Track circuit compensation capacitor intelligent positioning and marking robot and positioning and marking method

Abstract

The application discloses a track circuit compensation capacitor intelligent positioning marking robot, two driving motors are oppositely arranged on a walking trolley, shafts are connected with the driving motors respectively, track wheel telescopic connecting rod devices are connected with the two ends of the shafts respectively, a track wheel mounting rack is connected between the ends of the track wheel telescopic connecting rod devices on the two sides of the track wheel mounting rack, track wheels are mounted on the side of the track wheel mounting rack, track wheel driving devices are mounted on the inner side of the track wheel mounting rack, and the track wheel driving devices are connected with the track wheels; a shell is mounted on the front end of the walking trolley, a mechanical arm is mounted on the outer side of the shell, a marking line drawing spray gun and a rust removal spray gun are mounted on the end of the mechanical arm. The track circuit compensation capacitor intelligent positioning marking robot has the advantages that information screens, voice broadcast, Beidou positioning modularization, visual signals and light weight design are arranged, maintenance and function expansion are considered, and the track circuit compensation capacitor maintenance intelligent and green solution is provided.

Description

Technical Field

[0001] This invention relates to the field of outdoor electrical equipment installation technology for railway tracks, and in particular to an intelligent positioning and marking robot and positioning and marking method for track circuit compensation capacitors. Background Technology

[0002] Before installing outdoor signaling equipment on railway sections, the kilometer coordinates must be verified and marked. After confirming that they are correct, the resonant capacitors, resonant units and other signaling equipment are installed according to the markings. The length marking work is roughly divided into two parts: one part is the length of the line to determine the location of the marking equipment; the other part is the marking.

[0003] Currently, the length measurement and marking work of the track circuit is done manually. The traditional track circuit compensation capacitor measurement and layout is done manually by measuring each track section with a meter stick. Based on the actual measured length, the number of ZPW-2000 frequency shift track circuit compensation capacitors is calculated according to the setting requirements, using step size and half step size. Then, the position of the compensation capacitors is manually marked according to the length. The working conditions are poor, the length measurement accuracy is not easy to guarantee, and the marking operation consumes a lot of time.

[0004] We are considering developing an automated industrial robot to automatically complete the length measurement and marking of each track section. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a track circuit compensation capacitor intelligent positioning and marking robot and positioning and marking method.

[0006] This invention is achieved through the following technical solution:

[0007] A track circuit compensation capacitor intelligent positioning and marking robot includes a trolley with two drive motors mounted opposite each other on it. A rotating shaft is connected to the output end of each drive motor, and a track wheel telescopic linkage device is connected to both ends of each rotating shaft. A track wheel mounting frame is connected between the ends of the track wheel telescopic linkage devices. Track wheels are mounted on the sides of the track wheel mounting frame, and a track wheel drive device is mounted inside the track wheel mounting frame. The track wheel drive device is connected to the track wheels and drives the track wheel telescopic linkage devices to extend and retract via the drive motors, thereby driving the track wheels to move on the track. A housing is mounted at the front end of the trolley, and a robotic arm is mounted on the outside of the housing. A marking and drawing spray gun and a rust removal spray gun are mounted at the end of the robotic arm. The robotic arm drive device and a central control system are installed inside the housing. The robotic arm drive device is connected to the robotic arm, and the central control system is electrically connected to the control terminals of the drive motors, track wheel drive device, robotic arm drive device, marking and drawing spray gun, and rust removal spray gun.

[0008] The traveling trolley includes a base plate, with casters installed on the bottom of the base plate, and a partition fixed in the middle of the top of the base plate. The two drive motors are respectively installed on the left and right sides of the partition, and a housing mounting plate is fixed at the front end of the base plate. The housing is mounted on the housing mounting plate.

[0009] Rotary shaft support blocks are fixed to the front and rear ends and the middle part of the left and right sides of the partition, respectively. The rotating shaft is rotatably mounted on the rotating shaft support blocks and is arranged parallel to the partition.

