A self-propelled intelligent flat car cleaning machine and method

Abstract

The present invention relates to a self-propelled intelligent flatbed cleaning machine and method, comprising: a portal frame body capable of allowing vehicles loaded with bulk materials to enter and exit, the portal frame body having self-propelled wheels disposed beneath it, and a flattening device, a carriage edge cleaning device, and a flattening device disposed on top of the portal frame body. The present invention utilizes the portal frame body to place the loaded vehicle within it. The flattening device, cleaning device, and flattening device atop the portal frame body flatten the conical material pile formed in the carriage during the loading process, fill the carriage corners with material, and clean any spilled material from the surrounding side panels. This fully automates the previously manually performed loading and cleaning tasks, reducing loading costs and improving loading efficiency.

Description

Technical Field

[0001] The present invention relates to a self-movable intelligent flat car cleaning integrated machine and method, a transportation mechanical facility and method, and a facility and method for cleaning cars after loading in a material storage yard. Background Art

[0002] Traditional bulk commodity material storage yards (such as coal, sand, and other processed, uniformly sized commodities) typically use general-purpose loaders to load transport vehicles. The loading process is largely crude, with little proceduralization, and is entirely determined by the loader driver based on on-site conditions. Some large bulk commodity yards employ dedicated personnel to oversee the loading process and scientifically schedule it based on planning principles. However, due to a lack of specialized equipment and excessive human interference in the scheduling process, the entire loading process remains relatively simple, unprogrammed, and lacks refinement. A problem with existing loading yards is that after loading, the materials in the vehicle compartments are randomly stacked, often with material scattered on the sides. This requires leveling and cleaning to prevent uneven loading during transportation, which could pose a safety hazard and potentially pollute the environment along the transport route. Existing leveling and cleaning processes are primarily performed manually, with low automation, high labor intensity, and low efficiency. During the truck loading process, how to realize the automated flattening and cleaning of bulk materials is a problem that needs to be solved. Summary of the Invention

[0003] To overcome the problems of the prior art, the present invention proposes a self-propelled intelligent flat car cleaning integrated machine and method. By equipping a self-propelled sweeper with cleaning and scraping facilities, the integrated machine and method enable automated cleaning of the vehicle compartment after loading at a bulk material loading site.

[0004] The purpose of the present invention is achieved as follows: a self-moving intelligent flat car cleaning machine includes: a portal frame body that can allow cars loaded with bulk materials to enter and exit, self-propelled wheels are provided at the bottom of the portal frame body, and a flat car device, a car edge cleaning device and a flat angle device are provided on the top.

[0005] Furthermore, the portal frame body includes: a frame beam with a rectangular horizontal cross-section formed by front and rear beams and two side beams at the top, the four corners of the frame beam are respectively connected to the tops of four columns, and four self-propelled wheels with their own power sources and capable of changing the direction of movement are respectively provided at the bottom of the four columns, and a connecting beam is provided between the two pairs of columns on the two long sides of the rectangle.

[0006] Furthermore, the connecting beam is provided with an equipment compartment and a battery compartment.

[0007] Furthermore, the flat car device includes a scraper lifting frame and a flat car scraper straddling the beams on both sides of the frame beam.

[0008] Furthermore, rails are provided on both side beams of the frame beam, and the scraper lifting frame is installed on the rails.

[0009] Furthermore, the carriage edge cleaning device includes a front lifting frame and a front cleaning facility, and a rear lifting frame and a rear cleaning facility, which are arranged at the front and rear ends of the frame beam.

[0010] Furthermore, the front lifting frame and the rear lifting frame are respectively installed on rails.

[0011] Furthermore, the front lifting frame and the rear lifting frame are provided with a flat angle device, which includes a retractable flat angle mechanical arm respectively arranged on both sides of the front lifting frame and the rear lifting frame, and a rotating flat angle device is provided on the top of the flat angle mechanical arm.

[0012] Furthermore, at least one monitoring sensor is provided on the front and rear sides of the front lifting frame and the rear lifting frame, and the monitoring sensor is electrically connected to the controller, and the controller is electrically connected to the scraper lifting frame, the front lifting frame, the rear lifting frame, and each flat-angle robotic arm.

