Anti-freezing solution spraying adjusting method, device and equipment for train coal loading and medium

Abstract

The invention provides an anti-freezing solution spraying adjusting method, device and equipment for train coal loading and a medium, and the method comprises the steps: predicting coal sub-regions pointed by an anti-freezing solution spraying structure at a plurality of time points in a target time period based on a coal accumulation shape model and train moving speed data, the backstepping module is used for backstepping corresponding rotation angles of the anti-freezing solution spraying structure at a plurality of time points; under the condition that it is verified that the coverage area of the anti-freezing solution spraying structure meets the preset requirement based on the rotation angle, the opening degree target of the electric valve is determined according to the anti-freezing spraying standard, the compartment attribute information and the train moving speed data; and according to the opening degree target of the electric valve and the corresponding rotation angles of the anti-freezing solution spraying structure at the multiple time points, the spraying system is controlled to execute the anti-freezing solution spraying action on the current compartment. The spraying effect of the anti-freezing solution can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of antifreeze spraying regulation, and particularly to an antifreeze spraying regulation method, device, equipment and medium for loading coal onto trains. Background Art

[0002] In winter in the north, the temperature is generally below the freezing point. To prevent coal from freezing in the car, it is necessary to spray antifreeze before loading. The actuating mechanism generally adopts a lifting spraying arm, and one or more groups of nozzles are installed on the arm. The antifreeze is pumped from the liquid storage tank to the spraying arm by a pump for spraying. The spraying amount of the antifreeze must meet the standard, which is related to the temperature, vehicle type and load target. However, since the train speed is variable, the spraying system needs to adjust the spraying amount according to different vehicle speeds to ensure that each car meets the spraying standard. However, the spraying effect of the existing antifreeze spraying system is poor. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an antifreeze spraying regulation method, device, equipment and medium for loading coal onto trains, which can significantly improve the spraying effect of the antifreeze.

[0004] In the first aspect, the present invention provides an antifreeze spraying regulation method for loading coal onto trains, which is applied to the controller of the spraying system. The spraying system includes a spraying pump, an electric valve and a spraying arm connected through a pipeline, and a plurality of antifreeze spraying structures with adjustable angles are deployed on the spraying arm. The method includes: Obtain the antifreeze spraying standard of the current carriage, the information of the carriage and coal attributes, and the train moving speed data; Based on the coal accumulation shape model and train moving speed data in the carriage and coal attribute information, predict the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within the target time period, so as to inversely deduce the corresponding rotation angles of the antifreeze spraying structure at multiple time points; When it is verified that the coverage area of the antifreeze spraying structure meets the preset requirements based on the rotation angle, determine the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the carriage and coal attribute information, and the train moving speed data; Control the spraying system to perform the antifreeze spraying action on the current carriage according to the opening target of the electric valve and the corresponding rotation angles of the antifreeze spraying structure at multiple time points.

[0005] In an implementation manner, based on the coal accumulation shape model and train moving speed data in the carriage and coal attribute information, predicting the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within the target time period includes: Based on the train moving speed data and the track curvature at the track where the spraying system is located, use polynomial trajectory planning to predict the carriage position information of the current carriage at multiple time points within the target time period; Based on the coal accumulation shape model in the carriage and coal attribute information, divide the surface of the coal loaded in the current carriage to obtain multiple coal sub-regions and their corresponding spraying priorities; Based on the carriage position information at multiple time points within the target time period of the current carriage and the spraying priorities corresponding to the coal sub-regions, determine the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period.

[0006] In one implementation, based on the coal accumulation shape model in the carriage and coal attribute information, dividing the surface of the coal loaded in the current carriage to obtain multiple coal sub-regions and their corresponding spraying priorities includes: Divide the surface of the coal loaded in the current carriage into multiple uniform coal sub-regions; For each coal sub-region, perform the following operations: Extract the corresponding accumulation shape sub-model of this coal sub-region from the coal accumulation shape model in the carriage and coal attribute information, extract the slope information corresponding to this coal sub-region based on the accumulation shape sub-model, and determine the spraying priority corresponding to this coal sub-region according to the mapping relationship between the slope and the priority.

