CN118345668A - Intelligent track panel assembling system and method - Google Patents

Abstract

The invention provides an intelligent track panel assembling system and an assembling method, wherein the assembling system comprises a comprehensive control center, a sleeper conveyor and a track panel assembling machine, wherein the bottoms of the sleeper conveyor and the track panel assembling machine are respectively provided with a visual sensor and a magnetic sensor, the sleeper conveyor and the track panel assembling machine also comprise magnetic guide belts which are arranged in the middle and around a track panel assembling area, and square two-dimensional code pictures are stuck at corresponding positions on the magnetic guide belts which need to be subjected to terminal operation. The sleeper conveyor is responsible for conveying and placing sleepers from a sleeper stacking area to a track panel assembling area, and the track panel assembling machine is responsible for picking materials from a material stacking area, placing the materials on the sleepers and completing the installation work of the materials through the operation tail end. The invention can realize the whole-flow intelligent assembly operation of the ground rail row, the whole process does not need excessive manual participation, the assembly efficiency is high, the coordinate conversion is updated by scanning the two-dimensional code under the control of the comprehensive control center before each execution of the tail end operation, the accumulated error is not generated, the accuracy is high, the debugging is simple, and the error is not easy to occur.

Description

Intelligent track assembly system and assembly method

Technical Field

The invention belongs to the technical field of intelligent assembly equipment design, and in particular relates to an intelligent track assembly system and an assembly method.

Background technique

The traditional rail assembly method consumes a lot of manpower, has high labor intensity, low assembly efficiency, and the accuracy and quality of assembly cannot be guaranteed. The prior art (CN115262303B) discloses a rail automatic assembly system and method based on intelligent control. The system has a high degree of automation, effectively improves the rail construction efficiency, and ensures construction accuracy. However, the equipment is bulky, has a high failure rate, and materials need to be constantly replenished manually, which does not fundamentally liberate the labor force. In view of the shortcomings of the current traditional rail assembly method and existing automated assembly equipment, the present invention proposes an intelligent rail assembly base, assembly equipment and assembly method to realize the full-process intelligent assembly of rail assembly, so as to reduce labor demand and improve rail assembly efficiency.

Summary of the invention

In view of the deficiencies in the prior art, the present invention provides an intelligent track assembly system and method. The entire process does not require much human participation, can perform coordinate conversion and update in real time, avoid cumulative errors, and achieve efficient and accurate assembly of the track.

The present invention achieves the above technical objectives through the following technical means.

An intelligent track assembly system includes a track assembly area formed by two rows of load-bearing stone piers, a material stacking area located in front of the track assembly area, and a sleeper stacking area located at the rear of the track assembly area. It also includes an integrated control center, a sleeper conveyor, and a track assembly machine. The sleeper conveyor and the track assembly machine are respectively installed with a first magnetic sensor and a second magnetic sensor at the middle position below the chassis of the sleeper conveyor and the track assembly machine, which are used to capture the position information of the magnetic guide belts arranged in the middle and around the track assembly area in real time. A square two-dimensional code image is pasted at the position where the terminal operation is required on the magnetic guide belt; the sleeper conveyor and the track assembly machine are respectively installed with a first visual sensor and a second visual sensor at the bottom, which are used to scan the two-dimensional code image data and transmit it to the integrated control center for analysis and processing.

Furthermore, the sleeper conveyor includes a frame, a wheel A is installed at the bottom of the frame, and a first magnetic sensor is arranged under the chassis of the frame, which cooperates with the differential drive module to realize autonomous tracking; it also includes a tray for supporting the sleepers, the tray is installed on the frame through a rear sliding horizontal axis, two end hangers are arranged at the rear of the sliding horizontal axis, the end hangers are assembled and connected to one end of the roller chain, the other end of the roller chain is installed in cooperation with the sprocket, the sprocket is fixed at the telescopic end of the hydraulic lifting system, and hydraulic telescopic hands for fixing the sleepers and adjusting the left and right positions of the sleeper rails are installed at both ends of the sliding horizontal axis; a first visual sensor is also arranged under the tray, the lens of the first visual sensor is parallel to the ground, and looks vertically downward to image the QR code, and the focal length is the installation height of the first visual sensor.

