Train compartment interior residual coal intelligent cleaning control system

Abstract

The application discloses a train compartment internal residual coal intelligent cleaning control system, which comprises a detection unit, wherein the detection unit comprises a sensor module and a data fusion module; the sensor module comprises a 3D laser radar, an infrared camera, an ultrasonic sensor and a pressure sensor; the data fusion module comprises a Kalman filter; the 3D laser radar is used for scanning the internal structure of the compartment and generating high-precision point cloud data; the infrared camera is used for assisting in identifying the thickness and position of coal cinder; the ultrasonic sensor is used for detecting the residual in corners or low-lying areas; and the pressure sensor is used for monitoring the contact force of a mechanical arm, so that excessive pressure is prevented. The application realizes full-automatic and high-precision residual coal cleaning through the intelligent sensing of the monitoring unit and the synchronous cooperation of the cleaning mechanism of the execution unit, and effectively improves the cleaning efficiency and cleaning effect of the residual coal in the compartment of a freight train.

Description

Technical Field

[0001] This invention relates to the field of railway coal cleaning technology, specifically to an intelligent cleaning and control system for residual coal inside railway carriages. Background Technology

[0002] To ensure safe train operation, residual coal in train carriages, if not cleaned promptly, can damage the tracks and equipment, affecting normal train operation and safety. Residual coal may mix with the ballast bed, causing it to harden and lose its necessary elasticity, thus threatening train safety. Timely cleaning of residual coal keeps the tracks clean, reducing equipment malfunctions and maintenance time caused by debris, thereby improving transportation efficiency. Furthermore, cleaning residual coal can reduce train jolting caused by debris, improving passenger comfort.

[0003] Currently, most methods for cleaning residual coal inside train carriages are done manually. During the cleaning process, a large amount of stubborn residual coal easily adheres to the inside of the carriages, increasing the difficulty of cleaning for staff and reducing cleaning efficiency.

[0004] Therefore, we propose the design of an intelligent coal cleaning and control system for the interior of train carriages. Summary of the Invention

[0005] 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.

[0006] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: A smart coal cleaning and control system for the interior of a train carriage, comprising: Detection unit: The detection unit includes a sensor module and a data fusion module; The sensor module includes a 3D LiDAR, an infrared camera, an ultrasonic sensor, and a pressure sensor. The data fusion module includes a Kalman filter. The 3D LiDAR is used to scan the internal structure of the carriage and generate high-precision point cloud data. The infrared camera is used to assist in identifying the thickness and location of coal slag. The ultrasonic sensor is used to detect residues in corners or low-lying areas. The pressure sensor is used to monitor the contact force of the robotic arm to prevent excessive pressure.

[0007] Data processing unit: The data processing unit includes a coal slag identification module, which uses a convolutional neural network to process image data and segment the residual coal area; the coal slag identification module identifies the distribution of coal slag in three-dimensional space by using PointNet++; Execution unit: The execution unit includes a cleaning module and a collaborative control module; The cleaning module includes a flexible robotic arm, a high-pressure jet module, a high-frequency vibrator, and a vacuum adsorption module. The high-pressure jet module is used to blow away loose coal slag, the high-frequency vibrator is used to shake off attached coal lumps, and the vacuum adsorption module is used to collect scattered coal powder. User interaction unit: The user interaction unit includes a display module and a data management module; The display module includes a touch screen, which is used to display a 3D model of the carriage, a thermal map of residual coal, and the cleaning progress. The data management module is used to record cleaning time, energy consumption, residual amount, and generate reports. Safety protection unit: The safety protection unit includes a pressure feedback module and an emergency stop module; The pressure feedback module is used to limit the maximum pressure when the robotic arm contacts the carriage, and the emergency stop module is used to automatically stop the machine when abnormal vibration or temperature rise is detected.

[0008] As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage as described in this invention, the Kalman filter is used for data fusion from multiple sensors, thereby facilitating the improvement of the detection accuracy of coal slag inside the carriage.

[0009] As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage described in this invention, the flexible robotic arm is equipped with a scraper or brush head to facilitate the handling of stubborn coal slag. The flexible robotic arm plans the optimal path of the robotic arm through the RRT algorithm, which shortens the robotic arm's travel and operation time and improves cleaning efficiency.

