Control system for preventing tipping of double-tipping car dumper

Abstract

The invention relates to a control system for preventing a double-overturning type car dumper from overturning. The system comprises a bridging detection module, a car puller state monitoring module, a core control module and an execution module. The bridging detection module comprises a car dumper body car-in end bridging optoelectronic switch arranged at the car-in end of the car dumper body and a car dumper body car-out end bridging optoelectronic switch arranged at the car-out end of the car dumper body. The ground vehicle inlet end bridging photoelectric switch is arranged in front of the vehicle inlet end bridging photoelectric switch of the car dumper body; the ground vehicle outlet end bridging photoelectric switch is arranged behind the vehicle outlet end bridging photoelectric switch of the car dumper body; the car puller state monitoring module is used for detecting the states of the car puller body and the car puller big arm; the core control module is in communication connection with the bridging detection module and the car puller state monitoring module and generates an instruction; risks of derailing and overturning of the carriage can be eliminated, and collision accidents of the car puller and car dumper equipment are avoided.

Description

Technical Field

[0001] The invention relates to a control system for preventing a double-turn car tipper from tipping over, and belongs to the technical field of car tippers. Background Art

[0002] Double-tip car dumper systems are commonly used to load and unload bulk materials such as coal from open railroad cars in power plants, steel mills, mines, and docks. However, with increasing industrial efficiency, this system presents the following risks: First, external factors can cause the car to remain uncoupled and connected during a car dumper rollover, potentially damaging equipment in the dumper area. Second, when the car dumper boom enters the rollover sequence at zero degrees, it can easily cause the car dumper to position and angle the boom incorrectly, leading to risks during the dumper rollover. Summary of the Invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a control system for preventing a double-turn car dumper from tipping over, which can eliminate the risk of car derailment and overturning, and avoid collision accidents between the car shifter and the car dumper equipment.

[0004] The technical solutions of the present invention are as follows:

[0005] A control system for preventing a double-tip car tipper from tipping over, the system comprising a jump detection module, a car shoveling machine state monitoring module, a core control module and an execution module; the jump detection module comprises a car tipper body entry end jump photoelectric switch arranged at the car tipper body entry end, a car tipper body exit end jump photoelectric switch arranged at the car tipper body exit end, a ground car tipper end jump photoelectric switch arranged in front of the car tipper body entry end jump photoelectric switch and a ground car tipper end jump photoelectric switch arranged behind the car tipper body exit end jump photoelectric switch; the car shoveling machine state monitoring module is used to detect the state of the car tipper body and the car shoveling machine arm; the core control module is communicatively connected with the jump detection module and the car shoveling machine state monitoring module and generates instructions; the execution module responds to the instructions of the core control module and controls the car tipper body to execute.

[0006] Among them, the car shoveling machine status monitoring module includes a position sensor and an angle sensor. The position sensor is used to detect whether the car shoveling machine body is located in the tipping machine area. The tipping machine area is the area between the photoelectric switch at the entry end of the tipping machine body and the photoelectric switch at the exit end of the tipping machine body; the angle sensor is used to detect the swing angle of the car shoveling machine arm in real time.

[0007] Among them, the core control module receives the input signal of the jump detection module, and generates a basic flip permission instruction when the tipper track is at zero position, the pressure beam is pressed, the support plate is against the car, the jump photoelectric switch at the entry end of the tipper body detects no jump, the jump photoelectric switch at the exit end of the tipper body detects no jump, the jump photoelectric switch at the entry end on the ground is not blocked, and the jump photoelectric switch at the exit end on the ground is not blocked; the core control module receives the input signal of the car shoveling machine status monitoring module, and generates a flip prohibition instruction when it is detected that the car shoveling machine body is located in the tipper area and the angle of the car shoveling machine arm is zero degrees; the execution module starts the flipping operation of the tipper body when it receives the basic flip permission instruction and there is no flip prohibition instruction, and immediately terminates the flipping operation and activates the emergency braking program when it receives the flip prohibition instruction.

