Shuttle car loading method, shuttle car loading device and computer readable storage medium

Abstract

The invention provides a shuttle car loading method, a shuttle car loading device and a computer readable storage medium, and the method comprises the following steps: controlling a shuttle car to move to the position of coal mining equipment, so that a first feeding end of a first transfer device in the shuttle car is connected with a second discharging end of a second transfer device in the coal mining equipment; the second transfer device is controlled to continuously convey the coal in the direction from the second feeding end to the second discharging end; obtaining a first coal height and a second coal height; when the first coal height reaches a first preset height, the first transfer device is controlled to convey the coal by a first preset distance in the direction from the first feeding end to the first discharging end; and when the second coal height reaches a second preset height, the first transfer device and the second transfer device are controlled to stop conveying the coal. The automatic loading of the coal on the shuttle car is realized, so that the manual participation is greatly reduced, and the problem that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shuttle car loading, and in particular to a shuttle car loading method, a shuttle car loading device, a computer-readable storage medium and a computer program product. Background Art

[0002] The shuttle car is a key supporting transfer equipment in coal mining, used for short-distance transportation of coal at the excavation working face. The loading process of the shuttle car is that the operator drives the shuttle car to the coal mining equipment, and the coal cut by the coal mining equipment is transported to the shuttle car until the shuttle car is fully loaded. In this process, the operator needs to manually judge whether the coal on the shuttle car is loaded. However, due to the obstruction of the underground vision and fatigue caused by long-term operation, the loading efficiency of the shuttle car is low, resulting in an increase in the operating cost of coal loading, and the loading accuracy of the shuttle car is not high, and the problem of coal overloading and spilling on the ground on the shuttle car is prone to occur, which in turn affects the safe operation of underground equipment such as the shuttle car. Summary of the invention

[0003] The main purpose of the present application is to provide a shuttle car loading method, a shuttle car loading device, a computer-readable storage medium and a computer program product, so as to at least solve the problem in the prior art that manual loading causes coal material on the shuttle car to be overloaded and overflow to the ground.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a shuttle car loading method is provided, the shuttle car includes at least a first transfer device, the first transfer device is a device on the shuttle car for transferring coal transported by coal mining equipment, the first transfer device includes at least a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device, the first discharge end is the discharge end of the first transfer device, the coal mining equipment includes at least a second transfer device, the second transfer device is a device on the coal mining equipment for transferring the coal, the second transfer device includes at least a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device, the second discharge end is the discharge end of the second transfer device, the method includes : Control the shuttle car to move to the position of the coal mining equipment so that the first feed end in the shuttle car and the second discharge end in the coal mining equipment are connected; control the second transfer device to continuously transport the coal from the second feed end to the second discharge end; obtain the first coal height and the second coal height, the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end; when the first coal height reaches a first preset height, control the first transfer device to transport the coal for a first preset distance from the first feed end to the first discharge end; when the second coal height reaches a second preset height, control the first transfer device and the second transfer device to stop transporting the coal.

[0005] Optionally, controlling the shuttle car to move to the location of the coal mining equipment at least includes: controlling the camera device in the shuttle car to collect image data within a set range around the shuttle car, and transmitting the image data to a remote control console, so that the remote control console processes the image data to generate a travel instruction and sends the travel instruction to the shuttle car; receiving the travel instruction sent by the remote control console, and controlling the travel mechanism of the shuttle car according to the travel instruction, so that the shuttle car moves to the location of the coal mining equipment, and the travel mechanism is used to control the movement of the shuttle car.