[0010] As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage as described in this invention, the high-pressure jet module uses directional airflow, the high-frequency vibrator is installed at the bottom of the carriage, and the high-pressure jet module and the high-frequency vibrator are synchronously equipped with a PID controller. Through the PID controller, and referring to the data output by each device in the sensor module, precise control of the system is achieved, thereby dynamically adjusting the jet pressure or vibration frequency according to the coal slag thickness. As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage as described in this invention, the collaborative control module is used to control the collaborative operation of the flexible robotic arm, the high-pressure jet module, the high-frequency vibrator, and the vacuum adsorption module. The collaborative operation of the equipment is achieved through PLC programming, thereby controlling the start-up and shutdown sequence of the relevant equipment.

[0011] As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage as described in this invention, the touch screen supports manual intervention in starting and stopping each device, allowing for manual planning and cleaning of key marked areas, facilitating manual viewing of the cleaning effect, and enabling manual intervention in cleaning based on actual operating conditions to improve the cleaning effect of residual coal in the carriage.

[0012] As a preferred embodiment of the intelligent coal cleaning and control system for the interior of a train carriage according to the present invention, the operation process of the cleaning module includes the following steps: (1) Coarse sweeping: Vibration is generated by a high-frequency vibrator, and high-pressure directional jet cleaning is used to remove large pieces of coal slag; (2) Fine cleaning: scraping away residue in corners using a robotic arm; (3) Recovery: Vacuum adsorption of coal powder reduces dust.

[0013] The three-step cleaning method improves the cleaning effect of coal slag inside the carriage.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention achieves fully automatic and high-precision cleaning of residual coal by synchronously coordinating the intelligent sensing of the monitoring unit and the cleaning mechanism of the execution unit, effectively improving the cleaning efficiency and effect of residual coal inside the truck compartment. Attached Figure Description

[0015] 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: Figure 1 This is a system diagram of an intelligent coal cleaning and control system for the interior of a train carriage according to the present invention. Detailed Implementation

[0016] 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.

[0017] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0018] Please see Figure 1 This invention provides an intelligent cleaning and control system for residual coal inside train carriages, comprising: Detection Unit: The detection unit includes a sensor module and a data fusion module; The sensor module includes a 3D LiDAR, an infrared camera, an ultrasonic sensor, and a pressure sensor. The data fusion module includes a Kalman filter. The 3D LiDAR is used to scan the internal structure of the carriage and generate high-precision point cloud data. The infrared camera is used to assist in identifying the thickness and location of coal slag. The ultrasonic sensor is used to detect residues in corners or low-lying areas. The pressure sensor is used to monitor the contact force of the robotic arm to prevent excessive pressure.

[0019] In this embodiment, a Kalman filter is used for data fusion from multiple sensors, thereby facilitating the improvement of detection accuracy of coal slag inside the carriage.

[0020] Data processing unit: The data processing unit includes a coal slag recognition module, which uses a convolutional neural network to process image data and segment the remaining coal area; the coal slag recognition module identifies the distribution of coal slag in three-dimensional space by using PointNet++.

[0021] Execution Unit: The execution unit includes a cleaning module and a collaborative control module; The cleaning module includes a flexible robotic arm, a high-pressure jet module, a high-frequency vibrator, and a vacuum adsorption module. The high-pressure jet module is used to blow away loose coal slag, the high-frequency vibrator is used to shake off attached coal lumps, and the vacuum adsorption module is used to collect scattered coal dust.

[0022] The operation process of the cleaning module includes the following steps: (1) Coarse sweeping: Vibration is generated by a high-frequency vibrator, and high-pressure directional jet cleaning is used to remove large pieces of coal slag; (2) Fine cleaning: scraping away residue in corners using a robotic arm; (3) Recovery: Vacuum adsorption of coal powder reduces dust.

[0023] The three-step cleaning method improves the cleaning effect of coal slag inside the carriage.

[0024] The flexible robotic arm is equipped with scrapers or brush heads to facilitate the handling of stubborn coal slag. The flexible robotic arm uses the RRT algorithm to plan the optimal path of the robotic arm, shortening the robotic arm's travel and operation time, and improving cleaning efficiency.

[0025] The high-pressure jet module uses directional airflow for blowing. The high-frequency vibrator is installed at the bottom of the carriage. The high-pressure jet module and the high-frequency vibrator are equipped with PID controllers. By referring to the data output by each device in the sensor module, the PID controller can achieve precise control of the system and dynamically adjust the jet pressure or vibration frequency according to the thickness of the coal slag.

