Obstacle detection system based on multi-sensor fusion

The invention relates to the technical field of train safety, in particular to an obstacle detection system based on multi-sensor fusion. A rotating disc is movably connected to a groove, a driven tooth part is arranged at the end, located in the groove, of the rotating disc, the output end of a rotating device corresponds to the driven tooth part, a rotating shaft is arranged at one end of a mounting arm, the rotating shaft is movably connected with a connecting frame, and the output end of an overturning device corresponds to the rotating shaft. The rotating device is started, and the rotating disc is driven by the driven tooth part to rotate, so that an obstacle detection device on the mounting arm is driven to rotate horizontally; the overturning device is started, and the obstacle detection device resin on the mounting arm is driven to turn over through the rotating shaft, so that the detection range of the obstacle detection device is expanded, and more obstacle information is collected; and the obstacl