[0008] Among them, the control system is additionally equipped with a dual-frequency laser detection unit, a boom posture prediction module, a collaborative control logic module and an instruction priority module; the dual-frequency laser detection unit includes an infrared laser component and a blue light laser component, and the infrared laser component is used to monitor the engagement status of the tail hook of the first car and the front hook of the second car in real time; the blue light laser component is used to dynamically measure the gap distance D0 between the first car and the second car 13 of the dumper; the boom posture prediction module is used to predict the spatial position of the boom of the car tipping machine; the collaborative control logic module is used to generate a safety permission code S1 and an enhanced flip prohibition instruction F2; the instruction priority module is used to enforce the priority relationship between the basic flip permission instruction, the basic flip prohibition instruction, the safety permission code S1 and the enhanced flip prohibition instruction F2.

[0009] Among them, the infrared laser component includes an infrared transmitter installed on the top of the pressure beam of the tipping machine body and an infrared receiver arranged on the base of the tipping machine track. The infrared receiver collects the reflected light intensity and outputs a first light intensity electrical signal. The blue light laser component includes a blue light transmitter installed obliquely at the bottom of the vehicle board and a first blue light receiver and a second blue light receiver symmetrically arranged next to the car transfer machine track. The first blue light receiver and the second blue light receiver collect the reflected light intensity and output the second light intensity electrical signal and the third light intensity electrical signal to form a cross detection network covering the gap between the first carriage and the second carriage of the tipping machine. The first light intensity electrical signal, the second light intensity electrical signal and the third light intensity electrical signal are directly transmitted to the core control module.

[0010] Wherein, the real-time output light intensity value of the infrared receiver is I h The maximum light intensity measured when the dumper body is empty is I max , set the judgment threshold: I0=k×I max , where k is the infrared light attenuation compensation coefficient in the current environment. hWhen <I0> reaches 100 ms, it is determined that the rear hook of the first carriage bites with the front hook of the second carriage; the clearance value is calculated in real time through the formula: D0 = 0.6×(|P1 - P2| / △P0), where P1 is the real-time light intensity value of the first blue light receiver, P2 is the real-time light intensity value of the second blue light receiver, and △P0 is the absolute value of the signal difference between the two blue light receivers when D0 = 0.6, △P0 = |P 10 -P 20 |, P 10 is the calibrated light intensity value of the first blue light receiver when D0 = 0.6; P 20 is the calibrated light intensity value of the second blue light receiver when D0 = 0.6.

[0011] Among them, the boom attitude prediction module includes a displacement encoder, a gyroscope sensor and a kinematic processor; the displacement encoder collects the displacement s, speed v and acceleration a of the car dumper body on the car dumper track in real time; the gyroscope sensor is embedded in the rotation axis of the car dumper boom to collect the angular velocity ω of the car dumper boom in real time; the kinematic processor constructs a motion trajectory function based on the parameters collected by the displacement encoder and the gyroscope sensor to predict the spatial position of the car dumper boom within the next 2 seconds.

[0012] Among them, when the bite between the rear hook of the first carriage and the front hook of the second carriage is released and D0 > 0.6 m, the cooperative control logic module generates a safety permission code S1. When the predicted spatial coordinates of the car dumper boom overlap with the flipping trajectory of the dumper body, a strengthened flipping prohibition instruction F2 is generated. The instruction priority module is executed by the cooperative control logic module. The instruction priority module includes: the basic flipping permission instruction takes effect only when the safety permission code S1 exists. When the safety permission code S1 is missing, the core control module shields the basic flipping permission in real time; the priority of the strengthened flipping prohibition instruction F2 is higher than other control instructions. When the flipping prohibition instruction F2 exists, the core control module immediately executes to overwrite other control instructions and replace the basic flipping prohibition instruction.

