CN-122018451-A - Intelligent train carriage cleaning operation control method, system, equipment and medium for coal turning machine

CN122018451ACN 122018451 ACN122018451 ACN 122018451ACN-122018451-A

Abstract

The application discloses a control method, a system, equipment and a medium for intelligent train carriage cleaning operation of a coal turning machine, which mainly relate to the technical field of operation control and are used for solving the problems of insufficient level of automation and intelligence, low operation efficiency, low safety and reliability and weak collaborative operation capability with an upstream flow in the existing scheme. The automatic cleaning device comprises a central control unit, a sensor, a lifting arm, a carriage, a lifting arm lifting instruction and a vehicle-pulling machine system, wherein the central control unit controls the lifting arm to descend to a preset working height when a preset synchronous stable condition is met, controls the cleaning device to start cleaning operation, acquires the real-time height distance between the cleaning device and the empty carriage, which is acquired by the sensor, in real time in the cleaning process, controls the lifting arm to keep the preset optimal cleaning distance from the carriage according to the real-time height distance, and sends the lifting arm lifting instruction to the cleaning device when the cleaning condition is met, and sends an operation end signal to the vehicle-pulling machine system when the lifting arm of the cleaning device descends to the preset safe height.

Inventors

YANG YUGANG
MOU ZONGTAO
CHEN SHULEI
CAO FARUI
FU PENGFEI
CHEN YANG
JIANG DONGYAO

Assignees

山东港口日照港集团有限公司

Dates

Publication Date: 20260512
Application Date: 20251229

Claims (10)

