Research On The Key Technology Of The Robot For Hanging The Ground Wire In Catenary Power-off Maintenance

In the past few decades,China's railway industry has developed increasingly,and the daily catenary maintenance tasks are increasingly heavy.Hanging the ground wire is an important measure to ensure the safety of the operator.The work of hanging the ground wire is labor intensive,highly repeatable,time-consuming,and requires dedicated staff to operate,but the quality of the operation only depends on the operator's responsibility.The smart equipment of hanging the ground wire can ensure the quality of the task and save the operation time.Besides,it will strengthen the safety of production management and promote the construction of intelligent railway.Therefore,this paper researches on the key technology of robot that can hanging the ground wire.In this paper,the key technical research of the grounding robot mainly includes four parts:the robot's structural framework,the robot's electrical inspection and grounding module,the pillar number and positioning tube recognition algorithm,and vision-based robot positioning and navigation.Firstly,in order to determine the external electrical environment during robot operation,this paper analyses the various working environments of the robot on the railway field,and studies the electrical characteristics of the induced electricity.The robot is designed to travel along the rail,the vision system provides positioning and navigation,the PLC controls the electrical inspection and the operation of hanging the ground wire,and the robot is powered by a large-capacity battery.Secondly,this paper designed an automatic hanging the ground wire module with electricity testing.The electricity testing function includes resistance voltage divider and PLC,and the measured voltage is greater than 15kV is used as the power inspection criterion when the voltage divider is connected for 5s.This method fundamentally solved the problem of false-judging electrification state.The multi-section electric putter drives the conductive plate to contact or separate from the catenary positioning tube,so as to complete ground operation.Thirdly,this paper proposes a vision algorithm for the robot operating.According to the operation mode of the robot and the on-site environment of the catenary,this paper develops a set of OSC mast number signage and OSC mast positioning tube identification programs under Halcon,uses the feature matching method to realize the OSC mast number identification,and uses the area division method to realize the identification of the positioning tube position.Lastly,this paper proposes a positioning and navigation algorithm suitable for the railway field,which uses the minimum of the pillar numbers to navigate,and proposes a control strategy for the robot's travelling speed.Besides,the Halcon and C#joint programming is used to verify the positioning and navigation algorithm of the robotIn this paper,the PLC control algorithm and robot positioning and navigation algorithm have been verified by simulation experiments,which show that the technical research is reasonable and feasible.The research in this paper provides basis for the application research of the catenary grounding robot.