[0013] A method for cleaning an intelligent flat car using the self-movable intelligent flat car cleaning machine, the steps of the method are as follows:

[0014] Step 1, initialization: Initialize the positions of each lifting frame at the cleaning position set according to the loading requirements of the material spreading site, including: moving the front lifting frame and the rear lifting frame to the front and rear ends of the frame beam respectively, and placing the scraper lifting frame in the middle of the frame beam;

[0015] Step 2: Loading vehicle enters: The loading vehicle, filled with bulk materials, drives into the portal frame. The monitoring sensor on the front lift detects the front edge of the vehicle's compartment. After detecting the position of the front edge of the compartment, the driver is instructed to stop. The front lift confirms the position of the front edge of the compartment again. Then, the monitoring sensor on the front lift scans the rear edge of the compartment. If the length of the compartment exceeds the length of the portal frame, the four self-propelled wheels are activated to move the portal frame backward until the monitoring sensor on the rear lift detects the rear edge of the compartment, confirming the length and width of the compartment.

[0016] Step 3, determine the operation plan: determine the flattening and cleaning plan based on the size of the carriage and the accumulation of materials in the carriage;

[0017] Step 4, flat car: According to the operation plan, move the scraper lifting frame on the guide rail, or move the scraper to the highest point of the loaded cargo through the self-propelled wheels. The scraper lifting frame lowers the scraper, and through at least one back and forth movement of the scraper, the accumulated cone heads are pushed flat until the material in the entire car is flattened;

[0018] Step 5, cleaning: Move the scraper lifting frame to the center of the portal frame body, start the front and rear lifting frames at the same time, lower the front and rear cleaning devices, and clean the front, rear and both sides of the car body, starting from the front and rear edges of the car body and moving towards the middle;

[0019] Step 6, leveling the corners: When the front and rear lifting frames move toward the middle and the four corners are within the working range of the leveling robot arm, the cleaning and rear lifting frames stop moving, and the leveling robot arm rotates in the direction to level the materials at the four corners of the carriage.

[0020] The advantages and beneficial effects of the present invention are as follows: the present invention utilizes a portal frame body to place the loading vehicle therein, and uses the flat car, cleaning and angle-leveling devices on the top of the portal frame body to flatten the conical material pile formed in the carriage during the loading process, fill the material into the four corners of the carriage, and clean up the spilled material on the side panels around the carriage, thereby fully automating the loading and cleaning work that was previously done manually, reducing loading costs and improving loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

[0022] Figure 1 This is a three-dimensional schematic diagram of the structure of the all-in-one device according to the first embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the integrated machine described in the second, fourth, sixth and eighth embodiments of the present invention. Figure 1 Middle A-direction view;

[0024] Figure 3 This is a schematic diagram of the structure of the integrated machine described in the second, fourth, fifth, sixth and eighth embodiments of the present invention. Figure 2 Middle B-direction view;

[0025] Figure 4 This is a flowchart of the method described in Example 10 of the present invention. DETAILED DESCRIPTION

[0026] Example 1:

[0027] This embodiment is a self-propelled intelligent flat car cleaning machine. Figure 1This embodiment comprises: a portal frame body 1 capable of allowing a car 01 loaded with bulk materials to enter and exit, the portal frame body being provided with self-propelled wheels 2 at the bottom, and a flat car device 3, a car body edge cleaning device 4 and a flattening device 5 at the top.

[0028] The self-propelled intelligent flatcar cleaning machine described in this embodiment is an auxiliary device used to clean the rear compartments of loaded vehicles at bulk material storage and loading sites (loading yards). Bulk materials typically include commodities with a uniform particle size or gradation, such as coal, ore, and sand and gravel. Because these processed commodities are of high value, loading requirements, including quantity and quality, are high. Minimizing loss is essential to reduce loading costs. Therefore, the self-propelled intelligent flatcar cleaning machine described in this embodiment is designed with this goal in mind.

