Research on automatic alignment system of H-pillar assembly equipment of high-speed railway catenary based on visual guidance

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Research on automatic alignment system of H-pillar assembly equipment of high-speed railway catenary based on visual guidance

Zhang, Yaqiang / Ding, Huanhuan / Li, Junwei

In the traditional sense, the assembly and installation of OCS pillars is carried out by manual hoisting, which requires a lot of manpower to bind the pillars, manually assist the alignment, unbind the pillars and other installation operations. There are some problems in the operation process, such as poor safety, low efficiency, high labor cost, high risk of high-altitude operation and so on. This paper presents a system of automatic alignment guided by binocular vision, which improves the construction process of high-speed railway catenary, improves the work efficiency and reduces the operation risk. This system is equipped with a binocular vision camera and customized specific targets for position difference calibration and guidance, and motion control is achieved through high-precision, multi degree of freedom robotic arms, thereby achieving automatic alignment and installation function. On the one hand, it has improved the reliability and automation level of the installation of the H-shaped pillar assembly of the high-speed rail contact system, and on the other hand, it provides strong support for the construction of intelligent high-speed rail and high-quality high-speed rail, which has profound significance.