[0006] Optionally, controlling the shuttle car to move to the position of the coal mining equipment further includes: controlling a first positioning device in the shuttle car to collect first positioning data of the shuttle car in real time, and controlling a second positioning device in the coal mining equipment to collect second positioning data of the coal mining equipment in real time; in a case where there is no turning position in the path between the shuttle car and the coal mining equipment, controlling a walking mechanism of the shuttle car according to the first positioning data and the second positioning data to move the shuttle car to the position of the coal mining equipment, the walking mechanism being used to control the movement of the shuttle car, the turning position being the turning point of the path between the current position of the shuttle car and the position of the coal mining equipment; in a case where there is a turning position in the path between the shuttle car and the coal mining equipment, controlling the movement of the shuttle car according to a first preset speed, and controlling a third positioning device to collect third positioning data of the turning position, the third positioning device being located at the turning position ; Calculate the distance between the shuttle car and the turning position according to the first positioning data and the third positioning data to obtain a first distance; when the first distance is less than a second preset distance, control the walking mechanism of the shuttle car according to a first preset acceleration so that the moving speed of the shuttle car is reduced from the first preset speed to a second preset speed until the shuttle car passes the turning position; after the shuttle car passes the turning position, control the moving speed of the shuttle car to gradually increase from the second preset speed; Calculate the distance between the shuttle car and the coal mining equipment according to the first positioning data and the second positioning data to obtain a second distance; when the second distance is less than a third preset distance, control the walking mechanism of the shuttle car according to the second preset acceleration so that the current moving speed of the shuttle car is reduced to the third preset speed; when the shuttle car moves to the position where the coal mining equipment is located, control the shuttle car to stop moving.

[0007] Optionally, before controlling the shuttle car to move to the position of the coal mining equipment, the method also includes: in the process of the shuttle car moving to the position of the coal mining equipment, controlling the first distance measuring device in the shuttle car to collect the distance between the side of the shuttle car and the side of the lane to obtain a third distance; when the third distance is less than the fourth preset distance, controlling the walking mechanism of the shuttle car according to the preset steering angle to make the shuttle car turn in the direction away from the side of the lane until the third distance is greater than or equal to the fifth preset distance, and the fifth preset distance is greater than or equal to the fourth preset distance.

[0008] Optionally, before controlling the shuttle car to move to the position of the coal mining equipment, the method also includes: in the process of the shuttle car moving to the position of the coal mining equipment, a second distance measuring device in the shuttle car collects the distance between the shuttle car and the obstacle to obtain a fourth distance; when the fourth distance is less than a sixth preset distance, the walking mechanism of the shuttle car is controlled according to a third preset acceleration to reduce the current moving speed of the shuttle car to a fourth preset speed; when the shuttle car moves to the obstacle, the shuttle car is controlled to stop moving and an alarm message is issued.

[0009] Optionally, when the height of the first coal reaches a first preset height, the first transfer device is controlled to transport the coal a first preset distance along the direction from the first feed end to the first discharge end, including: linearly increasing the starting current of the first transfer device according to a soft start rate until the starting current reaches the operating current of the first transfer device, and the soft start rate is used to control and adjust the starting current; and controlling the first transfer device to transport the coal a first preset distance along the direction from the first feed end to the first discharge end according to the operating current.

[0010] Optionally, before the second coal material height reaches a second preset height, the method further includes: obtaining a conveying speed of the second transfer device; adjusting the conveying speed of the first transfer device according to the conveying speed of the second transfer device and the first preset height to obtain a first conveying speed; and controlling the first transfer device to continuously convey the coal according to the first conveying speed until the second coal material height reaches the second preset height.

[0011] According to another aspect of the present application, a shuttle car loading device is provided, the shuttle car comprising a first transfer device, a first feed end and a first discharge end, the first transfer device is a device on the shuttle car for transferring coal transported by coal mining equipment, the first feed end is the feed end of the first transfer device, the first discharge end is the discharge end of the first transfer device, the coal mining equipment comprises a second transfer device, a second feed end and a second discharge end, the second transfer device is a device on the coal mining equipment for transferring the coal, the second feed end is the feed end of the second transfer device, the second discharge end is the discharge end of the second transfer device, the device comprises: a first control unit, for controlling the shuttle car to move to the position of the coal mining equipment so that the first A feed end is connected to the second discharge end of the coal mining equipment; a second control unit is used to control the second transfer device to continuously transport the coal from the second feed end to the second discharge end; a first acquisition unit is used to acquire a first coal height and a second coal height, the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end; a third control unit is used to control the first transfer device to transport the coal by a first preset distance from the first feed end to the first discharge end when the first coal height reaches a first preset height; a fourth control unit is used to control the first transfer device and the second transfer device to stop transporting the coal when the second coal height reaches a second preset height.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0013] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the methods described above is implemented.

