A coal gondola car key area cleaning robot and an operating method thereof

Abstract

The application discloses a coal conveying open wagon key area cleaning robot and an operating method thereof, and relates to the technical field of cleaning robots. The coal conveying open wagon key area cleaning robot comprises a base, symmetrically arranged monitoring and ranging units, multiple groups of equidistantly installed rotary mechanical arms, a multiple-prong cleaning assembly, a high-pressure power unit and a control module. The monitoring and ranging units collect carriage state and position information, the control module regulates and controls the cooperative action of each unit, the rotary mechanical arms move according to a corrected path, the multiple-prong cleaning assembly realizes targeted cleaning of key areas and full-carriage covering cleaning through opening, merging and rotating actions in cooperation with high-pressure fluid, and the operating method comprises carriage positioning, path correction, key area cleaning, mechanical arm recovery and full-carriage cleaning modes. The coal conveying open wagon key area cleaning robot replaces manual cleaning, avoids safety and environmental protection risks, solves the problem of labor shortage, realizes accurate and dead-angle-free cleaning with high efficiency, is suitable for carriages with transverse rib structures and is applicable to the coal conveying open wagon residual coal cleaning scene.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a cleaning robot for key areas of coal conveying open wagons and its operation method. Background Technology

[0002] In the coal transportation industry, open wagons are the main carrier for long-distance coal transport. After unloading, residual coal easily remains on the inner walls and corners of the wagons. If this residual coal is not cleaned in time, it will lead to reduced transportation efficiency, waste of resources, and long-term accumulation may affect the structural safety of the wagons. Currently, the industry generally uses manual cleaning to handle residual coal: workers have to climb into the not-fully-secured interior of the wagons and use primitive tools such as shovels and brooms to sweep the residual coal to the side of the tracks, and then use a forklift to transfer it to the coal bunker.

[0003] This traditional cleaning method has many intractable drawbacks: First, it poses extremely high safety risks. Workers must operate inside moving or semi-fixed carriages, facing risks of falling, collisions, and other cross-operational risks. Long-term exposure to high dust environments can easily lead to occupational diseases such as pneumoconiosis. Second, it causes serious environmental pollution. Manual cleaning and the stacking of leftover coal generate a large amount of dust, which not only pollutes the surrounding air environment but may also cause secondary pollution. Third, it is economically inefficient. Cleaning a single carriage takes 15-20 minutes, and additional manpower is required for opening and closing doors and sealing operations, resulting in significant labor costs and material losses. Fourth, it suffers from a severe labor shortage. The harsh working environment and high labor intensity make young people unwilling to engage in this work, exacerbating the industry's difficulty in recruiting and the labor shortage. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] Therefore, the purpose of this invention is to provide a cleaning robot for key areas of coal conveying open wagons and its operation method, so as to solve the technical problems mentioned in the background art.

[0006] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0007] A multi-fork cleaning assembly includes a flange that docks with the end of a rotary robotic arm, a water inlet box mounted on the flange and connected to a high-pressure power unit, a mounting base mounted on the water inlet box, an intermediate nozzle vertically mounted in the middle of the mounting base, and a rotary nozzle located at least on one side of the intermediate nozzle.

[0008] The fixed base is provided with a hinge seat at at least one side of the intermediate nozzle, the head end of the rotating nozzle is provided with a hinge block that cooperates with the hinge seat, a steering drive motor is mounted on the hinge seat, and the output end of the steering drive motor is connected to the hinge block.

[0009] A cleaning robot for key areas of coal conveying open wagons, comprising:

[0010] Base;

[0011] The monitoring and ranging units are symmetrically arranged on the curved beams on both sides of the tippler to collect information on the status and position distance of the coal open car.

[0012] Multiple rotary robotic arms are arranged and equidistantly mounted on the base, and the rotary robotic arms move according to a planned path.

[0013] The multi-fork cleaning assembly is installed at the end of the rotating robotic arm and cleans the interior of the coal conveying open car by opening, closing and rotating movements;

[0014] A high-pressure power unit is connected to each of the multi-fork sweeping components and is used to provide high-pressure fluid for the multi-fork sweeping components to clean.