[0013] The present invention has the following beneficial effects:

[0014] The present invention realizes real-time correction of car positioning deviation, zero-misjudgment control of coupler engagement status, prediction of car arm motion trajectory, and millisecond-level dynamic decision response of safety instructions and prohibition instructions through the positioning matrix constructed by the jump-over photoelectric switch at the entry end of the tipping machine body, the jump-over photoelectric switch at the exit end of the tipping machine body, the jump-over photoelectric switch at the ground entry end, and the jump-over photoelectric switch at the ground exit end of the tipping machine body of the jump-over detection module, the dual verification system of coupler engagement and car gap composed of the infrared laser transmitting and receiving component and the blue laser transmitting and receiving component of the dual-frequency laser detection unit, the motion trajectory prediction mechanism of the displacement encoder and the gyroscope sensor of the boom posture prediction module, the dynamic decision center of the safety permission code generation unit and the enhanced prohibition instruction generation unit of the collaborative control logic module, and the deep coordination between the enhanced prohibition instruction coverage rule of the instruction priority module and the multi-level braking execution terminal, thereby achieving the core industrial effect of eliminating the risk of car derailment and overturning and avoiding collision accidents between the car shoveling machine and the tipping machine equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a normal schematic diagram of the present invention;

[0016] Figure 2 This is a schematic diagram of the first compartment and the second compartment of the car tipper of the present invention not being fully opened;

[0017] Figure 3 This is the instruction logic block diagram of the present invention.

[0018] The reference numerals in the figures are as follows:

[0019] 1. Car pusher body; 2. Car pusher arm; 5. Car pusher track; 6. Car tipper track; 7. Car tipper body; 8. Photoelectric switch at the car entry end of the car tipper body; 10. Front hook of the second car; 11. Tail hook of the first car; 13. Second car of the car tipper; 14. First car of the car tipper; 15. Photoelectric switch at the car exit end of the car tipper body; 16. Photoelectric switch at the car entry end on the ground; 17. Photoelectric switch at the car exit end on the ground. DETAILED DESCRIPTION

[0020] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] See also Figures 1 to 3 , the invention provides a technical solution:

[0022] A control system for preventing a double-tip car tipper from tipping over, the system comprising a jump detection module, a car shoveling machine state monitoring module, a core control module and an execution module; the jump detection module comprises a car tipper body entry end jump photoelectric switch arranged at the car tipper body entry end, a car tipper body exit end jump photoelectric switch arranged at the car tipper body exit end, a ground car tipper end jump photoelectric switch arranged in front of the car tipper body entry end jump photoelectric switch and a ground car tipper end jump photoelectric switch arranged behind the car tipper body exit end jump photoelectric switch; the car shoveling machine state monitoring module is used to detect the state of the car tipper body and the car shoveling machine arm; the core control module is communicatively connected with the jump detection module and the car shoveling machine state monitoring module and generates instructions; the execution module responds to the instructions of the core control module and controls the car tipper body to execute.

[0023] The car pushing machine status monitoring module includes a position sensor and an angle sensor. The position sensor is used to detect whether the car pushing machine body is located in the tipping machine area. The tipping machine area is the area between the photoelectric switch at the entry end of the tipping machine body and the photoelectric switch at the exit end of the tipping machine body; the angle sensor is used to detect the swing angle of the car pushing machine arm in real time.

[0024] The core control module receives the input signal of the jump detection module, and generates a basic flip permission instruction when the tipper track is at zero position, the pressure beam is pressed, the support plate is against the car, the jump photoelectric switch at the entry end of the tipper body detects no jump, the jump photoelectric switch at the exit end of the tipper body detects no jump, the jump photoelectric switch at the entry end on the ground is not blocked, and the jump photoelectric switch at the exit end on the ground is not blocked; the core control module receives the input signal of the car shoveling machine status monitoring module, and generates a flip prohibition instruction when it is detected that the car shoveling machine body is located in the tipper area and the angle of the car shoveling machine arm is zero degrees; the execution module starts the flipping operation of the tipper body when it receives the basic flip permission instruction and there is no flip prohibition instruction, and immediately terminates the flipping operation and activates the emergency braking program when it receives the flip prohibition instruction.

