Vehicle-mounted Inspection System for Infrastructure Out of Limit is equipped with two high-definition cameras and one remote distance sensor at the front and rear respectively, and special reflectors matched with remote distance sensors are attached at the front and rear. In the process of train running, the functions of real-time foreign body intrusion detection and anti-collision are realized.

The intrusion detection system adopts non-contact detection mode, and the system is divided into two modules, namely foreign body intrusion detection module and anti-collision function module. The foreign body intrusion module uses semantic segmentation technology to segment the rails in the 2D image, then uses binocular stereo vision technology to restore the three-dimensional data of the rails, then converts the rails in the 2D image into the three-dimensional data, and constructs a bounded space area, finally judges whether there is foreign body intrusion in the bounded space area. The anti-collision function module uses a remote distance sensor to obtain the distance from the front car in real time, and can avoid a large number of false alarms by means of reflector.