Intelligent train carriage cleaning operation control method, system and equipment for coal turning machine and medium

Abstract

The invention discloses an intelligent fire carriage cleaning operation control method, system and equipment for a coal turning machine and a medium, mainly relates to the technical field of operation control, and is used for solving the problems of insufficient automation and intelligence level, low operation efficiency, low safety and reliability and weak cooperative operation capability with an upstream process in an existing scheme. Comprising the steps that when a preset synchronous stability condition is met, a central control unit controls a lifting arm to descend to a preset working height and controls sweeping equipment to start sweeping operation; in the cleaning process, the central control unit obtains the real-time height distance, collected by the sensor, between the cleaning equipment and the empty fire carriage in real time; according to the real-time height distance, the central control unit controls the lifting arm to keep a preset optimal cleaning distance from the carriage; and when the sweeping completion condition is met, the central control unit sends a lifting arm ascending instruction to the sweeping equipment, and when the lifting arm of the sweeping equipment descends to the preset safety height, the central control unit sends an operation ending signal to the car puller system.

Description

Technical Field

[0001] This application relates to the field of operation control technology, and in particular to an intelligent control method, system, equipment and medium for cleaning the train carriages of a coal tipper. Background Technology

[0002] In large bulk cargo transshipment stations such as thermal power plants and port terminals, tippers are key equipment for unloading bulk materials such as coal. After the tipper rotates and unloads the coal train cars, a large amount of coal usually adheres to and remains on the inner walls, corners, and bottom of the cars. These residues not only cause direct material loss (with huge cumulative losses over time), but also lead to uneven vehicle loading, low transportation efficiency, and may even cause transportation safety accidents due to exceeding clearance limits.

[0003] Currently, the cleaning of empty train carriages after coal unloading mainly involves the following methods: 1. Manual cleaning: This method relies on cleaning workers using shovels, brooms, and other tools to enter the carriages for cleaning. This method is extremely labor-intensive, has a harsh working environment (severe coal dust pollution), is very inefficient, and poses safety risks due to working at heights and the cross-operation of personnel and equipment. It has been gradually phased out.

[0004] 2. Semi-mechanized cleaning: This method uses fixed or simple mobile cleaning devices, but still requires manual operation of the machinery, confirmation of the carriage's position, and control of the cleaning mechanism's lifting, lowering, starting, and stopping. While this method reduces labor intensity to some extent, it still heavily relies on manual judgment and operation, resulting in low automation, unstable cleaning effects, and poor coordination with mobile equipment such as car toggle machines. Operators need to constantly monitor the work process, and fatigue or misjudgment can easily lead to collisions between the equipment and the carriage, or incomplete cleaning.

[0005] 3. Preliminary Automated Cleaning: Some existing automated cleaning equipment often lacks information integration and intelligent collaboration with upstream processes (such as car dispatching systems). Their control logic is simple, often only able to execute preset, fixed action sequences, and unable to adapt to changes in the real-time position and speed of empty cars. Summary of the Invention

[0006] This application provides a method, system, equipment, and medium for intelligent control of coal tipper train car cleaning operations, in order to solve the problems of insufficient automation and intelligence, low operating efficiency, low safety and reliability, and weak ability to coordinate with upstream processes in existing solutions.

[0007] Firstly, this application provides a method for controlling the intelligent cleaning operation of a coal tipper train carriage, the method comprising: When the central control unit receives the signal of an empty train car from the car dispatching system, the central control unit obtains the sensor data on whether the empty train car has entered the working area, the car speed, and the real-time position. When entering the work area, the central control unit generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device of the sweeping equipment. The walking drive device is activated to make the sweeping equipment move synchronously with the empty carriage along the preset track. Based on the carriage speed, real-time location, and operating information uploaded by the cleaning equipment, it is determined whether the empty carriage and the cleaning equipment meet the preset synchronization and stability conditions. When the preset synchronization and stability conditions are met, the central control unit controls the lifting arm of the cleaning equipment to descend to the preset working height and controls the cleaning equipment to start the cleaning operation. During the cleaning process, the central control unit acquires the real-time height distance between the cleaning equipment and the empty train car collected by the sensors; based on the real-time height distance, the central control unit controls the lifting arm to maintain the preset optimal cleaning distance with the train car; When the cleaning is completed, the central control unit sends a command to the cleaning equipment to raise the lifting arm. When the lifting arm of the cleaning equipment is lowered to the preset safe height, the central control unit sends a signal to the vehicle dispatching system to end the operation.