[0010] The aforementioned track wheel telescopic linkage device includes four linkages. Linkage connecting blocks are fixed at the front and rear ends of the base plate of the traveling trolley. One end of linkage one is fixedly connected to the end of the rotating shaft, one end of linkage two is hinged to the side of the linkage connecting block, the other end of linkage one is hinged to one end of linkage three, the other end of linkage two is hinged to one end of linkage four, the side of linkage two is hinged to the side of linkage three, and the other ends of linkage three and linkage four are hinged to the side of the end of the track wheel mounting frame. The rotating shaft is driven to rotate by a drive motor, and the rotating shaft drives linkage one to rotate, thereby pushing or pulling linkage two, linkage three, and linkage four to achieve the extension or retraction of the track wheel.

[0011] The track wheel includes a track drive wheel and a track driven wheel, which are respectively installed at the front and rear ends of the track wheel mounting frame, and the track wheel drive device is connected to the track drive wheel.

[0012] The track drive wheel is equipped with a braking device.

[0013] The walking vehicle is equipped with a battery that powers the robot.

[0014] The walking trolley is equipped with multiple cameras and millimeter-wave radar, as well as a satellite positioning module. A human-machine interface and display screen are installed on the surface of the housing, and a voice broadcast module is installed inside the housing. Distance measuring devices are installed on the lower part of the track wheel mounting frames on both sides.

[0015] A positioning and marking method for a track circuit compensated capacitor intelligent positioning and marking robot includes the following steps:

[0016] (1) Move the robot to the starting position of the measurement track section, drive the motor to extend the track wheel telescopic linkage device so that the track wheels on both sides are engaged on the track;

[0017] (2) Input the station or station-to-section information into the human-computer interaction interface. The information includes the name of the track section, the design length, the carrier frequency information, and the number of standard setting capacitors and capacitor models of the ZPW-2000 frequency shift track section compensation capacitors. Manually verify the name of the track section to be measured and the measurement starting point. After verification, the robot enters the waiting state. At the same time, the initial absolute coordinates of the current track section of the robot are obtained through the satellite positioning module.

[0018] (3) Measure the length of the track section. The measurement is carried out by measuring the double track separately. The measurement data is displayed in real time on the screen and broadcast by voice at 10-meter intervals.

[0019] (4) Based on the track section length or the predetermined signal equipment position, visually confirm the position of the equipment corresponding to the measurement end and perform manual verification; calculate the actual length of the track circuit section at both ends of the track section by using the line center algorithm based on the measured left and right rail lengths, and then subtract the distance between the insulation joints at both ends of the track section and the tuning matching unit to obtain the actual clearance distance of the track circuit compensation area; based on the actual clearance distance of the track circuit compensation area, and according to the ZPW-2000 frequency shift track circuit compensation capacitor standard, determine the number of track section compensation capacitors corresponding to the actual clearance distance of the track circuit compensation area; and then calculate the distance Δ between the two compensation capacitors based on the actual clearance distance of the track circuit compensation area and the number of compensation capacitors.

[0020] (5) Measurement and marking: The robot returns from the measuring end to mark the position of each compensation capacitor;

[0021] (6) When the robot is placed in the first or last position, it uses visual signals to start the rust removal spray gun to remove rust and clean it according to the measured position. After rust removal, the robot starts the marking and drawing spray gun to mark and spray the track name, capacitor sequence number and model.

[0022] The specific details of the dual-track independent measurement are as follows: The track wheel drive device drives the robot to move synchronously along the dual tracks, and the distance measuring devices on both sides collect the distance traveled on the dual tracks in real time, which are L respectively. 左 and L 右 ;

[0023] The line centering algorithm is as follows: L 中心 =(L 左 +L 右 ) / 2; L 中心 This refers to the center length of the track, which is the actual length of the track circuit section at both ends of the track segment's insulating joints.

[0024] In step (5), the arrangement positions are arranged according to the Δ length, and the equipment at both ends of the track section with the closest distance is arranged using the Δ / 2 length.

