Mining coal bunker cleaning remote control system

Abstract

The invention relates to the technical field of remote control systems, in particular to a mining coal bunker cleaning remote control system, which comprises an intelligent monitoring unit, a plurality of groups of intelligent monitoring devices arranged by taking cleaning equipment as a main body, an environment monitoring module and a remote control unit, the early warning module performs early warning based on a received early warning signal and sends a stop instruction to control the cleaning equipment to stop running during early warning, the environment recognition module is used for extracting and analyzing an environment image in the coal bunker from the intelligent monitoring unit to obtain an area needing to be cleaned, and the cleaning simulation module is used for simulating the cleaning of the area needing to be cleaned. And obtaining a corresponding cleaning scheme based on the cleaning area analysis. The effect that an operator remotely controls cleaning can be achieved, the dangerous environment can be avoided, meanwhile, early warning is conducted according to the abnormal condition in the coal bunker, cleaning equipment is controlled to stop running in time, and the accidental damage condition of the cleaning equipment can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control systems, and in particular to a remote control system for cleaning a coal bunker in a mine. Background Art

[0002] A mine coal bunker refers to a structure used for short-term storage of coal in a coal mine. It is mainly used for temporary storage of coal to facilitate the transportation and loading of coal. However, in actual operation, due to the physical properties of coal and environmental factors, coal will accumulate in the coal bunker during long-term use, resulting in blockage and accumulation problems in the coal bunker, affecting the normal transportation and storage of coal. Therefore, it is very important to regularly clear and clean the coal bunker.

[0003] In the existing coal bunker cleaning process, due to the poor visibility, harsh environment and serious pollution in the coal bunker, the cleaning site operation brings inconvenience and safety hazards. At the same time, factors such as coal dust can easily cause damage to the health of on-site workers. Therefore, how to effectively improve this situation and ensure safe, accurate and effective operations is a common concern of the coal machinery industry.

[0004] Based on this, a remote control system for coal bunker cleaning in mines is proposed. Summary of the invention

[0005] The main purpose of the present invention is to provide a remote control system for cleaning coal bunkers in mines, so as to overcome the problems mentioned in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides a remote control system for cleaning coal bunkers for mines, comprising an intelligent monitoring unit, an environmental monitoring module, an early warning module and a wireless transmission module, and also comprising an environmental identification module and a cleaning simulation module;

[0007] An environmental recognition module is used to extract an environmental image in a coal bunker from an intelligent monitoring unit, extract constituent lines from the environmental image, input the constituent lines into a computer for conversion according to a preset ratio, construct a termination stereogram corresponding to the environmental image, set a reference environmental image in the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into a computer for conversion according to a preset ratio, construct an initial stereogram corresponding to the reference environmental image, select the same center point for the termination stereogram and the initial stereogram to keep the tops flush and overlap, to form a cleaning reference image, compare the cleaning reference image with the initial stereogram, select a comparison error area to mark as a first cleaning area, and transmit it to the cleaning simulation module;

[0008] The cleaning simulation module sets several cleaning ranges based on the first cleaning area and marks them with numbers, matches the first cleaning area with several cleaning ranges to obtain several second cleaning areas, obtains environmental feature data of several second cleaning areas to form a to-be-cleaned index, sets cleaning parameters corresponding to the environmental feature data to perform summation calculation to form a cleaning index, matches the cleaning index with the to-be-cleaned index to obtain a matching index, sets a matching index threshold, if the matching index is greater than the matching threshold, it indicates that the match is successful, substitutes the cleaning index into the computer and converts it according to a preset ratio to obtain a corresponding cleaning plan, if the matching index is less than the matching threshold, it indicates that the match fails, and resets the cleaning parameters to perform a secondary calculation of the cleaning index.