[0008] In one implementation of this application, the central control unit acquires data from sensors, including whether an empty train car has entered the work area, the car's speed, and its real-time location. Specifically, this includes: The system uses sensors to detect whether empty train carriages have entered the work area. The speed and real-time position of the empty train carriages are collected using displacement and velocity sensors. The carriage detection sensors and displacement and speed sensors send information to the central control unit, such as whether the empty carriage has entered the work area, the carriage speed, and the real-time position.

[0009] In one implementation of this application, the system determines whether the empty train car and the cleaning equipment meet preset synchronization and stability conditions based on the car speed, real-time location, and operational information uploaded by the cleaning equipment. Specifically, this includes: Calculate the speed deviation between the carriage speed and the cleaning equipment speed in the operation information; Calculate the positional deviation of the cleaning equipment in the real-time location and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning equipment meet the preset synchronization stability conditions; otherwise, it is determined that the empty train car and the cleaning equipment do not meet the preset synchronization stability conditions.

[0010] In one implementation of this application, the central control unit controls the lifting arm of the sweeping equipment to descend to a preset working height, and controls the sweeping equipment to start the sweeping operation, specifically including: The central control unit sends a command to the sweeping equipment to lower the lifting arm; When the lifting arm of the cleaning equipment descends to the preset working height, the central control unit sends a command to the cleaning equipment to descend to the designated position, and at the same time controls the cleaning equipment to start the cleaning operation.

[0011] In one implementation of this application, the central control unit acquires the real-time height distance between the cleaning device and the empty train car collected by the sensors; based on the real-time height distance, the central control unit controls the lifting arm to maintain a preset optimal cleaning distance from the train car, specifically including: The real-time height distance between the cleaning equipment and the empty train carriage is collected using a distance measurement sensor. The central control unit generates a lifting arm adjustment command based on the deviation between the real-time height distance and the preset working height. The central control unit then sends the lifting arm adjustment command to the sweeping equipment to control the lifting arm and the vehicle to maintain the preset working height.

[0012] Secondly, this application provides an intelligent train car cleaning operation control system for a coal tipper, the system comprising: The central control unit is connected to the vehicle dispatching command module, the sensor detection module, and the cleaning actuator. Among them, the vehicle control module includes a command issuing unit and a command receiving unit; the sensor detection module includes a vehicle compartment detection sensor, a displacement and speed sensor and a distance measurement sensor; and the cleaning execution mechanism includes a walking drive device, a lifting arm drive device and a sweeper drive device. The central control unit is used to obtain, upon receiving a signal from the receiving command unit to dispatch an empty train car, whether the empty train car has entered the work area, the car speed, and the real-time position, collected by the car detection sensor and the displacement and speed sensor. When entering the work area, the central control unit generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device of the cleaning actuator. The walking drive device is activated to make the cleaning actuator move synchronously with the empty carriage along the preset track. Based on the carriage speed, real-time location, and operating information uploaded by the cleaning actuator, it is determined whether the empty carriage and the cleaning actuator meet the preset synchronization and stability conditions. When the preset synchronization and stability conditions are met, the central control unit controls the lifting arm drive device of the cleaning actuator to lower the lifting arm to the preset working height and controls the sweeper drive device to start the cleaning operation. During the cleaning process, the central control unit acquires the real-time height distance between the lifting arm and the empty train car from the distance measurement sensor; based on the real-time height distance, the central control unit controls the lifting arm drive device to maintain the preset optimal cleaning distance between the lifting arm and the train car; When the cleaning is completed, the central control unit sends a command to the lifting arm drive device to raise the lifting arm. When the lifting arm is lowered to the preset safe height, the central control unit sends a work completion signal to the receiving command unit.

