CN106526646A - Beidou-based automatic positioning system and method of overhead contact system (OCS) unmanned inspection vehicle - Google Patents
Beidou-based automatic positioning system and method of overhead contact system (OCS) unmanned inspection vehicle Download PDFInfo
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- CN106526646A CN106526646A CN201611201239.0A CN201611201239A CN106526646A CN 106526646 A CN106526646 A CN 106526646A CN 201611201239 A CN201611201239 A CN 201611201239A CN 106526646 A CN106526646 A CN 106526646A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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Abstract
The invention relates to a Beidou-based automatic positioning system of an overhead contact system (OCS) unmanned inspection vehicle. The Beidou-based automatic positioning system comprises the unmanned inspection vehicle, an industrial control computer, and a Beidou system receiver, wherein the unmanned inspection vehicle comprises a chassis system, a lifting mechanism and a mobile platform system; the chassis system comprises a chassis frame; the lifting mechanism comprises an outer side frame, an intermediate frame and an inner side frame; the lower end of the lifting mechanism is installed on the chassis frame, and the upper end of the lifting mechanism is provided with the mobile platform system; the Beidou system receiver comprises a base station receiver and a mobile station receiver, the mobile station receiver and the industrial control computer are in bidirectional communication, and the base station receiver is installed at a starting position of the unmanned inspection vehicle. The invention further discloses an automatic positioning method for the Beidou-based automatic positioning system of the OCS unmanned inspection vehicle. The Beidou-based automatic positioning system and the Beidou-based automatic positioning method realize coarse positioning by means of the Beidou system receiver, the positioning precision is about 300mm, and the coarse positioning of the unmanned inspection vehicle realized by selecting the Beidou positioning system as a basis is reliable.
Description
Technical field
The present invention relates to navigator fix and technical field of image processing, especially a kind of contact net based on the Big Dipper nobody patrol
The automatic station-keeping system and method for inspection car.
Background technology
Contact net is topmost ingredient in electric railway system, is arranged in overhead certain bits along rail circuit
Put, power is provided by the sliding contact with pantograph for train.If the parts of contact net equipment break down, such as insulate
There is fatigue damage etc. in device surface breakdown, insulator arc-over, fastening bolt, and this will directly affect the normal operation of train along the line,
It can be seen that the service work of elements of contacting net is extremely important.
The service work of country's railway contact line parts at present needs, in the runtime of train, to reserve check man
" skylight " time made, by rickshaw ladder or railway contact line synthesis elements of contacting net of the upkeep operation car to each test point
Overhauled one by one.In limited " skylight " in the time, the mode overhauled by rickshaw ladder needs about ten work people of configuration
Member, had not only taken but also effort, while work high above the ground is also constituted a threat to a certain extent to the safety of staff；Another kind of maintenance
Mode efficiency high, but it is relatively costly, not with general applicability.
The content of the invention
The primary and foremost purpose of the present invention is that offer is a kind of to be entered to the related components of railway contact line using unmanned inspection car
Row detection, at the same enable that unmanned inspection car is accurately positioned at ± 20mm the positions of contact net column center based on the Big Dipper
The unmanned inspection car of contact net automatic station-keeping system.
For achieving the above object, present invention employs technical scheme below：A kind of contact net based on the Big Dipper nobody patrol and examine
The automatic station-keeping system of car, including unmanned inspection car, industrial computer and dipper system receiver, the unmanned inspection car include for
Realize the chassis system walked on rail, the hoisting mechanism for realizing the lifting in vertical height and for contact
The mobile platform system taken pictures by net system；The chassis system includes carrier frame, installs drive system and first thereon
Switch board；The hoisting mechanism includes lateral frame, central frame and inner frame；The lower end of the hoisting mechanism is arranged on institute
State on carrier frame, mobile platform system is installed in the upper end of the hoisting mechanism, and on the mobile platform system, mounting industrial shines
Camera and the second switch board, second switch board and industrial camera both-way communication, first switch board and the second control
Cabinet is by communication system and industrial computer both-way communication, load image identifying system inside the industrial computer；The dipper system
Receiver includes the base station receiver and mobile station receiver for realizing coarse positioning, and the mobile station receiver is arranged on second
In switch board, by communication cable both-way communication, the base station receiver is arranged on nothing for the mobile station receiver and industrial computer
At the start position of people's inspection car.
The carrier frame is spliced using aluminum square tube, by four hole connection sheet connections, chassis between each aluminum square tube
Rigid L-type connector for strengthening whole chassis frame structure is installed at four interior angles of framework；Behind the front of carrier frame
Portion sets up two the first horizontal aluminium section bars, and the first switch board is fixed in the anterior side in carrier frame front, and the first switch board leads to
Control line traffic control drive system is crossed, capstan winch on the carrier frame on the inside of the first switch board, is bolted, steel on capstan winch, is wound
Cord, on hoisting mechanism, hoisting mechanism is bolted on the first aluminium section bar steel wire rope.
