Automatic identification and control method for cleaning coal unloading on train

Abstract

The present invention discloses an automatic identification and control method for train coal unloading and cleaning, and relates to the technical field of automatic identification and control. The method monitors the coal pile state in real time to timely discover the deformation of the coal pile, and generates a coal unloading speed control instruction accordingly. The coal unloading speed of the spiral coal unloader is controlled in real time according to the generated coal unloading speed control instruction, so that the coal unloading speed can be maximized under the premise of ensuring system safety, thereby improving the coal unloading efficiency and reducing the energy and time costs. At the same time, through repeated control and monitoring, the coal unloading speed can be continuously optimized according to the coal pile state, thereby achieving continuous efficiency improvement and system optimization. By analyzing the number and area of ​​the remaining coal parts in the remaining coal display diagram, and conducting comparative analysis according to the set area range, accurate control of the remaining coal amount is achieved, ensuring that the cleaning machine performs targeted cleaning of the remaining coal of different degrees, and avoiding excessive cleaning or missed cleaning.

Description

Technical Field

[0001] The invention relates to the technical field of automatic identification and control, in particular to an automatic identification and control method for train coal unloading and cleaning. Background Art

[0002] Traditional train unloading coal cleaning work requires a lot of manual participation, which is labor-intensive and labor-intensive. In addition, due to manpower limitations, cleaning work may need to be carried out in batches or can only be carried out within a limited time, which makes it impossible to ensure the timeliness and continuity of cleaning. The automatic identification and control system can reduce the dependence on manpower, achieve 24-hour continuous work without rest, and reduce the labor intensity of workers. Therefore, automatic identification and control of train unloading coal cleaning is particularly important.

[0003] Coal unloading from trains is a dynamic process, and the shape and position of the coal pile will change over time. At present, the speed of coal unloading from trains is usually fixed. This fixed mode may not be able to adapt to the changes in the shape of the coal pile in some cases, resulting in low efficiency or incomplete cleaning of coal unloading. Summary of the invention

[0004] Based on this, it is necessary to provide an automatic identification and control method for train coal unloading cleaning in response to the problems mentioned in the above background technology.

[0005] The purpose of the present invention can be achieved by the following technical solution: a method for automatically identifying and controlling the cleaning of coal unloading from a train, comprising the following steps:

[0006] 101: Install several sensors in various areas of the coal pile to cover the entire coal pile area and obtain real-time coal pile information and unloading information, wherein the coal pile information includes coal pile photos and carriage photos; the unloading information includes coal unloading speed, material flow, temperature and power;

[0007] 102: Based on the real-time coal pile information, the change state of the coal pile is monitored and analyzed to obtain a value for accurately measuring the change state of the coal pile, that is, a coal pile deformation value. When the coal pile deformation value is greater than a set deformation threshold, a coal unloading speed control instruction is generated;

[0008] 103: When receiving the coal unloading control instruction, a comprehensive analysis is performed by combining the coal pile state and the screw coal unloader operation state to obtain a control speed value, and the coal unloading speed is controlled in real time accordingly;

[0009] 104: after adjusting the coal unloading speed of the screw coal unloader each time, repeat step 102 to obtain the coal pile deformation value. When the coal pile deformation value is greater than the set deformation threshold, repeat step 103 to re-adjust the speed of the screw coal unloader until the coal pile deformation value is equal to or less than the set deformation threshold, then maintain the current coal unloading state;

[0010] 105: When the height of the coal pile is less than the set height threshold, the unloader moves to the second carriage, and the cleaning machine starts to clean the first carriage;

[0011] 106: Based on the analysis of the state of residual coal in the carriage after the spiral coal unloading machine is completed, the cleaning strategy of the cleaning operation is determined, wherein the cleaning strategy includes a grid cleaning strategy, a spiral cleaning strategy and a straight back and forth cleaning strategy.