[0014] Applying the technical solution of the present application, in the shuttle car loading method, the shuttle car at least includes a first transfer device, the first transfer device is a device on the shuttle car used to transfer coal transported by the coal mining equipment, the first transfer device at least includes a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device, the first discharge end is the discharge end of the first transfer device, the coal mining equipment at least includes a second transfer device, the second transfer device is a device on the coal mining equipment used to transfer the coal, the second transfer device at least includes a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device, the second discharge end is the discharge end of the second transfer device, the method includes: controlling the shuttle car to transfer the coal transported by the coal mining equipment; The shuttle car moves to the position of the coal mining equipment so that the first feed end in the shuttle car is connected with the second discharge end in the coal mining equipment; the second transfer device is controlled to continuously transport the coal from the second feed end to the second discharge end; the first coal height and the second coal height are obtained, the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end; when the first coal height reaches the first preset height, the first transfer device is controlled to transport the coal for a first preset distance from the first feed end to the first discharge end; when the second coal height reaches the second preset height, the first transfer device and the second transfer device are controlled to stop transporting the coal. The present application controls the shuttle car to move to the coal mining equipment, and connects the feed end of the first transfer device in the shuttle car with the discharge end of the second transfer device in the coal mining equipment; controls the second transfer device to continuously transport coal from the feed end to the discharge end; collects the first coal height at the feed end of the first transfer device, and when the first coal height reaches the first preset height, controls the first transfer device to transport the coal from the feed end to the discharge end for a first preset distance; collects the second coal height at the discharge end of the first transfer device, and when the second coal height reaches the second preset height, stops the transportation of the first transfer device and the second transfer device, thereby realizing automatic loading of coal on the shuttle car, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, but also improving the loading accuracy of the shuttle car. The present application solves the problem in the prior art that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for executing a shuttle loading method provided in an embodiment of the present application is shown;

[0016] Figure 2 A schematic diagram of a process of a shuttle car loading method provided according to an embodiment of the present application is shown;

[0017] Figure 3 A schematic structural diagram of a shuttle car provided according to an embodiment of the present application is shown;

[0018] Figure 4 A schematic diagram of the planar structure of a shuttle car moving to coal mining equipment according to an embodiment of the present application is shown;

[0019] Figure 5 A schematic diagram of the planar structure of a shuttle vehicle provided in an embodiment of the present application when the shuttle vehicle is offset during movement is shown;

[0020] Figure 6 A schematic diagram of the planar structure when an obstacle exists during the movement of the shuttle provided in an embodiment of the present application is shown;

[0021] Figure 7 A structural block diagram of a shuttle loading device provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission equipment; 108. Input / output equipment; 1. Shuttle car; 11. First transfer device; 2. Coal mining equipment; 21. Second transfer device; 3. Coal; 4. Turning position; 5. Lane side; 6. Obstacle. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, in the prior art, due to the obstructed vision underground and fatigue caused by long-term operation, not only the loading efficiency of the shuttle car is low, resulting in increased operating costs for coal loading, but also the loading accuracy of the shuttle car is not high, and the shuttle car is prone to overloading of coal and overflowing onto the ground. In order to solve the problem of overloading of coal on the shuttle car and overflowing of coal onto the ground due to manual loading, the embodiments of the present application provide a shuttle car loading method, a shuttle car loading device, a computer-readable storage medium and a computer program product.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a shuttle loading method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the shuttle loading method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a shuttle loading method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 2 FIG. 1 is a flow chart of a shuttle car loading method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0033] Step S201, controlling the shuttle car to move to the position of the coal mining equipment, so that the first feed end of the shuttle car is connected to the second discharge end of the coal mining equipment.