[0013] In one implementation of this application, the central control unit includes a computing subunit. The speed deviation value used to calculate the speed of the cleaning actuator in the carriage speed and operation information; Calculate the positional deviation of the cleaning actuator in the real-time location and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning actuator meet the preset synchronization stability condition; otherwise, it is determined that the empty train car and the cleaning actuator do not meet the preset synchronization stability condition.

[0014] In one implementation of this application, a carriage detection sensor is used to collect data on whether an empty train carriage has entered the work area; Displacement and velocity sensors are used to collect the speed and real-time position of empty train carriages; Distance measurement sensors are used to collect real-time height distances between the cleaning equipment and empty train carriages.

[0015] Thirdly, this application provides an intelligent control device for cleaning coal carts in a coal tipper, the device comprising: processor; And a memory containing executable code, which, when executed, causes the processor to perform a method for controlling the intelligent cleaning operation of a coal tipper train carriage, as described above.

[0016] Fourthly, this application provides a non-volatile computer storage medium storing computer instructions thereon, which, when executed, implement a method for controlling the intelligent cleaning operation of a coal tipper train carriage as described above.

[0017] As can be seen from the above technical solutions, this application has the following advantages: Benefit 1: Achieving fully automated operation, significantly improving operational safety and the quality of the working environment: This application directly receives the dialing signals from the vehicle dispatching system through the central control unit. Based on the real-time position and speed information of the vehicle compartment collected by sensors, it automatically triggers the start, synchronization, and operation of the cleaning equipment, eliminating the reliance on on-site personnel and manual operation of lifting and stopping, as required by traditional manual cleaning and semi-mechanized operations. Throughout the operation, no personnel are required to enter the dust-filled vehicle compartment, nor is high-risk coordination and command around the mobile equipment necessary. This fundamentally eliminates major safety risks such as working at heights, coal dust inhalation, mechanical collisions, and cross-operation between humans and machines. Simultaneously, the working environment changes from "human-machine coexistence" to "human-machine isolation," improving the working conditions of operators and achieving a fundamental safety upgrade from "human-monitored equipment" to "autonomous system operation."

[0018] Benefit 2: Establishing a dynamic synchronization control mechanism completely solves the problem of tracking misalignment between the cleaning equipment and the vehicle: This application adopts a collaborative control architecture of "car-pulling machine signal drive + real-time position and speed closed-loop feedback," enabling the cleaning equipment to dynamically generate travel drive commands based on the car movement parameters output by the car-pulling machine, achieving precise synchronous movement between the cleaning equipment and the empty car. This mechanism overcomes the limitations of traditional automated equipment that relies on preset paths and fixed action sequences. It can adapt to changes in the car-pulling rhythm and minor track deviations, ensuring that the cleaning equipment always maintains a stable relative position with the target car, effectively eliminating the risk of blind spots, repeated cleaning, or mechanical collisions caused by "losing track" or lagging behind. The stability of synchronous control directly improves the continuity of operations and the reliability of equipment operation, providing solid technical support for continuous, high-density coal unloading operations.

[0019] Benefit 3: Establishing a closed-loop height feedback system ensures the stability of cleaning operations and consistency of coverage. During the cleaning process, this application uses sensors to monitor the vertical distance between the cleaning equipment and the inner wall of the truck bed in real time, and feeds this data back to the central control unit, which dynamically adjusts the height of the lifting arm to ensure that the cleaning mechanism always maintains the preset optimal working distance. This closed-loop control mechanism overcomes the problem of cleaning height drift caused by truck bed deformation, coal slag accumulation, or mechanical vibration in traditional equipment, ensuring that the cleaning components such as the brush and suction port maintain a constant force and contact range with the truck bed wall. As a result, the cleaning coverage area is maximized, the residual coal slag rate is significantly reduced, and the operation quality is transformed from "experience-dependent" to "parameter-driven," achieving predictable and standardized output of cleaning results. Attached Figure Description

[0020] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of an intelligent train carriage cleaning operation control method for a coal tipper provided in an embodiment of this application.