The drive system includes driving direct current generator, drives the outfan of direct current generator defeated with first planet decelerator
Enter end to be connected, the outfan of first planet decelerator is connected with the input of gear tumbler, the output of gear tumbler point two ends,
Two outfans are connected with driving wheel chuck by steel pipe respectively, and driving wheel chuck is fixed by bearing block, and bearing block passes through spiral shell
Bolt is fastened on the aluminum square tube back side, and driving wheel is installed in the rear end of driving wheel chuck；Carrier frame be provided with it is symmetrical from
Dynamic system, servo system include driven bracing strut, and driven bracing strut is bolted on the back side of carrier frame, driven shaft
The side welding driven shaft of frame, driven shaft are coordinated with driven pulley by bearing.
Central frame is arranged in the inner frame, is arranged lateral frame on the central frame, the lateral frame
Both sides pass through the horizontal L-type aluminium section bar for climbing of rivet three, four, the top angle peace of lateral frame
Dress indent grooved pulley bearings group, indent grooved pulley bearings group prop up central frame from outside, four of central frame bottom
Evagination grooved pulley bearings group is installed at angle, and evagination grooved pulley bearings group props up lateral frame, the top of central frame from inner side
Indent grooved pulley bearings group is installed at four angles, and indent grooved pulley bearings group props up inner frame, inner frame bottom from outside
Evagination grooved pulley bearings group is installed at four angles in portion, and evagination grooved pulley bearings group props up central frame from inner side；It is described outer
First fixed pulley is installed on the bottom of body side frame, the second fixed pulley, the bottom of the central frame are installed on the top of lateral frame
It is respectively mounted the 3rd fixed pulley, the 8th fixed pulley on the relative both sides in portion, the top of central frame is pacified on relative both sides respectively
Fill the 4th fixed pulley, the 7th fixed pulley, be respectively mounted on the relative both sides in the bottom of the inner frame the 5th fixed pulley, the 6th
Fixed pulley；The top of the inner frame mobile platform system is installed by bolt.
The mobile platform system includes two tripods, and two tripods are arranged on the top of inner frame by bolt
End, sets up the second switch board between two tripods, horizontal aluminum section bar frame, horizontal aluminum section bar frame are installed in the back side of tripod
Upper installation first straight line sliding unit, is provided with traversing direct current generator, the output of traversing direct current generator on the inside of horizontal aluminum section bar frame
End is connected with the input of the second planetary reduction gear, and the outfan of the second planetary reduction gear connects first by first shaft coupling
Thick stick, the first leading screw are fixed by the first aluminium sheet, and the first leading screw connects vertical aluminum section bar frame, vertical aluminum by the first feed screw nut
First straight line sliding unit is installed at the back side of section material framework, by spiral shell on the positive two vertical aluminium section bars of vertical aluminum section bar frame
Bolt installs second straight line sliding unit, is provided with vertical direct current generator, the output of vertical direct current generator on the inside of vertical aluminum section bar frame
End is connected with the input of third planet decelerator, and the outfan of third planet decelerator connects second by second shaft coupling
Thick stick, the second leading screw are fixed by the second aluminium sheet, are arranged on day font aluminum section bar frame by the second feed screw nut on the second leading screw
On, day font aluminum section bar frame be connected with the second straight line sliding unit of vertical aluminum section bar frame, on day font aluminum section bar frame
The 3rd aluminium sheet is installed in portion, carries industrial camera on the 3rd aluminium sheet.
Another object of the present invention is to provide a kind of automatic station-keeping system of the unmanned inspection car of contact net based on the Big Dipper
Automatic positioning method, the step of the method includes following order：
（1）Data of the collection contact net column relative to unmanned inspection car start position, including range data and angle-data, and
The data are stored in data base；
（2）Automatic running pattern is opened, industrial computer obtains the current location information of unmanned inspection car by BEI-DOU position system, and
According to place information inquiry data base to obtain the information that next predetermined parking space is put, unmanned inspection car accelerates to specified speed
Degree, then remain a constant speed traveling；Dipper system receiver obtains the current location information of unmanned inspection car in real time, and by present bit
Confidence breath is sent to industrial computer；
（3）Mobile station receiver in industrial computer to current location information real-time processing, when unmanned inspection car and predetermined parking space
Put apart from X be less than 20 meters when, unmanned inspection car reduces speed now, and moves closer to predetermined parking space and puts, and nobody patrols and examines vehicle speed and gets over
Come less, until X is less than setting error ρ, unmanned inspection car stops and realizes coarse positioning；
（4）After coarse positioning, start industrial camera, industrial camera collection image, the photo of collection are sent to industrial computer；Industry control
Image processing system in machine starts to process the photo for gathering, and the process of image procossing is followed successively by：Gray processing is processed, is cut
Take picture, binaryzation, image expansion, Image erosion, rim detection and Hough transform；
（5）Industrial computer puts the actual range X with unmanned inspection car according to the result of image procossing calculating predetermined parking space, and control is driven
The unmanned inspection car of dynamic DC motor Driver realizes fine positioning, unmanned inspection car accurate stopping.