[0015] The control unit receives information from the monitoring and ranging unit, and regulates the high-pressure power unit, the rotating robotic arm, and the multi-fork sweeping assembly to coordinate their actions, performing targeted cleaning of key areas and full-coverage cleaning of the coal conveyor car body.

[0016] As a preferred embodiment of the coal conveying open wagon key area cleaning robot described in this invention, the monitoring and ranging unit includes a mounting frame fixed on a curved beam, a rotary motor fixed on the second arm of the mounting frame, a protective cover fixed to the output end of the rotary motor, a camera, a laser ranging probe and a searchlight fixed inside the protective cover, and a camera cleaning assembly mounted on the first arm of the mounting frame, wherein the head end face of the protective cover is a transparent face.

[0017] As a preferred embodiment of the coal conveying open wagon key area cleaning robot of the present invention, the camera cleaning assembly includes a cleaning fluid storage box installed on the first support arm, a cleaning fluid solenoid valve disposed on the cleaning fluid storage box, a cleaning nozzle installed on the protective cover and partially penetrating into the protective cover, and a cleaning fluid pipeline connecting the cleaning fluid solenoid valve and the cleaning nozzle.

[0018] As a preferred embodiment of the coal conveying open wagon key area cleaning robot of the present invention, the rotating robotic arm includes a rotary drive motor, a reducer whose input end is connected to the output end of the rotary drive motor, a primary arm installed at the output end of the reducer, and a six-axis cleaning robotic arm installed on the primary arm.

[0019] As a preferred embodiment of the cleaning robot for key areas of coal conveying open wagons described in this invention, the primary arm is equipped with a pressure-type anti-collision beam, and a pressure sensor is used to detect whether the primary arm rotates onto the cross rib of the coal conveying open wagon.

[0020] As a preferred embodiment of the coal conveying open wagon key area cleaning robot described in this invention, the pressure-type anti-collision beam adopts an elastic metal sheet, which is connected when pressed and disconnected when released.

[0021] As a preferred embodiment of the coal conveying open wagon key area cleaning robot described in this invention, the control unit includes a wireless transmission CPE and an edge controller. The wireless transmission CPE is used to transmit camera and controller control signals, and the edge controller consists of a 24V switching power supply, an S7 1200 PLC and an HJ6304 bus gateway.

[0022] As a preferred embodiment of the coal conveying open wagon key area cleaning robot described in this invention, the high-pressure power unit includes a main water supply pipe and multiple water supply pipes connected to the main water supply pipe. The input end of the main water supply pipe is connected to multiple booster pumps. Each of the multiple water supply pipes is connected to a multi-fork cleaning component, and each water supply pipe is equipped with two manual valves and one solenoid valve.

[0023] The operation method of a cleaning robot for key areas of coal conveying open wagons includes the following steps:

[0024] S1. Control the tipper to rotate to 60°, start the monitoring and ranging unit, drive the protective cover to adjust the angle of the rotating motor, and use the camera and laser ranging probe to collect the status and position distance information of the car body, and calculate the length of the car body LC and the distance between the car body and the front beam DC.

[0025] S2. Based on the LC and DC values, the control unit calculates the path deviation value of each rotating robotic arm by comparing it with the standard value, automatically corrects the cleaning path, and starts each rotating robotic arm according to the zone. The rotating drive motor drives the first-stage arm to rotate to the working position through the reducer. The pressure-type anti-collision beam senses whether it is in contact with the cross rib of the carriage and switches the corresponding cleaning path.

[0026] S3. The steering drive motor of the multi-fork sweeping component drives the rotating nozzles on both sides to open, the high-pressure power unit starts, the booster pump outputs high-pressure fluid, and the three edges of the key area of ​​the carriage are swept twice through the middle nozzle and the rotating nozzle. The steering drive motor drives the rotating nozzles on both sides to merge and sweep the two edges of the carriage on this side twice according to the corrected path.

[0027] S4. After cleaning is completed, the rotating robotic arm will retract to its initial position and send a signal to the control unit indicating that it has been retracted to the correct position.

