A grate cleaning machine control system and method

Abstract

The invention relates to a grate cleaning machine control system and method, comprising an industrial camera, which acquires coal grate images and grate cleaning machine motion images and sends them to an industrial computer; a data acquisition module, which acquires the posture data of the grate cleaning machine and the status data of a hydraulic system and sends them to the industrial computer; the industrial computer, based on the acquired image information, divides the operation areas of two adjacent groups of grate cleaning machines: a sector range obtained by taking the rotation center point of each group of grate cleaning machines as the center of a circle and the shortest distance as the radius is a theoretical dead zone, and a tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaning machines is taken as a dividing line to obtain the normal operation area and dead zone of each group of grate cleaning machines, wherein the normal operation range of each group of grate cleaning machines covers the dead zone range of the adjacent group of grate cleaning machines; the range of the coal grate blocked area is determined according to the image information acquired by the industrial camera, the industrial computer selects the required cleaning area based on the divided operation area, and sends instructions to the grate cleaning machine according to the posture data and the status data to execute the cleaning task.

Description

Technical Field

[0001] The invention relates to the technical field of coal processing, and in particular to a grate cleaning machine control system and method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The discharge port of the electric field dumper used in the coal processing process has a coal grate to block debris in the coal. It is easily blocked by debris and large pieces of frozen coal, sticky coal and other objects, resulting in coal accumulation, which seriously affects the normal working process. To address this problem, manual cleaning is currently the main method, which not only has low cleaning efficiency and high labor intensity, but also poses a safety hazard of people falling during the cleaning process. Some existing technologies use mechanical arms to carry drill bits, clamps and other components to form grate cleaning equipment. Although it can replace manual cleaning of coal grates to solve the problem of blockage, the mechanical arm itself has a dead zone in movement and cannot cover the entire range of the coal grate, resulting in unsatisfactory cleaning effect. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a grate cleaner control system and method, which divides the coal grate into areas and addresses the dead zones of each group of grate cleaners by cross-calling and cleaning them separately, thereby ensuring that the grate cleaners can cover the entire area of ​​the coal grate.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a grate cleaning machine control system, comprising:

[0007] Industrial camera, which acquires coal grate images and grate cleaning machine motion images and sends them to the industrial computer;

[0008] The data acquisition module obtains the posture data of the grate cleaning machine and the status data of the hydraulic system and sends them to the industrial computer;

[0009] The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information, specifically: the sector range obtained by taking the rotation center point of each group of grate cleaners as the center of the circle and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners, and the normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners;

[0010] The industrial computer determines the range of the blocked area of ​​the coal grate based on the image information obtained by the industrial camera, selects the required cleaning area based on the divided working area, and issues instructions to the grate cleaning machine based on the posture data and status data to perform the cleaning task.

[0011] Select the required cleaning area based on the divided working area, and issue instructions to the grate cleaning machine according to the posture data and status data, including:

[0012] If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas;

[0013] If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order;

[0014] If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

[0015] The grate cleaning machine is located on one side of the coal grate to be cleaned, and includes an end actuator connected to a robotic arm. The grate cleaning machine is connected to a hydraulic station, which provides power for rotation, pitch, extension and telescopic movement of the end actuator. The robotic arm drives the end actuator to extend and retract to the shortest distance, which is the radius of the theoretical dead zone.

[0016] The data acquisition module includes an angle sensor, a length sensor, a proximity switch sensor connected to the grate cleaning machine, a pressure sensor connected to the hydraulic station, and a temperature sensor. The angle sensor includes a rotation angle sensor and a pitch angle sensor; the length sensor detects the telescopic length of the grate cleaning machine; the proximity switch sensor determines the extreme position of the grate cleaning machine; the temperature and pressure sensors collect the temperature and pressure of the hydraulic station.

[0017] It also has a programmable logic controller for receiving and processing data obtained by the data acquisition module, receiving control signals sent by the industrial computer and sending grate cleaning machine system status signals to the industrial computer. The programmable logic controller is also connected to the tipping machine control system.