[0007] In one implementation, based on the carriage position information at multiple time points within the target time period of the current carriage and the spraying priorities corresponding to the coal sub-regions, determining the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period includes: Based on the carriage position information at multiple time points within the target time period of the current carriage, the spraying priorities corresponding to the coal sub-regions, the equipment position information and equipment priority of the antifreeze spraying structure, construct a time slice matrix, where the time slice matrix is used to describe the carriage position information, spraying priority, equipment position information and equipment priority at each time point; Based on the carriage position information in the time slice matrix, determine the regional position information corresponding to the coal sub-region, and combine the equipment position information to determine the relative position relationship between the coal sub-region and the antifreeze spraying structure; Based on the relative position relationship, the spraying priority and equipment priority in the time slice matrix, determine the matching score between the coal sub-region and the antifreeze spraying structure; Determine the coal sub-regions pointed to by the antifreeze spraying structure at each time point according to the matching score.

[0008] In one implementation, a flow sensor is provided on the antifreeze spraying structure to detect the spraying flow rate of the antifreeze spraying structure; the method further includes: Adjust the equipment priority corresponding to the antifreeze spraying structure based on the spraying flow rate, and the equipment priority is positively correlated with the spraying flow rate.

[0009] In one implementation, according to the anti-freezing spraying standard, the carriage attribute information among the carriage and coal attribute information, and the train moving speed data, determining the opening target of the electric valve includes: Determine the opening target of the electric valve according to the following formula: ; Wherein, is the opening target, is the anti-freezing spraying standard, is the loading weight target of the current carriage, is the train moving speed data, is the rated flow of the spraying pump, is the carriage attribute information.

[0010] In one implementation, the method further includes: In the case where the coverage area does not meet the preset requirements, adjust the rotation angles corresponding to the antifreeze spraying structures at multiple time points until the coverage area meets the preset requirements.

[0011] In a second aspect, the present invention further provides an antifreeze spraying adjustment device for train coal loading, which is applied to the controller of the spraying system. The spraying system includes a spraying pump, an electric valve, and a spraying arm connected through a pipeline, and a plurality of angle-adjustable antifreeze spraying structures are deployed on the spraying arm; the device includes: A data acquisition module, configured to acquire the anti-freezing spraying standard of the current carriage, the carriage and coal attribute information, and the train moving speed data; An angle reverse deduction module, configured to predict the coal sub-regions pointed to by the antifreeze spraying structures at multiple time points within a target time period based on the coal stacking shape model in the carriage and coal attribute information and the train moving speed data, so as to reverse deduce the rotation angles corresponding to the antifreeze spraying structures at multiple time points; An opening determination module, configured to determine the opening target of the electric valve according to the anti-freezing spraying standard, the carriage attribute information among the carriage and coal attribute information, and the train moving speed data when it is verified that the coverage area of the antifreeze spraying structure meets the preset requirements; A spraying execution module, configured to control the spraying system to perform the antifreeze spraying action on the current carriage according to the opening target of the electric valve and the rotation angles corresponding to the antifreeze spraying structures at multiple time points.

[0012] In a third aspect, the present invention further provides an electronic device, including a processor and a memory, where the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method according to any one of the first aspect.

[0013] Fourthly, the present invention further provides a computer-readable storage medium storing computer-executable instructions, which, when called and executed by a processor, cause the processor to implement the method according to any one of the first aspect.

[0014] The present invention provides an antifreeze spraying adjustment method, device, equipment and medium for loading coal onto trains, which is applied to the controller of a spraying system. The spraying system includes a spraying pump, an electric valve and a spraying arm connected by pipelines, and a plurality of antifreeze spraying structures with adjustable angles are deployed on the spraying arm. First, obtain the antifreeze spraying standard of the current carriage, the information of the carriage and coal properties, and the train moving speed data; then, based on the coal stacking shape model in the information of the carriage and coal properties and the train moving speed data, predict the coal sub-regions pointed by the antifreeze spraying structures at multiple time points within the target time period, so as to deduce the corresponding rotation angles of the antifreeze spraying structures at multiple time points; then, when it is verified that the coverage area of the antifreeze spraying structures meets the preset requirements based on the rotation angles, determine the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the information of the carriage and coal properties, and the train moving speed data; finally, control the spraying system to perform the antifreeze spraying action on the current carriage according to the opening target of the electric valve and the corresponding rotation angles of the antifreeze spraying structures at multiple time points. The above method combines the coal stacking shape model and the train moving speed data to predict the coal sub-regions pointed by the antifreeze spraying structures at different time points, and then deduces the rotation angles of the antifreeze spraying structures at different time points to verify whether the coverage area meets the preset requirements. When the requirements are met, the opening target is determined by combining the antifreeze spraying standard, the carriage attribute information and the train moving speed data. Finally, the antifreeze spraying control is realized according to the opening target and the rotation angle, which can significantly improve the antifreeze spraying effect.

