Fire carriage cleaning system and method
By introducing automatic cleaning devices and radar detection technology into the train car cleaning system, the cleaning speed of the train car is matched to the scoring speed of the train car, the problem of low cleaning efficiency in the existing technology is solved and efficient train car cleaning is achieved.
Patent Information
- Application Number
- CN202411863277.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-17
- Publication Date
- 2025-03-07
AI Technical Summary
In the prior art, the train car cleaning method requires the train car to be stationary before cleaning is carried out, resulting in low efficiency and need to queue up to clean it in sequence.
A train car cleaning system is designed, including a cart track and an automatic cleaning device. The radar is used to detect the sliding speed of the train car. The automatic cleaning device matches the sliding speed of the train car for cleaning.
It realizes cleaning when the train car is sliding, improves cleaning efficiency and avoids the inefficiency of queuing in sequence of train cars.
Smart Images
Figure CN119568784A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of train compartment cleaning, and in particular relates to a train compartment cleaning system and method. Background Art
[0002] When unloading coal from a train car, a car tipper is usually used. A car tipper refers to a large mechanical equipment used to tip over bulk materials from an open car running on a train track. It is a loading and unloading machine that can flip a train car running on a train track to unload materials. A car pusher is needed during the tipping process. The car pusher includes a car pusher body and a car pusher arm. When working, a train car loaded with coal travels into the car tipper, and the car tipper holds the train car tightly and flips it over to unload the coal in the train car. After the car tipper flips over and unloads the coal, the car pusher body drives the car pusher arm to rotate downward to hook the hook on the rear side wall in the direction of travel of the train car, and pushes the empty train car out of the car tipper. Then the car pusher body drives the car pusher arm to rotate upward, thereby removing the hook hooked on the train car, and returns along the car pusher track to the rear of the direction of travel of the empty train car after the car tipper flips over and unloads the coal. At this time, the car pusher repeats the car pushing operation.
[0003] As an important means of unloading coal from train carriages, the car tipper can complete the unloading of coal in about 20 seconds and is highly efficient. However, after unloading the coal, a certain amount of loose coal still remains in the empty train carriage, which needs to be cleaned.
[0004] However, after unloading the coal, the empty train carriage will slide for a period of time under the thrust and inertia of the pusher before it comes to rest. The existing cleaning method is to clean the train carriage when it is stationary. This cleaning method easily requires the train carriages to line up in turn for cleaning, which is inefficient. Therefore, the present invention provides a train carriage cleaning system and method. Summary of the invention
[0005] The present invention provides a train carriage cleaning system and method, so as to at least solve the problem that the cleaning method in the prior art is to clean the empty carriages in a stationary state, which easily requires the empty carriages to be cleaned in a queue in turn, resulting in low efficiency.
[0006] In a first aspect, an embodiment of the present application provides a train carriage cleaning system, comprising a trolley track installed on one side of a train track and an automatic cleaning device, wherein the trolley track is parallel to the train track, a trolley is provided on the trolley track, and the automatic cleaning device is located in the forward direction of the train carriage, and is used for cleaning the train carriage and matching the sliding speed of the train carriage on the train track.
[0007] Furthermore, the automatic cleaning device includes a radar and a cleaning equipment body, the radar is installed on the train track, the radar is located outside the working area of the tipping machine, and is located between the tipping machine and the automatic cleaning device.
[0008] Furthermore, the cleaning equipment body includes a main control module, a nozzle body device, a steering wheel, a water tank, a chassis, a generator, a fan, an engine assembly device, a storage box, a battery pack and a cab; The cab is installed on the upper part of the chassis, the steering wheel is installed on the lower part of the chassis, and the steering wheel is connected to the main control module; The generator is used to generate electricity, and the generator is connected to the battery pack to store electricity in the battery pack; The battery pack is connected to the steering wheel and is used to provide power to the steering wheel; The fan and the engine assembly device are both installed on the upper part of the chassis, and the fan is connected to the nozzle body device; The water tank is used to spray water mist to reduce dust on the coal in the storage box; A material storage box door is installed on the material storage box.
