A control method for the debris cleaning structure of a dumper compartment

Abstract

The present invention relates to the technical field of residue cleaning of car tipping machines, and specifically discloses a control method for the residue cleaning structure of a car tipping machine, including a travel switch, a mechanical arm, a temperature and humidity sensor, a 3D camera, an actuator, an encoder, a vibration module and a PC master control terminal, and specifically includes the following steps: S1, after the car is transported into the car tipping machine, the PC master control terminal stores the data of material temperature and humidity information and material color information; S2, the PC master control terminal controls the driving component to drive the ultrasonic oscillator and the low-frequency oscillator close to the bottom and side surface of the car, and stores the data of the flipping angle information; S3, the PC master control terminal controls the ultrasonic oscillator and the low-frequency oscillator to clean the residue; S4, the PC master control terminal controls the actuator to clean the residue; S5, after the cleaning is completed, the car tipping machine returns to the normal position, and the above is repeated. The present invention can adapt to various environmental temperature and humidity conditions, and efficiently clean the remaining residue in the car.

Description

Technical Field

[0001] The invention relates to the technical field of car dumper residue cleaning, and in particular to a car dumper compartment residue cleaning structure control method. Background Art

[0002] As the largest and most reliable energy source in my country, coal mining and import volume have been rising year after year. Coal is mainly transported by train, and car dumpers are used to transfer materials out of the carriages. Affected by the ambient temperature and humidity, about 10% of the residue in the carriage will stick to the dead corners of the carriage, which will cause great waste if not cleaned up.

[0003] At present, the main cleaning method is manual, but the coal transportation volume is large, and manual shoveling is time-consuming and labor-intensive, which cannot meet the production rhythm of coal transportation. In addition, the existing cleaning methods are single and have poor adaptability. Changes in environmental temperature and humidity will greatly affect the efficiency and quality of residue cleaning. Summary of the invention

[0004] In view of the technical problems in the prior art, the present invention provides a control method for a car dumper carriage residue cleaning structure, comprising a travel switch, a mechanical arm, a temperature and humidity sensor, a 3D camera, an actuator, an encoder and a vibration module, wherein the travel switch is installed at the end of the car dumper rail, the mechanical arm is installed on the car dumper frame, the temperature and humidity sensor, the 3D camera and the actuator are staggered and distributed on the mechanical arm, the vibration module comprises a driving component, an ultrasonic oscillator and a low-frequency oscillator, the ultrasonic oscillator and the low-frequency oscillator are installed on the bottom surface frame of the car dumper through the driving component, and also comprises a PC master control end, the PC master control end is respectively connected to the travel switch, the mechanical arm, the temperature and humidity sensor, the 3D camera, the actuator, the encoder and the vibration module, and specifically comprises the following steps:

[0005] S1. After the carriage is transported into the tipping machine, the travel switch sends an in-position signal to the PC master control end. The PC master control end controls the robot arm to insert the temperature and humidity sensor and the 3D camera into the carriage material, respectively recording the material temperature and humidity information and material color information, and transmitting the data of the above information to the PC master control end;

[0006] S2. After data transmission is completed, the PC master control end controls the driving component to drive the ultrasonic oscillator and the low-frequency oscillator close to the bottom and side surface of the carriage, the tipping machine drives the carriage to rotate, the encoder records the flipping angle, and transmits the angle information data to the PC master control end in real time;

[0007] S3, when the rotation angle X is greater than 90° and less than 165°, the PC master control terminal controls the ultrasonic oscillator and the low-frequency oscillator to clean the residue;

[0008] S4, when the turning angle X is equal to 165°, the dumper stops working, and the PC master control terminal controls the actuator to clean up the residue;

[0009] S5. When the volume of the residual slag inside the carriage is less than 0.5%, the unloading and slag removal is completed, the tipping machine returns to the center, the carriage moves out, and waits for the next carriage to repeat the above process; when the volume of the residual slag inside the carriage is greater than 0.5% and the equipment running time is less than the set time, repeat step S4; when the equipment running time is greater than or equal to the set time, the machine alarms, manual intervention is required for slag removal, the tipping machine returns to the center, the carriage moves out, and waits for the next carriage to repeat the above process.