1. An intelligent train carriage cleaning operation control method of a coal turning machine is characterized by comprising the following steps: When the central control unit receives a signal of pulling out an empty train carriage from the train pulling machine system, the central control unit acquires whether the empty train carriage acquired by the sensor enters an operation area, carriage speed and real-time position; When entering the working area, the central control unit generates a control instruction according to the carriage speed and the real-time position and sends the control instruction to a traveling driving device of the cleaning equipment, and the traveling driving device is started to enable the cleaning equipment to synchronously travel with an empty train carriage along a preset track; Determining whether the empty train carriage and the cleaning equipment meet the preset synchronous stable condition according to the carriage speed, the real-time position and the operation information uploaded by the cleaning equipment, and controlling the lifting arm of the cleaning equipment to descend to the preset working height when the preset synchronous stable condition is met, so as to control the cleaning equipment to start cleaning operation; In the cleaning process, the central control unit acquires the real-time height distance between the cleaning equipment acquired by the sensor and the empty train carriage in real time, and controls the lifting arm and the carriage to keep the preset optimal cleaning distance according to the real-time height distance; When the cleaning condition is met, the central control unit sends a lifting arm ascending instruction to the cleaning equipment, and when the lifting arm of the cleaning equipment descends to a preset safety height, the central control unit sends a work ending signal to the vehicle shifter system.
2. The intelligent train carriage cleaning operation control method of the coal turning machine according to claim 1, wherein the central control unit acquires whether the empty train carriage acquired by the sensor enters an operation area, carriage speed and real-time position, and specifically comprises the following steps: acquiring whether an empty train carriage enters an operation area or not through a carriage detection sensor; Acquiring the carriage speed and the real-time position of the empty train carriage through a displacement and speed sensor; the carriage detection sensor and the displacement and speed sensor send whether the empty train carriage enters the working area, the carriage speed and the real-time position to the central control unit.
3. The intelligent train carriage cleaning operation control method of the coal turning machine according to claim 1, wherein determining whether the empty train carriage and the cleaning device meet the preset synchronous stable condition according to the carriage speed, the real-time position and the operation information uploaded by the cleaning device specifically comprises: Calculating a speed deviation value of the carriage speed and the cleaning equipment speed in the running information; calculating a position deviation value of the cleaning equipment position in the real-time position and the operation information; And when the speed deviation value and the position deviation value are both in the preset stability threshold range, determining that the empty train carriage and the cleaning equipment meet the preset synchronous stability condition, otherwise, determining that the empty train carriage and the cleaning equipment do not meet the preset synchronous stability condition.
4. The intelligent train carriage cleaning operation control method of the coal turning machine according to claim 1, wherein the central control unit controls the lifting arm of the cleaning device to descend to a preset working height, and controls the cleaning device to start the cleaning operation, specifically comprising: The central control unit sends a lifting arm descending instruction to the cleaning equipment; when the lifting arm of the cleaning equipment descends to a preset working height, the central control unit sends a descending instruction to the cleaning equipment, and meanwhile controls the cleaning equipment to start cleaning operation.
5. The intelligent train carriage cleaning operation control method of the coal turning machine according to claim 1, wherein the central control unit acquires the real-time height distance between the cleaning equipment collected by the sensor and the empty train carriage in real time, and the central control unit controls the lifting arm and the carriage to keep the preset optimal cleaning distance according to the real-time height distance, and the intelligent train carriage cleaning operation control method specifically comprises the following steps: collecting real-time height distance between the cleaning equipment and the empty train carriage through a distance measuring sensor; The central control unit generates a lifting arm adjusting instruction according to the deviation value of the real-time height distance and the preset working height, and the central control unit issues the lifting arm adjusting instruction to the cleaning equipment so as to control the lifting arm and the carriage to keep the preset working height.
6. An intelligent train carriage cleaning operation control system of a coal turning machine, which is characterized by comprising: the central control unit is connected with the vehicle shifter instruction module, the sensor detection module and the cleaning execution mechanism; The vehicle shifter instruction module comprises an instruction sending unit and an instruction receiving unit, the sensor detection module comprises a carriage detection sensor, a displacement and speed sensor and a distance measurement sensor, and the cleaning execution mechanism comprises a walking driving device, a lifting arm driving device and a cleaner driving device; The central control unit is used for acquiring whether the empty train carriage acquired by the carriage detection sensor and the displacement and speed sensor enters an operation area, carriage speed and real-time position when receiving the signal of the empty train carriage from the command sending unit; When entering the working area, the central control unit generates a control instruction according to the carriage speed and the real-time position and sends the control instruction to a walking driving device of the cleaning executing mechanism, and the walking driving device is started to enable the cleaning executing mechanism to synchronously run with the empty carriage along a preset track; When the preset synchronous stable condition is met, the central control unit controls the lifting arm driving device of the cleaning executing mechanism to lower the lifting arm to a preset working height, and controls the cleaner driving device to start cleaning operation; according to the real-time height distance, the central control unit controls the lifting arm and the carriage to keep the preset optimal cleaning distance by controlling the lifting arm driving device; When the cleaning condition is met, the central control unit sends a lifting arm ascending instruction to the lifting arm driving device, and when the lifting arm ascends to a preset safety height, the central control unit sends a work ending signal to the receiving instruction unit.
7. The intelligent train car cleaning operation control system of the coal turning machine according to claim 6, wherein the central control unit comprises a calculating subunit, The speed deviation value is used for calculating the speed of the cleaning executing mechanism in the carriage speed and the running information; Calculating a position deviation value of the cleaning executing mechanism position in the real-time position and the operation information; and when the speed deviation value and the position deviation value are both in the preset stability threshold range, determining that the empty train carriage and the cleaning executing mechanism meet the preset synchronous stability condition, otherwise, determining that the empty train carriage and the cleaning executing mechanism do not meet the preset synchronous stability condition.
8. The intelligent train carriage cleaning operation control system of the coal turning machine according to claim 6, wherein, The carriage detection sensor is used for collecting whether an empty train carriage enters an operation area; The displacement and speed sensor is used for acquiring the carriage speed and the real-time position of the empty train carriage; and the distance measuring sensor is used for collecting the real-time height distance between the cleaning equipment and the empty train carriage.
9. An intelligent train carriage cleaning operation control device of a coal turning machine, which is characterized by comprising: A processor; and a memory having executable code stored thereon that, when executed, causes the processor to perform a method of controlling intelligent train car cleaning operations of a coal dumper as set forth in any one of claims 1-5.
10. A non-volatile computer storage medium having stored thereon computer instructions which, when executed, implement a method of controlling intelligent train car cleaning operations of a coal dumper according to any one of claims 1-5.