[0034] Specifically, the structural schematic diagram of the shuttle car is as follows: Figure 3 As shown, the shuttle car moves to the plane structure schematic diagram of the coal mining equipment as shown Figure 4As shown, the shuttle car 1 at least includes a first transfer device 11, which is a device on the shuttle car 1 for transferring coal transported by the coal mining equipment 2, and the first transfer device 11 at least includes a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device 11, and the first discharge end is the discharge end of the first transfer device 11. The coal mining equipment 2 at least includes a second transfer device 21, which is a device on the coal mining equipment 2 for transferring the coal, and the second transfer device 21 at least includes a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device 21, and the second discharge end is the discharge end of the second transfer device 21. The shuttle car 1 is controlled to move to the coal mining equipment 2, and the feed end of the first transfer device 11 in the shuttle car 1 is connected with the discharge end of the second transfer device 21 in the coal mining equipment 2, so as to carry out subsequent shuttle car loading.

[0035] It should be noted that if Figure 3 and Figure 4 As shown, the shuttle car 1 is a key supporting transfer equipment in coal mining, which is used for short-distance transportation of coal 3 at the excavation working face. Usually, the shuttle car 1 moves back and forth between the coal mining equipment 2 and the crushing, transportation and other operating equipment to transfer the coal 3 cut by the coal mining equipment 2 to the operating equipment, thereby meeting the operating needs of underground coal mining. The specific type of the shuttle car 1 can be set according to actual needs and is not limited to this. For example, the shuttle car 1 includes: a car body, a first transfer device 11, a walking mechanism, etc. The car body is the main structure of the shuttle car 1, which is used to carry various components and carry coal 3. The first transfer device 11 is used for the transfer of coal 3 on the shuttle car 1 to achieve uniform distribution of coal 3 on the car body, thereby ensuring that the shuttle car 1 is fully loaded. The walking mechanism is used for the movement of the shuttle car 1, which has functions such as walking, steering, and braking. The coal mining equipment 2 is used to cut the coal 3 on the working surface with the cutting part at the front end, and to transport the coal 3 at the front end to the shuttle car 1 at the rear end with the second transfer device 21. The specific type of the coal mining equipment 2 can be set according to actual needs, and there is no limitation on this. For example, the coal mining equipment 2 can be a continuous coal miner, an anchor digger, etc. The first transfer device 11 and the second transfer device 21 are two conveying devices that cooperate with each other. The specific types of the first transfer device 11 and the second transfer device 21 can be set according to actual needs, and there is no limitation on this. For example, the first transfer device 11 and the second transfer device 21 can both be scraper conveyors. The feed end of the first transfer device 11 is located below the discharge end of the second transfer device 21. The motors of the first transfer device 11 and the second transfer device 21 can be controlled by a frequency converter to realize the conveying control of the first transfer device 11 and the second transfer device 21.

[0036] Step S202, controlling the second transfer device to continuously transport the coal material from the second feed end to the second discharge end.

[0037] Specifically, when the second transfer device continuously transports the coal from the feed end to the discharge end, the coal can be continuously accumulated at the feed end of the first transfer device to realize automatic loading of the coal on the shuttle car.

[0038] Step S203, obtaining a first coal material height and a second coal material height, wherein the first coal material height is the coal material height at the first feed end, and the second coal material height is the coal material height at the first discharge end.

[0039] Specifically, the first coal height is the coal height at the feed end of the first transfer device (i.e., the above-mentioned first feed end), and the second coal height is the coal height at the discharge end of the first transfer device (i.e., the above-mentioned first discharge end). The first AI (Artificial Intelligence) camera is used to collect the first coal height at the feed end of the first transfer device. It can be understood that by using the first AI camera to collect the first coal height at the feed end of the first transfer device, the first coal height can be accurately obtained, thereby ensuring the automatic and accurate loading of the shuttle car. The second AI camera is used to collect the second coal height at the discharge end of the first transfer device. It can be understood that by using the second AI camera to collect the second coal height at the discharge end of the first transfer device, the second coal height can be accurately obtained, thereby ensuring the automatic and accurate loading of the shuttle car.