[0012] In some embodiments, the specific process of monitoring and analyzing the change state of the coal pile based on the real-time coal pile information is as follows:

[0013] 201: Retrieve the coal pile photos corresponding to each acquisition time, extract the coal pile contour and coal pile height from the coal pile photos, and perform preliminary processing on the coal pile contour to obtain the characteristic difference of the feature points with the same sequence number, recorded as Wherein, i = 1, 2, 3 ... I, j = 1, 2, 3 ... J, I and J are both positive integers, I represents the total number of feature points, i represents the sequence number of any feature point; J represents the total number of acquisition moments, j represents the sequence number of any acquisition moment;

[0014] 202: retrieve the coal pile height corresponding to each collection time, and record it as Dj. Take any two adjacent collection time corresponding coal pile heights and calculate the difference to obtain the height difference, record it as Comprehensively analyze the characteristic difference and height difference to obtain the coal pile change value;

[0015] 203: The coal pile change values ​​are numbered in the order of their corresponding collection moments, thereby obtaining the number of each coal pile change value, and a curve relationship diagram of the coal pile change value is drawn with the number as the horizontal coordinate and the coal pile change value as the vertical coordinate; a tangent line is drawn to the curve at the change point, and the tangent slope is calculated to obtain the trend slope of each change point; the trend slopes greater than zero are summed up to obtain the trend single increase value recorded as Z1, the trend slopes less than zero are summed up and calculated and the absolute value is obtained to obtain the trend single decrease value recorded as Z2, and the number of trend slopes equal to zero is counted and recorded as Z3; using the set formula The coal pile deformation value is calculated, where a6 and a7 are the set proportional coefficients respectively.

[0016] In some embodiments, the specific process of performing preliminary processing on the coal pile profile is as follows:

[0017] A number of feature points are set on the coal pile contour as i, and a two-dimensional rectangular coordinate system is established with the center point of the bottom of the carriage as the origin. The coal pile contour corresponding to each acquisition time is input into the coordinate system to obtain the coordinates of each feature point as (Xij, Yij); the coal pile contour corresponding to two adjacent acquisition times is randomly selected, and the coordinates of the feature points with the same sequence number are added according to the sequence number of the feature points using the Euclidean distance formula Calculate the characteristic difference

[0018] In some embodiments, the specific process of comprehensively analyzing the feature difference and the height difference is as follows:

[0019] Compare and analyze the characteristic difference with the set difference interval to divide the characteristic difference into high characteristic difference, medium characteristic difference and low characteristic difference, count the cumulative times of high characteristic difference, medium characteristic difference and low characteristic difference respectively, and record them as H1, H2 and H3 respectively; sum up the characteristic differences corresponding to the high characteristic difference, medium characteristic difference and low characteristic difference respectively to obtain high difference value, medium difference value and low difference value, and record them as H4, H5 and H6 respectively;

[0020] Substitute H1, H2, H3, H4, H5, H6 into the given formula Calculate the adjacent characteristic values ​​of the coal profile between each adjacent collection time Where a1, a2, and a3 are the set proportional coefficients, and a1>a2>a3>0;

[0021] The height difference Different values ​​from adjacent features By setting the formula Calculate the change value of coal pile Where a4 and a5 are the set proportional coefficients respectively; thus, we can get some values ​​to measure the change of coal pile contour corresponding to two adjacent acquisition moments, namely, the coal pile change value

[0022] In some embodiments, the specific process of performing comprehensive analysis by combining the coal pile state and the screw unloader operation state is as follows:

[0023] Obtain the current coal unloading speed V, coal pile height D, material flow L, temperature T and power W; assume that there is a standard transportation parameter, where the standard transportation parameter includes standard material flow, standard temperature and standard power, and record them as BL, BT and BW respectively; use the set formula The control speed value V' is calculated, wherein b1, b2, b3, and b4 are respectively set proportional coefficients, and β is a set speed conversion coefficient; the larger the control speed value V', the more the coal unloading speed of the screw unloader is regulated.