Description

Intelligent train carriage cleaning operation control method, system, equipment and medium for coal turning machine Technical Field The application relates to the technical field of operation control, in particular to an intelligent train carriage cleaning operation control method, system, equipment and medium for a coal turning machine. Background In large bulk transfer stations such as thermal power generation and port yards, a car dumper is a key device for unloading bulk materials such as coal. After the car dumper rotates and discharges the coal transporting train carriage, a large amount of coal is usually attached and remained on the inner wall, corners and bottom of the carriage. These residues not only cause direct loss of materials (huge long-term accumulated loss), but also cause uneven loading of vehicles and low transportation efficiency, and even may cause transportation safety accidents due to overrun. At present, the cleaning operation of the empty train carriage after coal unloading mainly comprises the following modes: 1. manual cleaning, namely cleaning by using tools such as a spade, a broom and the like to enter a carriage by a cleaner. The method has the advantages of extremely high labor intensity, severe working environment (serious coal dust pollution) and extremely low efficiency, and safety risks of high-altitude operation and cross operation of personnel and mobile equipment exist, so that the method is gradually eliminated. 2. Semi-mechanized cleaning, which adopts a fixed or simple movable cleaning device, but still needs to manually operate the machine, confirm the carriage position and control the lifting and starting and stopping of the cleaning mechanism. The mode reduces a certain labor intensity, but still highly depends on manual judgment and operation, and has the problems of low automation degree, unstable cleaning effect, poor cooperativity with mobile equipment such as a vehicle poking machine and the like. Operators need to stare at the operation flow at the moment, and the equipment and the carriage are easy to collide due to fatigue or misjudgment, or the cleaning is not thorough. 3. Preliminary automated cleaning-some existing automated cleaning equipment generally lacks information fusion and intelligent coordination with upstream processes (e.g., a vehicle shifter system). The control logic is simple, and only a preset and fixed action sequence can be executed, so that the change of the real-time position and speed of the empty carriage can not be self-adapted. Disclosure of Invention The application provides a control method, a system, equipment and a medium for intelligent train carriage cleaning operation of a coal turning machine, which are used for solving the problems of insufficient level of automation and intelligence, low operation efficiency, low safety and reliability and weak cooperative operation capability with an upstream flow in the existing scheme. In a first aspect, the application provides a control method for intelligent train carriage cleaning operation of a coal turning machine, which comprises the following steps: When the central control unit receives a signal of pulling out an empty train carriage from the train pulling machine system, the central control unit acquires whether the empty train carriage acquired by the sensor enters an operation area, carriage speed and real-time position; When entering the working area, the central control unit generates a control instruction according to the carriage speed and the real-time position and sends the control instruction to a traveling driving device of the cleaning equipment, and the traveling driving device is started to enable the cleaning equipment to synchronously travel with an empty train carriage along a preset track; Determining whether the empty train carriage and the cleaning equipment meet the preset synchronous stable condition according to the carriage speed, the real-time position and the operation information uploaded by the cleaning equipment, and controlling the lifting arm of the cleaning equipment to descend to the preset working height when the preset synchronous stable condition is met, so as to control the cleaning equipment to start cleaning operation; In the cleaning process, the central control unit acquires the real-time height distance between the cleaning equipment acquired by the sensor and the empty train carriage in real time, and controls the lifting arm and the carriage to keep the preset optimal cleaning distance according to the real-time height distance; When the cleaning condition is met, the central control unit sends a lifting arm ascending instruction to the cleaning equipment, and when the lifting arm of the cleaning equipment descends to a preset safety height, the central control unit sends a work ending signal to the vehicle shifter system. In one implementation of the present application, the central control unit obtains whether the empty train c