[0009] Furthermore, a sensor is installed on the nozzle body device; The main control module is connected to the sensor.
[0010] In a second aspect, an embodiment of the present application further provides a train compartment cleaning method applied to the train compartment cleaning system as described in the above aspects, the method comprising: After the car tipper completes the unloading operation, it sends a signal of completing the unloading operation to the car pusher; After the automatic cleaning device completes the cleaning operation, it returns to the initial position of the automatic cleaning device, and when the automatic cleaning device reaches the initial position, it sends an in-position signal to the cart pusher; After the pusher receives the unloading operation completion signal and the automatic cleaning device in place signal, the pusher pushes the train carriage out of the working area of the tipper; After the pusher is in place, return to the initial position of the pusher; The automatic cleaning device matches the sliding speed of the train carriage on the train track and cleans the train carriage.
[0011] Furthermore, the automatic cleaning device matches the sliding speed of the train carriage on the train track and cleans the train carriage, including: The radar scans the rear of the train carriage and calculates the speed of the train carriage and the horizontal distance from the radar; The radar sends the calculated speed of the train carriage and the horizontal distance from the radar to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage and cleans the train carriage during the sliding process.
[0012] Further, the radar sends the calculated speed of the train carriage and the horizontal distance from the radar to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage and cleans the train carriage during the sliding process, including: The radar sends the calculated speed of the train carriage and the horizontal distance from the radar to the main control module; The main control module receives the speed of the train carriage and the horizontal distance from the radar, and controls the steering wheel operation based on the speed of the train carriage and the horizontal distance from the radar, so that the cleaning equipment body matches the sliding speed of the train carriage and cleans the train carriage during the sliding process.
[0013] Furthermore, the method further comprises: A sensor is installed on the cleaning device body, and the main control module collects the distance between the cleaning device body and the front of the train car in the forward direction through the sensor; When it is determined that the distance is zero: The cleaning device body returns to the initial position of the cleaning device body, and sends an in-position signal to the pusher when the cleaning device body reaches the initial position.
[0014] It can be seen from the above technical solutions that the present invention has the following advantages: In the train car cleaning system provided in the present application, after the train car is unloaded with coal, it is pushed out of the working area of the dumper by the pusher and continues to slide under the action of inertia. The automatic cleaning device matches the sliding speed of the train car and cleans the train car while it slides, thereby realizing the cleaning of the train car while it slides and improving the cleaning efficiency.
[0015] The radar calculates the speed of the train carriage pushed by the pusher outside the working area of the tipper and the horizontal distance from the radar, and sends the calculated speed of the train carriage and the horizontal distance from the radar to the cleaning device body. After receiving the speed of the train carriage and the horizontal distance from the radar, the cleaning device body adjusts its own running speed to ensure that the speed of the cleaning device body is greater than the speed of the train carriage. When the cleaning operation begins, the cleaning device body can adjust its own driving speed according to the received speed of the train carriage and the horizontal distance from the radar to meet the operation requirements. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.
[0017] Figure 1 This is a schematic diagram of the train compartment cleaning system in operation.
[0018] Figure 2 This is a schematic diagram of the structure of the cleaning equipment body of the train carriage cleaning system.
[0019] Figure 3 It is a side view of the cleaning equipment body of the train carriage cleaning system.
[0020] Figure 4 Schematic diagram of a train car passing by the radar of the train car cleaning system.
[0021] Figure markings: 1-car tipper, 2-coal, 3-cart pusher, 4-suction nozzle device, 5-cleaning equipment body, 6-train compartment, 7-train track, 8-radar, 9-cart pusher track, 501-steering wheel, 502-water tank, 503-chassis, 504-generator, 505-storage box door, 506-fan, 507-engine assembly device, 508-sensor, 509-storage box, 510-battery pack, 511-cab. DETAILED DESCRIPTION
[0022] Various embodiments of the present disclosure will be described more fully in the train car cleaning system and method described in detail below. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.
