铁路汽车装载激光雷达技术应用

A Study on the Application of Laser Radar Technology in Railway Loading of Automobiles

为有效解决铁路汽车装载现有引导方式存在装载时间长、耗费人力等问题,在充分发挥激光雷达技术优势的基础上,提出一种基于激光雷达技术的车辆辅助引导系统。结合铁路平车特征和激光雷达技术特点,选取可以满足应用需求的硬件设备,确定车辆辅助引导系统的结构和基本构成。同时,参照平车特征设计一种激光雷达检测算法,包括计算确定雷达高度、雷达距离平车边沿距离、车辆偏角及偏离量。最后,通过现场试验获取激光雷达测量数据,并对比分析测量数据的误差特征,选取最优误差矫正方法,以降低随机误差,优化检测算法,进一步提升铁路汽车装载的作业效率和安全性。

To reduce the time and manpower consuming in loading automobiles on railway with the existing guiding system, this paper proposes an auxiliary guiding system based on laser radar technology, which takes the advantage of laser radar technology. To elaborate, the process of establishing the guiding system is a multi-step one： Firstly, the paper defines the constitution according to the characteristics of railway flatcars, laser radar technology and the appropriate equipment. Secondly, we work out the algorithm for laser radar detection taking flatcars＇ features into consideration, which includes the algorithm to determine radar＇s height, the distance between the radar and the edge of flatcars and the flatcar＇s deflection angle and the deviation. Then we collect and analyze the laser radar measurement data obtained in field tests to identify the characteristics of data errors. Finally, we optimize the algorithm to further improve the efficiency and safety of railway loading of automobiles with the most befitting error correction methods to effectively avoid random errors.