[0025] Seven conditions must be met simultaneously to generate a basic rollover permission instruction. The tipper track 6 is in zero position, which requires the base track supporting the tipper body 7 to return to the initial position accurately. If the tipper track 6 is not returned to zero, the tipper body 7 will be twisted and deformed due to track deviation when rotating, and in severe cases, the base bolts will be pulled out by the roots; the pressing beam is pressed to drive the hydraulic cylinder to apply huge mechanical force to the top of the car body. If it is not pressed tightly, the car body may break free from the buckle when it is flipped to 90 degrees, and the car body weighing tens of tons will fall to the ground like a broken weight; the car plate is forced to support the side of the car body tightly against the side of the car body. If there is a gap, the car body will break the steel support of the tipper body 7 like a swinging container during the flip; the photoelectric switch 8 at the inlet end of the tipper body detects no crossover and specifically monitors whether the front end of the first car is accurately stopped at the center line of the feed chute of the tipper body 7. If the detection fails, the front end of the car will shovel into the tipper transmission gear set like an out-of-control bulldozer; the tipper body exits The vehicle-side jumper photoelectric switch 15 detects no jumper and synchronously monitors the rear position of the last carriage to prevent the rear end of the carriage from hooking the discharge conveyor belt when flipping; the ground-side entry-end jumper photoelectric switch 16 is not blocked and scans approaching vehicles from a hundred meters away. If no timely warning is given, the newly entered carriage will collide with the unloading dumper body 7 like a high-speed truck; the ground-side exit-end jumper photoelectric switch 17 is not blocked to confirm that the carriage has completely evacuated the operating area, otherwise the remaining carriage will be stuck between the dumper body 7 and the car-shifting machine track 5, causing a chain collision; these seven conditions constitute a rigid safety chain; after the system is started, the ground-side entry-end jumper photoelectric switch 16 first detects the carriage at a long distance before the vehicle enters, and then the dumper body entry-end jumper photoelectric switch 8 accurately checks whether the front end of the carriage is aligned with the center line of the dumper body 7; during the unloading process, the dumper body exit-end jumper photoelectric switch 15 closely monitors whether the rear end of the carriage is offset, and finally the ground exit-end jumper photoelectric switch 17 confirms that the carriage has completely left the operating area. The core control module will only issue an instruction to allow the tipping when the system detects that the tipping machine track 6 is fully returned to its original position, the pressing beam has locked the car with sufficient pressure, the support plate is tightly attached to the side of the car, and the photoelectric switch 8 at the entry end of the tipping machine body, the photoelectric switch 15 at the exit end of the tipping machine body, the photoelectric switch 16 at the ground entry end, and the photoelectric switch 17 at the ground exit end are all unobstructed. At the same time, the position sensor continuously checks whether the car shifter body 1 has entered the area between the photoelectric switch 8 at the entry end of the tipping machine body and the photoelectric switch 15 at the exit end of the tipping machine body. The angle sensor tracks the extension angle of the car shifter arm 2 in real time like a protractor. If the car shifter body 1 is found to be parked in the area and the car shifter arm 2 is completely flat, the system will immediately sound an alarm and issue a stop command.

[0026] The control system is additionally provided with a dual-frequency laser detection unit, a boom attitude prediction module, a cooperative control logic module, and an instruction priority module; the dual-frequency laser detection unit includes an infrared laser component and a blue-light laser component, the infrared laser component is used for real-time monitoring of the biting state of the first carriage tail hook 11 and the second carriage front hook 10; the blue-light laser component is used for dynamically measuring the gap distance D0 between the first carriage 14 of the car dumper and the second carriage 13 of the car dumper; the boom attitude prediction module is used for predicting the spatial position of the arm of the car puller; the cooperative control logic module is used for generating a safety permission code S1 and a strengthened flip prohibition instruction F2; the instruction priority module is used for forcibly defining the priority relationship among the basic flip permission instruction, the basic flip prohibition instruction, the safety permission code S1, and the strengthened flip prohibition instruction F2.

