铁路道岔清扫机器人研制

Development of Railway Switch Cleaning Robots

目前铁路道岔主要采用人工清扫,存在效率低、成本高等问题,开发自动化智能化清扫设备是发展趋势。在调研道岔清扫机器人功能需求的基础上,提出清扫机器人的智能清扫系统、走行与自主上下道、快速自主转线等技术方案,并进行主要机械结构设计,综合利用磁导航、伺服控制、射频识别、超声波和激光传感以及全闭环步进驱动等先进感知和智能控制技术,研究了清扫系统自主确定清扫范围及目标、自动避障、自动执行清扫工序的控制技术,道路走行自主导航、道路/轨道走行方式转换位置的自动定位与道路/轨道走行方式的自动切换方法,以及快速自主转线工作模式及控制程序与方法等关键技术,研制了具备智能清扫、自主上下道、快速自主转线的道岔清扫机器人。目前铁路道岔清扫机器人已投入使用,应用效果表明其自动化智能化程度高,清扫效果好,工作效率高,工作性能稳定。

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.