[0015] Other features and advantages of the present invention will be described in the following description, and some of them will become obvious from the description, or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the description, the claims and the drawings.

[0016] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and described in detail as follows. Description of the Drawings

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0018] Figure 1 It is a schematic flow chart of an antifreeze spraying adjustment method for loading coal onto trains provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the overall system structure for implementing an antifreeze spraying adjustment method for loading coal onto trains provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of a vehicle positioning system provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of an antifreeze spraying adjustment device for loading coal onto trains provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0019] Icons: 1 - spraying pump; 2 - electric valve; 3 - spraying arm; 4 - carriage; 5 - opposed switch; 5.1 - No. 1 opposed; 5.2 - No. 2 opposed; 5.3 - No. 3 opposed; 6 - speed measurement radar. Specific Embodiments

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0021] Currently, the spraying effect of the existing antifreeze spraying system is poor. Based on this, the embodiments of the present invention provide an antifreeze spraying adjustment method, device, equipment, and medium for loading coal onto trains, which can significantly improve the antifreeze spraying effect.

[0022] For ease of understanding of this embodiment, first, a detailed introduction will be given to an antifreeze spraying adjustment method for loading coal onto trains disclosed in the embodiments of the present invention. This is applied to the controller of the spraying system. The spraying system includes a spraying pump, an electric valve, and a spraying arm connected through pipelines. Multiple antifreeze spraying structures with adjustable angles are deployed on the spraying arm; see Figure 1Schematic flow chart of an antifreeze spraying adjustment method for loading coal onto a train, the method mainly including the following steps S102 to S108: Step S102, obtain the antifreeze spraying standard for the current carriage, the information on the carriage and coal properties, and the train moving speed data.

[0023] Among them, the antifreeze spraying standard is used to describe the volume of antifreeze to be sprayed per ton of coal; the information on the carriage and coal properties includes carriage property information and the coal stacking shape model. The carriage property information is used to describe the carriage dimensions, and the coal stacking shape model is used to describe the stacking shape of the coal loaded in the carriage; the train moving speed data may include speed, acceleration, etc.

[0024] In one example, the antifreeze spraying standard and the carriage property information can be pre-entered data; a lidar device, etc. can be installed on the top of the carriage to scan the three-dimensional point cloud data of the coal loaded in the carriage at a preset period, and then construct the corresponding coal stacking shape model; a vehicle positioning system can be installed at a specified position on the track, which can be used to detect whether the current carriage has reached the track where the spraying device is located, and detect the train moving speed data such as the speed and acceleration of the current carriage.

[0025] Step S104, based on the coal stacking shape model in the information on the carriage and coal properties and the train moving speed data, predict the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period, so as to reverse-infer the corresponding rotation angles of the antifreeze spraying structure at multiple time points.

[0026] In one example, first predict the carriage position information of the current carriage at multiple time points within the target time period according to the train moving speed data. The target time period is also a certain future time period; at the same time, divide the surface of the coal loaded in the current carriage based on the coal stacking shape model to obtain multiple coal sub-regions and their corresponding spraying priorities. The spraying priority is positively correlated with the spraying intensity; then combine the carriage position information and the spraying priority to determine the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period; finally, according to the relative position relationship between the antifreeze spraying structure and the coal sub-regions it points to, and the current angle information of the antifreeze spraying structure, the corresponding rotation angles of the antifreeze spraying structure at multiple time points can be reverse-inferred.

[0027] Step S106, when it is verified that the coverage area of the antifreeze spraying structure meets the preset requirements based on the rotation angle, determine the opening target of the electric valve according to the antifreeze spraying standard, the carriage property information in the information on the carriage and coal properties, and the train moving speed data.

[0028] Among them, the preset requirement is the preset coverage area threshold. In one example, the opening target of the electric valve can be determined according to the antifreeze spraying standard, the carriage attribute information, the train moving speed data, the loading target of the current carriage, and the rated flow rate of the spraying pump.

[0029] Step S108, control the spraying system to perform the antifreeze spraying action on the current carriage according to the opening target of the electric valve and the rotation angles corresponding to the antifreeze spraying structure at multiple time points.

[0030] In one example, adjust the opening of the electric valve according to the opening target of the electric valve, and adjust the angle of the antifreeze spraying structure according to the rotation angle, so that the electric valve transfers the antifreeze stored in the spraying pump to each antifreeze spraying structure, and the antifreeze spraying structure sprays the antifreeze to the coal sub-region it points to at the corresponding angle.

