Research On Foreign Body Detection System In Tunnel Line

The construction of Sichuan-Tibet railway is of great political and economic significance.Due to the complex geographical environment in Sichuan-Tibet area,many extra-long tunnels will be built,and the inner wall of the tunnels is prone to loose and peeling of surrounding rocks,which will cause foreign bodies to intrude and bring great test to the operation safety of trains.In this paper,a foreign body detection system for Sichuan-Tibet railway tunnel is designed.The system can monitor the invasion of foreign matter in the tunnel line in real time and report to the staff for cleaning in time,which provides a more convenient way to maintain the safety of the tunnel line.The main contents of the paper include the following aspects:(1)A detection system was designed according to the foreign body recognition requirements of tunnel lines.The whole system is divided into upper computer and mobile terminal,which includes intelligent car and laser detection equipment.The upper computer is the total control center,including a 64-bit PC and serial communication module.Intelligent car hardware system includes webcam,motor driver module,serial port communication module,power module.The laser detection equipment is ust-20 lx 2d lidar.(2)The path recognition and following control algorithm of intelligent vehicle is studied.Path recognition algorithm based on image processing is using technologies such as image preprocessing,linear fitting find path line,middle line as the target path,course deviation Angle,the center of speed as the input of the fuzzy controller,the driving to and from the direction as the output control of intelligent vehicle steering,by imitating human driving behavior,habits,intelligent car path to follow.(3)The foreign matter detection algorithm based on laser measurement technology is studied.The data file containing only distance information is obtained after processing the original point cloud data,and the data of the region to be examined is obtained after coordinate system transformation and selection of the region of interest.If the safety limit of tunnel section is demarcated,it is considered that there is foreign body invasion limit when point cloud enters the safety limit.(4)Designed the client control software.Software development based on Visual Studio environment and with the help of Open CV Visual library,including serial port communication,path recognition and follow control,foreign matter detection three modules,is the upper computer function in the software system.