[0025] The advantages of this invention are: The robot of this invention achieves integrated ground mobility and precise track positioning through a unique mechanism of "track wheel telescopic linkage + track wheel"; this invention changes the traditional measurement method, and the system completes the setting and arrangement of capacitors of actual length through track center algorithm and compensation capacitor setting algorithm. Through an information-based and intelligent set of equipment, it performs assembly-line measurement of multiple sections and long sections of track from a single section, greatly improving the efficiency of measurement and arrangement; combined with the measured capacitor positions, a rust removal and marking spraying device is set up to mark the capacitor positions, providing clear identification for subsequent rail drilling, significantly improving construction efficiency and reducing labor intensity; the inclusion of an information screen, voice broadcast, modular BeiDou positioning, visual signals, and lightweight design balances maintainability and functional expansion, making it an intelligent and green solution for the maintenance of track circuit compensation capacitors. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the robot of the present invention walking on the track;

[0027] Figure 2 This is a front view of the present invention;

[0028] Figure 3 This is a side view of the present invention;

[0029] Figure 4 This is a top view of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the track wheel after it has retracted according to the present invention;

[0031] Figure 6 This is a front view of the track wheel after it has retracted according to the present invention. Detailed Implementation

[0032] like Figure 1-6As shown, a track circuit compensation capacitor intelligent positioning and marking robot includes a walking vehicle 1. Two drive motors 2 are mounted opposite each other on the walking vehicle 1. A rotating shaft 3 is connected to the output end of each drive motor 2. Track wheel telescopic linkage devices 4 are connected to both ends of the rotating shafts 3. A track wheel mounting frame 5 is connected between the ends of the track wheel telescopic linkage devices 4. Track wheels 6 are mounted on the side of the track wheel mounting frame 5. A track wheel drive device 7 is mounted on the inner side of the track wheel mounting frame 5. The track wheel drive device 7 is connected to the track wheels 6 and is driven by the drive motors 2. The telescopic linkage device 4 of the moving track wheel extends and retracts, driving the track wheel 6 to move on the track through the track wheel drive device 7; a housing 8 is installed at the front end of the traveling trolley 1, and a robotic arm 9 is installed on the outside of the housing 8. A marking and drawing spray gun 10 and a rust removal spray gun 11 are installed at the end of the robotic arm 9. The robotic arm drive device and the main control system are installed inside the housing 8. The robotic arm drive device is connected to the robotic arm 9. The main control system is electrically connected to the control terminals of the drive motor 2, the track wheel drive device 7, the robotic arm drive device, the marking and drawing spray gun 10, and the rust removal spray gun 11, respectively.

[0033] The walking trolley 1 includes a base plate 12, with casters 13 installed on the bottom of the base plate 12, and a partition 14 fixed in the middle of the top of the base plate 12. The two drive motors 2 are respectively installed on the left and right sides of the partition 14. A housing mounting plate 15 is fixed at the front end of the base plate 12, and the housing 8 is installed on the housing mounting plate 15.

[0034] Rotary shaft support blocks 16 are fixed on the front and rear ends and the middle part of the left and right sides of the partition 14, respectively. The rotating shaft 3 is rotatably mounted on the rotating shaft support blocks 16, and the rotating shaft 3 is arranged parallel to the partition 14.

[0035] The track wheel telescopic linkage device 4 includes four linkages. Linkage connecting blocks are fixed at the front and rear ends of the base plate 12 of the traveling trolley 1. One end of linkage one is fixedly connected to the end of the rotating shaft 3. One end of linkage two is hinged to the side of the linkage connecting block. The other end of linkage one is hinged to one end of linkage three. The other end of linkage two is hinged to one end of linkage four. The side of linkage two is hinged to the side of linkage three. The other ends of linkage three and linkage four are hinged to the side of the end of the track wheel mounting frame 5. The rotating shaft 3 is driven to rotate by the drive motor 2. The rotating shaft 3 drives linkage one to rotate, thereby pushing or pulling linkage two, linkage three, and linkage four to achieve the extension or retraction of the track wheel 6.

[0036] The track wheel 6 includes a track drive wheel 17 and a track driven wheel 18, which are respectively installed at the front and rear ends of the track wheel mounting frame 5. The track wheel drive device 7 is connected to the track drive wheel 17.

[0037] The track drive wheel 17 is equipped with a braking device.