[0023] Hereinafter, the terms "include" or "may include" used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present disclosure, the terms "include", "have", and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or a combination of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or a combination of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or a combination of the foregoing.
[0024] In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.
[0025] The expressions (such as "first", "second", etc.) used in the various embodiments of the present disclosure may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.
[0026] It should be noted that if it is described that one component element is “connected” to another component element, the first component element may be directly connected to the second component element, and a third component element may be “connected” between the first component element and the second component element. Conversely, when one component element is “directly connected” to another component element, it can be understood that there is no third component element between the first component element and the second component element.
[0027] The term “user” used in various embodiments of the present disclosure may indicate a person who uses an electronic device, and may be a monitoring person, a test person, or an operator.
[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0029] At present, when unloading coal from a train car, a tipper 1 is usually used. The tipper 1 refers to a large mechanical equipment used to tip and unload bulk materials from an open car running on a train track 7. It is a loading and unloading machine that can flip the train car 6 running on the train track 7 to unload materials. A pusher is needed in the tipping process. The pusher 3 includes a pusher body and a pusher arm. When working, the train car 6 loaded with coal 2 travels into the tipper 1, and the tipper 1 holds the train car 6 tightly and flips it to unload the coal 2 in the train car 6. After the tipper 1 flips and unloads the coal 2, the pusher body drives the pusher arm to rotate downward to hook the hook on the rear side wall of the train car 6 in the direction of travel, and pushes the empty train car 6 out of the tipper 1. Then the pusher body drives the pusher arm to rotate upward, thereby removing the hook hooked on the train car 6, and returns along the pusher track 9 to the rear of the empty train car 6 in the direction of travel after the tipper 1 flips and unloads the coal 2. At this time, the cart pushing machine 3 repeats the cart pushing operation.
[0030] As an important means of unloading coal 2 from a train carriage 6, the dumper 1 can complete the unloading of coal 2 in about 20 seconds, and has the characteristic of high efficiency. However, a certain amount of loose coal still remains in the empty train carriage 6 after unloading the coal 2, and the loose coal needs to be cleaned.
[0031] However, the empty train carriage 6 after unloading the coal 2 will slide for a period of time under the thrust and inertia of the pusher 3 before it comes to a stop. The existing cleaning method is to clean the train carriage 6 when it is stationary. This cleaning method easily requires the train carriages 6 to line up in sequence for cleaning, which is inefficient.
[0032] To this end, the embodiment of the present application provides a train compartment cleaning system and method to solve the technical problem that the existing cleaning method is to clean the train compartment 6 when it is stationary, which easily requires the train compartment 6 to queue up in turn for cleaning, resulting in low efficiency.
[0033] The technical solution proposed in the embodiments of the present application is described in detail below with reference to the accompanying drawings.
[0034] Combination Figures 1 to 3 A train carriage cleaning system includes a pusher track 9 installed on one side of a train track 7 and an automatic cleaning device, wherein the train track 7 is used for the train carriage 6 to slide, and the automatic cleaning device is used to clean the train carriage 6. The pusher track 9 is parallel to the train track 7, and a pusher 3 is provided on the pusher track 9. The pusher 3 can slide on the pusher track 9 to push the empty train carriage 6 out of the working area of the tipping machine 1. The automatic cleaning device is installed on one side of the train track 7 and is located in the forward direction of the train carriage 6, and is used to clean the train carriage 6 and match the sliding speed of the train carriage 6 on the train track 7.
[0035] After the train carriage 6 has unloaded the coal 2, it is pushed out of the working area of the car dumper 1 by the car pusher 3 and continues to slide under the action of inertia. The automatic cleaning device matches the sliding speed of the train carriage 6 and cleans the train carriage 6 when the train carriage 6 slides, thereby realizing the cleaning of the train carriage 6 when it slides, and improving the cleaning efficiency.