[0010] Furthermore, in step S2, the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator are consistent with or close to the resonance frequency of the residue in the vehicle compartment.

[0011] Furthermore, in step S3, when the turning angle X is flipped greater than 90°, the PC master control end controls the ultrasonic oscillator to work and starts high-frequency vibration to vibrate the residues adhering to the inner surface and corners of the car into a loose and broken state. When the turning angle X is flipped greater than 120°, the ultrasonic oscillator stops working and the low-frequency oscillator works to use the knocking force to peel the loose and broken residues off the car.

[0012] Furthermore, step S4 specifically includes the following steps:

[0013] S4.1. The PC master control terminal combines the material temperature and humidity information to control the robot arm to select different actuators;

[0014] S4.2, the PC master control end controls the 3D camera to scan the internal state of the carriage, compares the residual map generated by the scan with the actual map of the empty carriage, and obtains the distribution map of the residual in the box;

[0015] S4.3. Use the residue distribution map in the box to generate the trajectory of the highest point of the residue in real time, and control the robot arm to move along the trajectory.

[0016] Furthermore, the actuator includes a water mist slag removal component, a vacuum adsorption slag removal component and a mechanical slag removal component, wherein the mechanical slag removal component is suitable for the material freezing state, and the water mist slag removal component and the vacuum adsorption slag removal component are suitable for other states.

[0017] Furthermore, the water mist slag removal component includes a water vapor generator. When the material is dry, the PC master control end adjusts the water and gas content in the water vapor generator according to the material humidity information, generates high-pressure pulse water vapor, peels off the sticky residue, and reduces dust. When the humidity of the material is high, the gas content is increased to 100%, and the high-pressure pulse gas is used to peel off the sticky residue without polluting the material.

[0018] Furthermore, a method for controlling a car dumper compartment debris cleaning structure also includes a storage warehouse, which is installed on the car dumper frame and located on one side of the mechanical arm, and an actuator is placed in the storage warehouse.

[0019] Furthermore, in step S5, the set time is 210S.

[0020] Beneficial effects:

[0021] 1. The present invention can adapt to various ambient temperature and humidity conditions through the coordinated arrangement of travel switches, mechanical arms, temperature and humidity sensors, 3D cameras, actuators, encoders, vibration modules and PC master control terminals, and can efficiently clean the remaining residues in the carriage. At the same time, the noise during operation is small and will not cause damage to the carriage. In addition, no human intervention is required during the operation of the device, which greatly saves labor costs and improves production rhythm.

[0022] 2. The present invention can generate resonance by setting the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator to be consistent with or close to the resonance frequency of the residue in the car, so as to achieve the best cleaning effect.

[0023] 3. The present invention uses a 3D camera to take pictures and determine the state and distribution of residues in the car. The PC master control terminal plans the movement path of the robot arm based on the image information, and controls the robot arm to clean the sticky coal and frozen coal on the surface and corners of the car, which can improve the cleaning efficiency. In combination with the setting of real-time high point generation in the movement path of the robot arm, the idle travel time can be shortened, the cleaning efficiency can be improved, and the pollution of the cleaned area can be prevented.

[0024] 4. The present invention can facilitate the storage and replacement of actuators by providing a storage library. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is the overall control flow chart of the present invention;

[0028] Figure 3 This is a control block diagram of ultrasonic oscillator and low-frequency oscillator vibration slag removal of the present invention;

[0029] Figure 4This is a graph showing the resonance frequency and the slag removal volume of the present invention;

[0030] Figure 5 This is a control block diagram of the slag removal system of the actuator of the present invention;

[0031] Figure 6 This is a schematic diagram of the real-time high point trajectory of the robot arm of the present invention;

[0032] Figure 7 This is a control block diagram of a 3D camera according to the present invention.