[0038] A battery 22 for powering the robot is installed on the walking vehicle 1.

[0039] Multiple cameras 19 and millimeter-wave radar 20 are installed on the walking vehicle 1. The millimeter-wave radar is mainly used for environmental perception and safety assurance. A satellite positioning module is also installed. A human-machine interface and display screen are installed on the surface of the housing 8. A voice broadcast module is also installed inside the housing 8. Distance measuring devices are installed on the lower part of the track wheel mounting frame on both sides.

[0040] A positioning and marking method for a track circuit compensated capacitor intelligent positioning and marking robot includes the following steps:

[0041] (1) Move the robot to the starting position of the measurement track section, press the automatic extension control button or manually open the extension control device, drive motor 2 to drive the track wheel extension linkage device 4 to extend, so that the track wheels 6 on both sides are engaged on the track 21; adapt to the track gauge (standard gauge 1435mm) to ensure reliable contact between the double track wheels and the track, providing a mechanical basis for movement. Electric drive and positioning start, corresponding to the verification of the starting measurement position.

[0042] (2) Input the station or station-to-section information into the human-computer interaction interface. The information includes the name of the track section, the design length, the carrier frequency information, and the number of standard setting capacitors and capacitor models of the ZPW-2000 frequency shift track section compensation capacitors. Manually verify the name of the track section to be measured and the measurement starting point. After verification, the robot enters the waiting state. At the same time, the initial absolute coordinates of the current track section of the robot are obtained through the satellite positioning module.

[0043] (3) Measure the length of the track section. The measurement is carried out by measuring the double track separately. The measurement data is displayed in real time on the screen and broadcast by voice at 10-meter intervals.

[0044] (4) Based on the track section length or the predetermined signal equipment position, visually confirm the position of the equipment corresponding to the measurement end and perform manual verification; calculate the actual length of the track circuit section at both ends of the track section by using the line center algorithm based on the measured left and right rail lengths, and then subtract the distance between the insulation joints at both ends of the track section and the tuning matching unit to obtain the actual clearance distance of the track circuit compensation area; based on the actual clearance distance of the track circuit compensation area, and according to the ZPW-2000 frequency shift track circuit compensation capacitor standard, determine the number of track section compensation capacitors corresponding to the actual clearance distance of the track circuit compensation area; and then calculate the distance Δ between the two compensation capacitors based on the actual clearance distance of the track circuit compensation area and the number of compensation capacitors.

[0045] (5) Measurement, layout, marking, and spraying: The robot returns from the end of the measurement to the layout of each compensation capacitor position; the layout positions are arranged according to the Δ length, and the equipment at the two ends of the track section with the closest distance is arranged using the Δ / 2 length.

[0046] (6) When the robot is placed in the first or last position, it uses visual signals to start the rust removal spray gun to remove rust and clean it according to the measured position. After rust removal, the robot starts the marking and drawing spray gun to mark and spray the track name, capacitor sequence number and model.

[0047] The specific details of the dual-track independent measurement are as follows: The track wheel drive device 7 drives the robot to move synchronously along the dual tracks, and the distance measuring devices on both sides collect the distance traveled on the dual tracks in real time, which are L respectively. 左 and L 右 Because the orbits are parallel, theoretically L 左 =L 右 In reality, there is a slight deviation due to track deformation.

[0048] The line centering algorithm is as follows: L 中心 =(L 左 +L 右 ) / 2; L 中心 The track center length is used to eliminate double-rail deviation and ensure that the markings are aligned along the center line. The track center length is the actual length of the track circuit section at both ends of the track section's insulating joints.

[0049] In curved sections of railway tracks, the lengths of the left and right rails are not equal (the outer rail is longer than the inner rail). Directly using the length of either rail to calculate the placement of the compensation capacitors will introduce errors. Therefore, it is necessary to measure the lengths of both rails separately, and then use the length of the "track centerline" to represent the actual length of the track circuit section at both ends of the track segment's insulating joints.