[0018] A second aspect of the present invention provides a method for controlling a grate cleaning machine, comprising the following steps:

[0019] The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information: the sector range obtained with the rotation center point of each group of grate cleaners as the center and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners. The normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners.

[0020] According to the selected cleaning area, the industrial computer sends instructions to the grate cleaning machine based on the posture data and status data, including:

[0021] If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas;

[0022] If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order;

[0023] If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

[0024] If the cleaning area is all dead zones, the first grate cleaner is first mobilized to clean the dead zone of the second grate cleaner. At this time, the second grate cleaner remains at the origin position and does not move. After the first grate cleaner completes the cleaning task and returns to the origin, the second grate cleaner starts to operate and clean the dead zone of the first grate cleaner until the task is completed and returns to the origin.

[0025] The industrial computer corrects and transforms the acquired image information and then outputs it for display.

[0026] Before executing the cleaning task, the operating status of the tipping machine is obtained based on the tipping machine control system. When the tipping machine is not operating, the programmable logic controller sends a release instruction to the industrial computer.

[0027] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0028] 1. By dividing the coal grate into areas, the grate cleaners are controlled by cross-calling and separate cleaning according to the divided areas, so as to deal with the dead zones of each group of grate cleaners and ensure that the grate cleaners can cover the entire area of ​​the coal grate.

[0029] 2. It can greatly improve the cleaning efficiency of the coal grate at the coal yard discharge port, reduce the risk of manual operation, and address the problem of unsatisfactory cleaning effect caused by the dead zone of the grate cleaning machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1The present invention is a schematic diagram of the arrangement of coal grates and grate cleaning machines provided in one or more embodiments;

[0032] Figure 2 The present invention is a schematic diagram of theoretical area division of coal grates provided by one or more embodiments;

[0033] Figure 3 is a structural schematic diagram of a grate cleaning machine control system provided by one or more embodiments of the present invention;

[0034] Figure 4 The present invention is a flow chart of a grate cleaning machine control system provided by one or more embodiments;

[0035] Figure 5 The present invention is a control method flow chart provided by one or more embodiments;

[0036] Figure 1 Middle: 1-coal grate, 2-industrial camera, 3-grate cleaning machine No. 1, 4-grate cleaning machine No. 2, 31-normal area of ​​grate cleaning machine No. 1, 41-normal area of ​​grate cleaning machine No. 2, 32-dead zone of machine No. 1, 42-dead zone of machine No. 2, 5-actual boundary between normal area and dead zone, 6-dividing line of minimum cleaning radius of grate cleaning machine, 33-theoretical dead zone of machine No. 1, 43-theoretical dead zone of machine No. 2. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] As described in the background technology, the prior art utilizes a robotic arm carrying a drill bit, a clamp and other components to form a grate cleaning device. Although it can replace manual cleaning of the coal grate to solve the problem of blockage, the robotic arm itself has a dead zone in movement and cannot cover the entire range of the coal grate, resulting in an unsatisfactory cleaning effect.

[0041] Therefore, the following embodiments provide a grate cleaner control system and method, which utilizes at least two groups of coordinated robotic arms carrying actuators to achieve coal grate cleaning. By dividing the coal grate into areas, the dead zones of each group of robotic arms are addressed in a cross-calling and separate cleaning manner, ensuring that the grate cleaner can cover the entire area of ​​the coal grate.

[0042] Embodiment 1:

[0043] A grate cleaning machine control system, comprising:

[0044] Industrial camera, which acquires coal grate images and grate cleaning machine motion images and sends them to the industrial computer;

[0045] The data acquisition module obtains the posture data of the grate cleaning machine and the status data of the hydraulic system and sends them to the industrial computer;

[0046] The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information, specifically: the sector range obtained by taking the rotation center point of each group of grate cleaners as the center of the circle and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners, and the normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners;

[0047] The industrial computer determines the range of the blocked area of ​​the coal grate based on the image information obtained by the industrial camera, selects the required cleaning area, and sends instructions to the grate cleaner based on the posture data and status data to perform the cleaning task.