The step（1）In, collection contact net column is specifically referred to relative to the data of unmanned inspection car start position：Will
After base station receiver is fixed on the starting point of unmanned inspection car, manually predetermined parking is moved to using the unmanned inspection car of remote control control
Near position, picture is gathered using remote control control industrial camera, at the picture that industrial computer is gathered to industrial camera
Reason, according to the result of picture processing, industrial computer sends the unmanned inspection car of control instruction control and is pin-pointed to automatically predetermined parking
Position, recycles remote control that the position data being currently automatically positioned is stored in data base, and nobody patrols and examines to recycle remote control control
Car moves to next predetermined parking space and puts, and repeats said process, until completing the collecting work of position data.
The fine positioning refers to that unmanned inspection car stops in the range of ± the 20mm of contact net column center, specifically
Refer to, industrial camera is taken pictures to contact net column, can find the post feature of contact net in the photograph after image procossing
Location of pixels in piece, and there is one-to-one corresponding between the lateral separation of column and close in the location of pixels and unmanned inspection car
System, industrial computer are that location of pixels calculating predetermined parking space of the post feature in photo is put and nobody according to the result of image procossing
Actual range X between tool car, control drive the unmanned inspection car of DC motor Driver to realize fine positioning, and unmanned inspection car is accurate
Stop.
As shown from the above technical solution, the present invention realizes coarse positioning by dipper system receiver, and its positioning precision is about
300mm, BEI-DOU position system are more ripe, and application is further extensive, so selecting to come real based on BEI-DOU position system
The coarse positioning of existing unmanned inspection car is also more reliable；Carried out by the contact net column photo that industrial computer is gathered to industrial camera
Process, its feature preserves complete and very reliable, so the essence for selecting based on image procossing to realize unmanned inspection car is fixed
Position is also more reliable；, with industrial computer as core, its complete function can be with the detection dress for carrying for the control system of unmanned inspection car
Tool car so DBM can be added in host computer procedure, is currently located position after detection is finished every time by standby communication
Put and detection data is stored in data base.
Description of the drawings
Fig. 1 is the iconic model schematic diagram that industrial camera gathers contact net post feature；
Fig. 2 is abscissa x and the x-S curve charts apart from S；
Fig. 3 is the localization method flow chart of the present invention；
Fig. 4 is image identification system hand adjustment interface schematic diagram；
Fig. 5 is the railway contact line column figure after gray processing process；
Fig. 6 is the portion intercepts figure of Fig. 5；
Fig. 7 is schematic diagrams of the Fig. 6 Jing after binary conversion treatment；
Fig. 8 is schematic diagrams of the Fig. 7 Jing after image expansion and corrosion treatmentCorrosion Science；
Fig. 9 is schematic diagrams of the Fig. 8 Jing after edge detection process；
Figure 10 is schematic diagrams of the Fig. 9 Jing after Hough transform process；
Figure 11 is the structural representation of unmanned tool car；
Figure 12 is the positive structure schematic of chassis system in unmanned tool car；
Figure 13 is the structure schematic diagram of chassis system in unmanned tool car；
Figure 14 is the structural representation of hoisting mechanism in unmanned tool car；
Figure 15 is the structural representation of mobile platform system in unmanned tool car.
Specific embodiment
As shown in Fig. 1,11, a kind of automatic station-keeping system of the unmanned inspection car of the contact net based on the Big Dipper is patrolled including nobody
Inspection car 57, industrial computer and dipper system receiver, the unmanned inspection car 57 include the chassis for realizing walking on rail
System 3, the hoisting mechanism 2 for realizing the lifting in vertical height and the movement for being taken pictures to contact net system
Plateform system 1；The chassis system 3 includes carrier frame 5, installs drive system 6 and the first switch board 9 thereon；The lifting
Mechanism 2 includes lateral frame 24, central frame 23 and inner frame 22；The lower end of the hoisting mechanism 2 is arranged on the chassis
On framework 5, mobile platform system 1 is installed in the upper end of the hoisting mechanism 2, mounting industrial photograph on the mobile platform system 1
Machine 36 and the second switch board 45, second switch board 45 and 36 both-way communication of industrial camera, first switch board 9 and the
Two switch boards 45 are by communication system and industrial computer both-way communication, load image identifying system inside the industrial computer；It is described
Dipper system receiver includes the base station receiver and mobile station receiver for realizing coarse positioning, the mobile station receiver peace
It is mounted in the second switch board 45, by communication cable both-way communication, the base station receives for the mobile station receiver and industrial computer
Machine is arranged at the start position of unmanned inspection car 57.Generally 3 kilometers of the mileage of service work section, has about 60 contact nets
Column, artificially by the column number consecutively of contact net be 1-60.Base station receiver is fixed at No. 1 stud as starting point,
Mobile station receiver is fixed on the second switch board 45, and the base station receiver receives satellite data jointly with mobile station receiver,
The satellite data that base station receiver is received is sent to mobile station receiver, base station receiver and mobile station receiver by radio station
Satellite data by phase place dynamic check the mark location technology realize precision be about 300mm positioning.