[0024] In some embodiments, the specific process of determining the cleaning strategy is:

[0025] A train carriage is photographed to obtain a carriage photo, and the remaining coal parts in the carriage photo are identified based on a deep learning model, and the remaining coal parts are colored to obtain a remaining coal display map; the number of remaining coal parts in the remaining coal display map and the remaining coal area corresponding to each remaining coal part are identified;

[0026] Compare and analyze the remaining coal area with the set area interval to divide the remaining coal area into the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area, and count the cumulative times of the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area, and record them as U1, U2, and U3 respectively; sum up the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area to obtain the first-level area total value, the second-level area total value and the third-level area total value, and record them as U4, U5, and U6 respectively;

[0027] Substitute U1, U2, U3, U4, U5, and U6 into the set formula The remaining coal value Ub is calculated, where b5, b6, and b7 are respectively the set proportional coefficients, and b5>b6>b7>0;

[0028] When the remaining coal value is greater than the maximum value in the set value range, a grid cleaning strategy is generated; when the remaining coal value is within the set value range, a spiral cleaning strategy is generated; when the remaining coal value is less than the minimum value in the set value range, a straight line back and forth cleaning strategy is generated.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. By real-time monitoring of the coal pile status and timely discovering the coal pile deformation, the coal unloading speed control instruction is generated accordingly; the coal unloading speed of the spiral coal unloader is controlled in real time according to the generated coal unloading speed control instruction, so that the coal unloading speed can be maximized under the premise of ensuring system safety, thereby improving the coal unloading efficiency and reducing energy and time costs; at the same time, through repeated control and monitoring, the coal unloading speed can be continuously optimized according to the coal pile status, thereby achieving continuous efficiency improvement and system optimization;

[0031] 2. By analyzing the number and area of ​​the remaining coal parts in the remaining coal display diagram and performing comparative analysis according to the set area range, the amount of remaining coal can be accurately controlled, ensuring that the cleaning machine can carry out targeted cleaning of different degrees of remaining coal, avoiding excessive cleaning or missed cleaning;

[0032] In summary, through automatic monitoring, prediction and regulation of the train unloading process, the coal unloading efficiency and system safety are improved, the energy and time costs are reduced, and the automatic identification and control of the coal pile status and residual coal cleaning operations during the train unloading process are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0036] like Figure 1 As shown, the train coal unloading cleaning automatic identification and control method includes the following steps:

[0037] 101: Install several sensors in various areas of the coal pile to cover the entire coal pile area, and obtain real-time coal pile information and unloading information, wherein the coal pile information includes coal pile photos and carriage photos; unloading information includes coal unloading speed, material flow, temperature and power (the temperature and power here are the temperature and power of the screw unloader);

[0038] 102: Real-time monitoring of coal pile information is performed to predict the change trend of the coal pile, and based on this, it is determined whether the speed of the spiral coal unloader needs to be adjusted. Specifically:

[0039] Retrieving the coal pile photos corresponding to each acquisition time, extracting the coal pile contour and coal pile height from the coal pile photos, thereby obtaining the coal pile contour and coal pile height corresponding to each acquisition time;

[0040] The coal pile contour is preliminarily processed: a number of feature points are set on the coal pile contour and recorded as i, where i = 1, 2, 3 ... I, I is a positive integer, I represents the total number of feature points, and i represents the serial number of any feature point; a two-dimensional rectangular coordinate system is established with the center point of the bottom of the carriage as the origin, and the coal pile contour corresponding to each acquisition time is input into the coordinate system to obtain the coordinates of each feature point, which are marked as (Xij, Yij); where j = 1, 2, 3 ... J, J is a positive integer, J represents the total number of acquisition times, and j represents the serial number of any acquisition time; the coal pile contours corresponding to two adjacent acquisition times are randomly selected, and the coordinates of the feature points with the same serial number are separated by the Euclidean distance formula according to the serial number of the feature points. Calculate the characteristic difference

[0041] Compare and analyze the feature difference with the set difference interval. When the feature difference is greater than the maximum value in the set difference interval, it means that the difference between the feature points of the same serial number at adjacent acquisition moments is greater, and a high feature difference is accumulated once; when the feature difference is within the set difference interval, a medium feature difference is accumulated once; when the feature difference is less than the minimum value in the set difference interval, a low feature difference is accumulated once; the cumulative number of high feature differences, medium feature differences and low feature differences are counted respectively, and they are recorded as H1, H2, and H3 respectively; the feature differences corresponding to the high feature differences, medium feature differences and low feature differences are summed up to obtain the high difference value, medium difference value and low difference value, and they are recorded as H4, H5, and H6 respectively; using the set formula Calculate the adjacent characteristic values ​​of the coal profile between each adjacent collection time Among them, a1, a2, and a3 are respectively the set proportional coefficients, and a1>a2>a3>0; it can be seen from the formula that when the characteristic difference is larger, it means that the difference between the two characteristic points is larger, and the adjacent characteristic difference value is larger, which means that the coal pile contour changes more within the adjacent time;