[0028] S5. In the full-cabin cleaning mode, the control unit sets the solenoid valve to a 5-second cleaning duration, and performs fixed-point full-coverage cleaning of the area 300mm in front of and behind the positioning laser point on the multi-fork cleaning component.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. By completely replacing manual labor in the carriage through automated mechanical structures, the risks of personnel falling from heights, cross collisions, and dust exposure are avoided, thus eliminating occupational diseases and safety accidents at the source and significantly improving the working safety environment. Moreover, the equipment operates fully automatically, requiring only one operator for remote monitoring. It does not rely on high-intensity manual labor, completely solving the industry's difficulties in recruiting and labor shortages and reducing dependence on human resources.

[0031] 2. The monitoring and ranging unit uses cameras and laser ranging probes for collaborative positioning, combined with path deviation correction algorithms, to accurately adapt to the parking deviation of the carriage. The obstacle avoidance design of the pressure-type anti-collision beam and the six-axis robotic arm can flexibly deal with carriages with transverse rib structures, and realize automatic switching between ribbed and non-ribbed paths. The multi-fork sweeping component can not only target key areas such as the outer edge, middle prism, and bottom edge of the carriage through opening, closing and rotating actions, but also achieve full coverage cleaning of the entire carriage, ensuring that there are no dead corners. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments. Obviously, the 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. Wherein:

[0033] Figure 1 This is a schematic diagram of the overall structure of a cleaning robot for key areas of a coal conveying open wagon according to the present invention;

[0034] Figure 2 This is a first-view structural schematic diagram of the monitoring and ranging unit of a coal conveying open wagon key area cleaning robot according to the present invention;

[0035] Figure 3 This is a second-view structural schematic diagram of the monitoring and ranging unit of a coal conveying open wagon key area cleaning robot of the present invention;

[0036] Figure 4 This is a schematic diagram of the connection structure of the rotating robotic arm and multi-fork sweeping assembly of a coal conveying open wagon key area sweeping robot of the present invention.

[0037] Figure 5 This is a schematic diagram of the multi-fork sweeping component of a key area sweeping robot for coal conveying open wagons according to the present invention;

[0038] Figure 6 This is another structural schematic diagram of the multi-fork cleaning component of a coal conveying open wagon key area cleaning robot according to the present invention. Detailed Implementation

[0039] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] Figures 1-5 The diagram shown is a structural schematic of one embodiment of a cleaning robot for key areas of a coal conveying wagon according to the present invention. Please refer to [link / reference]. Figures 1-5 This embodiment of a coal conveying open wagon key area cleaning robot includes a base 100, a monitoring and ranging unit 200, a rotating robotic arm 300, a multi-fork cleaning assembly 400, a high-pressure power unit, and a control unit 500. The base 100 is fixedly installed on a preset foundation platform under the tipper. Six sets of rotating robotic arms 300 are equidistantly distributed on the base 100, with the spacing between adjacent sets of rotating robotic arms 300 adapted to the wagon cleaning zoning requirements. There are two sets of monitoring and ranging units 200, symmetrically fixed on the inner side of the curved beams L on both sides of the tipper to ensure that their detection range can cover the entire wagon cross section. The water supply main pipe of the high-pressure power unit is arranged along the side of the base 100, and multiple water supply pipes extend to each set of multi-fork cleaning assemblies 400 to achieve one-to-one liquid supply. The edge controller 520 of the control unit 500 is installed in the electrical control box of the base 100, and the wireless transmission CPE 510 is fixed on the top of the electrical control box, matching the WIFI AP signal of the tipper control room to achieve remote data interaction.