The picture directly gathered by industrial camera 36 is coloured image, and pixel is 1920 × height of width 1080, its figure
As form is RGB, the interval of each of which pixel is（0,0,0）~（255,255,255）.After gray processing process,
Coloured image becomes the gray level image of 8, i.e. black white image, as shown in figure 5, by black to white, its color depth is determined by gray value
Fixed, its intensity value ranges is 0～255.Gray level image then becomes a two-value gray level image through binary conversion treatment, only black
With it is white, as shown in fig. 7, its pixel value be 0 or 1.Image erosion is carried out to bianry image and image expansion is processed and not only can be disappeared
Except nonsensical boundary point, border can also be shunk, as shown in figure 8, being conducive to analysis and knowledge to image cathetus feature
Not.The process for carrying out rim detection and Hough transform to bianry image can then extract linear feature, such as Fig. 9, Tu10Suo
Show.Fig. 5 is artwork, and its size is 1920*1080, and Fig. 6 is the portion intercepts of artwork, and intercepting size is 1920*240, from up to
Under, unnecessary interference is caused to processing procedure in order to reduce picture natural background, so in the base for retaining contact net post feature
On plinth, artwork is intercepted.
It is critical only that in position fixing process：How after the completion of coarse positioning, according to the position letter of contact net column in image
Cease to judge the distance between 57 reality of unmanned inspection car and contact net column.For this purpose, contrived experiment research location algorithm, experiment
The iconic model of middle industrial camera collection contact net post feature is as shown in Figure 1.
Industrial camera 36 is arranged on 57 chassis of unmanned inspection car, and with contact net column Q as target location, d is railway
Apart from the horizontal vertical dimension of column, d can be measured equal to 3050mm.S is then industrial camera 36 apart from contact net column
Longitudinal air line distance.In experimentation, promote chassis change S to carry out image acquisition along rail and take pictures.The multigroup photo that will be obtained,
The abscissa x of contact net stud in image is measured by software, its unit is pixel, recording distance S and abscissa x.
Statistical experiment data, draw out x-S curve charts, as shown in Figure 2.
Due to there is one-to-one relation between contact net column pixel coordinate in the picture and S, inserted according to linear
The mode of value, can obtain the S corresponding with certain pixel coordinate.Can find to be in image pixel in contact net column by Fig. 2
When being that S is in ± 800mm positions near the midpoint of coordinate, substantially linear relation between x and S, although S is larger, x and S it
Between linear relationship is not presented, but after the coarse positioning of dipper system receiver, within S is already at 300mm, so can
With ignore S it is larger when linear interpolation method existing for error.
As shown in figure 3, the step of this automatic positioning method includes following order：
（1）Data of the collection contact net column relative to 57 start position of unmanned inspection car, including range data and angle-data,
And the data are stored in data base；
（2）Automatic running pattern is opened, industrial computer obtains the current location information of unmanned inspection car 57 by BEI-DOU position system,
And according to place information inquiry data base to obtain the information that next predetermined parking space is put, unmanned inspection car 57 accelerates to specified
Speed, then remain a constant speed traveling；Dipper system receiver obtains the current location information of unmanned inspection car in real time, and will be current
Positional information is sent to industrial computer；
（3）Mobile station receiver in industrial computer to current location information real-time processing, when unmanned inspection car 57 and predetermined parking
Position apart from X be less than 20 meters when, unmanned inspection car 57 reduces speed now, and moves closer to predetermined parking space and puts, unmanned inspection car 57
Speed is less and less, until X is less than setting error ρ, unmanned inspection car 57 stops and realizes coarse positioning；Set here error ρ as
300mm, it is also possible to change this value as needed；
（4）After coarse positioning, start industrial camera 36, the collection image of industrial camera 36, the photo of collection are sent to industrial computer；
Image processing system in industrial computer starts to process the photo for gathering, and the process of image procossing is followed successively by：At gray processing
Reason, intercepting picture, binaryzation, image expansion, Image erosion, rim detection and Hough transform；
（5）Industrial computer puts the actual range X with unmanned inspection car 57, control according to the result of image procossing calculating predetermined parking space
The unmanned inspection car of DC motor Driver 57 is driven to realize fine positioning, 57 accurate stopping of unmanned inspection car.