[0033] Description of reference numerals:

[0034] 1. Travel switch; 2. Robotic arm; 3. Temperature and humidity sensor; 4. 3D camera; 5. Actuator; 6. Encoder; 7. Vibration module; 8. Storage warehouse. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application 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 application. However, the present application 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 application, so the present application is not limited by the specific embodiments disclosed below.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0041] The present invention provides a method for controlling a car dumper compartment residue cleaning structure. Figure 1 , Figure 2As shown, it includes a travel switch 1, a mechanical arm 2, a temperature and humidity sensor 3, a 3D camera 4, an actuator 5, an encoder 6 and a vibration module 7. The travel switch 1 is installed at the end of the tipping machine rail to control the carriage to be transported to a specified position in the tipping machine. The mechanical arm 2 is installed on the tipping machine frame. Preferably, the mechanical arm 2 includes two, and the two mechanical arms 2 are slidably connected to the tipping machine frame to increase the range and ensure the cleaning effect. The temperature and humidity sensor 3, the 3D camera 4, and the actuator 5 are staggered and distributed on the mechanical arm 2, wherein the temperature and humidity sensor 3 can monitor temperature information, or humidity information, or a combination of the two. The vibration module 7 includes a driving component, an ultrasonic oscillator and a low-frequency oscillator, and the ultrasonic oscillator and the low-frequency oscillator are installed on the bottom surface frame of the tipping machine through the driving component. It also includes a PC master control end, which is respectively connected to the travel switch 1, the mechanical arm 2, the temperature and humidity sensor 3, the 3D camera 4, the actuator 5, the encoder 6 and the vibration module 7, and specifically includes the following steps:

[0042] S1, such as Figure 2 As shown, after the carriage is transported into the tipping machine, the travel switch 1 sends a position signal to the PC master control end, and the PC master control end controls the robot arm to insert the temperature and humidity sensor 3 and the 3D camera 4 into the carriage material, and the temperature and humidity sensor 3 records the temperature and humidity information of the material. The PC master control end controls the 3D camera 4 to scan the carriage to record the color information of the material, and transmits the data of the above information to the PC master control end;

[0043] S2. After data transmission is completed, the PC master control end controls the driving component to drive the ultrasonic oscillator and the low-frequency oscillator close to the bottom and side surface of the carriage, so that the vibration module 7 clamps the carriage, the tipping machine drives the carriage to rotate, and the tipping machine unloading module starts unloading. At the same time, the encoder 6 records the flipping angle and transmits the angle information to the PC master control end in real time;

[0044] S3, such as Figure 3 As shown, the flip angle is determined. When the flip angle X is greater than 90° and less than 165°, the PC master control end controls the ultrasonic oscillator and the low-frequency oscillator to clean the residue. This is the first slag removal. Specifically, when the flip angle X is greater than 90°, the PC master control end controls the ultrasonic oscillator to work and start high-frequency vibration to vibrate the residue adhered to the inner surface and corners of the car into a loose and broken state. When the flip angle X is greater than 120°, the ultrasonic oscillator stops working and the low-frequency oscillator works to use the knocking force to peel the loose and broken residue off the car.

[0045] S4, such as Figure 5 As shown, when the turning angle X is equal to 165°, the dumper stops working, and the PC master control terminal controls the actuator 5 to clean up the residue, which is the second slag removal;

[0046] S5, such as Figure 2As shown, when the volume of the residue inside the car is less than 0.5%, the unloading and slag removal is completed, the tipper returns to the center, the car moves out, and waits for the next car to repeat the above process; when the volume of the residue inside the car is greater than 0.5%, and the equipment running time is less than the set time, repeat step S4, when the volume of the residue in the box is greater than 0.5%, and the equipment running time is greater than or equal to the set time, the machine alarms, manual intervention is required for slag removal, the tipper returns to the center, the car moves out, and waits for the next car to repeat the above process.

[0047] In this embodiment, through the coordinated setting of the travel switch 1, the robotic arm 2, the temperature and humidity sensor 3, the 3D camera 4, the actuator 5, the encoder 6, the vibration module 7 and the PC master control terminal, it can adapt to various ambient temperature and humidity conditions and efficiently clean the remaining residues in the car. At the same time, the noise during operation is small and will not cause damage to the car. In addition, no human intervention is required during the operation of the device, which greatly saves labor costs and improves production rhythm.