[0041] The mounting bracket 210 of the monitoring and ranging unit 200 is fixed to the preset mounting holes of the curved beam L by bolts. Its first support arm 210a faces horizontally towards the protective cover 230, and the second support arm 210b faces vertically downward. The rotary motor 220 is fixed to the end of the second support arm 210b by a flange. The side of the protective cover 230 is connected to the output shaft of the rotary motor 220 by a flat key. The head end face 230a is made of high-strength transparent acrylic plate, which not only ensures the observation field of the camera 240, but also has dustproof and waterproof functions. Inside the protective cover 230, the camera 240 is installed in the center, and the laser ranging probe 250 is symmetrically arranged on both sides of the camera 240. The searchlight 260 is installed at the top inside the protective cover 230. The installation angles of the three are pre-adjusted to ensure that the camera 240 can clearly capture the interior of the carriage. In this configuration, the laser rangefinder 250 can accurately measure the distance to the edge of the carriage, and the light from the searchlight 260 can completely cover the shooting range of the camera 240. In the camera cleaning assembly 270, the cleaning fluid storage box 270a is fixed to the top of the first support arm 210a and stores special lens cleaning fluid inside. The cleaning fluid solenoid valve 270b is installed at the bottom outlet of the cleaning fluid storage box 270a through a threaded interface. The cleaning fluid pipeline 270d is a high-pressure resistant hose, with one end connected to the cleaning fluid solenoid valve 270b and the other end passing through the reserved hole on the side wall of the protective cover 230 and docking with the cleaning nozzle 270c. The cleaning nozzle 270c has a multi-nozzle structure and is installed obliquely on the upper front side of the lens inside the protective cover 230. Its spray direction is adjusted to cover the entire transparent head end face 230a and the surface of the camera lens. When the image captured by the camera 240 is less than a preset threshold, the control unit 500 triggers the opening of the cleaning fluid solenoid valve 270b, and the cleaning fluid is delivered to the cleaning nozzle 270c through the pipeline to clean the lens in an oblique spray manner. After cleaning is completed, the cleaning fluid solenoid valve 270b automatically closes.

[0042] The rotary drive motor 310 of the rotary robotic arm 300 is directly connected to the reducer 320 via a flange and fixed on the preset motor seat of the base 100. The output end of the reducer 320 is fixed to the bottom end of the first-stage arm 330 via a key connection. The extension length of the first-stage arm 330 is 1600mm, and the material is high-strength aluminum alloy, which ensures structural strength and reduces weight.

[0043] The six-axis sweeping robotic arm 340 is fixed to the top of the primary arm 330 via a flange. Its horizontal linear motion range is 2m, and its angle-controlled sweeping motion range is 1m. It communicates with the control unit 500 via Ethernet and receives path control signals. The pressure-type anti-collision beam 330a is made of elastic metal sheet and is fixed to the upper surface of the primary arm 330 with bolts. Its metal diaphragm is connected to one DI interface of the RS 485 16DI / 16DO module. When the primary arm 330 rotates to the position of the cross rib of the vehicle body, the metal sheet is compressed and deformed, the metal diaphragm is connected, and the control unit 500 receives the signal and switches to the cross rib pressing path. When it does not contact the cross rib, the metal diaphragm is disconnected, maintaining the original sweeping path.

[0044] The flange 410 of the multi-fork sweeping assembly 400 is bolted to the end shaft of the six-axis sweeping robot arm 340. The water inlet box 420 is welded to the other side of the flange 410, and its top interface is sealed to the water supply pipe via a quick-connect coupling to ensure no leakage of high-pressure fluid. The mounting base 430 is bolted to the bottom of the water inlet box 420, and the intermediate nozzle 440 is vertically welded downwards to the center of the mounting base 430, directly communicating with the internal flow channel of the water inlet box 420, forming a rigid connection structure. Figure 5 As shown, the hinge blocks 450a of the two rotating nozzles 450 are connected to the hinge seats 430a of the fixed base 430 by pins. The rotating nozzles 450 are connected to the water channel junction box 420 by high-pressure hoses to ensure the freedom of movement of the rotating nozzles 450. The steering drive motor 460 is fixed to the side of the hinge seat 430a by bolts, and its output shaft is connected to the hinge blocks 450a by a coupling. The steering drive motor 460 receives a signal from 500 and can drive the rotating nozzles 450 to open, close, and rotate. In the open state, the three nozzles are distributed in a multi-forked manner. In the closed state, the two rotating nozzles 450 are parallel to the middle nozzle 440. The positioning laser deployed between the three nozzles has its emitting end integrated into the bottom of the fixed base 430. The laser point can intuitively indicate the cleaning center position. In other embodiments, such as Figure 6 As shown, the multi-fork cleaning assembly 400 consists of two rotating nozzles 450, with the intermediate nozzle 440 removed to form a two-fork cleaning assembly.