Generally 3 kilometers of the mileage of service work section, has about 60 contact net columns, artificially by the column of contact net according to
Secondary numbering is 1-60.Base station receiver is fixed at No. 1 stud as starting point, and mobile station receiver is fixed on the second control
Cabinet 45, the base station receiver and mobile station receiver realize precision about by the phase place dynamic of dipper system location technology of checking the mark
For the positioning of 300mm.In order to realize coarse positioning, unmanned inspection car 57 needs to gather position of each contact net relative to starting point in advance
Data（Distance and angle）, the position data both can by other equipment gather after be input to unmanned inspection car 57 control system and
Can be by being manually acquired to the position data of each contact net column.The step（1）In, collection contact net column is relative to nothing
The data of 57 start position of people's inspection car are specifically referred to：Base station receiver is fixed on after the starting point of unmanned inspection car 57, manually
Moved near predetermined parking space puts using the unmanned inspection car of remote control control 57, adopted using remote control control industrial camera 36
Collection picture, industrial computer are processed to the picture that industrial camera 36 is gathered, and according to the result of picture processing, industrial computer sends control
The unmanned inspection car of system instruction control 57 is pin-pointed to automatically predetermined parking space and puts, and recycles remote control currently will be automatically positioned
Position data is stored in data base, recycles the unmanned inspection car of remote control control 57 to move to next predetermined parking space and puts, in repetition
Process is stated, until completing the collecting work of position data.
After unmanned inspection car 57 completes coarse positioning, positioning precision is about 300mm, is still unsatisfactory for the positioning of unmanned inspection car 57
Require.The step（5）In, the fine positioning refers to scope of the unmanned inspection car 57 in contact net column center ± 20mm
Interior parking, specifically refers to, and industrial camera 36 is taken pictures to contact net column, can find contact net after image procossing
Location of pixels of the post feature in the photo, and the location of pixels and unmanned inspection car 57 are between the lateral separation of column
There is one-to-one relationship, industrial computer is that location of pixels of the post feature in photo calculates predetermined according to the result of image procossing
Actual range X between parking spot and unmanned tool car 57, control drive the unmanned inspection car of DC motor Driver 57 to realize essence
Positioning, 57 accurate stopping of unmanned inspection car.
Image identification system hand adjustment interface as shown in figure 4, in figure A be contact net column artwork, the figure is in Railway Site
The photo gathered during assignment test.In figure, B is then after image procossing as a result, it is possible to extract which straight
Line feature.
As shown in Figure 12,13, the carrier frame 5 is spliced using aluminum square tube, passes through four holes between each aluminum square tube
Connection sheet 7 connects, and installs the rigid L-type connector for strengthening 5 structure of whole carrier frame at four interior angles of carrier frame 5
4；The front rear portion of carrier frame 5 sets up two the first horizontal aluminium section bars 10, and the anterior side in 5 front of carrier frame fixes the
One switch board 9, the first switch board 9 are passed through on the carrier frame 5 on the inside of the first switch board 9 by controlling line traffic control drive system 6
Bolt connection capstan winch 8, lay winding wire ropes on capstan winch 8, on hoisting mechanism 2, hoisting mechanism 2 is bolted on steel wire rope
On first aluminium section bar 10.
As shown in Figure 12,13, the drive system 6 includes driving direct current generator 19, drives the outfan of direct current generator 19
It is connected with the input of first planet decelerator 20, the outfan of first planet decelerator 20 and the input of gear tumbler 21
It is connected, 21 points of two ends outputs of gear tumbler, two outfans are connected with driving wheel chuck 16 by steel pipe 18 respectively, driving wheel
Chuck 16 is fixed by bearing block 17, and bearing block 17 is bolted and is fixed on the aluminum square tube back side, after driving wheel chuck 16
End is installed by driving wheel 15；Carrier frame 5 is provided with symmetrical servo system 11, and servo system 11 includes driven bracing strut
12, driven bracing strut 12 is bolted on the back side of carrier frame 5, and driven shaft 13 is welded in the side of driven bracing strut 12,
Driven shaft 13 is coordinated with driven pulley 14 by bearing.When needing walking, the first switch board 9 provides signal, by controlling line traffic control
Drive direct current generator 19 to rotate, drive direct current generator 19 to increase output torque by first planet decelerator 20, torque is transmitted
To gear tumbler 21, torque is passed to driving wheel chuck 16 by the steel pipe 18 of outfan both sides by gear tumbler 21, is driven
Driving wheel chuck 16 drives the driving wheel 15 of both sides to rotate, and so as to drive system 6 starts, drive system 6 drives 11 turns of servo system
It is dynamic, realize walking of the unmanned inspection car 57 on rail.
As shown in figure 14, central frame 23 is arranged in the inner frame 22, be arranged outer side frame on the central frame 23
Frame 24, the both sides of the lateral frame 24 pass through the horizontal L-type aluminium section bar 26 for climbing of rivet three,
Indent grooved pulley bearings group 25 is installed at four, the top angle of lateral frame 24, and indent grooved pulley bearings group 25 is propped up from outside
Central frame 23, four angles of 23 bottom of central frame install evagination grooved pulley bearings group 31, evagination grooved pulley bearings group
31 prop up lateral frame 24 from inner side, make the motion coordinated between lateral frame 24 and central frame 23 more steady, middle boxes
Indent grooved pulley bearings group 25 is installed at four, the top angle of frame 24, and indent grooved pulley bearings group 25 props up inner side frame from outside
Frame 23, four angles of 23 bottom of inner frame install evagination grooved pulley bearings group 31, and evagination grooved pulley bearings group 31 is from interior
Side props up central frame 24.
