Research And Development Of Unmanned Inspection Vehicle Positioning System For Railway Overhead Contact

Nowadays,maintenance for parts of railway contact net in China is mainly maintenance manually,which needs staff to check the contact net posts in working segments in turn.The method is both time-consuming and inefficient.With the rapid development of electrified railway construction in China,the total mileage of railway is increasing,which makes it more and more important to improve maintenance efficiency of parts in the net.Therefore,we design a railway contact net unmanned inspection vehicle,which can realize automatic positioning of the posts,and detect the parts of railway contact net automatically by instrumentation in unmanned inspection vehicle YZ work platform.According to the actual situation of the railway contact net repair work,this paper designs a new generation of unmanned inspection vehicle prototype based on the original unmanned inspection vehicle prototype,and it puts forward an automatic positioning method to realize positioning on the basis of China's BeiDou Navigation Satellite System(BDS),combining precise positioning by image processing.In terms of hardware structure,the control system is divided into two parts: upper and lower control cabinet system,so as to facilitate the rapid assembly,separation and transportation of unmanned testing vehicles;In terms of software structure,this paper puts forward an automatic positioning system of BDS positioning and image processing based on upper and lower PLC.Hardware design mainly includes the hardware selection of industrial computer,upper PLC and lower PLC,BDS receiver,industrial cameras,wireless communication module and DC servo motor,then according to the result of selection,we design the electrical system of unmanned inspection vehicle and manufacture the upper and lower control cabinet.The software of the system is primarily composed of the upper computer software program(C#)and the lower computer software program(CX-prammer).The upper computer program includes the design of human-computer interaction interface,the design of BDS positioning system,the design of image processing system,the design of data structure and the design of communication system,etc.The lower computer program includes the motion control of the DC servo motor,the communication design of the industrial control machine and the control of related signals.At present,the hardware and software system of the unmanned inspection vehiclehas completed the overall design and production,and the vehicle has also passed the relevant field test,which basically complies with the requirements of the railway department.