[0042] The coal pile height corresponding to each collection time is retrieved and recorded as Dj. The height difference between the coal pile heights corresponding to two adjacent collection times is calculated and recorded as The height difference Different values ​​from adjacent features By setting the formula Calculate the change value of coal pile Where a4 and a5 are the set proportional coefficients respectively; thus, we can get some values ​​to measure the change of coal pile contour corresponding to two adjacent acquisition moments, namely, the coal pile change value

[0043] The coal pile change values ​​are numbered in the order of their corresponding collection moments, thereby obtaining the numbers of the coal pile change values, and a two-dimensional rectangular coordinate system is constructed with the numbers as the horizontal coordinates and the coal pile change values ​​as the vertical coordinates. The coal pile change values ​​are input into the coordinate system according to their corresponding numbers, and the positions of the coal pile change values ​​in the coordinate system are taken as the change points. The change points are connected in sequence with smooth curves to obtain a curve relationship diagram of the coal pile change values; a tangent line is drawn at the change point, and the slope of the tangent line is calculated to obtain the trend slope of each change point; it should be noted that the slope of the tangent line represents the change of the coal pile change value at the change point. Trend, if the trend slope is greater than zero, it means that the change value of the coal pile shows an increasing trend at the change point, which means that the greater the change in the shape of the coal pile (the change in the shape of the coal pile refers to the comprehensive change in the height and shape of the coal pile); if the trend slope is less than zero, it means that the change value of the coal pile shows a decreasing trend at the change point, which means that the smaller the change in the shape of the coal pile; sum up the trend slopes greater than zero to get the trend single increase value recorded as Z1, sum up the trend slopes less than zero and calculate the absolute value to get the trend single decrease value recorded as Z2, count the number of trend slopes equal to zero, and record it as Z3; use the set formula The coal pile deformation value is calculated, where a6 and a7 are respectively the set proportional coefficients; the coal pile deformation value is compared and analyzed with the set deformation threshold. When the coal pile deformation value is greater than the set deformation threshold, it means that the deformation has changed significantly at this time, and the possibility that the coal unloading speed at this time does not meet the coal pile state is very high, and the coal unloading speed control instruction is generated;

[0044] 103: When receiving the coal unloading control instruction, the speed of the coal pile is monitored and analyzed in real time to obtain the speed control parameter, and the coal unloading speed is controlled in real time accordingly to maximize the coal unloading efficiency; specifically:

[0045] Obtain the current coal unloading speed V, coal pile height D, material flow L (the material flow here is the coal flow of the screw coal unloader), temperature T and power W (the temperature and power here are the temperature and power of the screw coal unloader). It should be noted that the greater the material flow, the greater the temperature and the greater the power, the greater the load of the screw coal unloader, which poses a greater threat to the safe and stable operation of the screw coal unloader; set a standard transportation parameter, which includes standard material flow, standard temperature and standard power, and record them as BL, BT and BW respectively; use the set formula The control speed value V' is obtained by calculation, where b1, b2, b3, and b4 are respectively the set proportional coefficients, and β is the set speed conversion coefficient; when (L-BL) is less than zero, (T-BT) is less than zero and (W-BW), it means that the load of the screw coal unloader is relatively small and has not reached the standard transportation parameters, and it is necessary to speed up, then the corresponding control speed value V' is larger; when the material flow is smaller, it means that the efficiency of the screw coal unloader is too low and it is necessary to speed up, then the corresponding control speed value V' is larger; when the coal pile is relatively high (that is, the larger the coal pile height D is, the greater the resistance and load of the coal unloader operation will be, and its efficiency and stability will be reduced. The coal unloading speed needs to be reduced to reduce the risk of accumulation and blockage, and the corresponding control speed value V' is smaller; according to the larger control speed value V', the unloading speed of the screw coal unloader is regulated to maximize the unloading speed of the screw coal unloader while maintaining the safety of the screw coal unloader, so as to ensure the unloading efficiency and system safety;