Furthermore, the track assembly machine includes a vehicle body, the interior of the vehicle body is divided into four areas for placing materials, a second visual sensor is arranged below the cross bar at the front end of the vehicle body, the lens of the second visual sensor is parallel to the ground, and looks down vertically to image the QR code, and the focal length is the installation height of the second visual sensor; wheels B are installed at the bottom of the vehicle body, a three-way moving system is installed on the top of the vehicle body, and the operating end is installed on the three-way moving system, including a moving gripper and a torque wrench.

The intelligent rail assembly method using the intelligent rail assembly system includes the following steps:

Step 1: Arrange the rail assembly area, material stacking area, and sleeper stacking area, and paste the magnetic guide tape and QR code image;

Step 2: Place the sleeper conveyor at the starting operation position of the middle magnetic guide belt, the first visual sensor reads the QR code image on the magnetic guide belt at this position, the integrated control center obtains the operation confirmation information and the appearance data of the QR code image, adjusts the coordinate position of the sleeper conveyor based on the appearance data analysis, starts the sleeper conveyor after the adjustment is completed and the operation confirmation information is confirmed to be correct, and it automatically moves towards the sleeper stacking area. During the moving process, the first magnetic sensor reads the ground magnetic guide belt data in real time to adjust the travel direction of the sleeper conveyor;

Step 3: When the sleeper conveyor travels to the sleeper stacking area, the first visual sensor reads the QR code image at the position again, the sleeper conveyor performs operation confirmation and position judgment adjustment, then controls the tray to lift the sleeper, and controls the hydraulic telescopic hand to clamp the sleeper; the sleeper conveyor moves backward and rotates 180°, the first visual sensor reads the QR code image at the position again, and performs operation confirmation and position judgment adjustment again;

Step 4: The integrated control center controls the sleeper conveyor to travel along the magnetic guide belt to the position where the sleepers need to be placed and stops, reads the QR code image at the current position, confirms the operation and adjusts the position again, then controls the movement of the pallet and hydraulic telescopic arm to lower the sleepers, then the sleeper conveyor moves backward and turns 180°, and sends a message that the sleeper transportation is completed to the integrated control center;

Step 5: Repeat steps 2 to 4 to transport the next sleeper until all sleepers are transported and placed. At the same time, the rail assembly machine placed on the magnetic guide belt on the outer ring of the rail assembly area confirms the operation based on the QR code image data scanned by the second visual sensor, determines and adjusts the position of the rail assembly machine, and then automatically moves to the material stacking area. During the movement, the second magnetic sensor reads the data of the magnetic guide belt on the ground in real time to adjust the driving direction.

Step 6: When the rail assembly machine moves to the first operating position, the second visual sensor reads the QR code image at the current position, performs operation confirmation and position judgment adjustment again, and then controls the three-way moving system to move the operating end to the top of the corresponding material, grabs the material and places it inside the rail assembly machine;

Step 7: After receiving the information that the sleeper transportation is completed, the rail assembly machine moves to the position of the sleepers to be assembled. After moving to the position, it scans the QR code image here to confirm the operation and adjust the position. According to the latest position coordinate information, the three-way moving system drives the operation terminal to move and install the materials.

Step 8: Workers use a gantry crane to place the rails on the sleepers where the materials have been installed, and then use the track assembly machine to install the remaining materials until all the track assembly operations are completed.

Furthermore, the integrated control center controls the sleeper conveyor and the rail assembly machine to perform position judgment and adjustment based on the appearance data of the QR code image. The specific method is as follows:

The plane of the visual sensor is parallel to the ground, and it looks down vertically to image the QR code. The focal length is the installation height h of the visual sensor. The resulting imaging plane is a square. The coordinates of the four corners on the imaging plane are measured experimentally as _P1 ( _Px1 , _Py1 ), _P2 ( _Px2 , _Py2 ), _P3 ( _Px3 , _Py3 ), and _P4 ( _Px4 , _Py4 );