[0009] As a further improvement of the present invention, the matching index is processed and analyzed, and the specific process is as follows:

[0010] The environmental characteristic data is analyzed to obtain the cleaning position, area and thickness data. After normalization, the data is inserted into the formula QL'=WZ×β1+MJ×β2+HD×β3 to obtain the index to be cleaned QL', where WZ, MJ, and HD are the values ​​of the cleaning position, area, and thickness, respectively, and β1, β2, and β3 are the set weight factors, respectively;

[0011] The cleaning parameters are parsed to obtain the cleaning angle, path and strength data. After normalization, they are inserted into the formula QL=JD×δ1+LJ×δ2+LD×δ3 to obtain the cleaning index QL, where JD, LJ, and LD are the values ​​of the cleaning angle, path, and strength, respectively, and δ1, δ2, and δ3 are the set weight factors, respectively.

[0012] The matching index PZ is obtained by the formula PZ=|QL'-QL|, and the matching index threshold PZ' is set. The matching index PZ is compared with the matching index threshold PZ'. If PZ>PZ', the cleaning angle, path and strength set by the cleaning index are converted according to the preset ratio to generate a cleaning plan. If PZ<PZ', the cleaning index is reset.

[0013] As a further improvement of the present invention, the cleaning position and the cleaning angle are processed, and the specific process is as follows:

[0014] The internal diameter of the initial stereogram is set as the horizontal axis of the coordinate, the internal height of the initial stereogram is set as the vertical axis of the coordinate, and the internal radius of the initial stereogram is set as the polar axis of the coordinate to construct a cylindrical coordinate system. A number of second cleaning areas are taken as coordinate point one to obtain cleaning position ranges corresponding to the number of second cleaning areas. The vertices and bottom points of the second cleaning area ranges are selected as position one and position two respectively. The cleaning equipment is taken as coordinate point two to obtain the position corresponding to the cleaning equipment and set it as position three. Position one and position three are set as endpoints and connected with a straight line to obtain angle line one. Position two and position three are set as endpoints and connected with a straight line to obtain angle line two. When angle line one and angle line two both set position three as a common endpoint, the angle between angle line one and the other end of angle line two is selected as the cleaning angle.

[0015] As a further improvement of the present invention, the cleaning area and the cleaning path are processed, and the specific process is as follows:

[0016] Take the cleaning position range corresponding to the second cleaning area as the cleaning area, connect the endpoints of the cleaning angles set by angle line one and angle line two through a rectangular line, set a center line at the center point of the rectangular line, mark the rectangular line as cleaning path one, and spread the cleaning path one horizontally and parallel to the cleaning area of ​​the second cleaning area, cut off the rectangular lines that exceed the cleaning area, select the center lines of each rectangular line and connect them to obtain the cleaning path.

[0017] As a further improvement of the present invention, the cleaning thickness and cleaning strength are processed, and the specific process is as follows:

[0018] A two-dimensional coordinate graph is constructed with the internal height of the initial stereogram as the horizontal axis and the internal diameter of the initial stereogram as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, each thickness range corresponds to a cleaning intensity, and all thicknesses are matched with several thickness ranges to obtain corresponding cleaning intensities.

[0019] As a further improvement of the present invention, the environmental monitoring module is specifically analyzed as follows:

[0020] The environmental data in the coal bunker is monitored in real time to obtain the temperature, humidity and gas concentration data. After normalization, the data is inserted into the formula P1=WD×γ1+SD×γ2+QT×γ3 to obtain the environmental index P1, where WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively, and γ1, γ2, and γ3 represent the set proportional coefficient factors;

[0021] Set the temperature, humidity and gas concentration thresholds, normalize them and insert them into the formula P2=WD'×γ1+SD'×γ2+QT'×γ3 to get the environment preset index P2, where WD', SD' and QT' represent the thresholds of temperature, humidity and gas concentration respectively. Select the maximum value to the minimum value within the influence range of the environment preset index P2 to form the environment preset index threshold interval (-P2, P2, +P2);

[0022] Match the environmental index P1 with the environmental preset index threshold interval (-P2, P2, +P2). If P1∈(-P2, P2, +P2), it indicates that the environmental data in the coal bunker is normal and the cleaning operation can be carried out normally. And >+P2, it indicates that the environmental data in the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module.

[0023] As a further improvement of the present invention, it also includes:

[0024] Intelligent monitoring unit, with cleaning equipment as the main body, sets up several groups of intelligent monitoring equipment to collect and transmit images of the real-time environment in the coal bunker;

[0025] An early warning module issues an early warning based on the received early warning signal and issues a stop command to control the cleaning equipment to stop running when the early warning occurs;

[0026] The wireless transmission module is used to clean up the wireless signal control transmission between the device and the remote control.