[0036] In an exemplary embodiment, the automatic cleaning device includes a radar 8 and a cleaning device body 5, wherein the radar 8 is installed on the train track 7, and the radar 8 is located outside the working area of the tipping machine 1 and between the tipping machine 1 and the automatic cleaning device.
[0037] The radar 8 is used to calculate the speed of the train carriage 6 pushed by the pusher 3 outside the working area of the dumper 1 and the horizontal distance from the radar 8, and send the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the cleaning device body. After receiving the speed of the train carriage 6 and the horizontal distance from the radar 8, the cleaning device body adjusts its own running speed to ensure that the cleaning device body travels to the area next to the train carriage 6, and at the same time ensures that the speed of the cleaning device body is greater than the speed of the train carriage 6 when the cleaning operation begins. The cleaning device body can adjust its own driving speed according to the received speed of the train carriage 6 and the horizontal distance from the radar 8 to meet the operation requirements. In this embodiment, the radar 8 is installed just above the center line of the train track 7.
[0038] Radar speed measurement mainly uses the Doppler effect principle: when the target approaches the radar antenna, the frequency of the reflected signal will be higher than the transmitter frequency; conversely, when the target moves away from the antenna, the frequency of the reflected signal will be lower than the frequency of the signal transmission. In this way, the relative speed between the target and the radar can be calculated by the change in frequency.
[0039] The expression is:
[0040] Where: Indicates the Doppler frequency in Hz; Indicates the propagation speed of electromagnetic waves (3×105km / s); Indicates the unit conversion factor (103 / 3.6); It indicates the nominal value of microwave transmission frequency, in MHz; Indicates the calculated speed of train carriage 6 in km / h.
[0041] Speed is a vector quantity rather than a scalar quantity, so the magnitude of speed is not only related to the magnitude of the quantity, but also to the direction. The microwave signal emitted by the radar 8 has a certain inclination angle, and the speed detected by the radar 8 is not the actual speed of the train car 6. Figure 4 , set ∠ABC to , then the actual speed of train car 6 is:
[0042] in, is the speed detected by the radar 8 .
[0043] Similarly, the actual distance between the train compartment 6 and the radar 8 is:
[0044] In the formula, Indicates the actual distance between the train compartment 6 and the radar 8, Indicates the distance from point B to the second location point C.
[0045] In this embodiment, after the train car 6 that has unloaded coal passes the radar 8, the microwave transmitting module of the radar 8 transmits a microwave signal to the train car 6. The microwave signal is reflected back to the microwave receiving module of the radar 8 after passing through the tail of the train car 6. When the train car 6 moves away from the radar, the frequency of the reflected microwave signal will be lower than the probability of transmitting the microwave. Therefore, the signal processing module of the radar 8 calculates the relative speed between the train car 6 and the radar 8 by the change value of the frequency, and sends the calculated speed of the train car 6 and the horizontal distance from the radar 8 to the cleaning device body 5.
[0046] It can be understood that the traveling speed of the cleaning equipment body 5 needs to be greater than the sliding speed of the train carriage 6, that is, the speed of the cleaning equipment body 5 is greater than the speed of the train carriage 6 calculated by the signal processing module, so that the cleaning equipment body 5 moves relative to the train carriage 6.
[0047] Since there is friction between the train carriage 6 and the train track, based on the friction and the calculated speed of the train carriage 6, the time when the train carriage 6 reaches the initial position of the cleaning device body 5 is predicted. The cleaning device body 5 adjusts its own running speed based on the time and the speed of the train carriage 6, and calculates the time point when the suction nozzle device 4 descends based on the time and the speed of the train carriage 6. When the suction nozzle device 4 descends, it is necessary to ensure that the suction nozzle device 4 just falls into the train carriage 6, and ensure that the suction nozzle device 4 descends to the position before the predicted time when the train carriage 6 arrives at the initial position of the cleaning device body 5. After the cleaning device body 5 cleans the train carriage 6, it lifts the suction nozzle device 4 and returns to the initial position. When the cleaning device body 5 returns to the initial position, it sends an in-position signal to the cart pusher 3. After receiving the unloading operation completion signal and the automatic cleaning device in-position signal, the cart pusher 3 pushes the train carriage 6 out of the working area of the tipping machine 1, so that the cleaning operation can be performed more orderly.
