基于图像伺服的接触网绝缘子自动水冲洗车

目前铁路绝缘子维护领域内还没有自动水冲洗设备，本文提出了捕获跟踪与瞄准系统对绝缘子进行自动冲洗维护。在绝缘子识别的基础上，进一步设计出基于图像的视觉伺服系统(IBVS，Image-Based Visual Servoing)控制方法，调整冲洗水炮炮管及摄像机姿态对绝缘子进行瞄准，来完成绝缘子冲洗工作。该方法主要思路为写出特征函数的差并使其最小，特征函数是通过两个雅可比矩阵及其伪逆矩阵建立起图像与冲洗装置控制量之间的关系，最后达到控制目的。本文使用Matlab对IBVS控制方法进行验证，该方法控制双自由度冲洗装置精确性达到要求，可实现绝缘子冲洗瞄准。

Automatic Water-washing Vehicle for Contact Line Insulator Based on IBVS

At present, there is no automatic water-washing vehicle for contact line insulator in the field of railway insulator maintenance. This paper presents a system of acquisition tracking and pointing to automatic water-washing maintenance of insulators. On the basis of insulator recognition, to further design a visual servo system based on image (IBVS, Image-Based Visual Servoing) control method, the method adjust the pose of flushing tube and camera aiming the insulator to complete the water-washing work. The main idea of this method is that writing characteristic function and difference between two characteristic functions and making it minimal. The characteristic function establishes the relation between the image and the control quantity of the washing device through two Jacobi matrix and its pseudo inverse matrix, finally achieving control purposes.In this paper, IBVS control method is verified in MATLAB, which control two degrees of freedom flushing device and the accuracy meets the requirement. The control method can realize the automatic water-washing and aiming of insulators.