[0027] Beneficial effects of the present invention:

[0028] The present invention collects images of the internal environment of the coal bunker, analyzes the images to generate a corresponding cleaning plan, controls the cleaning equipment to perform cleaning operations based on the cleaning plan, and achieves the effect of remote control of cleaning by operators, which is conducive to avoiding dangerous environments and reducing safety hazards during the cleaning process. At the same time, it is conducive to improving the working environment and reducing physical injuries to on-site workers.

[0029] The present invention monitors the real-time environmental status in the coal bunker and can promptly control the cleaning equipment to stop running in response to abnormal environmental conditions, so as to avoid the continuous deterioration of environmental abnormalities as the cleaning proceeds, and promptly warn on-site staff to adjust the environment in the coal bunker, which is beneficial to reducing accidental damage to the cleaning equipment and avoiding damage to the coal bunker. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting 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 an improper limitation of the present invention. In the accompanying drawings:

[0031] Figure 1It is a system schematic diagram of the present invention. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] See also Figure 1 As shown, a coal bunker cleaning remote control system for a mine includes an intelligent monitoring unit, an environmental monitoring module, an early warning module, a wireless transmission module, an environmental identification module and a cleaning simulation module;

[0037] An environmental recognition module is used to extract an environmental image in a coal bunker from an intelligent monitoring unit, extract constituent lines from the environmental image, input the constituent lines into a computer for conversion according to a preset ratio, construct a termination stereogram corresponding to the environmental image, set a reference environmental image in the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into a computer for conversion according to a preset ratio, construct an initial stereogram corresponding to the reference environmental image, select the same center point for the termination stereogram and the initial stereogram to keep the tops flush and overlap, to form a cleaning reference image, compare the cleaning reference image with the initial stereogram, select a comparison error area to mark as a first cleaning area, and transmit it to the cleaning simulation module;

[0038] The specific analysis is as follows: the extracted environmental image inside the coal bunker is converted into a line composition form, and the corresponding environmental image is reduced according to a preset ratio to construct a termination stereogram; the environmental image of the coal bunker when it is put into use is converted into a line composition form, and the corresponding environmental image is reduced according to a preset ratio to construct an initial stereogram; a center point is selected to overlap the top of the termination stereogram with the top of the initial stereogram; the part of the termination stereogram that exceeds the initial stereogram is the error area, which is indicated as the area that needs to be cleaned by cleaning equipment and is marked as the first cleaning area.

[0039] The cleaning simulation module sets a number of cleaning ranges based on the first cleaning area and marks them with numbers, matches the first cleaning area with the number of cleaning ranges to obtain a number of second cleaning areas, obtains environmental feature data of the number of second cleaning areas to form a to-be-cleaned index, sets cleaning parameters corresponding to the environmental feature data to perform summation calculation to form a cleaning index, matches the cleaning index with the to-be-cleaned index to obtain a matching index, sets a matching index threshold, if the matching index is greater than the matching threshold, it indicates that the match is successful, substitutes the cleaning index into the computer and converts it according to a preset ratio to obtain a corresponding cleaning plan, if the matching index is less than the matching threshold, it indicates that the match fails, and resets the cleaning parameters to perform a secondary calculation of the cleaning index;

[0040] The specific analysis is as follows: based on the first cleaning area being divided into several cleaning ranges by the staff, and numbered and marked in the order of division, such as ①, ②, ..., the first cleaning area is matched with several cleaning ranges, and the cleaning division of the first cleaning area is completed to obtain several second cleaning areas, and the second cleaning areas ①, second cleaning areas ②, ... are obtained by combining the numbers, and the second cleaning areas corresponding to each number have their own environmental characteristic data;

[0041] The matching index is processed and analyzed. The specific process is as follows:

[0042] The environmental characteristic data is analyzed to obtain the cleaning position, area and thickness data. After normalization, the data is inserted into the formula QL'=WZ×β1+MJ×β2+HD×β3 to obtain the index to be cleaned QL', where WZ, MJ, and HD are the values ​​of the cleaning position, area, and thickness, respectively, and β1, β2, and β3 are the set weight factors, respectively;

[0043] The cleaning parameters are parsed to obtain the cleaning angle, path and strength data. After normalization, they are inserted into the formula QL=JD×δ1+LJ×δ2+LD×δ3 to obtain the cleaning index QL, where JD, LJ, and LD are the values ​​of the cleaning angle, path, and strength, respectively, and δ1, δ2, and δ3 are the set weight factors, respectively.