[0022] Figure 2 This is a schematic diagram of the internal structure of an intelligent train carriage cleaning control system for a coal tipper provided in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of the internal structure of an intelligent train carriage cleaning control device for a coal tipper provided in an embodiment of this application. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Those skilled in the art should understand that the embodiments described below are merely preferred embodiments of this disclosure and do not imply that this disclosure can only be implemented through these preferred embodiments. These preferred embodiments are merely used to explain the technical principles of this disclosure and are not intended to limit the scope of protection of this disclosure. All other embodiments obtained by those skilled in the art based on the preferred embodiments provided in this disclosure without inventive effort should still fall within the scope of protection of this disclosure.

[0026] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0027] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0028] The embodiment provides a method for controlling the intelligent cleaning operation of coal tippers on train carriages, such as... Figure 1 As shown in the embodiments of this application, the method mainly includes the following steps: Step 110: When the central control unit receives the signal of an empty train car being dispatched from the dispatching system, the central control unit acquires the data collected by the sensors, including whether the empty train car has entered the working area, the car speed, and the real-time position.

[0029] In some embodiments, the central control unit acquires sensor data on whether an empty train car has entered the work area, the car's speed, and its real-time location, specifically including: The system uses sensors to detect whether empty train carriages have entered the work area. The speed and real-time position of the empty train carriages are collected using displacement and velocity sensors. The carriage detection sensors and displacement and speed sensors send information to the central control unit, such as whether the empty carriage has entered the work area, the carriage speed, and the real-time position.

[0030] It should be noted that by integrating a collaborative data acquisition mechanism between carriage detection sensors and displacement and speed sensors into the central control unit, the system can accurately determine whether an empty carriage has entered the preset operating area and simultaneously acquire its speed and real-time spatial coordinates. This configuration effectively avoids the risk of misjudgment caused by relying solely on dispatching machine commands or a single real-time position. After receiving a dispatch signal, the central control unit can initiate subsequent actions based on real, continuous, multi-dimensional status information, reducing invalid operations or equipment idling caused by information lag or missing information, and improving the determinism and repeatability of the work process.

[0031] Real-time acquisition of carriage speed and position data allows the central control unit to dynamically match the advance rhythm of the train pusher, avoiding the risk of collisions between carriages and track equipment due to sudden speed changes or positional deviations. This solution does not rely on manual visual confirmation or preset time delays, reducing operational fluctuations caused by differences in operator experience and enhancing the system's stability in continuous operating environments. Simultaneously, direct input of sensor data provides a fundamental information source for subsequent fault diagnosis and operational log recording, facilitating rapid identification of problematic areas in the event of anomalies and improving maintenance efficiency.

[0032] Step 120: When entering the work area, the central control unit generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device of the sweeping equipment. The walking drive device is activated to make the sweeping equipment move synchronously with the empty carriage along the preset track.

[0033] It should be noted that the central control unit generates dynamic control commands based on real-time data collected from the carriage's speed and position, enabling the sweeping equipment's drive mechanism to achieve closed-loop synchronous movement with the empty train carriage. This effectively eliminates the relative displacement between the equipment and the carriage wall caused by control response delays or fixed preset trajectories. This synchronization mechanism avoids the risk of scraping, collisions, or derailment caused by speed mismatch during the following process, reduces localized mechanical stress concentration on the track and drive wheel system, and extends the service life of key moving components.

[0034] In synchronous driving mode, the cleaning equipment maintains a constant distance between its working path and the inner wall of the carriage, ensuring the continuity and consistency of the cleaning range and reducing blind spots or repetitive work caused by relative motion. This control method does not rely on manual intervention or fixed time delay compensation, making the execution results of cleaning actions reproducible under different vehicle speeds, loads, and track conditions. This provides a stable and traceable physical operational basis for subsequent work quality assessment and equipment operation log analysis.

[0035] Step 130: Based on the carriage speed, real-time location, and operating information uploaded by the cleaning equipment, determine whether the empty carriage and the cleaning equipment meet the preset synchronization and stability conditions; when the preset synchronization and stability conditions are met, the central control unit controls the lifting arm of the cleaning equipment to descend to the preset working height and controls the cleaning equipment to start the cleaning operation.