[0048] The industrial computer sends instructions to the grate cleaning machine based on the posture data and status data according to the selected cleaning area, including:

[0049] If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas;

[0050] If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order;

[0051] If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

[0052] Specific:

[0053] The industrial camera is used to collect coal grate images and real-time monitoring video of the grate cleaning machine movement and transmit them to the industrial computer; the industrial camera in this embodiment is installed in the center of one side of the coal grate, at a certain height from the ground, so that the field of view of the industrial camera covers the entire area of ​​the coal grate.

[0054] The data acquisition module includes an angle sensor, a length sensor, a proximity switch sensor installed on the grate cleaning machine, a pressure sensor installed on the hydraulic station, and a temperature sensor, which is directly connected to the programmable logic controller or connected to the remote input / output module to collect the posture data of the grate cleaning machine and the pressure, temperature and other data of the hydraulic system.

[0055] The control module includes a proportional control valve or a servo control valve installed in the hydraulic pump station. The data acquisition module transmits the collected information to the programmable logic controller, which processes the information. At the same time, the programmable logic controller transmits the processed information to the upper computer software in the industrial computer and can display the information through the display device.

[0056] The main body of each grate cleaning machine can be regarded as a cylindrical coordinate robot with telescopic, rotation and pitching functions, and the robot arm is equipped with a variety of end actuators with different functions. Each grate cleaning machine can realize the functions of rotation, pitch, telescopic, tool switching and tool start and stop, and the above functions are powered by the hydraulic system. The control of the rotation of the grate cleaning machine is achieved by controlling the relevant hydraulic motor, and the telescopic and pitching functions of the grate cleaning machine are achieved by controlling the telescopic of its hydraulic cylinder.

[0057] In this embodiment, the grate cleaning machine has two end actuators, one is a rotary crushing head and the other is an impact crushing head. The two actuators are installed on a bracket and there is a 90° angle between the two actuators. The bracket is hinged to the grate cleaning machine, and the conversion of the two actuators can be achieved through a hydraulic cylinder. In order to cover the entire coal grate area, two grate cleaning machines are required to cooperate in cleaning.

[0058] like Figure 1 As shown, the situation of the grate cleaning machine controlled by this embodiment, the installation position of the industrial camera and the actual division of the coal grate area are shown: the overall coal grate area is divided into four major areas, namely the normal area 31 of the first grate cleaning machine and the normal area 41 of the second grate cleaning machine, which are collectively referred to as the normal area; the dead area 32 of the first machine and the dead area 42 of the second machine, which are collectively referred to as the dead area. The normal area is the operating range that the grate cleaning machine can cover, and the dead area is the area that the grate cleaning machine cannot cover.

[0059] like Figure 2The diagram of the theoretical area division of coal grates shown in the figure shows that the theoretical dead zones of the No. 1 and No. 2 units are fan-shaped areas because the grate cleaning machine uses a cylindrical coordinate system. In actual application, the calculation and control process of defining the dead zone using a fan-shaped area are relatively complicated, and some areas may be repeatedly cleaned. Moreover, the normal area directly adjacent to the dead zone has a cleaning frequency roughly the same as the dead zone in daily work. Defining it as a normal area will greatly reduce the cleaning efficiency. In order to simplify the control process, reduce unnecessary cleaning areas, and improve cleaning efficiency, the areas of the divided coal grates are adjusted with reference to the actual situation on site so that each area is simplified into a rectangle, such as Figure 1 shown.