[0048] It should be noted that the cleaning device body 5 is an AGV train carriage cleaning device made based on the AGV chassis. The cleaning device body 5 includes a main control module, a suction nozzle device 4, a steering wheel 501, a water tank 502, a chassis 503, a generator 504, a fan 506, an engine assembly device 507, a storage box 509, a battery pack 510 and a cab 511; The cab 511 is installed on the upper part of the chassis 503, the steering wheel 501 is installed on the lower part of the chassis 503, and the steering wheel 501 is connected to the main control module; The generator 504 is used for generating electricity. The generator 504 is connected to the battery pack 510 and is used for storing electricity in the battery pack 510. The battery pack 510 is connected to the steering wheel 501 and is used to provide power to the steering wheel 501; The fan 506 and the engine assembly device 507 are both installed on the upper part of the chassis 503, and the fan 506 is connected to the nozzle body device 4; The engine assembly device 507 drives the fan 506 to operate to generate negative pressure, and the generated negative pressure passes through the suction nozzle device 4 to generate suction force under the suction nozzle device 4, so as to suck the remaining coal 2 in the train car 6 into the storage box 509; The water tank 502 is used to spray water mist to reduce dust from the coal in the storage box 509; The storage box 509 is provided with a storage box door 505. When the storage box 509 is full of coal, the storage box door 505 is opened to pour out the coal.
[0049] According to an embodiment of the present application, a sensor 508 is installed on the nozzle body device 4; The main control module is connected to the sensor 508. The main control module collects the distance between the cleaning device body and the front of the train car 6 in the forward direction through the sensor 508; when it is determined that the size of the distance is zero, the cleaning device body 5 returns to its initial position (third position point A), and sends a position signal to the cart pusher 3 after reaching its initial position.
[0050] In order to ensure safety and order, the main control module detects the distance between the cleaning device body and the front of the train car 6 in the forward direction. Figure 1 As shown, the cleaning device body cleans from the rear to the front along the forward direction of the train carriage 6, that is, cleans from the direction of A to B. When the distance is zero, it indicates that the cleaning device body cleans to the front position of the train carriage 6. At this time, the cleaning device body 5 returns to its initial position (the third position point A), and sends an in-place signal to the trolley machine 3 after reaching its initial position. The trolley machine 3 pushes the train carriage 6 out of the working area of the tipping machine 1 only after receiving the unloading operation completion signal and the automatic cleaning device in-place signal, so that the cleaning operation can be performed more orderly.
[0051] Specifically, the sensor 508 is installed on the suction nozzle device 4. When the sensor 508 detects that the distance to the front of the train carriage 6 is zero, that is, when the suction nozzle device 4 cleans to the front position of the train carriage 6, it means that the cleaning is completed.
[0052] The present invention provides a method for cleaning a train compartment, which specifically comprises the following steps: After the car tipper 1 completes the unloading operation, it sends a signal to the car pusher 3 indicating that the unloading operation is completed; After the automatic cleaning device completes the cleaning operation, it returns to the initial position of the automatic cleaning device, and when the automatic cleaning device reaches the initial position, it sends an in-position signal to the pusher 3; After the pusher 3 receives the signal that the unloading operation is completed and the signal that the automatic cleaning device is in place, the pusher 3 pushes the train carriage 6 out of the working area of the tipper 1; After the pusher 3 is in place, the pusher 3 returns to its initial position; The automatic cleaning device matches the sliding speed of the train carriage 6 on the train track 7 and cleans the train carriage 6.
[0053] It should be noted that the initial position of the automatic cleaning device is Figure 1 The third position point A in .