[0026] The collaborative control module is used to control the coordinated operation of the flexible robotic arm, high-pressure jet module, high-frequency vibrator and vacuum adsorption module. It achieves equipment coordination through PLC programming, thereby controlling the start-up and shutdown sequence of related equipment.

[0027] User interaction unit: The user interaction unit includes a display module and a data management module; The display module includes a touch screen, which is used to display the 3D model of the carriage, the thermal map of the remaining coal, and the cleaning progress. The data management module is used to record cleaning time, energy consumption, residual amount, and generate reports.

[0028] The touchscreen supports manual intervention in starting and stopping each device, allowing manual planning and cleaning of key marked areas. This facilitates manual monitoring of the cleaning results and enables manual intervention based on actual operating conditions, improving the cleaning efficiency of residual coal in the carriage.

[0029] Safety protection unit: The safety protection unit includes a pressure feedback module and an emergency stop module; The pressure feedback module limits the maximum pressure when the robotic arm contacts the carriage, and the emergency stop module automatically stops the machine when abnormal vibration or temperature rise is detected.

[0030] Although the present invention has been described above with reference to embodiments, various modifications can be made thereto without departing from the scope of the invention. The features disclosed in the embodiments of the present invention can be combined with each other in any manner. The fact that these combinations are not described exhaustively in this specification is merely for the purpose of saving space and resources. 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 smart control system for cleaning residual coal inside a train carriage, characterized in that, include: Detection unit: The detection unit includes a sensor module and a data fusion module; The sensor module includes a 3D LiDAR, an infrared camera, an ultrasonic sensor, and a pressure sensor. The data fusion module includes a Kalman filter. The 3D LiDAR is used to scan the internal structure of the carriage and generate high-precision point cloud data. The infrared camera is used to assist in identifying the thickness and location of coal slag. The ultrasonic sensor is used to detect residues in corners or low-lying areas. The pressure sensor is used to monitor the contact force of the robotic arm. Data processing unit: The data processing unit includes a coal slag identification module, which uses a convolutional neural network to process image data and segment the residual coal area; the coal slag identification module identifies the distribution of coal slag in three-dimensional space by using PointNet++; Execution unit: The execution unit includes a cleaning module and a collaborative control module; The cleaning module includes a flexible robotic arm, a high-pressure jet module, a high-frequency vibrator, and a vacuum adsorption module. The high-pressure jet module is used to blow away loose coal slag, the high-frequency vibrator is used to shake off attached coal lumps, and the vacuum adsorption module is used to collect scattered coal powder. User interaction unit: The user interaction unit includes a display module and a data management module; The display module includes a touch screen, which is used to display a 3D model of the carriage, a thermal map of residual coal, and the cleaning progress. The data management module is used to record cleaning time, energy consumption, residual amount, and generate reports. Safety protection unit: The safety protection unit includes a pressure feedback module and an emergency stop module; The pressure feedback module is used to limit the maximum pressure when the robotic arm contacts the carriage, and the emergency stop module is used to automatically stop the machine when abnormal vibration or temperature rise is detected.

2. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The Kalman filter is used for data fusion from multiple sensors.

3. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The flexible robotic arm is equipped with a scraper or brush head, and the flexible robotic arm plans the optimal path of the robotic arm using the RRT algorithm.

4. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The high-pressure jet module uses directional airflow, the high-frequency vibrator is installed at the bottom of the carriage, and the high-pressure jet module and the high-frequency vibrator are equipped with PID controllers.

5. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The collaborative control module is used to control the collaborative operation of the flexible robotic arm, the high-pressure jet module, the high-frequency vibrator, and the vacuum adsorption module.

6. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The touchscreen supports manual intervention in starting and stopping each device, allowing for manual planning and cleaning of key marked areas.

7. The intelligent coal cleaning and control system for the interior of a train carriage according to claim 1, characterized in that, The operation process of the cleaning module includes the following steps: (1) Coarse sweeping: Vibration is generated by a high-frequency vibrator, and high-pressure directional jet cleaning is used to remove large pieces of coal slag; (2) Fine cleaning: scraping away residue in corners using a robotic arm; (3) Recovery: Vacuum adsorption of coal powder reduces dust.

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