[0048] In the embodiment, preferably, Figure 1 , Figure 3 , Figure 4 As shown, in step S2, the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator are consistent with or close to the vibration frequency of the residue in the carriage. Specifically, during the overturning and unloading process of the carriage, the carriage weight sensor transmits the weight information of the material residue in real time, and the 3D camera 4 transmits the volume information of the material residue in real time. The PC master control end processes the two types of information, calculates the volume of residue removed per unit time, and finds the optimal residue removal frequency according to the volume of residue removed per unit time at different frequencies. Specifically, when the vibration frequency F reaches the resonant frequency F1, the volume removal of the residue is the largest, which is A1, which is much higher than A2 and A3 corresponding to the vibration frequencies F2 and F3. The PC master control end controls the frequency converter to adjust the frequency according to the calculation results, and controls the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator to be near the resonant frequency.

[0049] In this embodiment, by setting the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator to be consistent with or close to the resonance frequency of the residue in the car, resonance can be generated, so that the cleaning effect is optimized.

[0050] In the embodiment, preferably, Figure 1 , Figure 5 , Figure 6 As shown, step S4 specifically includes the following steps:

[0051] S4.1. The PC master control end controls the robot arm to select different actuators 5 in combination with the material temperature and humidity information, wherein the actuator 5 includes a water mist slag removal component, a vacuum adsorption slag removal component and a mechanical slag removal component. The mechanical slag removal component is suitable for the material in a frozen state. To improve the slag removal effect, continuous vibration slag removal can be added on the basis of mechanical slag removal. The water mist slag removal component and the vacuum adsorption slag removal component are suitable for other states, such as high material humidity and dry material; the water mist slag removal component includes a water vapor generator. When the material is dry, the PC master control end adjusts the water and gas content in the water vapor generator according to the specific humidity information of the material to generate high-pressure pulse water vapor, peel off the adhesive residue, and reduce dust. When the humidity of the material is high, the gas content is increased to 100%, and the high-pressure pulse gas is used to peel off the adhesive residue without polluting the material;

[0052] S4.2, the PC master control terminal controls the 3D camera 4 to scan the internal state of the compartment, and compares the residual map in the box (residue compartment volume data) generated by the scan with the actual map in the empty compartment (empty compartment volume data) to obtain the residual distribution map in the box;

[0053] S4.3, if Figure 6 As shown, the residue distribution map in the box is used to generate a trajectory route of the highest residue point in real time, and the robot arm is controlled to move along the route. Specifically, the robot arm moves from the initial position to the highest residue point P1 under the control of the PC master control end, and removes the highest residue point P1. When the height of the highest residue point P1 is lower than the second residue height P2, the robot arm moves to remove the second residue height P2. When the height of the second residue height P2 is lower than the third residue height P3, the robot arm moves to remove the third residue height P3. Similarly, the fourth residue height P4, the fifth residue height P5 and the sixth residue height P6 are removed. At the same time, the PC master control end gives certain compensation to the robot arm's slag removal movement stroke, so that the highest residue point P1 is the only one. If the trajectory is planned for slag removal based on the proximity principle, the residue dropped during the slag removal process may adhere to the cleaned area, causing the robot arm to repeatedly remove slag, with a long idle stroke and low work efficiency.

[0054] In this embodiment, the 3D camera 4 is used to take pictures and determine the state and distribution of residues in the car. The PC master control end plans the movement path of the robot arm 2 according to the image information, and controls the robot arm 2 to clean the sticky coal and frozen coal on the surface and corners of the car, thereby improving the cleaning efficiency. In combination with the setting of real-time high point generation in the movement path of the robot arm 2, the idle travel time can be shortened, the cleaning efficiency can be improved, and at the same time, pollution of the cleaned area can be prevented.

