CLIMBING ROBOT AND METHOD FOR DETECTING FOREIGN OBJECT INTRUSION IN METRO TUNNEL

The present invention belongs to the technical field of tunnel traffic safety and discloses a method for detecting foreign object intrusion in a metro tunnel based on a climbing robot. The method includes the following steps: controlling a climbing robot to travel on an inner wall of a tunnel in a tunnel direction and consecutively acquiring tunnel images in the absence of foreign objects as prior images and storing the prior images; meanwhile, matching the prior images with corresponding positions by means of an inertial navigation system; enabling the climbing robot to travel above an inner wall of the tunnel in the tunnel direction and acquiring a detection image and a position thereof in real time; and matching the real-time detection image with the corresponding prior image to obtain a region overlapped with the prior image on a monitoring image as a detection region, conducting gray value differencing to obtain a difference image, and determining whether intrusion occurs according to the difference image.