[0036] Specifically, based on the carriage speed, real-time location, and operational information uploaded by the cleaning equipment, it is determined whether the empty carriages and the cleaning equipment meet the preset synchronization and stability conditions, including: Calculate the speed deviation between the carriage speed and the cleaning equipment speed in the operation information; Calculate the positional deviation of the cleaning equipment in the real-time location and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning equipment meet the preset synchronization stability conditions; otherwise, it is determined that the empty train car and the cleaning equipment do not meet the preset synchronization stability conditions.

[0037] The central control unit controls the sweeping equipment's lifting arm to descend to a preset working height and controls the sweeping equipment to start the sweeping operation, specifically including: The central control unit sends a command to the sweeping equipment to lower the lifting arm; When the lifting arm of the cleaning equipment descends to the preset working height, the central control unit sends a command to the cleaning equipment to descend to the designated position, and at the same time controls the cleaning equipment to start the cleaning operation.

[0038] It should be noted that by introducing a dual-dimensional verification mechanism for speed and position deviation values ​​into the central control unit, the system only triggers the lifting arm descent command when the movement states of both the empty train car and the cleaning equipment are stable within a preset threshold range. This effectively avoids malfunctions caused by instantaneous disturbances, sensor noise, or communication delays. This logical constraint strictly binds the start-up timing of the lifting mechanism to the actual synchronization state, reducing hydraulic shocks and structural fatigue caused by frequent lifting or forced positioning of the lifting arm under unstable operating conditions, and extending the service life of mechanical transmission components.

[0039] After the lifting arm descends to the preset working height, the system uses a "descended to position" command as the enabling condition for cleaning operations, ensuring that the cleaning device only starts the power unit after it is precisely in the mechanical position. This step-by-step control strategy prevents the cleaning brush from making unintended contact with the inner wall of the carriage when it is not fully lowered, reducing the risk of abnormal brush wear, drive motor overload, or track scratches. At the same time, it avoids low cleaning efficiency and resource waste caused by premature operation due to the position not meeting the standard.

[0040] The logic for determining synchronization stability provides quantifiable and reproducible criteria for initiating cleaning operations, giving the system's operating status a clear engineering basis. The deviation records and command triggering sequences generated by this mechanism provide direct data support for subsequent equipment maintenance, fault tracing, and control parameter optimization, enhancing the transparency and auditability of the system operation process and meeting the basic traceability requirements of industrial automation systems.

[0041] Step 140: During the cleaning process, the central control unit acquires the real-time height distance between the cleaning equipment and the empty train car collected by the sensors; based on the real-time height distance, the central control unit controls the lifting arm to maintain the preset optimal cleaning distance between the lifting arm and the train car.

[0042] In some embodiments, the central control unit acquires the real-time height distance between the cleaning equipment and the empty train car collected by the sensors; based on the real-time height distance, the central control unit controls the lifting arm to maintain a preset optimal cleaning distance from the train car, specifically including: The real-time height distance between the cleaning equipment and the empty train carriage is collected using a distance measurement sensor. The central control unit generates a lifting arm adjustment command based on the deviation between the real-time height distance and the preset working height. The central control unit then sends the lifting arm adjustment command to the sweeping equipment to control the lifting arm and the vehicle to maintain the preset working height.

[0043] It should be noted that by constructing a closed-loop feedback control system through real-time height and distance sensors, the central control unit can dynamically correct the position of the lifting arm, ensuring that the sweeping device maintains a preset working distance from the inner wall of the vehicle. This mechanism effectively suppresses height deviation caused by uneven tracks, vehicle deformation, or equipment vibration, avoiding excessive squeezing and wear of the sweeping brushes due to insufficient distance, or reduced sweeping coverage due to excessive distance, thus ensuring physical consistency during operation.

[0044] The continuous fine-tuning response of the lifting boom is based on the deviation value fed back by sensors, rather than a fixed time interval or open-loop preset, reducing overshoot and oscillation caused by mechanical inertia or control lag. This control method reduces the frequency of start-stop of the lifting drive mechanism, alleviates heat accumulation and mechanical shock of hydraulic or electric actuators, extends the service life of key actuators, and provides quantifiable height change trajectories for the operation log, enhancing the traceability of system behavior.

