铁道运输与经济2024，Vol.46Issue(6)：118-125,134,9.DOI:10.16668/j.cnki.issn.1003-1421.2024.06.15
铁路道岔清扫机器人研制
Development of Railway Switch Cleaning Robots
摘要
Abstract
Currently,railway switch is mainly cleaned by manpower,which is both inefficient and costly.Therefore,it is a trend to develop automatic and intelligent switch cleaning devices.Based on the analysis of functional demands,the technical solutions of switch cleaning robots such as the intelligent cleaning system,driving and automatic road-track way-shift system,rapid and automatic track-track way shift system were proposed,with the main mechanical structures designed.By integrating the following up-to-date sensing and intelligent control techniques such as magnetic navigation,servo control,radio frequency identification(RFID),ultrasonic and laser ranging,and full-closed-loop step driving,etc.,this paper studied key control techniques for the intelligent switch cleaning system such as switch cleaning scope and target automatic positioning technique,automatic obstacle avoiding technique,and cleaning procedures automatic execution technique,key techniques such as road driving automatic navigation technique,automatic positioning technique of road-track way shift position,and road-track driving mode automatic shift,and key techniques such as working mode,control program and method of rapid and automatic track-track way shift.Based on the above-mentioned techniques,a switch cleaning robot equipped to perform intelligent cleaning,automatic road-track way shift,and rapid and automatic road-track way shift was developed.The field test shows,the robot is highly automatic and intelligent,enabling sound effect of cleaning,high efficiency and stable performance.关键词
铁路道岔/清扫/上下道/转线/避障/定位/循迹导航Key words
Railway Switch/Cleaning/Road-Track Way Shift/Track-Track Way Shift/Avoiding Obstacles/Positioning/Tracking Navigation分类
交通运输引用本文复制引用
曹晓宇..铁路道岔清扫机器人研制[J].铁道运输与经济,2024,46(6):118-125,134,9.基金项目
国能新朔铁路有限责任公司科技项目(GNXS-2021-01) （GNXS-2021-01）