[0044] The matching index PZ is obtained by the formula PZ=|QL'-QL|, and the matching index threshold PZ' is set. The matching index PZ is compared with the matching index threshold PZ'. If PZ>PZ', the cleaning angle, path and strength set by the cleaning index are converted according to a preset ratio to generate a cleaning plan. If PZ<PZ', the cleaning index is reset.

[0045] For example: if PZ>PZ', the current cleaning plan is: amplify the cleaning angle, path and force according to the preset ratio to obtain the cleaning data actually required for the cleaning site, control the cleaning structure on the cleaning device to adjust the angle relative to the second cleaning area to a state equal to the cleaning angle according to the cleaning data, and move to the starting point of the cleaning path, control the cleaning structure to be inserted into the starting point of the cleaning path according to the numerical value of the cleaning force, and move and clean according to the cleaning path;

[0046] The cleaning position and cleaning angle are processed. The specific process is as follows:

[0047] The internal diameter of the initial stereogram is set as the horizontal axis of the coordinate, the internal height of the initial stereogram is set as the vertical axis of the coordinate, and the internal radius of the initial stereogram is set as the polar axis of the coordinate, and a cylindrical coordinate system is constructed. A plurality of second cleaning areas are taken as coordinate point one to obtain cleaning position ranges corresponding to the plurality of second cleaning areas, and the vertices and bases of the second cleaning area ranges are selected as position one and position two respectively, and a cleaning device is taken as coordinate point two to obtain a position corresponding to the cleaning device and set as position three, and position one and position three are set as endpoints and connected with a straight line to obtain angle line one, and position two and position three are set as endpoints and connected with a straight line to obtain angle line two, and when angle line one and angle line two both set position three as a common endpoint, the angle between angle line one and the other end of angle line two is selected as the cleaning angle;

[0048] The cleaning area and cleaning path are processed, and the specific process is as follows:

[0049] Take the cleaning position range corresponding to the second cleaning area as the cleaning area, connect the endpoints of the cleaning angles set by angle line one and angle line two through a rectangular line, set a center line at the center point of the rectangular line, mark the rectangular line as cleaning path one, and spread the cleaning path one horizontally and parallel to the cleaning area of ​​the second cleaning area, cut off the rectangular lines that exceed the cleaning area, select the center lines of each rectangular line and connect them to obtain the cleaning path.

[0050] The cleaning thickness and cleaning intensity are processed, and the specific process is as follows:

[0051] A two-dimensional coordinate graph is constructed with the internal height of the initial stereogram as the horizontal axis and the internal diameter of the initial stereogram as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, each thickness range corresponds to a cleaning intensity, and all thicknesses are matched with several thickness ranges to obtain corresponding cleaning intensities.

[0052] The specific analysis of the environmental monitoring module is as follows:

[0053] The environmental data in the coal bunker is monitored in real time to obtain the temperature, humidity and gas concentration data. After normalization, the data is inserted into the formula P1=WD×γ1+SD×γ2+QT×γ3 to obtain the environmental index P1, where WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively, and γ1, γ2, and γ3 represent the set proportional coefficient factors;

[0054] Set the temperature, humidity and gas concentration thresholds, normalize them and insert them into the formula P2=WD'×γ1+SD'×γ2+QT'×γ3 to get the environment preset index P2, where WD', SD' and QT' represent the thresholds of temperature, humidity and gas concentration respectively. Select the maximum value to the minimum value within the influence range of the environment preset index P2 to form the environment preset index threshold interval (-P2, P2, +P2);

[0055] Match the environmental index P1 with the environmental preset index threshold interval (-P2, P2, +P2). If P1∈(-P2, P2, +P2), it indicates that the environmental data in the coal bunker is normal and the cleaning operation can be carried out normally. And >+P2, it indicates that the environmental data in the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module;