[0029] The terms "front," "rear," "left," and "right" in this embodiment and the following embodiments refer to the front, rear, left, and right commonly used in conventional vehicles. For ease of deployment, the portal frame body in this embodiment can be designed to be identical front and rear, meaning that either end can serve as the front or rear of the vehicle. However, the following description only refers to the front or rear for ease of description.

[0030] There are many options for portal frame bodies, for example: consisting of a top frame beam and four columns at the four corners of the frame beam, with connecting beams on both sides, so that the loaded car can enter the portal frame body from the front or rear; or two portal beams at the front and back, with a connecting beam in the middle, etc.

[0031] Individual lifting frames are installed on top of the portal frame. These frames can be fixed to the frame or designed to move forward and backward autonomously. If the frames are fixed to the frame, their movement relies entirely on the rotation of self-propelled wheels, which allows the entire frame to move forward and backward, also fulfilling the functions of leveling, cleaning, and leveling angles. If the frames are designed to move autonomously, electric cylinders, electric push rods, or electric guide rails can be used to drive the frames within a certain range, making the operation more flexible.

[0032] The four self-propelled wheels can be driven by relatively independent power sources to form relatively independent motion units. The power source can be a hub motor or a conventional motor with a reducer. At least two of the four self-propelled wheels should be steerable to enable the portal frame body to move freely in all directions.

[0033] The function of a flattening device is to flatten the conical material pile within the carriage. This can be achieved in a variety of ways. For example, a scraper can be raised and lowered, with a width close to the width of the carriage. During operation, the scraper is lowered, inserted into the conical material pile, and then moved back and forth to flatten the material. Alternatively, a flattening device such as a vertically rotating drum or a horizontally rotating turntable can be used, which can be flattened by moving forward, backward, left, and right. The lifting mechanism that drives the flattening device up and down can use an electrically driven linear motion mechanism such as an electric cylinder, electric push rod, or electric guide rail.

[0034] The function of the carriage edge cleaning device is to clean the top of the carriage side panels from spilled materials during loading and sweep these spilled materials into the carriage. There are various ways to clean the carriage edges, such as using a brush that can move back and forth, left and right, or a rotating brush cylinder, all coordinated with a lifting frame to complete the cleaning operation. The brush or brush cylinder can be placed along the carriage edge or perpendicular to the edge.

[0035] The function of the flattening device is to spread material concentrated in the center of the carriage toward the four corners. During loading, material often forms a conical pile in the center of the carriage, leaving the four corners empty. The flattening device struggles to fill these corners, so this embodiment incorporates a flattening device specifically designed to fill these corners. Flattening can be accomplished in a variety of ways, such as using a horizontal rotating disk or scraper that moves from the center of the carriage toward the four corners, pushing material from the center into the corners. The flattening device can share a lift frame with the cleaning device, with the cleaning device mounted on one side of the lift frame and the flattening device on the other. The two devices work together without interference.

[0036] In this embodiment, the movement of each device can be achieved by using electric drive devices such as electric cylinders, electric push rods or electric guide rails.

[0037] This embodiment also includes an electronic control device with electronic computing and storage capabilities. This control device includes a portable wireless remote control, which allows the operator to remotely control the flatbed cleaning machine on-site, enabling it to self-propelled and adjust its working position as needed. The controller communicates wirelessly with a host computer at the bulk material loading yard to exchange relevant information and control instructions.

[0038] Example 2:

[0039] This embodiment is an improvement of the first embodiment and is a refinement of the first embodiment regarding the portal frame body. The portal frame body described in this embodiment includes: a top portion composed of front and rear beams 1011 and two side beams 1012 (see FIG. Figure 3) constitutes a frame beam 101 with a rectangular horizontal cross-section. The four corners of the frame beam are respectively connected to the tops of four columns 102. The bottoms of the four columns are respectively provided with four self-propelled wheels with their own power sources and capable of changing the direction of movement. Connecting beams 103 are provided between the two pairs of columns on the two long sides of the rectangle. Figure 2 、 3 shown.

