铁路接触网巡检无人车自动定位系统研究

摘要

Railway OCS(Over Contact System)is very important for the normal operation of railway.Currently,in our country, the regularly detection of railway OCS needs to spend a lot of manpower and time.With the rapid development of electrified railway,the method of OCS detection and maintenance needs an urgent innovation. Therefore, we design the auto detection unmanned vehicle which could achieve the full automation of routine testing.The control system regarded industrial PC as the core,regarded PLC as auxiliary control tool.As a carrier,while working,the OCS detection equipment on the work platform, the unmanned vehicle achieves automatic positioning at OCS column by image recognition.Taking the photos to extract image features with industrial cameras,doing image recognition and analysis with the PC program,driving the unmanned vehicle to locate the position of the OCS column by using servo motor.%铁路接触网对铁路正常运行起关键作用,目前国内对铁路接触网进行定期检测需耗费大量人力和时间,效率较低.我国电气化铁路发展迅速,铁路接触网检测和维护方法也迫切需要创新.为此,设计了一种自动巡检无人车,可实现铁路接触网的自动化检测,其控制系统以工控机为上位机,PLC为下位机.无人车作为一个载体,作业过程中,将接触网检测仪器置于工作平台,通过图像识别实现在接触网立柱位置准确停车.采用工业照相机获取图像特征,利用上位机图像识别系统实现图像特征处理,通过伺服电机驱动无人车自动定位到接触网立柱位置.