[0031] The antifreeze spraying adjustment method for train coal loading provided by the embodiments of the present invention combines the coal accumulation shape model and the train moving speed data to predict the coal sub-regions pointed to by the antifreeze spraying structure at different time points, and then inversely calculates the rotation angles of the antifreeze spraying structure at different time points to verify whether its coverage area meets the preset requirements. When it meets the requirements, the opening target is determined in combination with the antifreeze spraying standard, the carriage attribute information and the train moving speed data. Finally, the antifreeze spraying control is realized according to the opening target and the rotation angle, which can significantly improve the antifreeze spraying effect.

[0032] For easy understanding, the embodiments of the present invention first give a brief explanation of the overall system structure for realizing the antifreeze spraying adjustment method for train coal loading. Refer to Figure 2 The schematic diagram of the overall system structure of an antifreeze spraying adjustment method for train coal loading shown in the figure, which includes a spraying pump 1, an electric valve 2, a spraying arm 3, a carriage 4, an opposed switch 5 and a speed radar 6. Among them, the spraying pump 1, the electric valve 2 and the spraying arm 3 form a spraying device. The opposed switch 5 is used to detect the signal of the front side of the carriage arriving, and the speed radar 6 is used to detect the train moving speed data.

[0033] On this basis, the embodiments of the present invention provide a specific implementation manner of an antifreeze spraying adjustment method for train coal loading. It includes: (1) Obtain the antifreeze spraying standard, the carriage and coal attribute information, and the train moving speed data of the current carriage.

[0034] (2) Based on the coal accumulation shape model and the train moving speed data in the carriage and coal attribute information, predict the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period, including: Based on the train moving speed data and the track curvature at the location of the spraying system, polynomial trajectory planning is used to predict the car body position information of the current car body at multiple time points within the target time period.

[0035] In one example, the polynomial trajectory planning can adopt a quintic spline curve fitting algorithm. Exemplarily, first input the vehicle speed v, acceleration a, and track curvature radius R of the current car body; then use the quintic spline curve to fit the moving trajectory of the current car body in the target time period, so as to obtain the car body position information of the current car body at multiple time points within the target time period, and this car body position information can be expressed by the coordinates of the center point of the car body.

[0036] (2.2)Based on the coal stacking shape model in the car body and coal attribute information, the coal surface loaded on the current car body is divided to obtain multiple coal sub-regions and their corresponding spraying priorities. Specifically, it includes: (2.21)Divide the coal surface loaded on the current car body into multiple uniform coal sub-regions.

[0037] (2.22)For each coal sub-region, perform the following operations: extract the corresponding stacking shape sub-model of this coal sub-region from the coal stacking shape model in the car body and coal attribute information, extract the corresponding slope information of this coal sub-region based on the stacking shape sub-model, and determine the spraying priority corresponding to this coal sub-region according to the mapping relationship between the slope and the priority. In one case, for each coal sub-region, the included angle α between the normal vector of this coal sub-region and the gravity direction can be used as the slope information corresponding to this coal sub-region. Assume that if the slope information is greater than 30°, it is determined that the spraying priority corresponding to the coal sub-region is high risk; if the slope information is greater than 15° and less than 30°, it is determined that the spraying priority corresponding to the coal sub-region is medium risk; if the slope information is less than 15°, it is determined that the spraying priority corresponding to the coal sub-region is low risk.

[0038] (2.3)Based on the car body position information of the current car body at multiple time points within the target time period and the spraying priorities corresponding to the coal sub-regions, determine the coal sub-regions pointed to by the antifreeze spraying structure at multiple time points within the target time period. Specifically, it includes: (2.31)Construct a time slice matrix based on the car body position information of the current car body at multiple time points within the target time period, the spraying priorities corresponding to the coal sub-regions, the equipment position information and equipment priority of the antifreeze spraying structure.

[0039] Among them, the equipment priority corresponding to the antifreeze spraying structure can be adjusted based on the spraying flow rate when the antifreeze spraying action was last performed. The equipment priority is positively correlated with the spraying flow rate. Exemplarily, when the spraying flow rate is lower than the first preset threshold, the equipment priority corresponding to it will be lowered; when the spraying flow rate continues to decrease and is lower than the second preset threshold (lower than the first preset threshold), the equipment priority corresponding to it will be further lowered.