[0040] The portal frame described in this embodiment is hollow, with a frame beam at the top and four columns at the corners, each with self-propelled wheels at its base. The center of the portal frame allows for the passage of loaded vehicles from front to back. The interior height of the portal frame exceeds the height of the vehicle's front end, typically exceeding 2.4 meters, and the width exceeds the width of a typical loaded vehicle, typically exceeding 2.5 meters. All operating facilities, when raised, must be higher than the front end of the loaded vehicle to ensure smooth passage.

[0041] The four self-propelled wheels described in this embodiment all have their own power source and their own steering capability. This arrangement enables the entire portal frame body to move more flexibly in any direction.

[0042] Battery compartments and control equipment compartments can be set on the connecting beams on both sides, or battery compartments and control equipment compartments can also be set in the columns.

[0043] Example 3:

[0044] This embodiment is an improvement of the above embodiment and is a refinement of the above embodiment regarding the connecting beam. The connecting beam described in this embodiment is provided with an equipment compartment and a battery compartment.

[0045] The equipment compartment is mainly used to install various electronic devices, such as control equipment, wireless communication equipment, etc. Since modern electronic equipment is not large in size, the electronics can be installed in the connecting beams or columns, or in the frame beams. The various lifting mechanisms and telescopic mechanisms described in this embodiment are all electrically driven, such as electric cylinders, electric push rods or electric guide rails, which require strong power support. Since the all-in-one machine is a field-use device, power lines such as overhead lines or stable power sources can be used, or batteries can be installed in the frame beams, columns and connecting beams to use the batteries as power sources.

[0046] Example 4:

[0047] This embodiment is an improvement of the above embodiment and a refinement of the flat car device of the above embodiment. The flat car device described in this embodiment includes a scraper lifting frame 301 and a flat car scraper 302 straddling the two side beams of the frame beam. Figure 2 、 3 shown.

[0048] The lift frame is used to raise and lower the scraper blade. When a loading vehicle enters, the scraper blade is raised to allow the vehicle's front end to pass. When a flatbed truck is operating, the scraper blade is lowered to insert into the conical pile. The lift frame can be fixed between the two side beams or designed as a trolley that can move back and forth on the side beams, driving the scraper blade forward and backward, increasing the flatbed truck's flexibility. The lift frame can be electrically driven, such as by an electric cylinder, electric push rod, or electric guide rail.

[0049] The scraper can be a straight scraper or a herringbone scraper or other scraper forms.

[0050] Embodiment 5:

[0051] This embodiment is an improvement of the above embodiment and a refinement of the frame beam of the above embodiment. The frame beam of this embodiment is provided with rails 1013 on both sides of the beam. Figure 3 As shown, the scraper lifting frame is installed on a track.

[0052] The length of the track is equal to the length of both sides of the frame beam. The scraper lift can move along the track from the front to the rear of the portal frame body and vice versa, increasing the flexibility of the scraper flat car operation. The driving force for the lift can also be electric drive, such as a motor-driven roller.

[0053] Example 6:

[0054] This embodiment is an improvement of the above embodiment and is a refinement of the carriage edge cleaning device of the above embodiment. The carriage edge cleaning device of this embodiment includes a front lifting frame 6 and a front cleaning device 401, and a rear lifting frame 7 and a rear cleaning device 402, which are arranged at the front and rear ends of the frame beam. Figure 2 、 3 shown.

[0055] This embodiment features two cleaning systems, one at the front and one at the back, ensuring comprehensive cleaning coverage. Each cleaning system has its own independent lift, enabling independent cleaning operations. Both lifts can move forward and backward along tracks, increasing cleaning flexibility. They are also electrically powered.

[0056] The cleaning facility can adopt a vertically rotating cleaning drum or a horizontally rotating cleaning disc.

[0057] Two cleaning discs can be installed on a cleaning lift to clean the two sides of the vehicle respectively. Both cleaning discs are designed to move horizontally and vertically. The horizontal movement cleans the front or rear edge of the vehicle, and the vertical movement cleans the two sides of the vehicle.

