基于机器视觉的铁路信号机房巡检机器人柔顺控制方法

Compliance control method of inspection robot for railway signal room based on machine vision

目前研究的铁路信号机房巡检机器人柔顺控制方法容易受到外界干扰,稳定性极差。为了解决上述问题,基于机器视觉研究了一种新的铁路信号机房巡检机器人柔顺控制方法。该文设计的核心是在信号集中监测和巡检机器人基础上,研发高智能无人巡检系统,通过监测数据和机器人检测的设备、环境状态数据,开展大数据融合分析,实现对机械室设备状态、环境的检查,监测系统及时报警;通过监测终端机可视化查看机械室设备状态和环境,构建一种集应急作业、设备和环境巡视、分析及预报警联动于一体的机房维护管理系统,以实现机房养护无人化,通过系统大数据分析、可视化联动功能的运用为状态维修提供支撑。实验结果表明,基于机器视觉的铁路信号机房巡检机器人柔顺控制方法能够有效避免外界干扰,提高铁路信号机房巡检工作的效率。

At present,the compliance control method of inspection robot in railway signal room is vulnerable to external interference and has poor stability.In order to solve the above problems,based on machine vision,a new compliance control method for inspection robot in railway signal room is studied.The core of this paper is to develop a high intelligent unmanned inspection system on the basis of signal centralized monitoring and inspection robot.Through the monitoring data and robot detection equipment and environment state data,the big data fusion analysis is carried out to realize the inspection of equipment state and environment in the mechanical room,and the monitoring system alarms in time;through the monitoring terminal to visually view the status and environment of the equipment in the mechanical room,a computer room maintenance management system integrating emergency operation,equipment and environment inspection,analysis and forecast police joint action is constructed,so as to realize the unmanned maintenance of the computer room,and provide support for the status maintenance through the big data analysis and visualization linkage function of the system.The experimental results show that the compliance control method based on machine vision can effectively avoid external interference and improve the inspection efficiency of railway signal room.