[0045] Step 150: When the cleaning is completed, the central control unit sends a command to the cleaning equipment to raise the lifting arm. When the lifting arm of the cleaning equipment is lowered to the preset safe height, the central control unit sends a work completion signal to the vehicle dispatching system.

[0046] It should be noted that by triggering the operation end signal based on the actual position of the lifting arm rather than time delay or manual judgment after the sweeping operation is completed, the system achieves physical decoupling between the sweeping equipment and the towing mechanism. This mechanism ensures that the towing mechanism only initiates subsequent towing operations after the sweeping equipment has been completely withdrawn to the preset safe height, effectively avoiding the risk of mechanical interference or collision caused by the equipment not being fully retracted, and reducing the possibility of equipment damage and operation interruption.

[0047] The preset safety height serves as a clear mechanical condition criterion, providing an objective and reproducible trigger condition for generating the work completion signal. This logic eliminates the uncertainty caused by relying on operator experience or fixed delays, ensuring that the system maintains a consistent completion judgment standard across different work cycles, environmental conditions, and equipment wear states. Simultaneously, the step-by-step instruction sequence for boom raising and safety height confirmation provides a clear action sequence record in the system operation log, enhancing the traceability of fault backtracking and process auditing.

[0048] In addition, this application Figure 2 This application provides an intelligent train carriage cleaning operation control system for a coal tipper. For example... Figure 2 As shown in the embodiments of this application, the system mainly includes: The central control unit 210 is connected to the vehicle dispatching command module 220, the sensor detection module 230, and the cleaning actuator 240; The vehicle control module 220 includes a command issuing unit 221 and a command receiving unit 222; the sensor detection module 230 includes a vehicle detection sensor 231, a displacement and speed sensor 232 and a distance measurement sensor 233; and the cleaning execution mechanism 240 includes a walking drive device 241, a lifting arm drive device 242 and a sweeper drive device 243. The central control unit 210 is used to obtain, when receiving the signal to dispatch an empty train car from the issuing command unit 221, whether the empty train car has entered the work area, the car speed and the real-time position collected by the car detection sensor 231 and the displacement and speed sensor 232. When entering the work area, the central control unit 210 generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device 241 of the cleaning actuator 240. The walking drive device 241 is activated to make the cleaning actuator 240 move synchronously with the empty carriage along the preset track. Based on the carriage speed, real-time location, and operating information uploaded by the cleaning actuator 240, it is determined whether the empty carriage and the cleaning actuator 240 meet the preset synchronization and stability conditions. When the preset synchronization and stability conditions are met, the central control unit 210 controls the lifting arm drive device 242 of the cleaning actuator 240 to lower the lifting arm to the preset working height and controls the sweeper drive device 243 to start the cleaning operation. During the cleaning process, the central control unit 210 acquires the real-time height distance between the lifting arm and the empty train car collected by the distance measurement sensor 233; based on the real-time height distance, the central control unit 210 controls the lifting arm drive device 242 to maintain the preset optimal cleaning distance between the lifting arm and the train car. When the cleaning is completed, the central control unit 210 sends a lifting arm raising command to the lifting arm drive device 242. When the lifting arm is lowered to the preset safe height, the central control unit 210 sends an operation end signal to the receiving command unit 222.

[0049] The central control unit 210 includes a computing subunit. The speed deviation value used to calculate the speed of the cleaning actuator 240 in the carriage speed and operation information; Calculate the position deviation value of the cleaning actuator 240 position in the real-time position and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning actuator 240 meet the preset synchronization stability condition; otherwise, it is determined that the empty train car and the cleaning actuator 240 do not meet the preset synchronization stability condition.

[0050] Carriage detection sensor 231 is used to collect data on whether an empty train carriage has entered the work area; Displacement and velocity sensor 232 is used to collect the speed and real-time position of an empty train car; Distance measurement sensor 233 is used to collect the real-time height distance between the cleaning equipment and the empty train car.