As shown in figure 14, the first fixed pulley 29 is installed on the bottom of the lateral frame 24, on the top of lateral frame 24
Second fixed pulley 33 is installed, and the 3rd fixed pulley the 30, the 8th is respectively mounted on the relative both sides in the bottom of the central frame 23 fixed
Pulley 28, the top of central frame 23 are respectively mounted the 4th fixed pulley 34, the 7th fixed pulley 35, the inner side on relative both sides
The bottom of framework 22 is respectively mounted the 5th fixed pulley 32, the 6th fixed pulley on relative both sides；The top of the inner frame 22
Mobile platform system 1 is installed by bolt.Steel wire rope from 24 bottom of lateral frame just to the first fixed pulley 29 of 8 side of capstan winch around
Enter, the second fixed pulley 33, the 3rd fixed pulley 30 of 23 bottom side of central frame, centre through 24 top side of lateral frame
4th fixed pulley 34 of 23 top side of framework, the 5th fixed pulley 32 of 22 bottom side of inner frame, then to inner frame
6th fixed pulley of 22 bottom opposite sides, the 7th fixed pulley 35,23 bottom of central frame through 23 top opposite side of central frame
8th fixed pulley 28 of portion's opposite side, on the fixing hole of 24 top opposite side of lateral frame, realizes the steel wire rope other end
It is fixed, so by special winding mode, by the i.e. achievable three layers of framework of pulling steel wire rope stretching each other.
As shown in figure 15, the mobile platform system 1 includes two tripods 44, and two tripods 44 are installed by bolt
The second switch board 45 is set up between the top of inner frame 22, two tripods 44, and horizontal aluminum is installed at the back side of tripod 44
Section material framework 46, installs first straight line sliding unit 47, is provided with the inside of horizontal aluminum section bar frame 46 on horizontal aluminum section bar frame 46
Traversing direct current generator 40, the outfan of traversing direct current generator 40 are connected with the input of the second planetary reduction gear 41, the second planet
The outfan of decelerator 41 connects the first leading screw 48 by first shaft coupling 42, and the first leading screw 48 is fixed by the first aluminium sheet 43,
First leading screw 48 connects vertical aluminum section bar frame 39 by the first feed screw nut 49, and the back side of vertical aluminum section bar frame 39 installs the
One straight line sliding unit 47, installs second straight line by bolt on the vertical aluminium section bar of vertical aluminum section bar frame 39 positive two and slides
Moving cell 38, is provided with vertical direct current generator 50, the outfan of vertical direct current generator 50 and the 3rd on the inside of vertical aluminum section bar frame 39
The input of planetary reduction gear 51 is connected, and the outfan of third planet decelerator 51 connects the second leading screw by second shaft coupling 52
53, the second leading screw 53 is fixed by the second aluminium sheet, is arranged on day font aluminium profiles by the second feed screw nut 55 on the second leading screw 53
On material framework 56, day font aluminum section bar frame 56 be connected with the second straight line sliding unit 38 of vertical aluminum section bar frame 39, realize
Day vertical motion of the font aluminum section bar frame 56 on vertical aluminum section bar frame 39, day font aluminum section bar frame 56 top install the
Three aluminium sheets 37, carry industrial camera 36 on the 3rd aluminium sheet 37.Signal transmission is controlled to second by staff by remote control
Control signal is passed to industrial camera 36,36 pairs of contacts of industrial camera by control line by cabinet processed 45, the second switch board 45
The bonded place of gateway is focused and takes pictures.
Unmanned inspection car 57 operationally, unmanned inspection car 57 is transported on railroad rail first, rotating chassis system 3
On 8 handle of capstan winch, realize the elongation of hoisting mechanism 2, when 2 top of hoisting mechanism mobile platform system 1 reach certain altitude
Afterwards, stop operating the handle of capstan winch 8, and handling position is fixed, by the first switch board of remotely control 9, drive system 6 is driven
Start, enable unmanned inspection car 57 to realize the walking on rail, the contact net system connection key point to needing detection is realized
Coarse positioning；
When unmanned inspection car 57 is reached needs the approximate location of detection, direct current generator 19 is driven to stop operating, the second switch board
The 45 traversing direct current generators 40 and vertical direct current generator 50 for controlling mobile platform system 1 respectively start so that the day word of the superiors
Type aluminum section bar frame 56 can be by horizontal and vertical motion, the final industry for ensureing to carry on day font aluminum section bar frame 56
Photographing unit 36 can be pin-pointed to the position for needing to take pictures, and carry out sampling of taking pictures, then by picture by the second switch board 45
Wireless launcher is sent to each inspection center, compares to staff, finds to need the contact net system position of maintenance
Put, complete to detect the purpose that contact net system connects key point.