[0055] In the embodiment, preferably, Figure 1As shown, a method for controlling a car dumper compartment debris cleaning structure also includes a storage warehouse 8, which is installed on the car dumper frame and located on one side of the mechanical arm 2, and an actuator 5 is placed in the storage warehouse 8.

[0056] In this embodiment, the storage warehouse 8 is provided to facilitate storage and replacement of the actuator 5 .

[0057] Working principle:

[0058] like Figures 1 to 7 As shown, first, the PC master control end records the material temperature and humidity information data through the temperature and humidity sensor 3, and records the material color information data through the 3D camera 4, wherein the 3D camera 4 includes a master controller, a lens, a three-primary color structured light generator and a self-cleaning mechanism, and the master controller is respectively connected to the lens, the three-primary color structured light generator and the self-cleaning mechanism, and the self-cleaning mechanism is installed on the surface of the lens. Specifically, the lens takes photos and records the material color state or material color information. The master controller transmits the material color state or material color information to the PC master control end, and compares it with the color database of the PC master control end to find the optimal structured light color, which has the strongest penetration for the dust generated by this material. The master controller uses the optimal structured light color data to control the three-primary color structured light generator to generate 3D structured light with strong penetration;

[0059] Then the PC master control end controls the vibration module 7 to clamp the carriage, and the dumper unloading module starts to flip and unload. At the same time, the encoder 6 records the flipping angle and transmits the angle information to the PC master control end in real time. The 3D structured light adjustment and the dumper flipping action are almost synchronized.

[0060] Then, the angle is determined by the flip angle determination module. When the turning angle X of the flip angle is greater than 90° and less than 165°, the PC master control end controls the ultrasonic oscillator and the low-frequency oscillator to perform the first residue cleaning. When the turning angle X is equal to 165°, the PC master control end controls the tipping machine to stop working. At the same time, the PC master control end controls the lens to take and record the volume state and distribution position of the residue in the car after vibration removal, and transmits the photo to the PC master control end. The PC master control end compares the photos. When the photo is clear, it enters the next link. When the photo is not clear, it sends a signal to the master controller. The master controller controls the self-cleaning mechanism to clean the lens through the cleaning signal. Repeat the above until the photo is clear. The self-cleaning mechanism includes a wiper dust removal device and a cleaning liquid spray device.

[0061] Then the PC master control terminal combines the material temperature and humidity information to control the robot arm to select different actuators 5. If the material temperature is low and there is ice, mechanical slag removal can be selected. If the material humidity is high or the material is dry, water mist slag removal or vacuum adsorption slag removal can be selected, and the residue is cleaned up again according to the information of the photos taken in the previous step.

[0062] Finally, the PC master control end controls the camera to take photos of the volume status and distribution position of the residue in the car after the second cleaning to determine whether the car is cleaned. Specifically, when the volume of the residue in the car is less than 0.5%, the unloading and slag removal is completed, the tipping machine returns to the center, the car drives out, and waits for the next car to repeat the above process; when the volume of the residue in the car is greater than 0.5%, and the equipment running time is less than the set time, repeat the second cleaning, when the volume of the residue in the box is greater than 0.5%, and the equipment running time is greater than or equal to the set time, the machine alarms, manual intervention is required for slag removal, the tipping machine returns to the center, the car drives out, and waits for the next car to repeat the above process.

[0063] 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.

