Turnout state detection method

The invention discloses a turnout state detection method, which comprises the following steps: acquiring training data of a turnout state through a camera and a laser sensor, the training data comprising initial turnout image data and initial turnout point cloud data; performing data preprocessing on the initial turnout image data and the initial turnout point cloud data to obtain middle turnout image data and middle turnout point cloud data; respectively judging the obtained middle turnout image data and the obtained middle turnout point cloud data to obtain an image-turnout state and a point cloud-turnout state; performing fusion modeling on the obtained middle turnout image data and the obtained middle turnout point cloud data to obtain three-dimensional fusion turnout data; judging the obtained three-dimensional fusion turnout data to obtain a fusion-turnout state; and comprehensively judging the actual state of the turnout according to the image-turnout state, the point cloud-turnout state and the fusion