The present invention realizes coarse positioning by dipper system receiver, and its positioning precision is about 300mm, and BEI-DOU position system is healed
Maturation is sent out, application is further extensive, so selecting based on BEI-DOU position system to realize the thick fixed of unmanned inspection car 57
Position is also more reliable；The contact net column photo that industrial camera 36 is gathered is processed by industrial computer, its feature is preserved
It is complete and very reliable, so selecting also more reliable to realize the fine positioning of unmanned inspection car 57 based on image procossing；
With industrial computer as core, its complete function can be communicated the control system of unmanned inspection car 57 with the testing equipment for carrying, so
DBM can be added in host computer procedure, by the present position of tool car and detection number after detection is finished every time
According to being stored in data base.
Claims (8)
1. the automatic station-keeping system of the unmanned inspection car of a kind of contact net based on the Big Dipper, it is characterised in that：Including unmanned inspection car,
Industrial computer and dipper system receiver, the unmanned inspection car are included for realizing the chassis system walked on rail, being used for
The hoisting mechanism and the mobile platform system for being taken pictures to contact net system of lifting of the realization in vertical height；Institute
Stating chassis system includes carrier frame, installs drive system and the first switch board thereon；The hoisting mechanism include lateral frame,
Central frame and inner frame；The lower end of the hoisting mechanism is arranged on the carrier frame, the upper end of the hoisting mechanism
Mobile platform system, mounting industrial photographing unit and the second switch board on the mobile platform system, second switch board are installed
With industrial camera both-way communication, first switch board and the second switch board are by communication system and industrial computer two-way
News, load image identifying system inside the industrial computer；The dipper system receiver includes the base station for realizing coarse positioning
Receiver and mobile station receiver, the mobile station receiver are arranged in the second switch board, the mobile station receiver and work
Control machine is arranged at the start position of unmanned inspection car by communication cable both-way communication, the base station receiver.
2. the automatic station-keeping system of the unmanned inspection car of the contact net based on the Big Dipper according to claim 1, it is characterised in that：
The carrier frame is spliced using aluminum square tube, by four hole connection sheet connections between each aluminum square tube, the four of carrier frame
Rigid L-type connector for strengthening whole chassis frame structure is installed at individual interior angle；The front rear portion of carrier frame sets up two
The first horizontal aluminium section bar of root, the anterior side in carrier frame front fix the first switch board, and the first switch board passes through control line
Control drive system, is bolted capstan winch on the carrier frame on the inside of the first switch board, lay winding wire ropes on capstan winch, steel wire
On hoisting mechanism, hoisting mechanism is bolted on the first aluminium section bar rope.
3. the automatic station-keeping system of the unmanned inspection car of the contact net based on the Big Dipper according to claim 1, it is characterised in that：
The drive system includes driving direct current generator, drives the outfan of direct current generator and the input phase of first planet decelerator
Even, the outfan of first planet decelerator is connected with the input of gear tumbler, the output of gear tumbler point two ends, and two defeated
Go out end to be connected with driving wheel chuck by steel pipe respectively, driving wheel chuck is fixed by bearing block, and bearing block is bolted
The aluminum square tube back side is fixed on, driving wheel is installed in the rear end of driving wheel chuck；Carrier frame is provided with symmetrical servo system,
Servo system includes driven bracing strut, and driven bracing strut is bolted on the back side of carrier frame, the side of driven bracing strut
Driven shaft is welded in face, and driven shaft is coordinated with driven pulley by bearing.
4. the automatic station-keeping system of the unmanned inspection car of the contact net based on the Big Dipper according to claim 1, it is characterised in that：
Central frame is arranged in the inner frame, lateral frame is arranged on the central frame, and the both sides of the lateral frame are from upper
And the lower L-type aluminium section bar for climbing horizontal by rivet three, inner groovy is installed at four, the top angle of lateral frame
Type pulley bearings group, indent grooved pulley bearings group prop up central frame from outside, and four angles of central frame bottom install outer
Tongue type pulley bearings group, evagination grooved pulley bearings group prop up lateral frame, four, the top angle peace of central frame from inner side
Dress indent grooved pulley bearings group, indent grooved pulley bearings group prop up inner frame from outside, four of inner frame bottom
Evagination grooved pulley bearings group is installed at angle, and evagination grooved pulley bearings group props up central frame from inner side；The lateral frame
First fixed pulley is installed on bottom, the second fixed pulley is installed on the top of lateral frame, the bottom of the central frame is relative
Be respectively mounted the 3rd fixed pulley, the 8th fixed pulley on both sides, the 4th is respectively mounted on the relative both sides in the top of central frame fixed
Pulley, the 7th fixed pulley, the bottom of the inner frame are respectively mounted the 5th fixed pulley, the 6th fixed pulley on relative both sides；
The top of the inner frame mobile platform system is installed by bolt.