[0056] For example, the risk factors for abnormal environmental data in coal bunkers include:

[0057] S1. If the humidity in the coal bunker is too high, there will be humidity abnormality, which will easily increase the risk of spontaneous combustion of coal and cause fire accidents in the coal bunker;

[0058] S2. If the temperature in the coal bunker is too high or too low, there is a temperature abnormality. If the temperature is too high, the risk of spontaneous combustion of coal will increase. If the temperature is too low, the coal will become hard, which will increase the difficulty of cleaning.

[0059] S3. If the gas concentration in the coal bunker is too high, such as if the oxygen concentration is too high, it will easily increase the risk of spontaneous combustion of coal. If the methane concentration is too high, there may be a risk of explosion when it encounters open flames or electrical sparks.

[0060] Intelligent monitoring unit, with cleaning equipment as the main body, sets up several groups of intelligent monitoring equipment to collect and transmit images of the real-time environment in the coal bunker;

[0061] By setting up several groups of high-definition cameras and light source components on the cleaning equipment, images inside the coal bunker are collected in real time and transmitted.

[0062] An early warning module issues an early warning based on the received early warning signal and issues a stop command to control the cleaning equipment to stop running when the early warning occurs;

[0063] The wireless transmission module is used to clean up the wireless signal control transmission between the device and the remote control.

[0064] The above are only embodiments of the present invention and are 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 substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A remote control system for cleaning coal bunkers in mines, comprising an intelligent monitoring unit, an environmental monitoring module, an early warning module and a wireless transmission module, characterized in that: It also includes an environment recognition module and a cleaning simulation module; An environmental recognition module is used to extract an environmental image in a coal bunker from an intelligent monitoring unit, extract constituent lines from the environmental image, input the constituent lines into a computer for conversion according to a preset ratio, construct a termination stereogram corresponding to the environmental image, set a reference environmental image in the coal bunker, extract reference constituent lines from the reference environmental image, input the reference constituent lines into a computer for conversion according to a preset ratio, construct an initial stereogram corresponding to the reference environmental image, select the same center point for the termination stereogram and the initial stereogram to keep the tops flush and overlap, to form a cleaning reference image, compare the cleaning reference image with the initial stereogram, select a comparison error area to mark as a first cleaning area, and transmit it to the cleaning simulation module; The cleaning simulation module sets several cleaning ranges based on the first cleaning area and marks them with numbers, matches the first cleaning area with several cleaning ranges to obtain several second cleaning areas, obtains environmental feature data of several second cleaning areas to form a to-be-cleaned index, sets cleaning parameters corresponding to the environmental feature data to perform summation calculation to form a cleaning index, matches the cleaning index with the to-be-cleaned index to obtain a matching index, sets a matching index threshold, if the matching index is greater than the matching threshold, it indicates that the match is successful, substitutes the cleaning index into the computer and converts it according to a preset ratio to obtain a corresponding cleaning plan, if the matching index is less than the matching threshold, it indicates that the match fails, and resets the cleaning parameters to perform a secondary calculation of the cleaning index.

2. A mine coal bunker cleaning remote control system according to claim 1, characterized in that: The matching index is processed and analyzed. The specific process is as follows: The environmental characteristic data is analyzed to obtain the cleaning position, area and thickness data. After normalization, the data is inserted into the formula QL'=WZ×β1+MJ×β2+HD×β3 to obtain the index to be cleaned QL', where WZ, MJ, and HD are the values ​​of the cleaning position, area, and thickness, respectively, and β1, β2, and β3 are the set weight factors, respectively; The cleaning parameters are parsed to obtain the cleaning angle, path and strength data. After normalization, they are inserted into the formula QL=JD×δ1+LJ×δ2+LD×δ3 to obtain the cleaning index QL, where JD, LJ, and LD are the values ​​of the cleaning angle, path, and strength, respectively, and δ1, δ2, and δ3 are the set weight factors, respectively. The matching index PZ is obtained by the formula PZ=|QL'-QL|, and the matching index threshold PZ' is set. The matching index PZ is compared with the matching index threshold PZ'. If PZ>PZ', the cleaning angle, path and strength set by the cleaning index are converted according to the preset ratio to generate a cleaning plan. If PZ<PZ', the cleaning index is reset.

