The invention provides an automatic
ballast raking device for a railway
ballast track. The device comprises an automatic walking module, a line state sensing module, a railway
ballast cleaning module, a ballast raking module and an operation
control system, wherein the railway ballast cleaning module is used for cleaning railway ballast covering the end part of a sleeper, the middle part of the sleeper and the surface of a
fastener through a sweeper; sleeper end images are shot in real time through a visual sensor, a line state sensing module collects three-dimensional
point cloud data of a ballast
bed and the surrounding environment through a
laser radar, and an operation
control system recognizes the positions of sleepers according to the received sleeper end images and extracts the distance between the sleepers and the position of a sleeper box area. And according to the received ballast
bed point cloud data, identifying and modeling a ballast
bed profile before operation, calculating ballast raking amounts and ballast raking directions at different positions, and generating an
operation mode and operation parameters. According to the device, automatic
obstacle avoidance in the walking process is achieved, and self-adaptive adjustment and accurate control of operation parameters are achieved according to the
track bed profile. Manual intervention is not needed in the whole operation process.