After reading the feature point data of the two-dimensional code according to the prior machine learning, the four corners of the two-dimensional code on the imaging plane are measured to have coordinates of _C1 ( _Cx1 , _Cy1 ), _C2 ( _Cx2 , _Cy2 ), _C3 ( _Cx3 , _Cy3 ), and _C4 ( _Cx4 , _Cy4 );

According to the inclination difference between the straight line P ₁ P ₂ and the straight line C ₁ C ₂ , the integrated control center calculates the angle that the sleeper conveyor or rail assembly machine needs to adjust, and controls its movement to ensure that its center line is parallel to the center line of the QR code and no angle error occurs;

After adjusting the angle deviation, the coordinates of the center point of the imaged QR code _C0 (( _Cx1 + _Cx2 + _Cx3 + _Cx4 )/4, ( _Cy1 + _Cy2 + _Cy3 + _Cy4 )/4) are obtained by calculation and compared with the pre-designed QR code center point coordinates _P0 . The difference obtained is the coordinate difference between the current spatial position of the sleeper conveyor or rail assembly machine and the predetermined spatial position of the equipment. The position is controlled according to the coordinate difference to adjust it.

The present invention has the following beneficial effects:

The present invention can realize the whole process of intelligent assembly of subway track panels. The whole process does not require much human participation, the assembly efficiency is high, and the coordinate conversion and update can be performed before each terminal operation is performed. No cumulative error will be generated, thus ensuring higher accuracy of track panel installation, and the overall debugging is simple and error-prone.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the operation of the intelligent rail assembly system of the present invention;

FIG2 is a schematic diagram of the rail assembly area of the present invention;

FIG3 is a schematic diagram of a sleeper stacking area according to the present invention;

FIG4 is a schematic diagram of a material stacking area according to the present invention;

FIG5 is a schematic diagram of the sleeper conveyor of the present invention;

FIG6 is a schematic diagram of the rail assembly machine of the present invention;

FIG7 is a schematic diagram of the operation terminal of the present invention;

FIG8 is a schematic diagram of posture reading based on a QR code.

In the figure: 1-sleeper conveyor; 11-frame; 12-wheel A; 13-hydraulic lifting system; 14-roller chain; 15-pallet; 16-hydraulic telescopic hand; 2-track assembly machine; 21-car body; 22-wheel B; 23-three-way moving system; 231-horizontal axis; 232-longitudinal axis; 233-vertical axis; 24-operating end; 241-moving gripper; 242-torque wrench; 3-magnetic guide belt; 4-sleeper; 5-pad; 6-iron pad; 7-elastic pad; 8-bolt.

Detailed ways

The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

The intelligent track assembly system of the present invention includes a track assembly area formed by building two rows of load-bearing stone piers at the construction site, a material stacking area located in front of the track assembly area, and a sleeper stacking area located at the rear of the track assembly area. It also includes a magnetic guide belt 3, a QR code image, a sleeper conveyor 1, a track assembly machine 2, a first magnetic sensor, a second magnetic sensor, a first visual sensor, a second visual sensor, and an integrated control center.

As shown in Figure 1, the stone pier size in the track assembly area is 300mm×300mm×300mm, with a longitudinal spacing of 300mm and a lateral spacing of 1800mm, which is used to place sleepers 4 and perform rail assembly operations. As shown in Figures 1 and 4, the materials stacked in the material stacking area include iron pads 6, elastic pads 7, and bolts 8; the iron pads 6 and elastic pads 7 are stacked in the material tray, and the four corner iron edges of the material tray fix the iron pads 6 and elastic pads 7 inside, and the bolts 8 are fixed by inserting into the gaps of the bolt material tray, and the material trays are stacked in sequence and placed in the material stacking area. As shown in Figures 1 and 3, there are several groups of sleepers 4 stacked in the sleeper stacking area, each of which has four layers, each layer has four sleepers 4, and the sleepers 4 on the upper and lower layers are separated by pads 5.