[0040] Among them, the time slice matrix is used to describe the carriage position information, spraying priority, equipment position information, and equipment priority at each time point. The construction process of the time slice matrix is as follows: Time slice division, including: Input: target time period ; Processing logic: Divide the target time period into a discrete time point sequence at a fixed interval (such as 100 ms): , providing a time basis for subsequent dynamic control, and each time point corresponds to a decision-making cycle; Output: time series , for example .

[0041] Time slice matrix construction, including: Input: carriage position information at each time point , spraying priority , equipment position information and equipment priority ; Matrix definition, the time slice matrix at each time point contains the following information: ; Output: time series .

[0042] (2.32) Based on the carriage position information in the time slice matrix, determine the regional position information corresponding to the coal sub-region, and combine the equipment position information to determine the relative position relationship between the coal sub-region and the antifreeze spraying structure.

[0043] In one example, after converting the carriage position information and the regional position information to the same coordinate system, the relative position relationship between the coal sub-region and the antifreeze spraying structure can be further determined.

[0044] (2.33) Based on the relative position relationship, the spraying priority and the equipment priority in the time slice matrix, determine the matching score between the coal sub-region and the antifreeze spraying structure.

[0045] In one example, different weights can be assigned to the relative position relationship, spraying priority, and equipment priority, and a weighted sum of the relative position relationship, spraying priority, and equipment priority is obtained to get the matching score between the coal sub-region and the antifreeze spraying structure.

[0046] (2.34)Determine the coal sub-region pointed to by the antifreeze spraying structure at each time point according to the matching score.

[0047] In one example, for each coal sub-region, the antifreeze spraying structure corresponding to the highest matching score is used as its corresponding antifreeze spraying structure; if the antifreeze spraying structure corresponding to the highest matching score has been assigned to other coal sub-regions, the antifreeze spraying structure corresponding to the second-highest matching score is used as its corresponding antifreeze spraying structure.

[0048] (III)Back-calculate the rotation angles corresponding to the antifreeze spraying structure at multiple time points, including: according to the relative position relationship between the antifreeze spraying structure and the coal sub-region it points to, and the current angle information of the antifreeze spraying structure, the rotation angles corresponding to the antifreeze spraying structure at multiple time points can be back-calculated.

[0049] (IV)Determine the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the carriage and coal attribute information, and the train moving speed data, including: Determine the opening target of the electric valve according to the following formula: ; Where is the opening target, is the antifreeze spraying standard, is the loading weight target of the current carriage, is the train moving speed data, is the rated flow rate of the spraying pump, is the carriage attribute information.

[0050] (V)Obtain the signal that the front side of the carriage reaches, and trigger the start of this antifreeze spraying action.

[0051] In one example, the vehicle positioning system consists of three pairs of opposed switches 5, see Figure 3 the structural schematic diagram of a vehicle positioning system shown. The 1st pair of opposed switches 5.1, the 2nd pair of opposed switches 5.2, and the 3rd pair of opposed switches 5.3 are arranged along the railway in the vehicle forward direction. Among them, the 1st pair of opposed switches is arranged 1 meter in the vehicle backward direction from the projection position of the spraying arm; the 2nd pair of opposed switches is arranged 0.5 meter in the vehicle forward direction from the projection position of the spraying arm; the 3rd pair of opposed switches is arranged 1 meter in the vehicle forward direction from the projection position of the spraying arm.

[0052] Further, the method for the vehicle positioning system to determine the signal of the front side of the vehicle reaching is as follows: If the current frame signal is: No. 1 opposed beam occlusion, No. 2 opposed beam occlusion, No. 3 opposed beam occlusion; and the previous frame signal is: No. 1 opposed beam occlusion, No. 2 opposed beam occlusion, No. 3 opposed beam penetration; then the front side of the vehicle reaches at this time.

[0053] Further, the method for the vehicle positioning system to determine the signal of the rear side of the vehicle reaching is as follows: If the current frame signal is: No. 1 opposed beam penetration, No. 2 opposed beam occlusion, No. 3 opposed beam occlusion; and the previous frame signal is: No. 1 opposed beam occlusion, No. 2 opposed beam occlusion, No. 3 opposed beam occlusion; then the rear side of the vehicle reaches at this time.

[0054] (6) According to the opening target of the electric valve and the corresponding rotation angles of the antifreeze spraying structure at multiple time points, control the spraying system to perform the antifreeze spraying action on the current carriage.