[0027] The infrared laser component includes an infrared transmitter installed on the top of the clamping beam of the car dumper body 7 and an infrared receiver arranged on the base of the car dumper track 6. The infrared receiver collects the reflected light intensity and outputs a first light intensity electrical signal. The blue-light laser component includes a blue-light transmitter obliquely installed at the bottom of the car body and a first blue-light receiver and a second blue-light receiver symmetrically arranged beside the car puller track 5. The first blue-light receiver and the second blue-light receiver collect the reflected light intensity and output a second light intensity electrical signal and a third light intensity electrical signal to form an intersection detection network covering the gap between the first carriage 14 of the car dumper and the second carriage 13 of the car dumper. The first light intensity electrical signal, the second light intensity electrical signal, and the third light intensity electrical signal are directly transmitted to the ADC (analog-to-digital conversion) interface of the core control module.

[0028] The real-time output light intensity value of the infrared receiver is I h , and the maximum light intensity value measured when the car dumper body 7 is unloaded is I max , and a determination threshold is set: I0 = k × I max , where k is the infrared light attenuation compensation coefficient in the current environment. When I h < I0 for 100 ms, it is determined that the first carriage tail hook 11 and the second carriage front hook 10 are biting; the gap value is calculated in real time through the formula: D0 = 0.6 × (|P1 - P2| / △P0), where P1 is the real-time light intensity value of the first blue-light receiver, P2 is the real-time light intensity value of the second blue-light receiver, △P0 is the absolute value of the signal difference between the two blue-light receivers when D0 = 0.6, △P0 = |P 10 - P 20 |, P 10 is the calibrated light intensity value of the first blue-light receiver when D0 = 0.6; P 20 is the calibrated light intensity value of the second blue-light receiver when D0 = 0.6.

[0029] The arm posture prediction module includes a displacement encoder, a gyroscope sensor and a kinematics processor; the displacement encoder collects the displacement s, velocity v and acceleration a of the car-pulling machine body 1 on the car-pulling machine track 5 in real time; the gyroscope sensor is embedded in the rotation axis of the car-pulling machine arm 2 to collect the angular velocity ω of the car-pulling machine arm 2 in real time; the kinematics processor constructs a motion trajectory function based on the parameters collected by the displacement encoder and the gyroscope sensor to predict the spatial position of the car-pulling machine arm 2 in the next 2 seconds;

[0030] Specifically, it includes the orbital displacement function: Predict the future position of the car shoveling machine body 1 on the car shoveling machine track 5. When t = 1.5 seconds, calculate the precise position of the car shoveling machine body 1 on the track to avoid collision with the tipping machine body 7. The car shoveling machine arm 2 angle function: θ(t) = θ0 + ωt. The function is used to predict the rotation angle change of the car shoveling machine arm 2. The angle θ(t) of the car shoveling machine arm 2 directly affects the spatial position of the empty car shoveling machine coupler 3 and the loaded car shoveling machine coupler 4. The horizontal coordinate function of the end of the car shoveling machine arm 2: X(t) = s(t) + Lcosθ(t), where L is the physical length of the car shoveling machine arm 2 and cosθ(t) is The cosine value of the angle of the car tipping machine's arm 2 is used to calculate the precise coordinate of the end of the car tipping machine's arm 2 in the horizontal direction of the track; the vertical coordinate function of the end of the car tipping machine's arm 2 is: Y(t)=H0+Lsinθ(t), H0 is the installation height of the rotation axis of the car tipping machine's arm 2, and the precise coordinate of the end of the car tipping machine's arm 2 in the vertical height direction is calculated. When Y(t) < the minimum safe height of the tipping machine, the anti-collision command is triggered; when Y(t) > the maximum passing height of the vehicle, the system is locked. Alternatively, any existing function content that can meet the prediction requirements can be used for calculation to achieve the same purpose;