[0045] The high-pressure power unit includes three booster pumps, each with a volume of 240L and an output pressure set at 30MPa. The output ends of the three booster pumps are all connected to the main water supply pipe via flanges to form redundant oil supply protection. There are five water supply pipes, which are connected to the water connection boxes 420 of the five sets of multi-fork cleaning components 400. Each water supply pipe has two manual valves and one solenoid valve connected in series. The manual valves are used to shut off the pipeline during equipment maintenance, and the solenoid valves receive signals from the control unit 500 to realize the on / off control of high-pressure fluid.

[0046] The 24V switching power supply inside the edge controller 520 of the control unit 500 supplies power to all 24V devices, including the camera 240, rotary motor 220, and steering drive motor 460. The S7 1200 PLC, as the control core, receives distance signals from the laser rangefinder 250 and sensing signals from the pressure-type anti-collision beam 330a, and outputs control commands to each actuator. The HJ6304 bus gateway converts different communication protocols to ensure signal compatibility between the PLC and each motor and solenoid valve. The wireless transmission CPE510 is connected to the PLC via a network cable to transmit image signals from the camera 240 and equipment operating status signals to the WIFI AP. The AP is directly connected to the monitoring terminal in the control room via a network cable, allowing the operator to view the cleaning status in real time, adjust cleaning parameters, and manually control the equipment operation.

[0047] Combination Figures 1-5 The specific steps of the cleaning robot for key areas of coal conveying open wagons in this embodiment are as follows:

[0048] S1. Carriage Positioning and Information Collection

[0049] The control unit 500 sends a start signal to rotate the car body to 60° and keep it stable. The monitoring and ranging unit 200 starts working: the rotary motor 220 drives the protective cover 230 to rotate to the preset measurement angle, the searchlight 260 turns on to provide supplementary lighting, the camera 240 captures images of the inside of the car body and transmits them to the control room, and the laser ranging probe 250 measures the distance to the upper side panel of the car body to obtain two ranging values, D1 and D2.

[0050] The control unit 500 calculates the length of the carriage LC=(D1cosα+D2cosβ)−L (where L is the fixed distance between the two laser emitting ends, and α and β are the difference between the rotation angle of the rotary motor 220 and the initial installation angle) and the distance between the carriage and the front beam DC=L−D1cosα according to the preset formula, thus completing the determination of the initial position of the carriage.

[0051] S2, Path Correction and Robotic Arm Positioning

[0052] The control unit 500 compares the calculated LC and DC values ​​with the preset standard values ​​LCB and DCB, and automatically calculates the path deviation value of each rotary robotic arm 300 according to the following formula:

[0053] Two rotating robotic arms 300, namely the first and fourth groups: △1Y=DCt−DCB, △4Y=DCt+LCt−DCB−LCB;

[0054] The inner rotating robotic arm 300, i.e. the second and third groups: △2Y=DCt−DCB+0.2×(LCt−LCB), △5Y=DCt−DCB+0.4×(LCt−LCB);

[0055] After correcting the cleaning paths of each rotary robotic arm 300 based on the deviation value, the rotary drive motor 310 starts and drives the first-stage arm 330 to rotate to the working position through the reducer 320. The six-axis cleaning robotic arm 340 adjusts its posture according to the corrected path. The pressure-type anti-collision beam 330a senses the contact status in real time. If a pressure signal (contact with the cross rib) is detected, the control unit 500 switches to the cross rib pressing path, otherwise it maintains the non-cross rib pressing path.

[0056] S3, Key Area Cleaning Implementation

[0057] After the path is confirmed, the steering drive motor 460 of the multi-fork sweeping component 400 starts, driving the two rotating nozzles 450 to open outward to a preset angle, forming a multi-fork distribution state; the control unit 500 triggers the solenoid valve of the high-pressure power unit to open, and the booster pump outputs 30MPa high-pressure fluid, which is transported to the water circuit junction box 420 through the water supply main pipe and water supply pipe, and then sprayed synchronously through the middle nozzle 440 and the two rotating nozzles 450 on both sides to perform the first sweep of the three edges of the key area of ​​the carriage.