[0055] In one example, adjust the opening degree of the electric valve according to the opening target of the electric valve, and adjust the angle of the antifreeze spraying structure according to the rotation angle, so that the electric valve transfers the antifreeze stored in the spraying pump to each antifreeze spraying structure, and the antifreeze spraying structure sprays the antifreeze to the coal sub-region it points to at the corresponding angle. When the signal of the rear side of the vehicle reaching is detected, this antifreeze spraying action ends.

[0056] Further, in the case where the coverage area does not meet the preset requirements, adjust the corresponding rotation angles of the antifreeze spraying structure at multiple time points until the coverage area meets the preset requirements.

[0057] In summary, an antifreeze spraying adjustment method for loading coal on a train provided by an embodiment of the present invention automatically adjusts the spraying gate according to different vehicle types' spraying standards and different vehicle speed conditions to ensure that the spraying amount per carriage meets the spraying standard, achieving precise spraying without waste. The adjustment process does not require manual intervention, meeting the application requirements of an intelligent control system.

[0058] On the basis of the foregoing embodiments, an embodiment of the present invention provides an antifreeze spraying adjustment device for loading coal on a train. This device is applied to the controller of the spraying system. The spraying system includes a spraying pump, an electric valve, and a spraying arm connected through pipelines. Multiple angle-adjustable antifreeze spraying structures are deployed on the spraying arm. Refer to Figure 4 As shown in the structural schematic diagram of an antifreeze spraying adjustment device for loading coal on a train, this device mainly includes the following parts: A data acquisition module 402, configured to acquire the antifreeze spraying standard of the current carriage, the information of the carriage and coal attributes, and the train moving speed data; The angle reverse inference module 404 is used to predict the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within a target time period based on the coal accumulation shape model and the train moving speed data in the carriage and coal attribute information, so as to reverse infer the corresponding rotation angles of the antifreeze spraying structure at multiple time points; The opening degree determination module 406 is used to determine the opening degree target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the carriage and coal attribute information, and the train moving speed data when the coverage area of the antifreeze spraying structure is verified to meet the preset requirements based on the rotation angle; The spraying execution module 408 is used to control the spraying system to perform the antifreeze spraying action on the current carriage according to the opening degree target of the electric valve and the corresponding rotation angles of the antifreeze spraying structure at multiple time points.

[0059] The antifreeze spraying adjustment device for train coal loading provided by the embodiment of the present invention combines the coal accumulation shape model and the train moving speed data to predict the coal sub-regions pointed by the antifreeze spraying structure at different time points, and then reversely infers the rotation angles of the antifreeze spraying structure at different time points to verify whether the coverage area meets the preset requirements, and determines the opening degree target by combining the antifreeze spraying standard, the carriage attribute information and the train moving speed data when the requirements are met, and finally realizes the antifreeze spraying control according to the opening degree target and the rotation angle, which can significantly improve the antifreeze spraying effect.

[0060] In one implementation manner, the angle reverse inference module 404 is specifically used for: Based on the train moving speed data and the track curvature at the track where the spraying system is located, using polynomial trajectory planning to predict the carriage position information of the current carriage at multiple time points within the target time period; Based on the coal accumulation shape model in the carriage and coal attribute information, divide the surface of the coal loaded in the current carriage to obtain multiple coal sub-regions and their corresponding spraying priorities; Based on the carriage position information of the current carriage at multiple time points within the target time period and the spraying priorities corresponding to the coal sub-regions, determine the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within the target time period.

[0061] In one implementation manner, the angle reverse inference module 404 is specifically used for: Divide the surface of the coal loaded in the current carriage into multiple uniform coal sub-regions; For each coal sub-region, perform the following operations: extract the corresponding accumulation shape sub-model of the coal sub-region from the coal accumulation shape model in the carriage and coal attribute information, extract the slope information corresponding to the coal sub-region based on the accumulation shape sub-model, and determine the spraying priority corresponding to the coal sub-region according to the mapping relationship between the slope and the priority.

[0062] In one embodiment, the angle back-calculation module 404 is specifically configured to: Construct a time-slice matrix based on the carriage position information of the current carriage at multiple time points within a target time period, the spraying priority corresponding to the coal sub-region, the equipment position information of the antifreeze spraying structure, and the equipment priority. The time-slice matrix is used to describe the carriage position information, spraying priority, equipment position information, and equipment priority at each time point; Based on the carriage position information in the time-slice matrix, determine the regional position information corresponding to the coal sub-region, and combine the equipment position information to determine the relative position relationship between the coal sub-region and the antifreeze spraying structure; Based on the relative position relationship, the spraying priority and the equipment priority in the time-slice matrix, determine the matching score between the coal sub-region and the antifreeze spraying structure; Determine the coal sub-region pointed to by the antifreeze spraying structure at each time point according to the matching score.