[0054] The initial position of the pusher 3 is Figure 1 The second position point C in the figure, the arrival point of the pusher 3 is Figure 1 The first position point D in .
[0055] In one embodiment, the automatic cleaning device matches the sliding speed of the train carriage 6 on the train track 7 and cleans the train carriage 6, including: The radar 8 scans the rear of the train carriage 6 to calculate the speed of the train carriage 6 and the horizontal distance from the radar 8; The radar 8 sends the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage 6 and cleans the train carriage 6 during the sliding process.
[0056] After receiving the signal indicating that the unloading operation is completed and the automatic cleaning device has completed the cleaning operation, the pusher 3 pushes the train carriage 6 out of the working area of the tipper 1. The radar 8 scans the tail of the train carriage 6, calculates the speed of the train carriage 6 and the horizontal distance from the radar 8, and sends them to the cleaning equipment body.
[0057] Specifically, the radar 8 calculates the speed of the train carriage 6 pushed by the pusher 3 outside the working area of the tipper 1 and the horizontal distance from the radar 8, and sends the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the cleaning device body. After receiving the speed of the train carriage 6 and the horizontal distance from the radar 8, the cleaning device body adjusts its own running speed to ensure that the cleaning device body travels to the area of the train carriage 6, and at the same time ensures that the speed of the cleaning device body is greater than the speed of the train carriage 6, and the cleaning operation begins.
[0058] It should be further explained that the radar 8 sends the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage 6, and cleans the train carriage 6 during the sliding process, including: The radar 8 sends the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the main control module; The main control module receives the speed of the train carriage 6 and the horizontal distance from the radar 8, and controls the operation of the steering wheel 501 based on the speed of the train carriage 6 and the horizontal distance from the radar 8, so that the cleaning equipment body matches the sliding speed of the train carriage 6 and cleans the train carriage 6 during the sliding process.
[0059] It should be noted that the pusher 3 pushes the train carriage 6 after unloading the coal 2 out of the working area of the tipper 1. When the pusher 3 reaches its in-place position (first position point D), the pusher 3 separates from the train carriage 6 filled with coal 2 and returns to its initial position (second position point C). At this time, the train carriage 6 continues to slide forward (from A to B) in an unpowered free state under the action of inertia. The radar 8 scans the tail of the train carriage 6, calculates the speed of the train carriage 6 and the horizontal distance from the radar 8, and sends the calculated speed of the train carriage 6 and the horizontal distance from the radar 8 to the main control module of the cleaning device body. After receiving the speed of the train carriage 6 and the horizontal distance from the radar 8, the main control module of the cleaning device body converts it into a signal for controlling the operation of the steering wheel 501 according to the body size of the cleaning device body and the power of the steering wheel 501, to ensure that the cleaning device body travels to the area next to the train carriage 6, and at the same time ensures that the speed of the cleaning device body is greater than the speed of the train carriage 6.
[0060] Since there is friction between the train carriage 6 and the train track, based on the friction and the calculated speed of the train carriage 6, the time when the train carriage 6 reaches the initial position of the cleaning device body 5 is predicted. The cleaning device body 5 adjusts its own running speed based on the time and the speed of the train carriage 6, and calculates the time point when the suction nozzle device 4 descends based on the time and the speed of the train carriage 6. When the suction nozzle device 4 descends, it is necessary to ensure that the suction nozzle device 4 just falls into the train carriage 6, and ensure that the suction nozzle device 4 descends to the position before the predicted time when the train carriage 6 arrives at the initial position of the cleaning device body 5. That is, it is ensured that the suction nozzle body device 4 can start cleaning from the rear of the train carriage 6 (A), and the cleaning device body 5 continues to move forward at a speed greater than the sliding speed of the train carriage 6 to perform cleaning operations. The cleaning device body can adjust its own driving speed according to the received speed of the train carriage 6 and the horizontal distance from the radar 8 to meet the operation requirements.