[0046] 104: after adjusting the coal unloading speed of the screw coal unloader each time, repeat step 102 to obtain the coal pile deformation value. When the coal pile deformation value is greater than the set deformation threshold, repeat step 103 to re-adjust the speed of the screw coal unloader until the coal pile deformation value is equal to or less than the set deformation threshold, then maintain the current coal unloading state;

[0047] By real-time monitoring of the coal pile status and timely detection of coal pile deformation, coal unloading speed control instructions are generated accordingly; the coal unloading speed of the spiral coal unloader is controlled in real time according to the generated coal unloading speed control instructions, so that the coal unloading speed can be maximized while ensuring system safety, thereby improving coal unloading efficiency and reducing energy and time costs; at the same time, through repeated control and monitoring, the coal unloading speed can be continuously optimized according to the coal pile status, thereby achieving continuous efficiency improvement and system optimization.

[0048] 105: When the height of the coal pile is less than the set height threshold, it means that the coal pile in the train carriage has been basically unloaded. In order to improve the unloading efficiency of the spiral unloader, a sweeper is needed to clean the remaining coal. The unloader moves to the second carriage, and the sweeper starts to clean the first carriage.

[0049] 106: The residual coal cleaning strategy is determined by analyzing the residual coal status in the train carriage, specifically:

[0050] Take a photo of the train carriage to obtain a carriage photo, identify the remaining coal parts in the carriage photo based on the deep learning model, and color the remaining coal parts to obtain the remaining coal display map; identify the number of remaining coal parts in the remaining coal display map and the remaining coal area corresponding to each remaining coal part; compare and analyze the remaining coal area with the set area interval, when the remaining coal area is greater than the maximum value in the set area interval, the first-level remaining coal area is accumulated once; when the remaining coal area is within the set area interval, the second-level remaining coal area is accumulated once; when the remaining coal area is less than the minimum value in the set area interval, the third-level remaining coal area is accumulated once; count the cumulative times of the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area, and record them as U1, U2, and U3 respectively; sum the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area to obtain the first-level area total value, the second-level area total value and the third-level area total value, and record them as U4, U5, and U6 respectively; use the set formula The residual coal value Ub is obtained by calculation, where b5, b6, and b7 are respectively the set proportional coefficients, and b5>b6>b7>0; it can be seen from the formula that when the more residual coal parts there are in the residual coal display diagram, the larger the residual coal area is, which means that the residual coal area in the carriage is larger and a more thorough cleaning operation is required; when the residual coal value is greater than the maximum value in the set value interval, a grid cleaning strategy is generated, and the sweeper is controlled to move in a grid-like path above the carriage, first sweeping in one direction, and then moving in a vertical direction, repeating this process until the entire carriage area is covered; when the residual coal value is in the set value interval, a spiral cleaning strategy is generated, and the sweeper is controlled to gradually move downward in a spiral form above the carriage to cover the entire carriage area; when the residual coal value is less than the minimum value in the set value interval, a straight back-and-forth cleaning strategy is generated, and the sweeper is controlled to move back and forth along a straight line above the carriage to cover the entire width of the carriage;

[0051] By analyzing the number and area of ​​the remaining coal parts in the remaining coal display diagram and conducting comparative analysis based on the set area range, precise control of the remaining coal amount is achieved, ensuring that the cleaning machine can carry out targeted cleaning of different degrees of remaining coal, avoiding excessive cleaning or missed cleaning.