[0051] The above are method embodiments of this application. Based on the same inventive concept, this application also provides an intelligent control device for cleaning train carriages of a coal tipper. Figure 3 As shown, the device includes: a processor; and a memory storing executable code, which, when executed, causes the processor to perform a method for controlling the cleaning operation of an intelligent coal turner train carriage as described in the above embodiment.

[0052] Specifically, when the central control unit receives a signal from the vehicle dispatching system indicating an empty train carriage, it acquires data from sensors indicating whether the empty carriage has entered the work area, its speed, and its real-time position. Upon entering the work area, based on the carriage speed and real-time position, the central control unit generates control commands and sends them to the sweeping equipment's drive mechanism, activating the drive mechanism to synchronize the sweeping equipment with the empty carriage along a preset track. Based on the carriage speed, real-time position, and the operational information uploaded by the sweeping equipment, it determines whether the empty carriage and the sweeping equipment meet preset synchronization and stability conditions. When these conditions are met, the central control unit controls the sweeping equipment's lifting arm to descend to a preset working height, initiating the sweeping operation. During the sweeping process, the central control unit acquires real-time data from sensors regarding the height distance between the sweeping equipment and the empty carriage. Based on this distance, the central control unit controls the lifting arm to maintain a preset optimal sweeping distance from the carriage. When the sweeping is complete, the central control unit sends a command to raise the lifting arm. When the lifting arm descends to a preset safe height, the central control unit sends a work completion signal to the vehicle dispatching system.

[0053] In addition, this application embodiment also provides a non-volatile computer storage medium storing executable instructions, which, when executed, implement the intelligent train carriage cleaning operation control method for a coal tipper as described above.

[0054] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the intelligent cleaning operation of a coal tipper train carriage, characterized in that, The method includes: When the central control unit receives a signal from the car dispatching system to dispatch an empty train car, the central control unit obtains data from the sensors on whether the empty train car has entered the work area, the car speed, and the real-time position. When entering the work area, the central control unit generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device of the sweeping equipment. The walking drive device is activated to make the sweeping equipment move synchronously with the empty carriage along the preset track. Based on the carriage speed, real-time location, and operating information uploaded by the cleaning equipment, it is determined whether the empty carriage and the cleaning equipment meet the preset synchronization and stability conditions. When the preset synchronization and stability conditions are met, the central control unit controls the lifting arm of the cleaning equipment to descend to the preset working height and controls the cleaning equipment to start the cleaning operation. During the cleaning process, the central control unit acquires the real-time height distance between the cleaning equipment and the empty train car collected by the sensors; based on the real-time height distance, the central control unit controls the lifting arm to maintain the preset optimal cleaning distance with the train car; When the cleaning is completed, the central control unit sends a command to the cleaning equipment to raise the lifting arm. When the lifting arm of the cleaning equipment is lowered to the preset safe height, the central control unit sends a signal to the vehicle dispatching system to end the operation.

2. The intelligent train carriage cleaning operation control method for coal tippers according to claim 1, characterized in that, The central control unit acquires sensor data on whether empty train carriages have entered the work area, carriage speed, and real-time location, specifically including: The system uses sensors to detect whether empty train carriages have entered the work area. The speed and real-time position of the empty train carriages are collected using displacement and velocity sensors. The carriage detection sensors and displacement and speed sensors send information to the central control unit, such as whether the empty carriage has entered the work area, the carriage speed, and the real-time position.

3. The intelligent train car cleaning operation control method for coal tippers according to claim 1, characterized in that, Based on the carriage speed, real-time location, and operational information uploaded by the cleaning equipment, determine whether the empty carriages and the cleaning equipment meet the preset synchronization and stability conditions, specifically including: Calculate the speed deviation between the carriage speed and the cleaning equipment speed in the operation information; Calculate the positional deviation of the cleaning equipment in the real-time location and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning equipment meet the preset synchronization stability conditions; otherwise, it is determined that the empty train car and the cleaning equipment do not meet the preset synchronization stability conditions.