[0058] The cleaning drum can be a long drum, the length of which is equal to or slightly longer than the width of the carriage. The long drum can clean both the front and rear edges of the carriage and the sides. The drum can also be designed with one long drum and two short drums on either side. The long drum and the two short drums on either side are perpendicular to each other, forming a door shape. The long drum in the middle is used to clean the front or rear edge of the carriage, while the short drums on both sides are used to clean the sides. The long and short drums move forward and backward with the lifting frame, thus cleaning both the front and rear edges and the sides of the carriage.

[0059] Embodiment seven:

[0060] This embodiment is an improvement of the above embodiment and is a refinement of the front and rear lifting frames of the above embodiment. The front lifting frame and the rear lifting frame described in this embodiment are respectively installed on rails.

[0061] The front lifting frame and the rear lifting frame are also equipped with a walking mechanism and can move forward and backward to facilitate cleaning operations.

[0062] Embodiment 8:

[0063] This embodiment is an improvement of the above embodiment and is a refinement of the above embodiment regarding the flat angle device. The front and rear lifting frames of this embodiment are provided with flat angle devices. The flat angle devices include retractable flat angle mechanical arms 501 respectively provided on both sides of the front and rear lifting frames. The top of the flat angle mechanical arms is provided with a rotating flat angle device 502. Figure 2 、 3 shown.

[0064] The flat angle device and the cleaning device described in this embodiment share a lifting frame, the cleaning device is on one side of the lifting frame, and the flat angle device is on the other side of the lifting frame, and the two do not interfere with each other.

[0065] The flat-angle robot arm is a three-dimensional moving structure that can move up and down, left and right, front and back. The head of the robot arm can be inserted into the corner of the carriage to perform flat-angle operations.

[0066] A flattener can be a horizontal rotating disk with gears around it that propel the material. The gears roll the material outward, creating a flat angle. A flattener can be a vertical rotating cylinder with protrusions on its outer surface that throw the material into the corner, creating a flat angle.

[0067] Embodiment 9:

[0068] This embodiment is an improvement of the above embodiment and is a refinement of the control system of the above embodiment. In this embodiment, at least one monitoring sensor is provided on the front and rear sides of the front lifting frame and the rear lifting frame. The monitoring sensor is electrically connected to the controller, and the controller is electrically connected to the scraper lifting frame, the front lifting frame, the rear lifting frame, and each flat-angle robotic arm.

[0069] This embodiment lists the main sensors, but in practice, multiple displacement sensors can be added to detect the positions of each lifting frame, as well as the positions of the angle adjuster and the sweeper, to implement feedback control.

[0070] Embodiment 10:

[0071] This embodiment is a method for cleaning an intelligent flatbed truck using the self-propelled intelligent flatbed truck cleaning machine described in the previous embodiment. The basic concept of this method is to use a self-propelled portal body to place a loaded truck inside. Using scrapers, sweepers, and flattening devices, the truck is cleaned to facilitate long-distance transportation, eliminate safety hazards, and protect the environment.

[0072] The specific steps of the method described in this embodiment are as follows: Figure 4 As shown:

[0073] Step 1, initialization: Initialize the positions of each lifting frame at the cleaning position set according to the loading requirements of the material spreading site, including: moving the front lifting frame and the rear lifting frame to the front and rear ends of the frame beam respectively, and placing the scraper lifting frame in the middle of the frame beam;

[0074] The purpose of initialization is to determine the exact position of each frame beam so that precise position control can be performed in subsequent work. If the guide rails on the frame beams are equipped with position sensors, this step can be omitted and the position information of the position sensors can be directly used to achieve precise positioning of each mobile frame.

[0075] Because the front and rear lifts are equipped with monitoring sensors, the entire carriage must be scanned to confirm its size in order to arrange for leveling and cleaning. This carriage data can be obtained from the host computer and verified by detection sensors. Therefore, initializing or determining the position of each lift is crucial.