[0050] This invention is based on four core modules: mechanical structure linkage, environmental perception and positioning, actuator operation, and overall control system coordination. It achieves automated positioning, rust removal, and marking of track circuit compensation capacitors. The specific workflow of this invention is as follows:

[0051] I. Switching between movement modes and preparing for track walking

[0052] The robot switches between "ground movement" and "rail walking" modes via the track wheel telescopic linkage device 4, preparing for operation on the track.

[0053] Initial state: The track wheel 6 is in the "retracted" state through the telescopic linkage device, and the foot rollers 13 at the bottom of the walking trolley 1 are in contact with the ground. It can be pushed on the ground by manual or auxiliary equipment, which makes it easy to transfer the robot to the vicinity of the target track.

[0054] Track docking: When it is necessary to enter the track for operation, the main control system sends a command to the drive motor 2. The drive motor 2 drives the rotating shaft 3 to rotate on the rotating shaft support block 16 (to ensure rotational stability). The connecting rod 1 fixed at the end of the rotating shaft 3 rotates with the rotating shaft 3. Through the hinge relationship with connecting rod 2, connecting rod 3 and connecting rod 4 (four-bar linkage structure), it pushes the track wheel mounting frame 5 to extend outward, so that the track wheel 6 (including the driving wheel and the driven wheel) is engaged on the track, completing the "track walking" mode switch.

[0055] II. Track Movement and Target Positioning

[0056] After switching to track mode, the robot moves along the track via the drive system;

[0057] Track travel drive: The main control system controls the track wheel drive device 7 to start, which drives the motor connected to the track drive wheel 17 to run. The track drive wheel 17 drives the driven wheel to rotate, realizing the robot's autonomous travel along the track. During the travel, the track driven wheel 18 assists in supporting the robot body to ensure the stability of the travel.

[0058] III. Fixing the working position and operating the actuator

[0059] Input the station or station-to-section information into the human-machine interface. The information includes the track section name, design length, carrier frequency information, and the number and model of the ZPW-2000 frequency shift track section compensation capacitors. Manually verify the track section name and measurement start point. After verification, the robot enters the waiting state. At the same time, the initial absolute coordinates of the robot's current track section are obtained through the satellite positioning module.

[0060] The length of the track section is measured using a dual-track separate measurement method. The measurement data is displayed digitally on the screen in real time and broadcast verbally at 10-meter intervals.

[0061] Based on the track section length or the predetermined signal equipment location, visually confirm the location of the equipment corresponding to the measurement end, and then manually verify it; based on the measured left and right rail lengths, perform a line center algorithm to calculate the actual length of the track circuit section at both ends of the track section insulation joint, and then subtract the distance between the insulation joint at both ends of the track section and the tuning matching unit to obtain the actual clearance distance of the track circuit compensation area; based on the actual clearance distance of the track circuit compensation area, according to the ZPW-2000 frequency shift track circuit compensation capacitor standard, determine the number of track section compensation capacitors corresponding to the actual clearance distance of the track circuit compensation area; and then calculate the distance Δ between the two compensation capacitors based on the actual clearance distance of the track circuit compensation area and the number of compensation capacitors.

[0062] The measurement is returned to the location of the compensation capacitor. The placement is based on a length of Δ, where Δ is the standard spacing. At the two ends of the track section where the equipment is closest, a length of Δ / 2 is used.

[0063] When the robot is positioned at the first or last position, it uses visual signals to measure the position and starts the rust removal spray gun 11 to remove rust and clean it. After rust removal, the robot starts the marking and drawing spray gun 10 to mark and spray the track name, capacitor sequence number and model.

[0064] When removing rust or spraying markings, the central control system sends a command to the braking device, which activates and locks the track drive wheel 17 to ensure that the robot does not shift during operation and to guarantee operational accuracy.

[0065] IV. Homework Completion and Follow-up Actions

[0066] After a single compensation capacitor operation is completed, the robot is reset via the central control system and enters the next cycle.

[0067] Actuator reset: The central control system controls the robotic arm drive device to make the robotic arm 9 drive the spray gun back to the initial position to avoid collision with the track components during movement.

[0068] Release the brakes and continue driving: The brake device is released, the track wheel drive device 7 is restarted, and the robot travels along the track to the next compensation capacitor position, repeating the "positioning-fixing-rust removal-marking" process.

