配砟整形车智能避障系统研究

Study on Intelligent Obstacle Avoidance System of Ballast Regulator Vehicle

针对配砟整形车在作业过程中存在翼犁碰撞接触网支柱、里程标等铁路设施的风险,研发了一套智能避障系统。该系统由左右侧激光雷达传感器、左右侧翼犁转角测量装置、测控箱、处理主机、报警器等组成。该系统采用四连杆机构测量翼犁转角,采用多层激光雷达进行环境感知。获取三维点云数据后进行滤波、分割和聚类处理,再提取所测物体的形态特征,最后对每帧断面信息进行数据关联,从而实现障碍物精确定位。根据对智能避障系统的设计研制了样机并在SPZ200型配砟整形车上进行了现场试验。结果表明,该系统检测精度满足配砟整形车避障需求,有效解决了现有技术手段抗干扰能力差、故障率高的问题,可确保作业安全。

In view of the risk of wing plough colliding with railway facilities such as catenary mast and mileages during the operation of ballast regulator vehicle,an intelligent obstacle avoidance system is developed.The system consists of left and right lidar sensors,left and right wing plough angle measuring devices,measurement and control box,processing host,alarm and so on.In this system,four-bar linkage is used to measure the wing plough angle,and multilayer lidar is used to sense the environment.After obtaining the 3D point cloud data,filtering,segmentation and clustering are carried out,and then the morphological features of the measured object are extracted.Finally,data association is carried out for each frame section information,so as to realize the accurate positioning of obstacles.According to the design of the intelligent obstacle avoidance system,the prototype was developed and the field test was carried out on SPZ200 ballast regulator vehicle.The results show that the detection accuracy of the system meets the obstacle avoidance requirements of the ballast regulator vehicle,effectively solves the problems of poor anti-interference ability and high failure rate of the existing technical means,and ensures the operation safety.