As shown in Figures 1 and 2, a magnetic guide belt 3 is arranged in the middle and around the rail assembly area. The magnetic guide belt 3 in the middle is used to guide the sleeper conveyor 1 to carry the sleepers 4 from the sleeper stacking area to the rail assembly area, and the magnetic guide belts 3 around are used to guide the rail assembly machine 2 to take materials from the material stacking area and move to the outside of the rail assembly area to install the rails. The first magnetic sensor and the second magnetic sensor are respectively installed in the middle position below the chassis of the sleeper conveyor 1 and the rail assembly machine 2 to capture the position information of the magnetic guide belt 3 in real time.

There are multiple square QR code images arranged on the magnetic guide belt 3, and the QR code images are pasted at the positions corresponding to the locations where terminal operations are required to be performed, which are used to assist in coordinate conversion and updating, wherein the terminal operations include sleeper lifting, sleeper placement, material picking, material placement and installation. The QR code image can also be used for operation confirmation. Specifically, the QR code image stores operation confirmation information. The first visual sensor and the second visual sensor are respectively installed at the bottom of the sleeper conveyor 1 and the rail assembly machine 2. The first visual sensor and the second visual sensor scan the QR code image data and transmit it to the integrated control center for analysis and processing. The operation confirmation information is obtained by the analysis, and the integrated control center determines whether the current operation of the sleeper conveyor 1 and the rail assembly machine 2 is correct.

As shown in FIG5 , the sleeper conveyor 1 includes a frame 11, a wheel A12, a hydraulic lifting system 13, a roller chain 14, a tray 15, and a hydraulic telescopic hand 16. The bottom of the frame 11 is equipped with a wheel A12 for walking, and a first magnetic sensor is arranged below the chassis of the frame 11, which can realize the autonomous tracking function in conjunction with the differential drive module carried; the tray 15 is used to hold up the sleeper 4 and bear the weight, and the tray 15 is assembled and installed on the frame 11 through the rear sliding horizontal shaft 17, and can move up and down along the frame 11 as a whole; the rear of the sliding horizontal shaft 17 is provided with two end hanging pieces, and the end hanging pieces are assembled and connected with one end of the roller chain 14, and the other end of the roller chain 14 is installed in conjunction with a sprocket, and the sprocket is fixedly installed on the telescopic end of the hydraulic lifting system 13 on the frame 11, and the up and down movement of the tray 15 and the sliding horizontal shaft 17 can be controlled by controlling the lifting and lowering of the hydraulic lifting system 13; hydraulic telescopic hands 16 are installed at both ends of the sliding horizontal shaft 17, which are used to fix the sleeper 4 and control and adjust the left and right positions of the sleeper rails. A first visual sensor is also provided below the tray 15. The lens of the first visual sensor is parallel to the ground, and can realize vertical downward looking and imaging of the two-dimensional code. The focal length is the installation height of the first visual sensor.

As shown in Figures 6 and 7, the track assembly machine 2 includes a vehicle body 21, wheels 22, a three-way moving system 23, and an operating terminal 24. The interior of the vehicle body 21 is divided into four areas for placing materials, two of which are iron pad placement areas, one is an elastic pad placement area, and the last is a bolt placement area. A second visual sensor is provided below the front crossbar of the vehicle body 21. The lens of the second visual sensor is parallel to the ground, and can realize vertical downward looking and facing the two-dimensional code imaging. The focal length is the installation height of the second visual sensor. A wheel B22 is installed at the bottom of the vehicle body 21. The wheel B22 is a universal wheel, which can realize the vehicle turning operation.

As shown in Fig. 6 and Fig. 7, the three-way moving system 23 is installed on the top of the vehicle body 21. The three-way moving system 23 includes two horizontal axes 231, a longitudinal axis 232, and a vertical axis 233. The longitudinal axis 232 is movably installed between the horizontal axes 231, and the vertical axis 233 is movably installed on the longitudinal axis 232. The operation terminal 24 is assembled at the lower part of the vertical axis 233 and can move up and down along the vertical direction of the z-axis. The vertical axis 233 is assembled inside the longitudinal axis 232 and can move left and right along the y-axis. The vertical axis 233 is assembled above the two horizontal axes 231 and can move forward and backward along the x-axis. The operation terminal 24 includes a moving gripper 241 and a torque wrench 242. The torque wrench 242 is arranged inside the operation terminal 24 and is provided with a magnetic suction device. When the bolt 8 is taken and placed, it extends from the inside of the operation terminal 24, and the bolt 8 is picked up or put down through the magnetic suction device, and the bolt 8 can be automatically tightened. The two moving grippers 241 can move closer or farther from each other to achieve the clamping or loosening of the material.