[0060] In this embodiment, the mechanical arm of the grate cleaner has a shortest distance, and the fan-shaped range obtained with the shortest distance from the center point of rotation of the mechanical arm as the center of the circle is the minimum cleaning radius dividing line 6 of the grate cleaner, and the area from the minimum cleaning radius dividing line 6 of the grate cleaner to the center point of rotation of the mechanical arm is the theoretical dead zone of the grate cleaner, that is, the theoretical dead zone 33 of pipeline No. 1 machine and the theoretical dead zone 43 of pipeline No. 2 machine in this embodiment. In order to simplify the control process, a tangent is made along the minimum cleaning radius dividing line 6 of two adjacent groups of grate cleaners, and the tangent is the actual dividing line 5 between the normal area and the dead zone, thereby dividing the normal area and the dead zone of the grate cleaner, and the normal range of one group of grate cleaners covers the dead zone range of an adjacent group of grate cleaners.

[0061] In this embodiment, the rectangular normal area 31 of the No. 1 grate cleaner, the normal area 41 of the No. 2 grate cleaner, the dead zone 32 of the No. 1 grate cleaner and the dead zone 42 of the No. 2 grate cleaner are provided. When two groups of grate cleaners are provided, the four areas constitute the entire area of ​​the coal grate. In actual operation, the normal area 31 of the No. 1 grate cleaner covers the dead zone 42 of the No. 2 grate cleaner, and the normal area 41 of the No. 2 grate cleaner covers the dead zone 32 of the No. 1 grate cleaner. The normal area of ​​the No. 1 grate cleaner and the normal area of ​​the No. 2 grate cleaner are cleaned by the corresponding No. 1 grate cleaner and the No. 2 grate cleaner, respectively; the dead zone of the No. 1 grate cleaner and the dead zone of the No. 2 grate cleaner are cross-called during cleaning, and are cleaned by the No. 2 grate cleaner and the No. 1 grate cleaner, respectively.

[0062] like Figure 3 As shown, before starting to control the grate cleaning machine to perform cleaning work, the industrial camera collects on-site images and videos and transmits them to the industrial computer. The industrial computer corrects and transforms the videos and images and then outputs them for display, providing an intuitive reference for the operator's operation.

[0063] When the coal grate is severely clogged and needs to be cleaned, the operator will be prompted with the current working status of the tipping machine. If the tipping machine is performing a tipping operation, the programmable logic controller will send a system lock command to the industrial computer. At this time, the system is locked and the operator cannot operate until the next tipping operation is completed.

[0064] After confirming that the tipping machine is not performing a tipping operation, the programmable logic controller sends an unlock command to the industrial computer. At this time, the grate cleaning machine control system is unlocked, and the operator can select the operating mode in the grate cleaning machine control system. At the same time, the grate cleaning machine control system sends a locking signal to the tipping machine control system to prohibit the tipping machine from moving.

[0065] In the local control mode, the operator can jog control the movement of the grate cleaner on the touch screen of the nearest control box; when the remote control mode is selected, in the manual mode, the operator can send jog instructions to the programmable logic controller by clicking the mouse of the industrial computer in the manual operation mode of this system to control the grate cleaner to jog.

[0066] When the operation mode is selected as automatic mode, the system will output the corrected and transformed image to the selection box. The operator can decide to directly select the commonly used cleaning area for cleaning according to the situation displayed by the on-site image or directly click on the blocked area on the image to select. After confirming the operation, the industrial computer sends the relevant control parameters to the programmable logic controller, which controls the servo valve or proportional valve to control the action of the grate cleaner. At the same time, the corresponding siren on the grate cleaner starts to work, prompting the on-site personnel to exit the working range of the grate cleaner to prevent accidents.

[0067] The PLC collects the grate cleaner's posture data and the parameters such as oil temperature and oil pressure of the hydraulic system through the data acquisition module and sends them to the industrial computer at a certain frequency. After being solved by the grate cleaner control system, they are displayed on the control system interface, which is convenient for the operator to monitor the working parameters of the grate cleaner system and promptly discover and handle abnormal conditions. After the cleaning work is completed and the grate cleaner control system detects that the grate cleaners have returned to the origin, the grate cleaner control system will send an unlock signal to the tipping machine control system, and the grate cleaner control system will be locked at the same time to prevent the grate cleaner from malfunctioning and causing accidents.