[0063] In one embodiment, a flow sensor is provided on the antifreeze spraying structure for detecting the spraying flow rate of the antifreeze spraying structure; a priority adjustment module is further included, and is used for: Adjust the equipment priority corresponding to the antifreeze spraying structure based on the spraying flow rate, and the equipment priority is positively correlated with the spraying flow rate.

[0064] In one embodiment, the opening degree determination module 406 is specifically configured to: Determine the opening degree target of the electric valve according to the following formula: ; where is the opening degree target, is the antifreeze spraying standard, is the loading weight target of the current carriage, is the train moving speed data, is the rated flow rate of the spraying pump, is the carriage attribute information.

[0065] In one embodiment, a rotation angle adjustment module is further included, and is used for: In the case where the coverage area does not meet the preset requirements, adjust the rotation angles corresponding to the antifreeze spraying structure at multiple time points until the coverage area meets the preset requirements.

[0066] For the device provided by the embodiments of the present invention, the implementation principle and the technical effects produced are the same as those of the foregoing method embodiments. For the sake of brief description, for the parts not mentioned in the device embodiments, reference may be made to the corresponding content in the foregoing method embodiments.

[0067] An embodiment of the present invention provides an electronic device. Specifically, the electronic device includes a processor and a storage device; a computer program is stored on the storage device, and when the computer program is run by the processor, it executes the method described in any one of the above-described embodiments.

[0068] Figure 5 FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device 100 includes: a processor 50, a memory 51, a bus 52, and a communication interface 53. The processor 50, the communication interface 53, and the memory 51 are connected through the bus 52; the processor 50 is configured to execute an executable module stored in the memory 51, such as a computer program.

[0069] Among them, the memory 51 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 53 (which may be wired or wireless), a communication connection is established between the system network element and at least one other network element, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0070] The bus 52 may be an ISA bus, a PCI bus, an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 5 only a bidirectional arrow is used in FIG. 4, but it does not mean that there is only one bus or one type of bus.

[0071] Among them, the memory 51 is used to store a program. After receiving an execution instruction, the processor 50 executes the program. The method executed by the device defined by the flow process disclosed in any one of the foregoing embodiments of the present invention can be applied to the processor 50 or implemented by the processor 50.

[0072] The processor 50 may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method can be completed by the integrated logic circuit of the hardware in the processor 50 or the instructions in the form of software. The above-mentioned processor 50 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 51, and the processor 50 reads the information in the memory 51 and combines its hardware to complete the steps of the above method.

[0073] The computer program product of the readable storage medium provided by the embodiments of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method described in the foregoing method embodiments. For the specific implementation, reference can be made to the foregoing method embodiments, which will not be elaborated herein.

[0074] If the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0075] Finally, it should be noted that the above-mentioned embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than to limit it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An antifreeze spraying adjustment method for loading coal onto trains, characterized in that, A controller applied to a spraying system, the spraying system including a spraying pump, an electric valve and a spraying arm connected through pipelines, and a plurality of antifreeze spraying structures with adjustable angles being deployed on the spraying arm; the method includes: Obtaining the antifreeze spraying standard of the current carriage, the information of the carriage and coal properties, and the train moving speed data; Based on the coal stacking shape model in the information of the carriage and coal properties and the train moving speed data, predicting the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within a target time period, so as to inversely deduce the corresponding rotation angles of the antifreeze spraying structure at the multiple time points; When it is verified that the coverage area of the antifreeze spraying structure meets the preset requirements based on the rotation angles, determining the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the information of the carriage and coal properties, and the train moving speed data; Controlling the spraying system to perform an antifreeze spraying action on the current carriage according to the opening target of the electric valve and the corresponding rotation angles of the antifreeze spraying structure at the multiple time points.

2. The anti-freeze spraying adjustment method for train coal loading according to claim 1, characterized in that Based on the coal stacking shape model in the information of the carriage and coal properties and the train moving speed data, predicting the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within a target time period, including: Based on the train moving speed data and the track curvature at the location of the spraying system on the track, using polynomial trajectory planning to predict the carriage position information of the current carriage at multiple time points within a target time period; Based on the coal stacking shape model in the information of the carriage and coal properties, dividing the surface of the coal loaded in the current carriage to obtain a plurality of coal sub-regions and their corresponding spraying priorities; Based on the carriage position information of the current carriage at multiple time points within a target time period and the spraying priorities corresponding to the coal sub-regions, determining the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within a target time period.