[0064] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A method for controlling a car dumper car debris cleaning structure, comprising a travel switch (1), a mechanical arm (2), a temperature and humidity sensor (3), a 3D camera (4), an actuator (5), an encoder (6) and a vibration module (7), wherein the travel switch (1) is installed at the end of a car dumper rail, the mechanical arm (2) is installed on a car dumper frame, the temperature and humidity sensor (3), the 3D camera (4) and the actuator (5) are staggered and distributed on the mechanical arm (2), and the vibration module (7) comprises a drive assembly, an ultrasonic oscillator and a low-frequency oscillator, wherein the ultrasonic oscillator and the low-frequency oscillator are installed on the bottom surface frame of the car dumper through the drive assembly, characterized in that: The system also includes a PC master control terminal, which is respectively connected to the travel switch (1), the mechanical arm (2), the temperature and humidity sensor (3), the 3D camera (4), the actuator (5), the encoder (6) and the vibration module (7), and specifically includes the following steps: S1. After the carriage is transported into the tipping machine, the travel switch (1) sends a positioning signal to the PC master control end, and the PC master control end controls the robot arm to insert the temperature and humidity sensor (3) and the 3D camera (4) into the material in the carriage, respectively recording the material temperature and humidity information and the material color information, and transmitting the data of the above information to the PC master control end; S2. After data transmission is completed, the PC master control end controls the driving component to drive the ultrasonic oscillator and the low-frequency oscillator close to the bottom and side surface of the carriage, the tipping machine drives the carriage to rotate, the encoder (6) records the flipping angle, and transmits the angle information data to the PC master control end in real time; S3. When the turning angle X is greater than 90° and less than 165°, the PC master control end controls the ultrasonic oscillator and the low-frequency oscillator to clean the residue. When the turning angle X is greater than 90°, the PC master control end controls the ultrasonic oscillator to start high-frequency vibration to vibrate the residue adhered to the inner surface and corners of the carriage to a loose and broken state. When the turning angle X is greater than 120°, the ultrasonic oscillator stops working and the low-frequency oscillator works to use the knocking force to peel the loose and broken residue off the carriage. S4, when the turning angle X is equal to 165°, the dumper stops operating, and the PC master control terminal controls the actuator (5) to clean up the residue; S5. When the volume of the residual slag inside the carriage is less than 0.5%, the unloading and slag removal is completed, the tipping machine returns to the center, the carriage moves out, and waits for the next carriage to repeat the above process; when the volume of the residual slag inside the carriage is greater than 0.5%, and the equipment running time is less than the set time, repeat step S4; when the equipment running time is greater than or equal to the set time, the machine alarms, manual intervention is required for slag removal, the tipping machine returns to the center, the carriage moves out, and waits for the next carriage to repeat the above process.

2. A method for controlling a car dumper compartment debris cleaning structure according to claim 1, characterized in that: In step S2, the vibration frequencies of the ultrasonic oscillator and the low-frequency oscillator are consistent with or close to the resonance frequency of the residue in the vehicle compartment.

3. A method for controlling a car dumper compartment debris cleaning structure according to claim 1, characterized in that: Step S4 specifically includes the following steps: S4.1, the PC master control terminal combines the material temperature and humidity information to control the robot arm to select different actuators (5); S4.2, the PC master control terminal controls the 3D camera (4) to scan the internal state of the carriage, compares the residual map generated by the scan with the actual map of the empty carriage, and obtains the distribution map of the residual in the box; S4.

3. Use the residue distribution map in the box to generate the trajectory of the highest point of the residue in real time, and control the robot arm to move along the trajectory.

4. A method for controlling a car dumper compartment debris cleaning structure according to claim 3, characterized in that: The actuator (5) comprises a water mist slag removal component, a vacuum adsorption slag removal component and a mechanical slag removal component, wherein the mechanical slag removal component is suitable for a material freezing state, and the water mist slag removal component and the vacuum adsorption slag removal component are suitable for other states.

5. A method for controlling a car dumper compartment debris cleaning structure according to claim 4, characterized in that: The water mist slag removal component includes a water vapor generator. When the material is dry, the PC master control end adjusts the water and gas content in the water vapor generator according to the material humidity information to generate high-pressure pulse water vapor to peel off the sticky residue and reduce dust. When the humidity of the material is high, the gas content is increased to 100%, and the high-pressure pulse gas is used to peel off the sticky residue without polluting the material.

6. A method for controlling a car dumper compartment debris cleaning structure according to claim 4 or 5, characterized in that: It also includes a storage warehouse (8), which is installed on the tipping machine frame and is located on one side of the mechanical arm (2), and an actuator (5) is placed in the storage warehouse (8).

7. A method for controlling a car dumper compartment debris cleaning structure according to claim 1, characterized in that: In step S5, the set time is 210S.

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