3. A mine coal bunker cleaning remote control system according to claim 2, characterized in that: The cleaning position and cleaning angle are processed. The specific process is as follows: The internal diameter of the initial stereogram is set as the horizontal axis of the coordinate, the internal height of the initial stereogram is set as the vertical axis of the coordinate, and the internal radius of the initial stereogram is set as the polar axis of the coordinate to construct a cylindrical coordinate system. A number of second cleaning areas are taken as coordinate point one to obtain cleaning position ranges corresponding to the number of second cleaning areas. The vertices and bottom points of the second cleaning area ranges are selected as position one and position two respectively. The cleaning equipment is taken as coordinate point two to obtain the position corresponding to the cleaning equipment and set it as position three. Position one and position three are set as endpoints and connected with a straight line to obtain angle line one. Position two and position three are set as endpoints and connected with a straight line to obtain angle line two. When angle line one and angle line two both set position three as a common endpoint, the angle between angle line one and the other end of angle line two is selected as the cleaning angle.

4. A mine coal bunker cleaning remote control system according to claim 2, characterized in that: The cleaning area and cleaning path are processed, and the specific process is as follows: Take the cleaning position range corresponding to the second cleaning area as the cleaning area, connect the endpoints of the cleaning angles set by angle line one and angle line two through a rectangular line, set a center line at the center point of the rectangular line, mark the rectangular line as cleaning path one, and spread the cleaning path one horizontally and parallel to the cleaning area of ​​the second cleaning area, cut off the rectangular lines that exceed the cleaning area, select the center lines of each rectangular line and connect them to obtain the cleaning path.

5. A mine coal bunker cleaning remote control system according to claim 2, characterized in that: The cleaning thickness and cleaning intensity are processed, and the specific process is as follows: A two-dimensional coordinate graph is constructed with the internal height of the initial stereogram as the horizontal axis and the internal diameter of the initial stereogram as the vertical axis. The second cleaning area is set as coordinate point three, and the distance between coordinate point three and the horizontal axis is set as the cleaning thickness. Several thickness ranges are set, each thickness range corresponds to a cleaning intensity, and all thicknesses are matched with several thickness ranges to obtain corresponding cleaning intensities.

6. A mine coal bunker cleaning remote control system according to claim 1, characterized in that: The environmental monitoring module is specifically analyzed as follows: The environmental data in the coal bunker is monitored in real time to obtain the temperature, humidity and gas concentration data. After normalization, the data is inserted into the formula P1=WD×γ1+SD×γ2+QT×γ3 to obtain the environmental index P1, where WD, SD, and QT represent the values ​​of temperature, humidity, and gas concentration, respectively, and γ1, γ2, and γ3 represent the set proportional coefficient factors; Set the temperature, humidity and gas concentration thresholds, normalize them and insert them into the formula P2=WD'×γ1+SD'×γ2+QT'×γ3 to get the environment preset index P2, where WD', SD' and QT' represent the thresholds of temperature, humidity and gas concentration respectively. Select the maximum value to the minimum value within the influence range of the environment preset index P2 to form the environment preset index threshold interval (-P2, P2, +P2); Match the environmental index P1 with the environmental preset index threshold interval (-P2, P2, +P2). If P1∈(-P2, P2, +P2), it indicates that the environmental data in the coal bunker is normal and the cleaning operation can be carried out normally. And >+P2, it indicates that the environmental data in the coal bunker is abnormal, and an early warning signal is generated and transmitted to the early warning module.

7. A mine coal bunker cleaning remote control system according to claim 1, characterized in that: Also includes: Intelligent monitoring unit, with cleaning equipment as the main body, sets up several groups of intelligent monitoring equipment to collect and transmit images of the real-time environment in the coal bunker; An early warning module issues an early warning based on the received early warning signal and issues a stop command to control the cleaning equipment to stop running when the early warning occurs; The wireless transmission module is used to clean up the wireless signal control transmission between the device and the remote control.

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