[0069] Operation completion switching mode: After all target compensation capacitor operations are completed, the main control system controls the drive motor 2 to reverse, and drives the track wheel 6 to retract through the linkage mechanism. The robot switches back to the "ground movement" mode and is transferred to the storage area or the next operation track by the foot rollers 13.

[0070] This robot can measure one track segment or multiple track segments simultaneously. Before measurement, the system confirms whether to perform single or multiple segment measurements. Multi-segment measurement is a streamlined operation, eliminating the need to return to the deployment of capacitors for each track segment. For example, if 10 segments of a 10-kilometer track are measured at once, the system can check the starting and ending positions of each segment, store the data, and then return to the deployment site once the measurement is completed, greatly improving the efficiency of measurement and deployment.

[0071] The robot of this invention is designed with "ground rollers 13 (ground transfer) + track wheels 6 telescopic linkage (track operation)", which can quickly switch between the ground and the track without the need for additional hoisting equipment.

[0072] The track wheel telescopic linkage device 4 of the present invention can be adapted to railway tracks with different gauges (such as the standard gauge of conventional railways and high-speed railways) through linkage adjustment, without the need for customized equipment for different tracks, and has strong versatility.

[0073] The traditional process requires manual measurement of track length (using a ruler or laser rangefinder), manual calculation of capacitor position (referencing the ZPW-2000 standard), manual rust removal (using sandpaper or a small rust remover), and manual marking (using a paint can). The entire process requires at least 2-3 people, resulting in low efficiency and large errors.

[0074] The robot of this invention automates the entire process of "measurement → calculation → rust removal → marking": only one person is needed to complete parameter input and endpoint verification, and voice broadcasts at 10-meter intervals eliminate the need for human supervision. The operation time for a single section can be reduced by more than 50%, while avoiding subjective errors caused by human operation.

[0075] For the ZPW-2000 frequency shift track circuit widely used in the railway industry, the system has a built-in "compensation capacitor placement algorithm" that can automatically load standard parameters without the need for manual consultation of industry specifications. This avoids placement errors caused by human misunderstanding and ensures that the operation meets the technical requirements of the railway signaling system.

[0076] This invention replaces traditional manual operations with "automation, precision, and standardization." Through an integrated design of "walking adaptation + industry algorithm + coordinated execution," it solves the core pain points of "low efficiency, large error, high labor intensity, and poor standardization" in track compensation capacitor marking. It is particularly suitable for the railway industry's high precision and high reliability requirements for signal systems and has strong field application value.

Claims

1. A method for intelligent positioning and marking of track circuit compensation capacitors, characterized in that: A track-circuit-compensated capacitor-based intelligent positioning and marking robot is described. The robot includes: a trolley with two drive motors mounted opposite each other. A rotating shaft is connected to the output of each drive motor, and a track wheel telescopic linkage is connected to both ends of each rotating shaft. A track wheel mounting frame is connected between the ends of the track wheel telescopic linkages. Track wheels are mounted on the sides of the track wheel mounting frame, and a track wheel drive device is mounted inside the mounting frame. The track wheel drive device is connected to the track wheels and drives the track wheel telescopic linkages to extend and retract via the drive motors, thus driving the track wheels to move on the track. A housing is mounted at the front end of the trolley, and a robotic arm is mounted on the outside of the housing. A marking / line-drawing spray gun and a rust-removing spray gun are mounted at the ends of the robotic arm. A robotic arm drive device and a central control system are installed inside the housing. The robotic arm drive device is connected to the robotic arm, and the central control system is electrically connected to the control terminals of the drive motors, track wheel drive device, robotic arm drive device, marking / line-drawing spray gun, and rust-removing spray gun. The method includes the following steps: (1) Move the robot to the starting position of the measurement track section, drive the motor to extend the track wheel telescopic linkage device so that the track wheels on both sides are engaged on the track; (2) Input information into the human-machine interface. The information includes the name of the track section, the design length, the carrier frequency information, and the number of standard setting capacitors and capacitor models of the ZPW-2000 frequency shift track section compensation capacitors. Manually verify the name of the track section and the measurement starting point. After verification, the robot enters the waiting state. At the same time, the initial absolute coordinates of the current track section of the robot are obtained through the satellite positioning module. (3) Measure the length of the track section. The measurement is carried out by measuring the double track separately. The measurement data is displayed on the screen in real time and broadcast by voice at 10-meter intervals. (4) Based on the track section length or the predetermined signal equipment position, visually confirm the position of the equipment corresponding to the measurement end and perform manual verification; calculate the actual length of the track circuit section at both ends of the track section by using the line center algorithm based on the measured double track length, and then subtract the distance between the insulation joints at both ends of the track section and the tuning matching unit to obtain the actual clearance distance of the track circuit compensation area; based on the actual clearance distance of the track circuit compensation area, and according to the ZPW-2000 frequency shift track circuit compensation capacitor standard, obtain the number of track section compensation capacitors corresponding to the actual clearance distance of the track circuit compensation area; and then calculate the distance Δ between the two compensation capacitors based on the actual clearance distance of the track circuit compensation area and the number of compensation capacitors. (5) Marking and spraying: The robot returns from the measuring end to mark and spray each compensation capacitor position; (6) When the robot is placed in the first or last position, it uses visual signals to start the rust removal spray gun to remove rust and clean it according to the measured position. After rust removal, the robot starts the marking and drawing spray gun to mark and spray the track name, capacitor sequence number and model.

2. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 1, characterized in that: The traveling trolley includes a base plate, with casters installed on the bottom of the base plate, and a partition fixed in the middle of the top of the base plate. The two drive motors are respectively installed on the left and right sides of the partition, and a housing mounting plate is fixed at the front end of the base plate. The housing is mounted on the housing mounting plate.

3. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 2, characterized in that: Rotary shaft support blocks are fixed to the front and rear ends and the middle part of the left and right sides of the partition, respectively. The rotating shaft is rotatably mounted on the rotating shaft support blocks and is arranged parallel to the partition.

4. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 2, characterized in that: The aforementioned track wheel telescopic linkage device includes four linkages. Linkage connecting blocks are fixed at the front and rear ends of the base plate of the traveling trolley. One end of linkage one is fixedly connected to the end of the rotating shaft, one end of linkage two is hinged to the side of the linkage connecting block, the other end of linkage one is hinged to one end of linkage three, the other end of linkage two is hinged to one end of linkage four, the side of linkage two is hinged to the side of linkage three, and the other ends of linkage three and linkage four are hinged to the side of the end of the track wheel mounting frame. The rotating shaft is driven to rotate by a drive motor, and the rotating shaft drives linkage one to rotate, thereby pushing or pulling linkage two, linkage three, and linkage four to achieve the extension or retraction of the track wheel.

5. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 1, characterized in that: The track wheel includes a track drive wheel and a track driven wheel, which are respectively installed at the front and rear ends of the track wheel mounting frame, and the track wheel drive device is connected to the track drive wheel.

6. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 5, characterized in that: The track drive wheel is equipped with a braking device; the walking trolley is equipped with a battery to power the robot.

7. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 1, characterized in that: The mobile vehicle is equipped with multiple cameras and millimeter-wave radar, as well as a satellite positioning module. A human-machine interface and display screen are installed on the surface of the housing, and a voice broadcast module is installed inside the housing. Distance measuring devices are installed on the lower part of the track wheel mounting brackets on both sides.

8. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 1, characterized in that: The specific details of the dual-track independent measurement are as follows: The track wheel drive device drives the robot to move synchronously along the dual tracks, and the distance measuring devices on both sides collect the distance traveled on the dual tracks in real time, which are L respectively. 左 and L 右 ; The line centering algorithm is as follows: L 中心 =(L 左 +L 右 ) / 2; L 中心 This refers to the center length of the track, which is the actual length of the track circuit section at both ends of the track segment's insulating joints.

9. The intelligent positioning and marking method for track circuit compensation capacitors according to claim 1, characterized in that: In step (5), the compensation capacitors are arranged in the track section according to the length Δ, and the compensation capacitors at both ends of the section near the signal equipment are arranged with a length of Δ / 2.

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