[0031] When the engagement between the tail hook 11 of the first car and the front hook 10 of the second car is released and D0>0.6m, the collaborative control logic module generates a safety permission code S1. When the predicted spatial coordinates of the car-diverting machine arm 2 overlap with the flipping trajectory of the tipping machine body 7, an enhanced flip prohibition instruction F2 is generated. The instruction priority module is executed by the collaborative control logic module. The instruction priority module includes: the basic flip permission instruction is only effective when the safety permission code S1 exists. When the safety permission code S1 is missing, the core control module blocks the basic flip permission in real time; the enhanced flip prohibition instruction F2 has a higher priority than other control instructions. When the flip prohibition instruction F2 exists, the core control module immediately executes to cover other control instructions and replaces the basic flip prohibition instruction.

[0032] First, the dual-frequency laser detection unit begins operation: an infrared transmitter mounted on top of the car-pressing beam of the tipper body 7 continuously scans the car hook position, while an infrared receiver on the track base captures the reflected light signal to determine whether the first car's tail hook 11 and the second car's front hook 10 are engaged. A blue light transmitter, tilted and mounted at the bottom of the car-supporting plate, simultaneously projects a laser beam. The first and second blue light receivers next to the car-pushing track 5 cross-receive the reflected light, monitoring the gap between the first car 14 and the second car 13 of the tipper in real time. Next, the boom posture prediction module immediately intervenes. A gyroscope sensor embedded in the rotating axis of the car-pushing boom 2 captures the boom's swing angular velocity in real time, while a displacement encoder continuously collects movement data of the car-pushing body 1 on the car-pushing track 5. The kinematics processor integrates the three parameters of displacement, velocity, and angle to accurately deduce the movement trajectory of the car-pushing boom 2 within the next two seconds, predicting whether it will intrude into the restricted area of ​​the tipper body 7. Then, the invention's collaborative control logic module is invented to synchronously process two types of key signals: when infrared detection confirms that the coupler is completely separated and blue light detection measures that the car gap meets the standard, a safety permission code S1 is generated; when the boom trajectory prediction shows that the car shoveling machine boom 2 is about to overlap with the flipping path of the tipping machine body 7, an enhanced flip prohibition instruction F2 is immediately generated. Finally, the invention's instruction priority module implements the final decision. If the safety permission code S1 is received but the F2 instruction is not triggered, the flipping operation of the tipping machine body 7 is released; once the F2 instruction is detected to be activated (even if S1 still exists at this time), all other instructions are immediately forcibly overwritten, the power supply of the tipping machine is cut off, and the three-level hydraulic brake is activated to lock the tipping machine body 7; if S1 is missing, the system is completely blocked until the car shoveling machine boom 2 out of bounds or the abnormal car gap is manually eliminated.

[0033] As a preferred embodiment, an environmental adaptive compensation mechanism can be introduced on the basis of the above. Since the environment used by this system is in a coal dust environment, the coal dust particle size is close to the infrared wavelength, which triggers the Mie scattering effect and thus affects the detection of infrared light. The wavelength of blue light is short, and the effect of the coal dust environment on blue light is negligible. At the same time, when in a strong sunlight environment, the blue light band is exactly in the peak area of ​​solar radiation, which causes the blue light receiver to generate background noise, which in turn causes |P1-P2| distortion. Thirdly, gyroscope drift refers to the phenomenon that the gyroscope gradually deviates from the correct value over time or external conditions (such as temperature changes). In a high-temperature working environment, the gyroscope offset will cause the angle of the car-moving machine arm 2 to drift. In summary, it is necessary to introduce an environmental adaptive compensation mechanism to compensate for the occurrence of the above situation.