[0076] Step 2: Loading vehicle enters: The loading vehicle, filled with bulk materials, drives into the portal frame. The monitoring sensor on the front lift detects the front edge of the vehicle's compartment. After detecting the position of the front edge of the compartment, the driver is instructed to stop. The front lift confirms the position of the front edge of the compartment again. Then, the monitoring sensor on the front lift scans the rear edge of the compartment. If the length of the compartment exceeds the length of the portal frame, the four self-propelled wheels are activated to move the portal frame backward until the monitoring sensor on the rear lift detects the rear edge of the compartment, confirming the length and width of the compartment.

[0077] The key to this step is identifying the edge of the vehicle compartment to determine its size and plan the operation. Because there are many different types of bulk material trucks, and their compartment lengths are not always standardized, including many very long vehicles, it's not possible to design the gantry body with a very long gantry. Instead, the gantry is designed to the length of a medium-sized vehicle compartment. If the compartment is shorter than the gantry body, the various lifts can move back and forth using the guide rails on the frame to clean and level every corner of the compartment. If the compartment is longer than the gantry body, the self-propelled wheels under the gantry body must be activated to move the gantry backward. If the loaded vehicle is stationary, this is equivalent to the rear lift moving backward until it finds the rear edge of the compartment.

[0078] Step 3, determine the operation plan: determine the flattening and cleaning plan based on the size of the carriage and the accumulation of materials in the carriage;

[0079] The monitoring sensor scans the status of cargo accumulation in the carriage, finds the highest point of cargo accumulation in the carriage, and determines the position of the highest point of cargo in front of and behind the carriage, so that the scraper can be used to flatten the material at the highest point.

[0080] Although the operation is nothing more than leveling and cleaning, the different lengths of various carriages make it impossible to completely unify the operation plan. If the carriage is shorter, the operation can be carried out directly within the range of the guide rail. If the body is longer and exceeds the range that the guide rail can reach, self-propelled wheels need to be added to move the portal frame body back and forth to achieve the function of leveling and cleaning the entire carriage.

[0081] Step 4, flat car: According to the operation plan, move the scraper lifting frame on the guide rail, or move the scraper to the highest point of the loaded cargo through the self-propelled wheels. The scraper lifting frame lowers the scraper, and through at least one back and forth movement of the scraper, the accumulated cone heads are pushed flat until the material in the entire car is flattened;

[0082] The scraper's back-and-forth motion flattens the accumulated cones. High cones require multiple back-and-forth scraping motions to level them. Because the four corners need to be flattened, more material needs to be scraped from both ends. The amount of material scraped each time depends on the amount the lifter moves up and down, and this amount is determined in the job plan.

[0083] Step 5, cleaning: Move the scraper lifting frame to the center of the portal frame body, start the front and rear lifting frames at the same time, lower the front and rear cleaning facilities, and clean the front, rear and both sides of the car body, starting from the front and rear edges of the car body and moving towards the middle;

[0084] With two front and rear cleaning facilities, the cleaning process begins at the front and rear edges of the vehicle compartment, with the two cleaning lifts moving toward each other and simultaneously advancing toward the center. For longer loaded vehicles, the self-propelled wheels can be extended. When the two cleaning lifts reach the center and join the scraper lift, the three lifts can perform a short reciprocating motion at the center junction to avoid corners being cleaned due to the lifts not being in place.

[0085] Step 6, leveling corners: When the front and rear lifting frames move toward the middle and the four corners are within the working range of the leveling robot arm, the cleaning and rear lifting frames stop moving, the leveling robot arm is lowered, and the rotating leveler is used to level the materials at the four corners of the carriage.

[0086] The leveling process occurs during the cleaning process. The robotic arm can move up and down, forward and backward, left and right, and needs to be a certain distance away from the edge of the car to be able to perform. Therefore, the front and rear lifting frames need to move a certain distance toward the center of the car. When the robotic arm reaches the leveling state, the front and rear lifting frames stop and perform the leveling operation. After the leveling operation is completed, the front and rear lifting frames start again and continue cleaning the edge of the car until the cleaning is completed and the loaded vehicle departs. Then, each lifting frame returns to its initial position, waiting for the next vehicle to enter the portal frame body, and a new round of leveling and cleaning begins.