Both the sleeper conveyor 1 and the track assembly machine 2 are equipped with a small control center, which is pre-programmed with an action logic program for assembling a track. The overall process is: the sleeper conveyor 1 goes to the sleeper stacking area to grab the sleeper 4 and then places it in the track assembly area. After placement, it sends a signal to the track assembling machine 2 that the sleeper has been placed, and grabs the next sleeper 4 from the sleeper stacking area. After the track assembling machine 2 receives the signal sent by the sleeper conveyor 1 that the sleeper 4 has been placed for the first time, it starts to grab the material from the material stacking area, and then goes to the track assembly area to place the material and assemble the track. After the material is consumed, it goes to the material stacking area again to grab the material, and this cycle is repeated until one track is assembled.

The intelligent rail assembly method using the intelligent rail assembly system includes the following steps:

Step 1: Fix the load-bearing stone slabs on the ground at standard intervals, stick the magnetic guide tape 3 and QR code image on the ground according to the position of the load-bearing stone slabs, and finally stack the sleepers 4 and materials at the front and rear ends of the track assembly area according to the established requirements to complete the layout of the track assembly base.

Step 2: Place the sleeper conveyor 1 at the starting operating position on the middle magnetic guide belt 3. The first visual sensor reads the QR code image on the magnetic guide belt 3 at this position. The integrated control center obtains the operation confirmation information and the appearance data of the QR code image. Based on the appearance data analysis, it is determined whether the coordinate position of the sleeper conveyor 1 at this moment is consistent with the preset coordinate position. If not, the sleeper conveyor 1 is controlled to turn for position adjustment. After the adjustment is completed and the operation confirmation information is confirmed to be correct, the sleeper conveyor 1 is started. According to the internal pre-set operating procedure, the sleeper conveyor 1 is controlled to automatically move forward to the sleeper stacking area. During the moving process, the first magnetic sensor reads the data of the ground magnetic guide belt 3 in real time, and adjusts the driving direction of the sleeper conveyor 1 in time to prevent the sleeper conveyor 1 from driving out of the range of the magnetic guide belt 3.

Step 3: When the sleeper conveyor 1 travels to the sleeper stacking area, the first visual sensor thereon reads the QR code image pasted at the position again, and the integrated control center obtains new operation confirmation information and the appearance data of the QR code image again, and judges and adjusts the position of the sleeper conveyor 1 again. After the adjustment is completed and the operation confirmation information is confirmed to be correct, the height of the lifting tray 15 is controlled according to the established procedure to lift the sleeper 4, and the hydraulic telescopic hands 16 on both sides of the tray 15 are shortened to the length of the sleeper 4, so that the sleeper 4 is accurately positioned in the middle of the sleeper conveyor 1;

After fixing the position of the sleepers 4, the sleeper conveyor 1 moves backward and then rotates the body 180 degrees to avoid colliding with the stacked sleepers 4. At this time, the first visual sensor reads the QR code image again and adjusts the coordinate position of the sleeper conveyor 1 again. If the conveyor deviates too far from the middle position of the magnetic guide belt 3 during the rotation, the conveyor position is adjusted in time to ensure that the sleeper conveyor 1 is always located in the middle position of the magnetic guide belt 3.

Step 4: The integrated control center controls the sleeper conveyor 1 to continue moving forward along the magnetic guide belt 3, stops at the position where the sleeper 4 needs to be placed, reads the QR code image at the current position, adjusts the coordinate position of the sleeper conveyor 1 again, and then controls the pallet 15 to stop above the load-bearing stone slab according to the established procedure, then moves the pallet 15 down, places the sleeper 4 on the load-bearing stone slab, releases the hydraulic telescopic hand 16, moves the pallet 15 down, and the sleeper conveyor 1 reverses and turns 180°, and at the same time sends a message that the sleeper transportation is completed to the integrated control center.