5. the automatic station-keeping system of the unmanned inspection car of the contact net based on the Big Dipper according to claim 1, it is characterised in that：
The mobile platform system includes two tripods, and two tripods are arranged on the top of inner frame by bolt, two three
Set up the second switch board between corner bracket, horizontal aluminum section bar frame is installed at the back side of tripod, on horizontal aluminum section bar frame, install the
One straight line sliding unit, is provided with traversing direct current generator, the outfan of traversing direct current generator and second on the inside of horizontal aluminum section bar frame
The input of planetary reduction gear is connected, the outfan of the second planetary reduction gear by first shaft coupling the first leading screw of connection, first
Leading screw is fixed by the first aluminium sheet, and the first leading screw connects vertical aluminum section bar frame, vertical aluminum section frame by the first feed screw nut
First straight line sliding unit is installed at the back side of frame, by bolt installation on the positive two vertical aluminium section bars of vertical aluminum section bar frame
Second straight line sliding unit, is provided with vertical direct current generator, the outfan of vertical direct current generator and on the inside of vertical aluminum section bar frame
The input of three planetary reduction gears is connected, and the outfan of third planet decelerator connects the second leading screw by second shaft coupling, the
Two leading screws are fixed by the second aluminium sheet, are arranged on day font aluminum section bar frame by the second feed screw nut, day on the second leading screw
Font aluminum section bar frame is connected with the second straight line sliding unit of vertical aluminum section bar frame, and day font aluminum section bar frame top is installed
3rd aluminium sheet, carries industrial camera on the 3rd aluminium sheet.
6. a kind of automatic station-keeping system of the unmanned inspection car of contact net based on the Big Dipper as claimed in claim 1 is automatically positioned
Method, the step of the method includes following order：
（1）Data of the collection contact net column relative to unmanned inspection car start position, including range data and angle-data, and
The data are stored in data base；
（2）Automatic running pattern is opened, industrial computer obtains the current location information of unmanned inspection car by BEI-DOU position system, and
According to place information inquiry data base to obtain the information that next predetermined parking space is put, unmanned inspection car accelerates to specified speed
Degree, then remain a constant speed traveling；Dipper system receiver obtains the current location information of unmanned inspection car in real time, and by present bit
Confidence breath is sent to industrial computer；
（3）Mobile station receiver in industrial computer to current location information real-time processing, when unmanned inspection car and predetermined parking space
Put apart from X be less than 20 meters when, unmanned inspection car reduces speed now, and moves closer to predetermined parking space and puts, and nobody patrols and examines vehicle speed and gets over
Come less, until X is less than setting error ρ, unmanned inspection car stops and realizes coarse positioning；
（4）After coarse positioning, start industrial camera, industrial camera collection image, the photo of collection are sent to industrial computer；Industry control
Image processing system in machine starts to process the photo for gathering, and the process of image procossing is followed successively by：Gray processing is processed, is cut
Take picture, binaryzation, image expansion, Image erosion, rim detection and Hough transform；
（5）Industrial computer puts the actual range X with unmanned inspection car according to the result of image procossing calculating predetermined parking space, and control is driven
The unmanned inspection car of dynamic DC motor Driver realizes fine positioning, unmanned vehicle accurate stopping.
7. automatic positioning method according to claim 6, it is characterised in that：The step（1）In, gather contact net column
Specifically refer to relative to the data of unmanned inspection car start position：Base station receiver is fixed on after the starting point of unmanned inspection car,
It is artificial to be moved near predetermined parking space puts using the unmanned inspection car of remote control control, adopted using remote control control industrial camera
Collection picture, industrial computer are processed to the picture that industrial camera is gathered, and according to the result of picture processing, industrial computer sends control
The unmanned inspection car of instruction control is pin-pointed to automatically predetermined parking space and puts, and recycles remote control by the position being currently automatically positioned
Data are stored in data base, recycle the unmanned inspection car of remote control control to move to next predetermined parking space and put, repeat said process,
Until completing the collecting work of position data.
8. automatic positioning method according to claim 6, it is characterised in that：The step（5）In, the fine positioning is referred to
Unmanned inspection car stops in the range of ± the 20mm of contact net column center, specifically refers to, and industrial camera is to contact net
Column is taken pictures, and can find location of pixels of the post feature of contact net in the photo after image procossing, and the picture
There is one-to-one relationship in plain position and unmanned inspection car between the lateral separation of column, industrial computer is according to image procossing
As a result it is that post feature is put and the actual range X between unmanned tool car in the location of pixels calculating predetermined parking space in photo,
Control drives the unmanned inspection car of DC motor Driver to realize fine positioning, unmanned inspection car accurate stopping.
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| CN111770811A (en) * | 2018-01-29 | 2020-10-13 | 整形工具股份有限公司 | System, method and apparatus for guiding a tool with multiple positioning systems |
| CN112965042A (en) * | 2021-03-01 | 2021-06-15 | 沃行科技(南京)有限公司 | Unmanned mine truck driving positioning method based on overhead contact network |
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