[0068] When the grate cleaner's movement range is abnormal or the hydraulic system's oil temperature, oil pressure are too high, or the oil volume is too low, the system will pop up a prompt box to remind the operator of the system abnormality and the cause, and shut down the grate cleaner and hydraulic system in time to ensure safety.

[0069] Coal grates are cleaned by using at least two coordinated sets of robotic arms carrying actuators. The coal grates are divided into areas and the dead zones of each set of robotic arms are addressed by cross-calling and cleaning them separately, ensuring that the grate cleaner can cover the entire area of ​​the coal grate.

[0070] Embodiment 2:

[0071] The working method of the above-mentioned grate cleaning system comprises:

[0072] The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information: the sector range obtained with the rotation center point of each group of grate cleaners as the center and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners. The normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners.

[0073] According to the selected cleaning area, the industrial computer sends instructions to the grate cleaning machine based on the posture data and status data, including:

[0074] If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas;

[0075] If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order;

[0076] If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

[0077] If the cleaning area is all dead zones, the first grate cleaner is first mobilized to clean the dead zone of the second grate cleaner. At this time, the second grate cleaner remains at the origin position and does not move. After the first grate cleaner completes the cleaning task and returns to the origin, the second grate cleaner starts to operate and clean the dead zone of the first grate cleaner until the task is completed and returns to the origin.

[0078] Specifically:

[0079] The industrial camera acquires the on-site image of the coal grate and the control system transforms and corrects the image.

[0080] The coal grate is divided into regions in the obtained image. Figure 1 shown.

[0081] The normal area of ​​No. 1 grate cleaner and the normal area of ​​No. 2 grate cleaner are cleaned by the corresponding No. 1 grate cleaner and No. 2 grate cleaner respectively; the dead area of ​​No. 1 machine and the dead area of ​​No. 2 machine are cross-called during cleaning and are cleaned by No. 2 grate cleaner and No. 1 grate cleaner respectively.

[0082] Judge the selected area. If the selected area only contains normal areas, there are three possible options:

[0083] If the selected area only includes one of the normal areas of the first grate cleaning machine and the normal area of ​​the second grate cleaning machine, the corresponding grate cleaning machine is mobilized to act alone; if the selected area includes both the normal areas of the first grate cleaning machine and the normal areas of the second grate cleaning machine, the two grate cleaning machines are mobilized to clean the corresponding coal grate areas at the same time;

[0084] If the selected area contains only dead zones:

[0085] If the selected area only includes the dead zone of the No. 1 grate cleaner and the dead zone of the No. 2 grate cleaner, the corresponding grate cleaner is mobilized to clean (that is, when the dead zone of the No. 1 machine is selected, the corresponding No. 2 machine is operated; when the dead zone of the No. 2 machine is selected, the corresponding No. 1 machine is operated, thus forming an intersection);

[0086] If all dead zones are selected, the No. 1 grate cleaner is first activated to clean the dead zones of the No. 2 grate cleaner. At this time, the No. 2 grate cleaner remains at the origin and does not move. After the No. 1 grate cleaner completes the cleaning task and returns to the origin, the No. 2 grate cleaner starts to move to clean the dead zones of the No. 1 grate cleaner until the task is completed and returns to the origin.

[0087] If the selected area contains both normal areas and dead zones, the system will prioritize the grate cleaners to clean the normal areas based on the principle of normal area priority. After the normal area cleaning task is completed, both grate cleaners will return to the origin, waiting for the control system to send a dead zone cleaning signal and perform dead zone cleaning. The task execution logic in this state is the same as the above two cases, which will not be elaborated here.