4. The intelligent train car cleaning operation control method for coal tippers according to claim 1, characterized in that, The central control unit controls the sweeping equipment's lifting arm to descend to the preset working height and controls the sweeping equipment to start the sweeping operation, specifically including: The central control unit sends a command to the sweeping equipment to lower the lifting arm; When the lifting arm of the cleaning equipment descends to the preset working height, the central control unit sends a command to the cleaning equipment to descend to the designated position, and at the same time controls the cleaning equipment to start the cleaning operation.

5. The intelligent train carriage cleaning operation control method for coal tippers according to claim 1, characterized in that, The central control unit acquires the real-time height distance between the cleaning equipment and the empty train car, collected by sensors. Based on this real-time height distance, the central control unit controls the lifting arm to maintain a preset optimal cleaning distance from the train car, specifically including: The real-time height distance between the cleaning equipment and the empty train carriage is collected using a distance measurement sensor. The central control unit generates a lifting arm adjustment command based on the deviation between the real-time height distance and the preset working height. The central control unit then sends the lifting arm adjustment command to the sweeping equipment to control the lifting arm and the vehicle to maintain the preset working height.

6. A smart control system for cleaning train carriages of a coal tipper, characterized in that, The system includes: The central control unit is connected to the vehicle dispatching command module, the sensor detection module, and the cleaning actuator. Among them, the vehicle control module includes a command issuing unit and a command receiving unit; the sensor detection module includes a vehicle compartment detection sensor, a displacement and speed sensor and a distance measurement sensor; and the cleaning execution mechanism includes a walking drive device, a lifting arm drive device and a sweeper drive device. The central control unit is used to obtain, upon receiving a signal from the issuing command unit to dispatch an empty train car, whether the empty train car has entered the work area, the car speed, and the real-time position collected by the car detection sensor and the displacement and speed sensor. When entering the work area, the central control unit generates control commands based on the speed and real-time position of the carriage and sends them to the walking drive device of the cleaning actuator. The walking drive device is activated to make the cleaning actuator move synchronously with the empty carriage along the preset track. Based on the carriage speed, real-time location, and operating information uploaded by the cleaning actuator, it is determined whether the empty carriage and the cleaning actuator meet the preset synchronization and stability conditions. When the preset synchronization and stability conditions are met, the central control unit controls the lifting arm drive device of the cleaning actuator to lower the lifting arm to the preset working height and controls the sweeper drive device to start the cleaning operation. During the cleaning process, the central control unit acquires the real-time height distance between the lifting arm and the empty train car from the distance measurement sensor; based on the real-time height distance, the central control unit controls the lifting arm drive device to maintain the preset optimal cleaning distance between the lifting arm and the train car; When the cleaning is completed, the central control unit sends a command to the lifting arm drive device to raise the lifting arm. When the lifting arm is lowered to the preset safe height, the central control unit sends a work completion signal to the receiving command unit.

7. The intelligent train car cleaning operation control system for the coal tipper according to claim 6, characterized in that, The central control unit includes a computing subunit. The speed deviation value used to calculate the speed of the cleaning actuator in the carriage speed and operation information; Calculate the positional deviation of the cleaning actuator in the real-time location and operation information; When both the speed deviation and position deviation are within the preset stability threshold range, it is determined that the empty train car and the cleaning actuator meet the preset synchronization stability condition; otherwise, it is determined that the empty train car and the cleaning actuator do not meet the preset synchronization stability condition.

8. The intelligent train car cleaning operation control system for the coal tipper according to claim 6, characterized in that, Carriage detection sensors are used to detect whether empty train carriages have entered the work area; Displacement and velocity sensors are used to collect the speed and real-time position of empty train carriages; Distance measurement sensors are used to collect real-time height distances between the cleaning equipment and empty train carriages.

9. A control device for intelligent cleaning operation of coal tippers and train carriages, characterized in that, The device includes: processor; And a memory storing executable code, which, when executed, causes the processor to perform a method for controlling the intelligent cleaning operation of a coal tipper train carriage as described in any one of claims 1-5.

10. A non-volatile computer storage medium, characterized in that, It stores computer instructions, which, when executed, implement a method for controlling the intelligent cleaning operation of a coal tipper train carriage as described in any one of claims 1-5.

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