[0061] As an example, the method further includes: installing a sensor 508 on the cleaning device body, and the main control module is connected to the sensor 508. The sensor 508 collects the distance between the cleaning device body and the front of the train car 6 in the forward direction; when the main control module determines that the size of the distance is zero, the cleaning device body 5 is controlled to return to its initial position (third position point A).
[0062] A first on-site switch is arranged at the on-site position of the pusher 3 ; a second on-site switch is arranged at the initial position of the pusher 3 ; and a third on-site switch is arranged at the initial position of the cleaning device body 5 .
[0063] The system further comprises a master control module, and the first on-position switch, the second on-position switch, the third on-position switch, the tipper 1 and the pusher 3 are all connected to the master control module.
[0064] When the cleaning device body 5 reaches its initial position (third position point A), the third in-position switch is triggered, and the master control module receives an in-position signal indicating that the cleaning device body 5 reaches its initial position (third position point A).
[0065] After completing the tipping operation, the tipping machine 1 sends a signal indicating that the unloading operation is completed to the master control module.
[0066] When receiving the signal indicating that the unloading operation is completed and the signal indicating that the cleaning device body 5 has reached its initial position (third position point A), the master control module controls the pusher 3 to push the train carriage 6 out of the working area of the tipper 1 .
[0067] When the pusher 3 reaches its in-place position (first position point D), the first in-place switch is triggered, the master control module receives the in-place signal that the pusher 3 reaches the in-place position (first position point D), and controls the pusher arm of the pusher 3 to rotate upward, thereby removing the hook connected to the train car 6, and returning to the initial position of the pusher 3 along the pusher track 9.
[0068] When the pusher 3 reaches its initial position, the second in-position switch is triggered, the master control module receives an in-position signal indicating that the pusher 3 reaches its initial position, and controls the pusher 3 to stop moving.
[0069] In order to ensure safety and order, the main control module detects the distance between the cleaning device body and the front of the train car 6 in the forward direction. Figure 1 As shown, the cleaning device body cleans from the rear to the front along the forward direction of the train carriage 6, that is, cleans from the direction of A to B. When the distance is zero, it indicates that the cleaning device body cleans to the front position of the train carriage 6. At this time, the cleaning device body 5 returns to its initial position (the third position point A), and sends an in-place signal to the trolley machine 3 after reaching its initial position. The trolley machine 3 pushes the train carriage 6 out of the working area of the tipping machine 1 only after receiving the unloading operation completion signal and the automatic cleaning device in-place signal, so that the cleaning operation can be performed more orderly.
[0070] Specifically, the sensor 508 is installed on the suction nozzle device 4. When the sensor 508 detects that the distance to the front of the train carriage 6 is zero, that is, when the suction nozzle device 4 cleans to the front position of the train carriage 6, it means that the cleaning is completed.
[0071] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.
[0072] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the equipment, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. Exemplarily, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0073] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.
[0074] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present invention.
[0075] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.
[0076] For those skilled in the art, designing different forms of control circuits according to the teachings of the present invention does not require creative work. These changes, modifications, substitutions and variations of the embodiments without departing from the principles and spirit of the present invention still fall within the scope of protection of the present invention.
Claims
1. A train carriage cleaning system, comprising a pusher track (9) installed on one side of a train track (7) and an automatic cleaning device, wherein the pusher track (9) is parallel to the train track (7), and a pusher (3) is provided on the pusher track (9), characterized in that: The automatic cleaning device is located in the forward direction of the train carriage (6) and is used to clean the train carriage (6) and match the sliding speed of the train carriage (6) on the train track (7).
2. The train compartment cleaning system according to claim 1, characterized in that: The automatic cleaning device comprises a radar (8) and a cleaning device body (5); the radar (8) is installed on the train track (7); the radar (8) is located outside the working area of the car tipper (1) and between the car tipper (1) and the automatic cleaning device.