[0052] The above scheme is described in detail by taking the coal unloading process of a train as an example, as follows:

[0053] A roller encoder is installed on the spiral coal unloader, which rotates with the movement of the trolley. Induction recheck chips are installed at intervals on the track to correct possible errors caused by the encoder. The position of the coal unloader on the track can be known through this device, which plays a positioning role in the entire unloading process. At the same time, the data provided by the encoder is also a soft limit in the operation process to prevent the extended spiral coal unloading arm from hitting the car side. Two groups (a total of four) of opposing gratings are installed at each end of the spiral coal unloader. First, the limit is used during the operation process. At the same time, the order in which the two gratings are connected can be used to determine the number of the current operating car, providing a "relative car positioning signal" for automatic one-key unloading.

[0054] First, input the number of vehicles to be operated today in the upper computer, and start the unloading and cleaning operations with one key. The winch and the iron bull pull the carriage to a preset loading position. The unloading machine starts first, moves to the preset first carriage through the "relative carriage positioning signal", and automatically starts the unloading operation. The specific unloading operations are steps 101-104;

[0055] When the unloading of the first carriage is completed, the unloader moves to the second carriage, and the cleaning machine starts to start cleaning the first carriage, wherein the cleaning operation is specifically the above steps 105-106; since the cleaning operation time is relatively short, after the cleaning is completed, the unloader waits in place to issue a command that the unloading of the second carriage is completed, and then starts cleaning the second carriage, and so on;

[0056] When it is detected that the coal unloader has unloaded to the rear of the workshop and completed the operation of that car, a command is issued. At this time, the winch and the iron ox pull the car forward, and the "wheel distance collector" and the "relative car positioning signal" of the unloader cooperate with each other to move the car that has just been unloaded to the starting position of the sweeper. At the same time, the sweeper and the unloader move back at the same time, cooperating with each other to complete the remaining car operations.

[0057] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. Automatic identification and control method for cleaning coal unloading on trains, including: 101: Install several sensors in various areas of the coal pile to cover the entire coal pile area and obtain real-time coal pile information and unloading information, wherein the coal pile information includes coal pile photos and carriage photos; the unloading information includes coal unloading speed, material flow, temperature and power; It is characterized in that it also includes the following steps: 102: Based on the real-time coal pile information, the change state of the coal pile is monitored and analyzed to obtain a value for accurately measuring the change state of the coal pile, that is, a coal pile deformation value. When the coal pile deformation value is greater than a set deformation threshold, a coal unloading speed control instruction is generated; 103: When receiving the coal unloading control instruction, a comprehensive analysis is performed by combining the coal pile state and the screw coal unloader operation state to obtain a control speed value, and the coal unloading speed is controlled in real time accordingly; 104: after adjusting the coal unloading speed of the screw coal unloader each time, repeat step 102 to obtain the coal pile deformation value. When the coal pile deformation value is greater than the set deformation threshold, repeat step 103 to re-adjust the speed of the screw coal unloader until the coal pile deformation value is equal to or less than the set deformation threshold, then maintain the current coal unloading state; 105: When the height of the coal pile is less than the set height threshold, the unloader moves to the second carriage, and the cleaning machine starts to clean the first carriage; 106: Analyze the state of the remaining coal in the carriage after the spiral coal unloading machine is completed to determine the cleaning strategy of the cleaning operation, wherein the cleaning strategy includes a grid cleaning strategy, a spiral cleaning strategy and a straight back and forth cleaning strategy; The specific process of determining the cleaning strategy is as follows: A train carriage is photographed to obtain a carriage photo, and the remaining coal parts in the carriage photo are identified based on a deep learning model, and the remaining coal parts are colored to obtain a remaining coal display map; the number of remaining coal parts in the remaining coal display map and the remaining coal area corresponding to each remaining coal part are identified; Compare and analyze the remaining coal area with the set area interval to divide the remaining coal area into the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area, respectively count the cumulative times of the first-level remaining coal area, the second-level remaining coal area and the third-level remaining coal area, and sum and calculate the first-level area total value, the second-level area total value and the third-level area total value respectively; The cumulative number of the first-level remaining coal area, the cumulative number of the second-level remaining coal area, the cumulative number of the third-level remaining coal area, the total value of the first-level area, the total value of the second-level area and the total value of the third-level area are calculated and analyzed by formula to obtain the remaining coal value; When the remaining coal value is greater than the maximum value in the set value range, a grid cleaning strategy is generated; when the remaining coal value is within the set value range, a spiral cleaning strategy is generated; when the remaining coal value is less than the minimum value in the set value range, a straight line back and forth cleaning strategy is generated.

