Train carriage residual coal cleaning device, control method and system

The invention provides a train carriage residual coal cleaning device, a control method and a system, and the scheme comprises the steps: collecting carriage image information in a preset cleaning area, and determining the position information of a to-be-cleaned carriage in the cleaning area based on the image information; when the cleaning condition is met, a cleaning device is controlled to reach the bottom of the inner side of the compartment to be cleaned according to the position information; position information of the front portion and the rear portion of the to-be-cleaned carriage where the cleaning device is located is obtained, and then the carriage parking state in the cleaning area is determined; wherein the parking state comprises parking a section of complete carriage and only parking two sections of half carriages; and on the basis of the carriage parking state, residual coal cleaning is conducted according to a corresponding strategy. 本公开提供了一种火车车厢余煤清理装置、控制方法及系统，所述方案包括：采集预设清理区域内车厢图像信息，基于所述图像信息确