole spatial domain search window based on a railway electric affair machine account;
II, taking the rail direction as a search direction, and performing traversing search on the contact net rods on the three-dimensional point cloud of the route based on a search window of the space domain of the contact net rods to obtain the point cloud of the contact net rods of the search window;
III, denoising the point cloud of the contact net rod of the search window, and calculating the mileage of the contact net rod;
and IV, according to the mileage of the contact net rod, dividing the three-dimensional point cloud of the cross section of the contact net rod position from the three-dimensional point cloud of the line.
Fusing the data synchronized by the bottom wide-angle laser radar and the corrected mileage data to generate a ballast cross section point cloud with a fixed mileage interval, wherein the fixed mileage interval is 1-10 m;
processing the point cloud of the railway ballast cross section by adopting a railway ballast extraction algorithm to obtain the quantity of the railway ballast, wherein the railway ballast extraction algorithm comprises the following steps:
A. removing steel rail point clouds in the point clouds on the cross sections of the railway ballasts through filtering based on the track positions;
B. fitting the point cloud of the cross section of the railway ballast after the point cloud of the steel rail is removed into a railway ballast surface curve through a fitting algorithm;
C. calculating the quantity of the railway ballast on the surface on each cross section based on the railway ballast surface curve and railway ballast design data (from a railway work station account);
D. and calculating the ballast quantity between the two cross sections based on the fixed mileage interval.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (9)
1. A multiscale array laser radar measurement system for measuring boundary conditions of a general speed railway track is characterized by comprising: the system comprises four laser radars, a mileage positioning unit (4) and a data synchronous acquisition unit (5), wherein the four laser radars are a top high-precision laser radar (1), a bottom wide-angle laser radar (3) and two side wide-angle laser radars (2), the top high-precision laser radar (1), the two side wide-angle laser radars (2) and the bottom wide-angle laser radar (3) are arranged at intervals along the circumferential direction, the top high-precision laser radar (1) scans upwards perpendicular to a rail surface, and point clouds of a contact network (7) are acquired and used for acquiring the height guiding and pulling values of the contact network (7); the two side wide-angle laser radars (2) are arranged in parallel and scan towards the left side and the right side respectively, and three-dimensional point clouds of side structures are collected to obtain a limit value of the position of the contact net rod; the bottom wide-angle laser radar (3) scans downwards perpendicular to the track surface, and point clouds of the railway ballast (9) are collected to obtain the quantity of the railway ballast;
the mileage positioning unit (4) is used for acquiring mileage data;
data synchronization acquisition unit (5) are used for acquireing the data of top high accuracy laser radar (1), two side wide angle laser radar (2), bottom surface wide angle laser radar (3) and mileage positioning unit (4) and for its power supply, and data synchronization acquisition unit (5) include: the system comprises a synchronization module (17) and a point cloud resolving module (18), wherein the synchronization module (17) realizes time synchronization of four laser radars, a mileage positioning unit (4) and a data synchronous acquisition unit (5), data after synchronization of the four laser radars and the mileage positioning unit (4) are preliminarily resolved through the point cloud resolving module (18), and then are stored in the point cloud resolving module (18) of the data synchronous acquisition unit (5) in real time.
2. The multi-scale array lidar measurement system of claim 1, further comprising: the data synchronous acquisition unit (5) uploads the data of the four laser radars and the mileage positioning unit (4) to the data processing upper computer (6), and the data processing upper computer (6) supplies power to the data synchronous acquisition unit (5) and controls the on-off, data acquisition and parameter setting of the multi-scale array type laser radar measuring system.
3. The multiscale array type lidar measurement system according to claim 2, wherein the measurement accuracy of the top high-accuracy lidar (1) is better than 5mm, the viewing range is 45 to 60 degrees, the measurement accuracy of the side wide-angle lidar (2) is better than 10mm, the viewing range is 120 to 180 degrees, the measurement accuracy of the bottom wide-angle lidar (3) is 20 to 40mm, and the viewing range is 120 to 180 degrees.
4. The multi-scale array lidar measurement system of claim 3, further comprising: the device comprises a shell (10) and a bottom plate (15), wherein four laser radars are fixed on the bottom plate (15) through radar supports (14), are all positioned in the shell (10) and are fixedly mounted with the shell (10) through the bottom plate (15), and four through holes are formed in the shell (10), are respectively opposite to one laser radar and are used for passing through transmitted and received signals;
the data synchronous acquisition unit (5) is fixed on the bottom plate (15) and is fixed in the shell (10) through the bottom plate (15).
5. The multi-scale array lidar measurement system of claim 3, wherein a display is connected to the data processing host computer (6).
6. A method for obtaining a track boundary condition, comprising:
(1) transmitting all data in a point cloud resolving module (18) in the multiscale array type laser radar measuring system according to any one of claims 1 to 5 to a data processing upper computer (6), and performing linear stretching on mileage data based on an initial mileage and an end mileage by using a mileage stretching algorithm to obtain corrected mileage data;
(2) fusing the data synchronized by the top high-precision laser radar (1), the data synchronized by the side wide-angle laser radar (2) and the corrected mileage data to generate line three-dimensional point cloud;
obtaining a three-dimensional point cloud of a cross section of the position of the contact net pole based on the three-dimensional point cloud of the line by using an intelligent extraction algorithm of the contact net pole, and sequentially filtering, segmenting and fitting the three-dimensional point cloud of the cross section of the position of the contact net pole to obtain a height guiding value and a pull-out value of the contact net pole (7) and a limit value of the position of the contact net pole;
and fusing the synchronized data of the bottom wide-angle laser radar (3) and the corrected mileage data to generate a point cloud of the railway ballast cross section with a fixed mileage interval, and processing the point cloud of the railway ballast cross section by adopting a railway ballast extraction algorithm to obtain the quantity of the railway ballast.
7. The method for obtaining the boundary condition of the orbit according to claim 6, wherein the method for contacting the net rod intelligent extraction algorithm comprises the following steps:
i, establishing a contact network pole spatial domain search window based on a railway electric affair ledger;
II, taking the rail direction as a search direction, and performing traversing search on the contact net rods on the three-dimensional point cloud of the route based on a search window of the space domain of the contact net rods to obtain the point cloud of the contact net rods of the search window;
III, denoising the point cloud of the contact net rod of the search window, and calculating the mileage of the contact net rod;
and IV, according to the mileage of the contact net rod, dividing the three-dimensional point cloud of the cross section of the contact net rod position from the three-dimensional point cloud of the line.
8. The method for acquiring the boundary condition of the track according to claim 6, wherein the ballast extraction algorithm comprises:
A. removing a steel rail (8) point cloud in the point cloud of the cross section of the railway ballast through filtering based on the position of the track;
B. fitting the point cloud of the ballast cross section after the point cloud of the steel rail (8) is removed into a ballast surface curve through a fitting algorithm;
C. calculating the quantity of the ballast on the surface on each cross section based on the ballast surface curve and the ballast design data;
D. and calculating the ballast quantity between the two cross sections based on the fixed mileage interval.
9. The method for acquiring the boundary condition of the track as claimed in claim 6, wherein the fixed mileage interval is 1 to 10 meters.
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