轨道作业车自主上下道技术研究

Research on the technology of automatic loading and unloading of rail operation vehicles

针对目前轨道作业车上下道需要人工搬运或吊车吊运,占用时间较长、安全性差的问题,文章提出了以舵轮为支承、驱动和导向装置,综合利用磁导航、舵轮自动循迹驾驶、超声波定位及增量式比例-积分-微分(PID)控制算法定位控制和激光避障等技术的新型轨道作业车。该作业车设计了上下道机械系统,研究了磁导航寻迹偏差计算方法及纠偏算法,提出了路、轨走行方式转换位置的自动定位方法及路、轨走行方式自动切换方法。经应用表明,该轨道作业车自主上下道技术方案合理可行,道路走行循迹准确、位姿控制精准,路-轨走行转换系统运行稳定可靠。

In view of the problems that the current rail operation vehicle needs to be manually handled or lifted by crane,the occupation time is long and the safety is poor,this paper proposes a new type of rail operation vehicle with the steering wheel as the support,drive and guide device,and comprehensively uses the technologies of magnetic navigation,automatic tracking driving of the steering wheel,ultrasonic positioning and incremental proportional-integral-derivative(PID)control algorithm positioning control and laser obstacle avoidance.The operation vehicle designed the mechanical system of loading and unloading,studied the calculation method and deviation correction algorithm of magnetic navigation tracking,and proposed the automatic positioning method of changing the position of the road and rail travel mode and the automatic switching method of the road and rail travel mode.The application shows that the technical scheme of the rail operation vehicle is reasonable and feasible,the road travel track is accurate,the posture control is accurate,and the road-rail travel conversion system is stable and reliable.