[0040] It should be noted that both the first AI camera and the second AI camera are AI cameras, which use AI algorithms to collect coal height. The specific types of the first AI camera and the second AI camera can be set according to actual needs, and there is no restriction on this. In addition to the first AI camera and the second AI camera, other sensors can also be used to collect the first coal height and the second coal height, and there is no restriction on this.

[0041] Step S204, when the height of the first coal reaches a first preset height, controlling the first transfer device to transport the coal for a first preset distance along the direction from the first feeding end to the first discharging end.

[0042] Specifically, since the feed end of the first transfer device in the shuttle car is connected to the discharge end of the second transfer device in the coal mining equipment, when the second transfer device continuously transports coal from the feed end to the discharge end, the coal can be continuously accumulated at the feed end of the first transfer device, and when the height of the first coal reaches the first preset height, the first transfer device transports the coal from the feed end to the discharge end for a first preset distance, so that the coal at the feed end of the first transfer device is continuously transferred to the discharge end of the first transfer device, and the feed end of the first transfer device always has space for loading coal. Among them, the setting of the first preset height needs to ensure that the shuttle car can reach a full load state and minimize the risk of coal overflowing from the shuttle car. The first preset distance can be set according to actual needs and is not limited to this. Among them, the setting of the first preset distance should ensure that after the shuttle car is loaded, the top of the coal has fewer peaks and troughs in the direction from the feed end to the discharge end of the first transfer device, and tends to a planar structure.

[0043] Step S205, when the second coal material height reaches a second preset height, controlling the first transfer device and the second transfer device to stop transporting the coal material.

[0044] Specifically, when the second coal height reaches the second preset height, it indicates that the shuttle car is fully loaded, so the transportation of the first transfer device and the second transfer device is stopped to allow the shuttle car to complete the loading of the coal. The setting of the second preset height needs to ensure that the shuttle car can reach a fully loaded state and minimize the risk of coal spilling from the shuttle car. In addition, the first preset height and the second preset height can be the same. It can be understood that by comparing the first coal height with the first preset height, the second coal height with the second preset height, and the transportation control of the first transfer device and the second transfer device, the automatic loading of coal on the shuttle car can be achieved, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, thereby reducing the operating cost of coal loading, but also improving the loading accuracy of the shuttle car, reducing the problem of coal overloading and spilling on the ground on the shuttle car, thereby ensuring the safe operation of underground equipment such as the shuttle car.

[0045] It should also be noted that the shuttle car loading method of this embodiment can be implemented by controlling and processing equipment, and the control and processing equipment is used to realize the intelligent construction of the excavation working face. For example, the communication end of the main controller is respectively connected to the communication end of the controller of the shuttle car and the communication end of the controller of the coal mining equipment. The main controller implements the shuttle car loading method of this embodiment through the controller of the shuttle car and the controller of the coal mining equipment.