[0087] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention and is not intended to limit it. Although the present invention has been described in detail with reference to the preferred arrangement, those skilled in the art should understand that the technical solution of the present invention (such as the form of the scraper, the form of the cleaning facility, the form of the angle straightener, the sequence of steps, etc.) may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A self-propelled intelligent flat car cleaning method, characterized in that: The steps of the method described are as follows: Step 1, initialization: Initialize the positions of each lifting frame at the cleaning position set according to the loading requirements of the material spreading site, including: moving the front lifting frame and the rear lifting frame to the front and rear ends of the frame beam respectively, and placing the scraper lifting frame in the middle of the frame beam; Step 2: Loading vehicle enters: The loading vehicle, filled with bulk materials, drives into the portal frame. The monitoring sensor on the front lift detects the front edge of the vehicle's compartment. After detecting the position of the front edge of the compartment, the driver is instructed to stop. The front lift confirms the position of the front edge of the compartment again. Then, the monitoring sensor on the front lift scans the rear edge of the compartment. If the length of the compartment exceeds the length of the portal frame, the four self-propelled wheels are activated to move the portal frame backward until the monitoring sensor on the rear lift detects the rear edge of the compartment, confirming the length and width of the compartment. Step 3, determine the operation plan: determine the flattening and cleaning plan based on the size of the carriage and the accumulation of materials in the carriage; Step 4, flat car: According to the operation plan, move the scraper lifting frame on the guide rail, or move the scraper to the highest point of the loaded cargo through the self-propelled wheels. The scraper lifting frame lowers the scraper, and through at least one back and forth movement of the scraper, the accumulated cone heads are pushed flat until the material in the entire car is flattened; Step 5, cleaning: Move the scraper lifting frame to the center of the portal frame body, start the front and rear lifting frames at the same time, lower the front and rear cleaning devices, and clean the front, rear and both sides of the car body, starting from the front and rear edges of the car body and moving towards the middle; Step 6, leveling the corners: When the front and rear lifting frames move toward the middle and the four corners are within the working range of the leveling robot arm, the cleaning and rear lifting frames stop moving, and the leveling robot arm rotates in the direction to level the materials at the four corners of the carriage.

2. A self-moving intelligent flat car cleaning method according to claim 1, wherein the method uses a self-moving intelligent flat car cleaning machine, wherein the self-moving intelligent flat car cleaning machine is characterized in that: include: A portal frame body capable of allowing cars loaded with bulk materials to enter and exit, wherein self-propelled wheels are provided under the portal frame body, and a flat car device, a car body edge cleaning device and a flat angle device are provided on the top. The portal frame body comprises: a frame beam with a rectangular horizontal cross-section formed by front and rear beams and two side beams at the top, the four corners of the frame beam are respectively connected to the tops of four columns, and four self-propelled wheels with their own power sources and capable of changing the direction of movement are respectively provided at the bottoms of the four columns, a connecting beam is provided between the two pairs of columns on the long sides of the rectangle, and an equipment compartment and a battery compartment are provided on the connecting beam, the flat car device comprises a scraper lifting frame and a flat car scraper straddling the two side beams of the frame beam, and tracks are provided on the two side beams of the frame beam. The scraper lifting frame is installed on the track, and the carriage edge cleaning device includes a front lifting frame and a front cleaning facility, as well as a rear lifting frame and a rear cleaning facility, which are arranged at the front and rear ends of the frame beam. The front lifting frame and the rear lifting frame are respectively installed on the track, and the front lifting frame and the rear lifting frame are provided with a flat angle device, and the flat angle device includes a retractable flat angle mechanical arm respectively arranged on both sides of the front lifting frame and the rear lifting frame, and a rotating flat angle device is provided on the top of the flat angle mechanical arm. At least one monitoring sensor is provided on the front and rear sides of the front lifting frame and the rear lifting frame, and the monitoring sensor is electrically connected to the controller. The controller is electrically connected to the scraper lifting frame, the front lifting frame, the rear lifting frame, and each flat angle mechanical arm.

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