3. The anti-freeze spraying adjustment method for train coal loading according to claim 2, characterized in that, Based on the coal stacking shape model in the information of the carriage and coal properties, dividing the surface of the coal loaded in the current carriage to obtain a plurality of coal sub-regions and their corresponding spraying priorities, including: Dividing the surface of the coal loaded in the current carriage into a plurality of uniform coal sub-regions; For each of the coal sub-regions, perform the following operations: extract the corresponding stacking shape sub-model of the coal sub-region from the coal stacking shape model in the information of the carriage and coal properties, extract the slope information corresponding to the coal sub-region based on the stacking shape sub-model, and determine the spraying priority corresponding to the coal sub-region according to the mapping relationship between the slope and the priority.

4. The anti-freeze spraying adjustment method for train coal loading according to claim 2, characterized in that, Based on the carriage position information of the current carriage at multiple time points within a target time period and the spraying priorities corresponding to the coal sub-regions, determining the coal sub-regions pointed by the antifreeze spraying structure at multiple time points within a target time period, including: Construct a time slice matrix based on the carriage position information of the current carriage at multiple time points within the target time period, the spraying priority corresponding to the coal sub-region, the equipment position information of the antifreeze spraying structure, and the equipment priority. The time slice matrix is used to describe the carriage position information, the spraying priority, the equipment position information, and the equipment priority at each of the time points. Based on the carriage position information in the time slice matrix, determine the regional position information corresponding to the coal sub-region, and combine the equipment position information to determine the relative position relationship between the coal sub-region and the antifreeze spraying structure. Based on the relative position relationship, the spraying priority and the equipment priority in the time slice matrix, determine the matching score between the coal sub-region and the antifreeze spraying structure. Determine the coal sub-region pointed to by the antifreeze spraying structure at each of the time points according to the matching score.

5. The anti-freeze spraying adjustment method for train coal loading according to claim 4, characterized in that A flow sensor is provided on the antifreeze spraying structure for detecting the spraying flow rate of the antifreeze spraying structure. The method further includes: Adjust the equipment priority corresponding to the antifreeze spraying structure based on the spraying flow rate, and the equipment priority is positively correlated with the spraying flow rate.

6. The antifreeze spraying adjustment method for train coal loading according to claim 1, characterized in that Determine the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the carriage and coal attribute information, and the train moving speed data, including: Determine the opening target of the electric valve according to the following formula: ； Among them, is the opening target, is the anti-freeze spraying standard, is the loading weight target of the current carriage, is the train moving speed data, is the rated flow of the spraying pump, is the carriage attribute information.

7. The anti-freeze spraying adjustment method for train coal loading according to claim 1, wherein The method further includes: In the case where the coverage area does not meet the preset requirements, adjust the rotation angles corresponding to the antifreeze spraying structure at multiple time points until the coverage area meets the preset requirements.

8. An antifreeze spraying and adjusting device for loading coal onto trains, characterized in that, Applied to the controller of the spraying system. The spraying system includes a spraying pump, an electric valve, and a spraying arm connected by pipelines. A plurality of angle-adjustable antifreeze spraying structures are deployed on the spraying arm. The device includes: A data acquisition module for acquiring the antifreeze spraying standard of the current carriage, the carriage and coal attribute information, and the train moving speed data. An angle reverse inference module for predicting the coal sub-region pointed to by the antifreeze spraying structure at multiple time points within the target time period based on the coal accumulation shape model in the carriage and coal attribute information and the train moving speed data, so as to reverse infer the rotation angles corresponding to the antifreeze spraying structure at multiple time points. An opening determination module for determining the opening target of the electric valve according to the antifreeze spraying standard, the carriage attribute information in the carriage and coal attribute information, and the train moving speed data in the case where it is verified that the coverage area of the antifreeze spraying structure meets the preset requirements based on the rotation angle. A spraying execution module for controlling the spraying system to perform the antifreeze spraying action on the current carriage according to the opening target of the electric valve and the rotation angles corresponding to the antifreeze spraying structure at multiple time points.

9. An electronic device, characterized in that, It includes a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor. The processor executes the computer-executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method according to any one of claims 1 to 7.

Images