[0046] In the present embodiment, in the shuttle car loading method, the shuttle car at least includes a first transfer device, the first transfer device is a device on the shuttle car used to transfer coal transported by the coal mining equipment, the first transfer device at least includes a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device, the first discharge end is the discharge end of the first transfer device, the coal mining equipment at least includes a second transfer device, the second transfer device is a device on the coal mining equipment used to transfer the coal, the second transfer device at least includes a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device, the second discharge end is the discharge end of the second transfer device, the method includes: controlling the shuttle car to move Move to the position of the above-mentioned coal mining equipment so that the above-mentioned first feed end in the above-mentioned shuttle car and the above-mentioned second discharge end in the above-mentioned coal mining equipment are connected; control the above-mentioned second transfer device to continuously transport the above-mentioned coal from the second feed end to the above-mentioned second discharge end; obtain the first coal height and the second coal height, the above-mentioned first coal height is the coal height at the above-mentioned first feed end, and the above-mentioned second coal height is the coal height at the above-mentioned first discharge end; when the above-mentioned first coal height reaches the first preset height, control the above-mentioned first transfer device to transport the above-mentioned coal for a first preset distance from the above-mentioned first feed end to the above-mentioned first discharge end; when the above-mentioned second coal height reaches the second preset height, control the above-mentioned first transfer device and the above-mentioned second transfer device to stop transporting the above-mentioned coal. The present application controls the shuttle car to move to the coal mining equipment, and connects the feed end of the first transfer device in the shuttle car with the discharge end of the second transfer device in the coal mining equipment; controls the second transfer device to continuously transport coal from the feed end to the discharge end; collects the first coal height at the feed end of the first transfer device, and when the first coal height reaches the first preset height, controls the first transfer device to transport the coal from the feed end to the discharge end for a first preset distance; collects the second coal height at the discharge end of the first transfer device, and when the second coal height reaches the second preset height, stops the transportation of the first transfer device and the second transfer device, thereby realizing automatic loading of coal on the shuttle car, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, but also improving the loading accuracy of the shuttle car. The present application solves the problem in the prior art that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading.

[0047] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the shuttle car loading method of the present application will be described in detail below in combination with specific embodiments.

[0048] In order to realize the remote control of the shuttle movement so as to make the shuttle movement control more flexible and safe, in an optional implementation manner, the above step S201 includes:

[0049] Step S2012, controlling the camera device in the shuttle car to collect image data within a set range around the shuttle car, and transmitting the image data to the remote control console, so that the remote control console processes the image data to generate a travel instruction and sends the travel instruction to the shuttle car;

[0050] Step S2014, receiving the travel instruction sent by the remote control console, and controlling the travel mechanism of the shuttle car according to the travel instruction, so that the shuttle car moves to the location of the coal mining equipment, and the travel mechanism is used to control the movement of the shuttle car.

[0051] In the above embodiment, the camera device is used to be installed around the shuttle car to collect image data around the shuttle car. By collecting image data around the shuttle car, image monitoring of the moving road conditions of the shuttle car is realized. The remote control console is used to remotely control the movement of the shuttle car. The specific type of the remote control console can be set according to actual needs, and there is no limitation on this. For example, the remote control console can be equipped with a steering wheel, a brake pedal, an accelerator pedal, an emergency stop switch, a voice communication system, a display system, etc. The display system displays navigation data, image data, radar charts, etc. The remote control console can generate corresponding control instructions to realize the control of the shuttle starting, walking, steering, braking, loading and unloading, etc. The remote control of the shuttle car can be configured at the coal mining equipment to perform copy control or shutdown when necessary. The control of the remote control console realizes the remote control of the movement of the shuttle car, thereby making the movement control of the shuttle car more flexible and safe, thereby ensuring the efficient and stable movement of the shuttle car. The control instructions include the above-mentioned walking instructions and other instructions. It should be noted that the specific type of the camera device can be set according to actual needs, and there is no limitation on this. For example, the camera device can be a plurality of cameras, and the plurality of cameras form a 360° panoramic image. At the same time, by using the camera device and combining the algorithm, an alarm area, a parking area, a driving area, etc. can be demarcated around the shuttle car to realize the protection of personnel approaching parking. The communication method between the remote control console and the shuttle car can be set according to actual needs, and there is no limitation on this. For example, the remote control console and the shuttle car can communicate by wire, by adding a carrier module to the shuttle car electric control box and the feed switch of the shuttle car power supply, using the shuttle car power cable carrier communication, and Ethernet communication between the feed switch of the shuttle car power supply and the remote control console; the remote control console and the shuttle car can communicate by wireless, the shuttle car electric control system is equipped with a 5G communication terminal module to communicate with the 5G network, and the remote control console communicates with the shuttle car by connecting the 5G network by wire.