[0058] After the first cleaning is completed, the nozzles remain in spraying state, and the steering drive motor 460 drives the two rotating nozzles 450 on both sides to rotate inward to complete the second cleaning. Then, the two rotating nozzles 450 on both sides continue to rotate to the merged state, parallel to the middle nozzle 440, and the six-axis cleaning robot arm 340 moves according to the corrected path to clean the two edges on this side of the carriage twice in sequence.

[0059] S4, Robotic Arm Retrieval

[0060] After the cleaning operation is completed, the solenoid valve of the high-pressure power unit closes and the booster pump stops working; the steering drive motor 460 drives the two rotating nozzles 450 to merge to the initial position, the six-axis cleaning robot arm 340 resets to the extension direction of the first-stage arm 330, the rotation drive motor 310 rotates in the opposite direction, and drives the first-stage arm 330 to rotate and retract to the initial position through the reducer 320. After reaching the position, it sends a retraction signal to the control unit 500. The control unit 500 records the cleaning completion status and feeds it back to the control room.

[0061] S5, Full Carriage Cleaning Mode Implemented

[0062] When full-carriage cleaning is required, the operator selects the full-carriage cleaning mode through the control room monitoring terminal. The control unit 500 automatically sets the single cleaning time of the solenoid valve to 5 seconds. The positioning laser on the multi-fork cleaning component 400 is activated, and the red laser dot indicates the cleaning center position. The operator adjusts the cleaning position through the terminal slider and sends the cleaning command after confirmation.

[0063] The control unit 500 controls the rotating robotic arm 300 to move in preset steps. For each step, the solenoid valve opens for 5 seconds to perform fixed-point cleaning of the area 300mm before and after the center of the laser point, thus completing the full coverage cleaning of the entire carriage. During the cleaning process, the camera 240 captures the cleaning effect in real time and feeds it back to the operator terminal.

[0064] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A multi-pronged cleaning assembly (400), characterized by, It includes a flange (410) that docks with the end of a rotary robotic arm (300), a water junction box (420) mounted on the flange (410) and connected to a high-pressure power unit, a mounting base (430) mounted on the water junction box (420), an intermediate nozzle (440) vertically mounted in the middle of the mounting base (430), and a rotating nozzle (450) located at least on one side of the intermediate nozzle (440). The fixed base (430) is provided with a hinge seat (430a) at at least one side of the intermediate nozzle (440). The head end of the rotating nozzle (450) is provided with a hinge block (450a) that cooperates with the hinge seat (430a). A steering drive motor (460) is installed on the hinge seat (430a), and the output end of the steering drive motor (460) is connected to the hinge block (450a).

2. A coal gondola car key area cleaning robot, characterized in that, include: Base (100); The monitoring and ranging unit (200) is symmetrically arranged on the curved beams (L) on both sides of the tippler, and is used to collect information on the status and position distance of the coal conveying open car body (H); Multiple rotary robotic arms (300) are arranged and are equidistantly mounted on the base (100). The rotary robotic arms (300) move according to the planned path. The multi-fork cleaning assembly (400) as described in claim 1 is installed at the end of the rotary robotic arm (300) and cleans the interior of the coal conveying open car (H) by opening, closing and rotating actions; A high-pressure power unit is connected one-to-one with the multi-fork sweeping assembly (400) to provide high-pressure fluid for sweeping the multi-fork sweeping assembly (400); The control unit (500) receives information from the monitoring and ranging unit (200) and regulates the high-pressure power unit, the rotating robotic arm (300) and the multi-fork cleaning assembly (400) to coordinate their actions to perform targeted cleaning of key areas and full-coverage cleaning of the coal conveying open car body (H).

3. The coal hopper car focused area cleaning robot of claim 2, wherein, The monitoring and ranging unit (200) includes a mounting bracket (210) fixed on a curved beam (L), a rotary motor (220) fixed on the second arm (210b) of the mounting bracket (210), a protective cover (230) with its side fixed to the output end of the rotary motor (220), a camera (240), a laser ranging probe (250) and a searchlight (260) fixed inside the protective cover (230), and a camera cleaning assembly (270) mounted on the first arm (210a) of the mounting bracket (210), wherein the head end face (230a) of the protective cover (230) is a transparent surface.