[0088] For some areas with high coal piles, layered cleaning is required. The operator needs to select the coal grate area that needs to be cleaned in layers before starting the cleaning task, or select the area on the coal grate that needs to be cleaned in layers set in the control system.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grate cleaning machine control system, characterized in that: include: Industrial camera, which acquires coal grate images and grate cleaning machine motion images and sends them to the industrial computer; The data acquisition module obtains the posture data of the grate cleaning machine and the status data of the hydraulic system and sends them to the industrial computer; The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information, specifically: the sector range obtained by taking the rotation center point of each group of grate cleaners as the center of the circle and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners, and the normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners; The industrial computer determines the range of the blocked area of ​​the coal grate based on the image information obtained by the industrial camera, selects the required cleaning area based on the divided working area, and issues instructions to the grate cleaner based on the posture data and status data to perform the cleaning task; specifically: If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas; If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order; If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

2. A grate cleaning machine control system as claimed in claim 1, characterized in that: The grate cleaning machine is located on one side of the coal grate to be cleaned, and includes an end actuator connected to a robotic arm. The grate cleaning machine is connected to a hydraulic station, and the hydraulic station provides power to realize rotation, pitch, extension and telescopic movement of the end actuator; the robotic arm drives the end actuator to extend and retract to the shortest distance, which is the radius of the theoretical dead zone.

3. A grate cleaning machine control system as claimed in claim 1, characterized in that: The data acquisition module comprises an angle sensor, a length sensor, a proximity switch sensor connected to the grate cleaning machine, a pressure sensor and a temperature sensor connected to the hydraulic station, and the angle sensor comprises a rotation angle sensor and a pitch angle sensor.

4. A grate cleaning machine control system as claimed in claim 3, characterized in that: The length sensor detects the telescopic length of the grate cleaning machine; the proximity switch sensor determines the limit position of the grate cleaning machine; and the temperature and pressure sensor collects the temperature and pressure of the hydraulic station.

5. A grate cleaning machine control system as claimed in claim 1, characterized in that: It also has a programmable logic controller for receiving and processing data obtained by the data acquisition module, receiving control signals sent by the industrial computer and sending grate cleaning machine system status signals to the industrial computer. The programmable logic controller is also connected to the tipping machine control system.

6. A grate cleaning machine control method, characterized in that: The following steps are involved: The industrial computer divides the operating areas of two adjacent groups of grate cleaners based on the acquired image information: the sector range obtained with the rotation center point of each group of grate cleaners as the center and the shortest distance as the radius is the theoretical dead zone, and the tangent line of the edge of the theoretical dead zone of the two adjacent groups of grate cleaners is used as the dividing line to obtain the normal operating area and dead zone of each group of grate cleaners. The normal operating range of each group of grate cleaners covers the dead zone range of the adjacent group of grate cleaners. According to the selected cleaning area, the industrial computer sends instructions to the grate cleaning machine based on the posture data and status data, specifically: If the cleaning area includes the normal operating range of one group of grate cleaning machines, the grate cleaning machine corresponding to the area is controlled to operate alone; if it includes the normal operating range of two adjacent groups of grate cleaning machines, the two groups of grate cleaning machines are controlled to operate simultaneously to clean the corresponding coal grate areas; If the cleaning area contains the dead zone of one group of grate cleaners, the adjacent group of grate cleaners will be controlled to operate to cover the dead zone; if the cleaning area is entirely a dead zone, each group of grate cleaners will be controlled to operate crosswise in sequence according to the set order; If the cleaning area includes both the normal operation area and the dead zone, the cleaning task priority of the normal operation area is higher than that of the dead zone.

7. A grate cleaning machine control method as claimed in claim 6, characterized in that: If the cleaning area is all dead zones, the first grate cleaner is first mobilized to clean the dead zone of the second grate cleaner. At this time, the second grate cleaner remains at the origin position and does not move. After the first grate cleaner completes the cleaning task and returns to the origin, the second grate cleaner starts to operate and clean the dead zone of the first grate cleaner until the task is completed and returns to the origin.

8. A grate cleaning machine control method as claimed in claim 6, characterized in that: The industrial computer corrects and transforms the acquired image information and then outputs it for display.

9. A grate cleaning machine control method as claimed in claim 6, characterized in that: Before executing the cleaning task, the operating status of the tipping machine is obtained based on the tipping machine control system. When the tipping machine is not operating, the programmable logic controller sends a release instruction to the industrial computer.

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