Research on Target Localization Method of CRTS-III Slab Ballastless Track Plate Based on Machine Vision

Xinjun Liu,Liaomo Zheng,Wenjiang Wu,Qi Wang,Qiang Zhang,Shiyu Wang

doi:10.3390/electronics10233033

Abstract

In the construction of high-speed railway infrastructure, a CRTS-III slab ballastless track plate has been widely used. Anchor sealing is an essential step in the production of track plates. We design a novel automated platform based on industrial robots with vision guidance to improve the automation of a predominantly human-powered anchor sealing station. This paper proposes a precise and efficient target localization method for large and high-resolution images to obtain accurate target position information. To accurately update the robot’s work path and reduce idle waiting time, this paper proposes a low-cost and easily configurable visual localization system based on dual monocular cameras, which realizes the acquisition of track plate position information and the correction of position deviation in the robot coordinate system. We evaluate the repeatable positioning accuracy and the temporal performance of the visual localization system in a real production environment. The results show that the repeatable positioning accuracy of this localization system in the robot coordinate system can reach ±0.150 mm in the x- and y-directions and ±0.120° in the rotation angle. Moreover, this system completes two 18-megapixel image acquisitions, and the whole process takes around 570 ms to meet real production needs.

Highlights

With a series of technical advantages, such as high speed, high capacity, low energy consumption, and light pollution, high-speed railways have adapted to the new demands of modern socio-economic development [1,2]
Each robot is equipped with a glue gun and an electric grinding head for anchor sealing
We tested the effect of the visual positioning system in a real production environment

Summary

Introduction

With a series of technical advantages, such as high speed, high capacity, low energy consumption, and light pollution, high-speed railways have adapted to the new demands of modern socio-economic development [1,2]. Ballastless track plates have been widely developed and applied worldwide to meet the requirements of high speed, high stability, high ride comfort, and low maintenance cost of high-speed railroads. Japan has laid more than 2700 km of slab ballastless track on the Shinkansen [3]. The development of ballastless tracks in Japan adopts a cooperative promotion research mode and takes slab-type track as its primary research direction. The ballastless track structure type on the Shinkansen is predominantly single. German railroads have adopted a more flexible mechanism for ballastless track development and application. Ballastless track systems, such as Rheda and Borg slab track [4], have been promoted and used extensively on new high-speed railroads in Germany

Methods

Results

Conclusion