4. The coal hopper car focused area cleaning robot of claim 3, wherein, The camera cleaning assembly (270) includes a cleaning fluid storage box (270a) mounted on the first support arm (210a), a cleaning fluid solenoid valve (270b) disposed on the cleaning fluid storage box (270a), a cleaning nozzle (270c) mounted on the protective cover (230) and partially penetrating into the protective cover (230), and a cleaning fluid pipeline (270d) connecting the cleaning fluid solenoid valve (270b) and the cleaning nozzle (270c).

5. The coal hopper car focused area cleaning robot of claim 2, wherein, The rotary robotic arm (300) includes a rotary drive motor (310), a reducer (320) whose input end is connected to the output end of the rotary drive motor (310), a primary arm (330) mounted on the output end of the reducer (320), and a six-axis cleaning robotic arm (340) mounted on the primary arm (330).

6. The coal hopper car focused area cleaning robot of claim 5, wherein, A pressure-type anti-collision beam (330a) is provided on the first-stage boom (330) to sense whether the first-stage boom (330) has rotated onto the crossbar of the coal conveying open car (H).

7. A cleaning robot for key areas of coal conveying open wagons according to claim 6, characterized in that, The pressure-type anti-collision beam (330a) uses an elastic metal sheet. When it is compressed, the metal diaphragm is connected, and when it is released, the metal diaphragm is disconnected.

8. A cleaning robot for key areas of coal conveying open wagons according to claim 2, characterized in that, The control unit (500) includes a wireless transmission CPE (510) and an edge controller (520). The wireless transmission CPE is used to transmit camera and controller control signals. The edge controller (520) consists of a 24V switching power supply, an S7 1200 PLC and an HJ6304 bus gateway.

9. A cleaning robot for key areas of coal conveying open wagons according to claim 2, characterized in that, The high-pressure power unit includes a main water supply pipe and multiple water supply pipes connected to the main water supply pipe. The input end of the main water supply pipe is connected to multiple booster pumps. Each of the multiple water supply pipes is connected to the multi-fork cleaning assembly (400) in a corresponding manner, and each water supply pipe is equipped with two manual valves and one solenoid valve.

10. A method for operating a key area cleaning robot for coal conveying open wagons as described in any one of claims 2-9, characterized in that, The steps are as follows: S1. Control the tipper to rotate to 60°, start the monitoring and ranging unit (200), drive the protective cover (230) to adjust the angle, and the camera (240) and laser ranging probe (250) work together to collect the status and position distance information of the car body, and calculate the length of the car body LC and the distance between the car body and the front beam DC. S2. The control unit (500) calculates the path deviation value of each rotating robotic arm (300) based on the LC and DC values ​​and compares them with the standard values, automatically corrects the cleaning path, and each rotating robotic arm (300) starts according to the zone. The rotating drive motor (310) drives the first-stage arm (330) to rotate to the working position through the reducer (320). The pressure-type anti-collision beam (330a) senses whether it is in contact with the cross rib of the carriage and switches the corresponding cleaning path. S3. The steering drive motor (460) of the multi-fork sweeping assembly (400) drives the two rotating nozzles (450) to open, the high-pressure power unit starts, the booster pump outputs high-pressure fluid, and the three edges of the key area of ​​the carriage are swept twice through the middle nozzle (440) and the rotating nozzle (450). The steering drive motor (460) drives the two rotating nozzles (450) to merge and sweep the two edges of the carriage on this side twice according to the corrected path. S4. After cleaning is completed, the rotating robotic arm (300) is retracted to its initial position and sends a signal to the control unit (500) indicating that it has been retracted to the correct position. S5. In the full-carriage cleaning mode, the control unit (500) sets the solenoid valve to a 5-second cleaning time, and performs fixed-point full-coverage cleaning of the 300mm area before and after the center with the positioning laser point on the multi-fork cleaning component (400) as the center.

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