[0034] The environmental adaptive compensation mechanism includes coal dust interference compensation, light interference suppression and temperature drift compensation; specifically, the coal dust interference compensation formula is: I0 = k(1 + k c ·C d )×I max, specifically, C d is the dust concentration (mg / m 3 ), real-time monitoring value through laser dust sensor, k c is the coal dust interference coefficient. In most cases, it can be directly calculated using 0.05, or it can be calculated by experimental fitting of coal dust scattering characteristics. The judgment threshold is calculated by compensation using the above formula. The light interference suppression is as follows: Introduce the light correction factor λ = 1-e in the blue light detection formula D0 = 0.6 × (|P1-P2| / △P0) -0.01·L , calculate the effective signal difference: △P0 ， =λ·△P0, specifically, λ is the blue light signal-to-noise ratio factor, L is the ambient illumination collected in real time by the photoresistor, e -0.01·L is the interference attenuation term; the temperature drift compensation formula is: Among them, ω c is the angular velocity after calibration to be measured, β is the temperature drift coefficient, T is the ambient temperature, and T0 is the calibration reference temperature, which can be 25 degrees. The above environmental adaptive compensation mechanism works together to accurately determine the bite state and generate the safety permission code S1.

[0035] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structures or equivalent process changes made using the contents of the present invention's description and drawings, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control system for preventing a double-tip dumper from tipping over, characterized in that: The system comprises a crossover detection module, a car shifting machine state monitoring module, a core control module and an execution module; the crossover detection module comprises a car shifting machine body entry end crossover photoelectric switch (8) arranged at the car shifting machine body (7) entry end, a car shifting machine body exit end crossover photoelectric switch (15) arranged at the car shifting machine body (7) exit end, a ground car shifting end crossover photoelectric switch (16) arranged in front of the car shifting machine body entry end crossover photoelectric switch (8), and a ground car shifting end crossover photoelectric switch (17) arranged behind the car shifting machine body exit end crossover photoelectric switch (15); the car shifting machine state monitoring module is used to detect the states of the car shifting machine body (1) and the car shifting machine arm (2); the core control module is connected to the crossover detection module and the car shifting machine state monitoring module in communication and generates instructions; the execution module responds to the instructions of the core control module and controls the car shifting machine body (7) to execute.

2. A control system for preventing a double-tip dumper from tipping over as claimed in claim 1, characterized in that: The car shifting machine state monitoring module comprises a position sensor and an angle sensor. The position sensor is used to detect whether the car shifting machine body (1) is located in the car tipping machine area, and the car tipping machine area is the area between the car entry end bridge photoelectric switch (8) and the car exit end bridge photoelectric switch (15) of the car tipping machine body; and the angle sensor is used to detect the swing angle of the car shifting machine arm (2) in real time.

3. A control system for preventing a double-tip dumper from tipping over as claimed in claim 2, characterized in that: The core control module receives an input signal from the crossover detection module, and generates a basic flipping permission instruction when the tipping machine track (6) is at zero position, the pressing beam is pressed, the support plate is against the car, the crossover photoelectric switch (8) at the vehicle entry end of the tipping machine body detects no crossover, the crossover photoelectric switch (15) at the vehicle exit end of the tipping machine body detects no crossover, the ground vehicle entry end crossover photoelectric switch (16) is not blocked, and the ground vehicle exit end crossover photoelectric switch (17) is not blocked; the core control module receives an input signal from the car shifting machine state monitoring module, and generates a flipping prohibition instruction when it is detected that the car shifting machine body (1) is located in the tipping machine area and the angle of the car shifting machine arm (2) is zero degrees; the execution module starts the flipping operation of the tipping machine body (7) when it receives the basic flipping permission instruction and there is no flipping prohibition instruction, and immediately terminates the flipping operation and activates the emergency braking program when it receives the flipping prohibition instruction.