3. The train compartment cleaning system according to claim 2, characterized in that: The cleaning device body (5) comprises a main control module, a suction nozzle device (4), a steering wheel (501), a water tank (502), a chassis (503), a generator (504), a fan (506), an engine assembly device (507), a material storage box (509), a battery pack (510) and a cab (511); The cab (511) is installed on the upper part of the chassis (503), the steering wheel (501) is installed on the lower part of the chassis (503), and the steering wheel (501) is connected to the main control module; The generator (504) is used to generate electricity, and the generator (504) is connected to the battery pack (510) to store electricity in the battery pack (510); The battery pack (510) is connected to the steering wheel (501) and is used to provide electricity to the steering wheel (501); The fan (506) and the engine assembly device (507) are both installed on the upper part of the chassis (503), and the fan (506) is connected to the nozzle body device (4); The water tank (502) is used to spray water mist to reduce dust on the coal in the storage box (509); The material storage box (509) is provided with a material storage box door (505).
4. The train compartment cleaning system according to claim 3, characterized in that: The nozzle body device (4) is provided with a sensor (508); the main control module is connected to the sensor (508); A first on-site switch is arranged at the on-site position of the pusher (3); A second in-position switch is arranged at the initial position of the pusher (3); A third in-position switch is arranged at the initial position of the cleaning device body (5); The system further comprises a master control module, and the first on-position switch, the second on-position switch, the third on-position switch, the tipping machine (1) and the pushing machine (3) are all connected to the master control module.
5. A train compartment cleaning method applied to the train compartment cleaning system according to any one of claims 1 to 4, characterized in that: The method comprises: After the car tipping machine (1) completes the unloading operation, it sends a signal indicating that the unloading operation is completed to the car pushing machine (3); After the automatic cleaning device completes the cleaning operation, it returns to the initial position of the automatic cleaning device, and when the automatic cleaning device reaches the initial position, it sends an in-position signal to the pusher (3); After the pusher (3) receives the signal indicating that the unloading operation is completed and the signal indicating that the automatic cleaning device is in place, the pusher (3) pushes the train carriage (6) out of the working area of the tipper (1); After the pusher (3) is in place, the pusher (3) returns to its initial position; The automatic cleaning device matches the sliding speed of the train carriage (6) on the train track (7) and cleans the train carriage (6).
6. The train compartment cleaning method according to claim 5, characterized in that: The automatic cleaning device matches the sliding speed of the train carriage (6) on the train track (7) and cleans the train carriage (6), comprising: The radar (8) scans the rear of the train carriage (6) to calculate the speed of the train carriage (6) and the horizontal distance from the radar (8); The radar (8) sends the calculated speed of the train carriage (6) and the horizontal distance from the radar (8) to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage (6) and cleans the train carriage (6) during the sliding process.
7. The train compartment cleaning method according to claim 6, characterized in that: The radar (8) sends the calculated speed of the train carriage (6) and the horizontal distance from the radar (8) to the cleaning device body, so that the cleaning device body matches the sliding speed of the train carriage (6) and cleans the train carriage (6) during the sliding process, comprising: The radar (8) sends the calculated speed of the train carriage (6) and the horizontal distance from the radar (8) to the main control module; The main control module receives the speed of the train carriage (6) and the horizontal distance from the radar (8), and controls the operation of the steering wheel (501) based on the speed of the train carriage (6) and the horizontal distance from the radar (8), so that the cleaning device body matches the sliding speed of the train carriage (6) and cleans the train carriage (6) during the sliding process.
8. The train compartment cleaning method according to claim 7, characterized in that: The method further comprises: A sensor (508) is installed on the cleaning device body, and the main control module collects the distance between the cleaning device body and the front of the train carriage (6) in the forward direction through the sensor (508); When it is determined that the distance is zero: Sending a driving signal to the cart pusher (3), wherein the cart pusher (3) returns to the second position point C after receiving the driving signal and repeats the action of pushing the carriage (6); The suction nozzle device (4) rises and returns to the initial position of the cleaning device body (5).