2. The train coal unloading cleaning automatic identification and control method according to claim 1 is characterized in that: The specific process of monitoring and analyzing the change status of coal pile based on real-time coal pile information is as follows: 201: Retrieve the coal pile photos corresponding to each acquisition time, extract the coal pile contour and coal pile height from the coal pile photos, and perform preliminary processing on the coal pile contour to obtain the characteristic difference of the feature points with the same sequence number, recorded as Among them, i = 1, 2, 3 ... I, j = 1, 2, 3 ... J, I represents the total number of feature points, i represents the sequence number of any feature point; J represents the total number of acquisition moments, j represents the sequence number of any acquisition moment; 202: retrieve the coal pile height corresponding to each collection time, and record it as Dj. Take any two adjacent collection time corresponding coal pile heights and calculate the difference to obtain the height difference, record it as The characteristic difference and height difference are comprehensively analyzed to obtain the coal pile change value; the specific process of comprehensively analyzing the characteristic difference and height difference is as follows: Comparing and analyzing the characteristic difference with the set difference interval to divide the characteristic difference into high characteristic difference, medium characteristic difference and low characteristic difference, respectively counting the cumulative times of high characteristic difference, medium characteristic difference and low characteristic difference, and summing up the characteristic differences corresponding to the high characteristic difference, medium characteristic difference and low characteristic difference to obtain high difference value, medium difference value and low difference value; The cumulative number of high characteristic differences, the cumulative number of medium characteristic differences, the cumulative number of low characteristic differences, the high difference value, the medium difference value and the low difference value are calculated and analyzed by formula to obtain the adjacent characteristic values ​​of the coal profile between each adjacent acquisition time. The height difference Different values ​​from adjacent features By setting the formula Calculate the change value of coal pile Where a4 and a5 are the set proportional coefficients respectively; thus, we can get some values ​​to measure the change of coal pile contour corresponding to two adjacent acquisition moments, namely, the coal pile change value 203: The coal pile change values ​​are numbered in the order of their corresponding collection moments, thereby obtaining the number of each coal pile change value, and a curve relationship diagram of the coal pile change value is drawn with the number as the horizontal coordinate and the coal pile change value as the vertical coordinate; a tangent line is drawn to the curve at the change point, and the tangent slope is calculated to obtain the trend slope of each change point; the trend slopes greater than zero are summed up to obtain the trend single increase value recorded as Z1, the trend slopes less than zero are summed up and calculated and the absolute value is obtained to obtain the trend single decrease value recorded as Z2, and the number of trend slopes equal to zero is counted and recorded as Z3; using the set formula The coal pile deformation value is calculated, where a6 and a7 are the set proportional coefficients respectively.

3. The train coal unloading cleaning automatic identification and control method according to claim 2 is characterized in that: The specific process of preliminary processing of the coal pile contour is as follows: A number of feature points are set on the coal pile contour as i, and a two-dimensional rectangular coordinate system is established with the center point of the bottom of the carriage as the origin. The coal pile contour corresponding to each acquisition time is input into the coordinate system to obtain the coordinates of each feature point as (Xij, Yij); the coal pile contours corresponding to two adjacent acquisition times are randomly selected, and the coordinates of the feature points with the same sequence number are calculated using the Euclidean distance formula to obtain the feature difference.

4. The train coal unloading cleaning automatic identification and control method according to claim 1 is characterized in that: The specific process of comprehensive analysis by combining the coal pile status and the operating status of the screw unloader is as follows: Obtain the current coal unloading speed V, coal pile height D, material flow L, temperature T and power W; assume that there is a standard transportation parameter, where the standard transportation parameter includes standard material flow, standard temperature and standard power, and record them as BL, BT and BW respectively; use the set formula The speed control value V' is calculated, wherein b1, b2, b3, and b4 are respectively set proportional coefficients, and β is a set speed conversion coefficient; the coal unloading speed of the screw coal unloader is regulated according to the speed control value V'.

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