4. A control system for preventing a double-tip dumper from tipping over as claimed in claim 3, characterized in that: The control system is additionally provided with a dual-frequency laser detection unit, a boom posture prediction module, a collaborative control logic module and an instruction priority module; the dual-frequency laser detection unit includes an infrared laser component and a blue laser component, the infrared laser component is used to monitor the engagement state of the first carriage tail hook (11) and the second carriage front hook (10) in real time; the blue laser component is used to dynamically measure the gap distance D0 between the first carriage (14) and the second carriage 13 of the tipping machine; the boom posture prediction module is used to predict the spatial position of the car tipping machine boom (2); the collaborative control logic module is used to generate a safety permission code S1 and an enhanced flip prohibition instruction F2; the instruction priority module is used to forcibly stipulate the priority relationship between the basic flip permission instruction, the basic flip prohibition instruction, the safety permission code S1 and the enhanced flip prohibition instruction F2.

5. A control system for preventing a double-tip dumper from tipping over as claimed in claim 4, characterized in that: The infrared laser assembly includes an infrared transmitter installed on the top of the car-pressing beam of the car-turning machine body (7) and an infrared receiver arranged on the base of the car-turning machine track (6). The infrared receiver collects the reflected light intensity and outputs a first light intensity electric signal. The blue light laser assembly includes a blue light transmitter installed obliquely on the bottom of the car-resting plate and a first blue light receiver and a second blue light receiver symmetrically arranged beside the car-turning machine track (5). The first blue light receiver and the second blue light receiver collect the reflected light intensity and output a second light intensity electric signal and a third light intensity electric signal to form a cross detection network covering the gap between the first car (14) and the second car (13) of the car-turning machine. The first light intensity electric signal, the second light intensity electric signal and the third light intensity electric signal are directly transmitted to the core control module.

6. A control system for preventing a double-tip dumper from tipping over as claimed in claim 5, characterized in that: The real-time output light intensity value of the infrared receiver is I h , and the maximum light intensity value measured when the car dumper body (7) is unloaded is I max . Set the determination threshold: I0 = k × I max , where k is the infrared light attenuation compensation coefficient in the current environment. When I h < I0 reaches 100 ms, it is determined that the tail hook (11) of the first carriage engages with the front hook (10) of the second carriage; the clearance value is calculated in real time through the formula: D0 = 0.6 × (|P1 - P2| / △P0), where P1 is the real-time light intensity value of the first blue light receiver, P2 is the real-time light intensity value of the second blue light receiver, and △P0 is the absolute value of the signal difference between the two blue light receivers when D0 = 0.6, △P0 = |P 10 - P 20 |, P 10 is the calibrated light intensity value of the first blue light receiver when D0 = 0.6; P 20 is the calibrated light intensity value of the second blue light receiver when D0 = 0.

6.

7. A control system for preventing a double-tip dumper from tipping over as claimed in claim 6, characterized in that: The arm posture prediction module comprises a displacement encoder, a gyroscope sensor and a kinematics processor; the displacement encoder collects the displacement s, velocity v and acceleration a of the car-pulling machine body (1) on the car-pulling machine track (5) in real time; the gyroscope sensor is embedded in the rotation axis of the car-pulling machine arm (2) to collect the angular velocity ω of the car-pulling machine arm (2) in real time; the kinematics processor constructs a motion trajectory function based on the parameters collected by the displacement encoder and the gyroscope sensor to predict the spatial position of the car-pulling machine arm (2) within the next 2 seconds.

8. A control system for preventing a double-tip dumper from tipping over as claimed in claim 7, characterized in that: When the engagement between the first carriage tail hook (11) and the second carriage front hook (10) is released and D0>0.6m, the cooperative control logic module generates a safety permission code S1. When the predicted spatial coordinates of the car tipping machine arm (2) overlap with the flipping trajectory of the tipping machine body (7), an enhanced flip prohibition instruction F2 is generated. The instruction priority module is executed by the cooperative control logic module. The instruction priority module includes: a basic flip permission instruction is only effective when the safety permission code S1 exists. When the safety permission code S1 is missing, the core control module shields the basic flip permission in real time; the enhanced flip prohibition instruction F2 has a higher priority than other control instructions. When the flip prohibition instruction F2 exists, the core control module immediately executes to cover other control instructions and replaces the basic flip prohibition instruction.

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