Step 5: Repeat steps 2 to 4 to transport the next sleeper 4 until all the sleepers 4 are transported and placed. At the same time, the track assembly machine 2 placed on the magnetic guide belt 3 on the outer circle of the track assembly area uses a second visual sensor to read the QR code image at the current position. The integrated control center obtains the operation confirmation information and the appearance data of the QR code image, and determines whether the coordinate position of the track assembly machine 2 at this moment is consistent with the preset coordinate position based on the appearance data. If not, the track assembly machine 2 is controlled to turn and adjust the position. After the adjustment is completed and the operation confirmation information is confirmed to be correct, the track assembly machine 2 is started and controlled to approach the material stacking area according to the internal pre-set operating procedure. During the movement, the second magnetic sensor reads the data of the ground magnetic guide belt 3 in real time, and adjusts the driving direction of the track assembly machine 2 in time to prevent the track assembly machine 2 from driving out of the range of the magnetic guide belt 3.

Step 6: When the track assembly machine 2 moves to the first operating position, the second visual sensor reads the QR code image at the current position, adjusts the position of the track assembly machine 2 again, and then controls the three-way moving system 23 to work according to the established program, moves the operating end 24 to the top of the corresponding material, and uses the mobile gripper 241 to grab the iron pad material tray, elastic pad material tray and bolt material tray in turn and place them inside the track assembly machine 2 to complete the assembly preparation work.

Step 7: After receiving the information that the sleeper 4 has been transported, the track assembly machine 2 starts to move to the position of the sleeper 4 to be assembled. After moving to the position, it scans the QR code image here to confirm that it has moved to the position, and then reads the QR code position information to update the reference point space coordinates of the track assembly machine 2 at this time. According to the latest coordinate information, the mobile gripper 241 of the three-way moving system 23 moves the operating end 24 to grab the elastic pad 7 and the iron pad 6 inside the car body in turn and place them on the sleeper 4. The mobile gripper 241 expands to the maximum, and the torque wrench 242 in the middle extends from the inside, activating the magnetic suction device, sucking the bolt 8 and placing it in the bolt hole of the pad. After closing the magnetic suction device, the torque wrench 242 is driven to rotate and tighten the bolt 8.

Step 8: On-site staff use a gantry crane to place the rails on the sleepers 4 with the materials under the rails installed, and then use the rail assembly machine 2 to install the remaining materials on the rails in the same way to complete the entire rail assembly operation.

8, in the above process, the visual sensor reads the QR code image pasted at the corresponding position, and the integrated control center obtains the operation confirmation information and the appearance data of the QR code image. The specific method for determining and adjusting the position of the sleeper conveyor 1 is as follows:

The plane of the visual sensor is parallel to the ground, and it looks down vertically to image the QR code. The focal length is the installation height h of the visual sensor. The resulting imaging plane is a square. The coordinates of the four corners on the imaging plane are measured experimentally as _P1 ( _Px1 , _Py1 ), _P2 ( _Px2 , _Py2 ), _P3 ( _Px3 , _Py3 ), and _P4 ( _Px4 , _Py4 );

After reading the feature point data of the QR code by machine learning in advance, the coordinates of the four corners of the QR code on the imaging plane can be measured as _C1 ( _Cx1 , _Cy1 ), _C2 ( _Cx2 , _Cy2 ), _C3 ( _Cx3 , _Cy3 ), and _C4 ( _Cx4 , _Cy4 );

According to the inclination difference between the straight line P ₁ P ₂ and the straight line C ₁ C ₂ , the integrated control center calculates the angle that the equipment needs to be adjusted, and controls the movement of the equipment to ensure that the center line of the equipment is parallel to the center line of the QR code and no angle error occurs;

After adjusting the angle deviation, the coordinates of the center point of the imaged QR code _C0 (( _Cx1 + _Cx2 + _Cx3 + _Cx4 )/4, ( _Cy1 + _Cy2 + _Cy3 + _Cy4 )/4) are calculated and compared with the pre-designed coordinates of the center point of the QR code _P0 . The difference obtained is the coordinate difference between the current spatial position of the device and the predetermined spatial position of the device. By importing the coordinate difference into the program, precise position adjustment operations can be performed.

The three-way moving system 23, the moving gripper 241, the torque wrench 242 and other structures mentioned in the embodiment are all conventional equipment commonly used in existing engineering projects, so their specific structures and working principles are not described. The embodiment is a preferred embodiment of the present invention, but the present invention is not limited to the above embodiment. Without departing from the essential content of the present invention, any obvious improvement, replacement or modification that can be made by those skilled in the art belongs to the protection scope of the present invention.

Claims (5)

1. The intelligent track panel assembling system is characterized by comprising a track panel assembling area, a material stacking area and a sleeper stacking area which are formed by two rows of bearing stone piers, and further comprising a comprehensive control center, a sleeper conveyor (1) and a track panel assembling machine (2), wherein a first magnetic sensor and a second magnetic sensor are respectively arranged at the middle positions below a chassis of the sleeper conveyor (1) and the track panel assembling machine (2) and are used for capturing the position information of magnetic guide belts (3) arranged in the middle and around the track panel assembling area in real time; the square two-dimensional code picture is stuck to the position, which is required to be operated at the tail end, on the magnetic guide belt (3), and the bottoms of the sleeper conveyor (1) and the track panel assembly machine (2) are respectively provided with a first visual sensor and a second visual sensor for scanning the two-dimensional code picture data and transmitting the two-dimensional code picture data to the comprehensive control center for analysis and treatment.

2. The intelligent track panel assembling system according to claim 1, wherein the sleeper conveyor (1) comprises a frame (11), wheels A (12) are installed at the bottom of the frame (11), a first magnetic sensor is arranged below a chassis of the frame (11), and autonomous tracking is realized by matching with a carried differential driving module; the device also comprises a tray (15) for supporting the sleeper (4), wherein the tray (15) is arranged on the frame (11) through a sliding cross shaft (17), an end hanging piece is arranged on the sliding cross shaft (17), the end hanging piece is connected with one end of a roller chain (14), the other end of the roller chain (14) is matched with a chain wheel, and the chain wheel is fixed at the telescopic end of the hydraulic lifting system (13); both ends of the sliding cross shaft (17) are provided with hydraulic telescopic hands (16) for fixing the sleeper (4) and adjusting the left and right positions of the sleeper; a first visual sensor is arranged below the tray (15), the lens of the first visual sensor is parallel to the ground, and the imaging of the two-dimensional code is directly opposite to the vertical downward overlook.

3. The intelligent track panel assembling system according to claim 2, wherein the track panel assembling machine (2) comprises a vehicle body (21), four areas are divided in the vehicle body (21) for placing materials, a second vision sensor is arranged below a cross rod at the front end of the vehicle body (21), a lens of the second vision sensor is parallel to the ground, and the lens of the second vision sensor faces the two-dimensional code to image when being vertically overlooked downwards; the vehicle body (21) is provided with wheels B (22) at the bottom, the three-way moving system (23) is arranged at the top of the vehicle body (21), and the operating tail end (24) is arranged on the three-way moving system (23) and comprises a moving grip (214) and a torque wrench (242).

4. An intelligent track panel splicing method using the intelligent track panel splicing system of claim 3, comprising the following steps:

step 1: arranging a track panel assembling area, a material stacking area and a sleeper stacking area, and sticking a magnetic guide belt (3) and a two-dimensional code picture;

Step 2: placing the sleeper conveyor (1) at an initial operation position of the middle magnetic guide belt (3), reading a two-dimensional code picture on the magnetic guide belt (3) at the position by a first visual sensor, acquiring operation confirmation information and two-dimensional code picture appearance data by a comprehensive control center, analyzing and adjusting the coordinate position of the sleeper conveyor (1) based on the appearance data, starting the sleeper conveyor (1) after the adjustment is completed and the operation confirmation information is confirmed without errors, automatically advancing to a sleeper stacking area, and reading the data of the upper magnetic guide belt (3) by a first magnetic sensor in real time in the advancing process, and adjusting the driving direction of the sleeper conveyor (1);

Step 3: when the sleeper conveyor (1) runs to the sleeper stacking area, the first visual sensor reads the two-dimensional code picture at the sleeper stacking area again, the sleeper conveyor (1) performs operation confirmation and position judgment adjustment, then the tray (15) is controlled to lift the sleeper (4), and the hydraulic telescopic hand (16) is controlled to clamp the sleeper (4); the sleeper conveyor (1) rotates 180 degrees after moving backwards, the first vision sensor reads the two-dimensional code picture at the position again, and operation confirmation and position judgment adjustment are carried out again;

Step 4: the comprehensive control center controls the sleeper conveyor (1) to run to a position where the sleeper (4) needs to be placed along the magnetic guide belt (3) and stop, reads a two-dimensional code picture at the current position, carries out operation confirmation and position judgment adjustment again, then controls the movement of the tray (15) and the hydraulic telescopic hand (16), lowers the sleeper (4), then the sleeper conveyor (1) backs up and turns 180 degrees, and simultaneously sends information of the completion of sleeper transportation once to the comprehensive control center;

step 5: repeating the steps 2 to 4, and carrying out the transportation work of the next sleeper (4) until the complete transportation and placement of the sleeper (4) is completed; meanwhile, the track panel splicing machine (2) arranged on the magnetic guide belt (3) at the outer ring of the track panel splicing region carries out operation confirmation based on the two-dimensional code picture data scanned by the second visual sensor, judges and adjusts the position of the track panel splicing machine (2), then automatically moves to the material stacking region, and in the moving process, the second magnetic sensor reads the data of the upper magnetic guide belt (3) in real time and adjusts the driving direction;

Step 6: when the track panel assembly machine (2) moves to a first operation position, the second vision sensor reads a two-dimensional code picture at the current position, operation confirmation and position judgment adjustment are performed again, and then the three-way movement system (23) is controlled to drive the operation tail end (24) to move to the position above the corresponding material, and the grabbing material is placed in the track panel assembly machine (2);

Step 7: after receiving the information of the completion of the transportation of the sleeper (4), the track panel assembly machine (2) moves to the position of the sleeper (4) to be assembled, scans the two-dimensional code picture at the position after moving to the position to perform operation confirmation and position judgment adjustment; according to the latest position coordinate information, the three-way moving system (23) drives the operation tail end (24) to install materials;

Step 8: the staff uses the portal crane to place the steel rail on the sleeper (4) which is installed with the materials, and then the rest materials are installed through the rail panel assembling machine (2) until all the rail panel assembling operations are completed.

5. The intelligent track panel assembling method according to claim 4, wherein the comprehensive control center controls the sleeper conveyor (1) and the track panel assembling machine (2) to perform position judgment and adjustment based on the shape data of the two-dimensional code picture, and the specific method is as follows:

The imaging plane obtained by the vision sensor forms a square, and the coordinates of four angles on the imaging plane are respectively measured by experiments P₁(P_x1,P_y1),P₂(P_x2,P_y2),P₃(P_x3,P_y3),P₄(P_x4,P_y4);

After the characteristic point data of the two-dimensional code is read according to the prior mechanical learning, four-corner coordinates of four corners of the two-dimensional code on an imaging plane are respectively measured as C₁(C_x1,C_y1),C₂(C_x2,C_y2),C₃(C_x3,C_y3),C₄(C_x4,C_y4);

According to the inclination angle difference between the straight line P ₁P₂ and the straight line C ₁C₂, the comprehensive control center calculates the angle to be adjusted of the sleeper conveyor (1) or the track panel assembling machine (2) and controls the movement of the sleeper conveyor or the track panel assembling machine to ensure that the center line of the sleeper conveyor or the track panel assembling machine is parallel to the center line of the two-dimensional code, and no angle error is generated;

After the angle deviation is adjusted, the imaged two-dimensional code center point coordinate C₀((C_x1+C_x2+C_x3+C_x4)/4,(C_y1+C_y2+C_y3+C_y4)/4), is obtained through calculation and is compared with the two-dimensional code center point coordinate P ₀ designed in advance, the obtained difference value is the coordinate difference between the current space position of the sleeper conveyor (1) or the track panel assembling machine (2) and the preset space position of the equipment, and the position adjustment is controlled according to the coordinate difference value.