[0052] In order to ensure that the shuttle car moves efficiently to the coal mining equipment and improve the movement stability of the shuttle car, in an optional implementation, the above step S201 also includes:

[0053] Step S20101, controlling the first positioning device in the shuttle car to collect the first positioning data of the shuttle car in real time, and controlling the second positioning device in the coal mining equipment to collect the second positioning data of the coal mining equipment in real time;

[0054] Step S20103, in the case where there is no turning position in the path between the shuttle car and the coal mining equipment, the travel mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data, so that the shuttle car moves to the position where the coal mining equipment is located, the travel mechanism is used to control the movement of the shuttle car, and the turning position is the turning position of the path between the current position of the shuttle car and the position of the coal mining equipment;

[0055] Step S20105, when there is a turning position on the path between the shuttle car and the coal mining equipment, controlling the shuttle car to move according to a first preset speed, and controlling a third positioning device to collect third positioning data of the turning position, wherein the third positioning device is located at the turning position;

[0056] Step S20107, calculating the distance between the shuttle vehicle and the turning position according to the first positioning data and the third positioning data to obtain a first distance;

[0057] Step S20109, when the first distance is less than the second preset distance, controlling the travel mechanism of the shuttle according to the first preset acceleration, so that the moving speed of the shuttle is reduced from the first preset speed to the second preset speed until the shuttle passes the turning position;

[0058] Step S20111, after the shuttle car passes the turning position, controlling the moving speed of the shuttle car to gradually increase from the second preset speed;

[0059] Step S20113, calculating the distance between the shuttle car and the coal mining equipment according to the first positioning data and the second positioning data to obtain a second distance;

[0060] Step S20115, when the second distance is less than the third preset distance, controlling the travel mechanism of the shuttle according to the second preset acceleration so that the current moving speed of the shuttle is reduced to the third preset speed;

[0061] Step S20117, when the shuttle car moves to the position where the coal mining equipment is located, control the shuttle car to stop moving.

[0062] In the above embodiment, accurate positioning of the shuttle car and the coal mining equipment is achieved by collecting the first positioning data and the second positioning data, and the running mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data, so as to realize the mobile navigation of the shuttle car, thereby ensuring that the shuttle car moves accurately to the coal mining equipment, and further ensuring the stable loading of the shuttle car. In the case where there is no turning position in the path between the above-mentioned shuttle car and the above-mentioned coal mining equipment, that is, when the shuttle car can move to the position of the coal mining equipment without turning, the running mechanism of the above-mentioned shuttle car can be directly controlled according to the first positioning data and the second positioning data, so that the above-mentioned shuttle car moves to the position of the above-mentioned coal mining equipment. However, in the case where there is a turning position 4 in the path between the above-mentioned shuttle car 1 and the above-mentioned coal mining equipment 2, that is, when the shuttle car 1 needs to turn to move to the position of the coal mining equipment 2, Figure 4 As shown, the third positioning data collection is also required to realize the accurate positioning of the turning position 4 between the shuttle car 1 and the coal mining equipment 2, and the running mechanism of the shuttle car 1 is controlled according to the third positioning data to realize the mobile navigation of the shuttle car 1, so as to ensure that the shuttle car 1 accurately passes the turning position 4 and moves to the coal mining equipment 2, thereby ensuring the stable loading of the shuttle car 1. The shuttle car 1 moves to the coal mining equipment 2 according to the first preset speed, and during the movement, when the distance between the shuttle car 1 and the turning position 4 (i.e., the above-mentioned first distance) is less than the second preset distance, it is decelerated from the first preset speed to the second preset speed according to the first preset acceleration, and passes the turning position 4 at a low speed. When passing the turning position 4, the moving speed of the shuttle car 1 is gradually increased from the second preset speed, and can still be increased to the first preset speed, but if the distance to the coal mining equipment 2 is close at this time, it is not necessary to speed up to the first preset speed, and it can also be accelerated from the second preset speed according to the set preset acceleration. When the distance between the shuttle car 1 and the coal mining equipment 2 (i.e., the above-mentioned second distance) is less than the third preset distance, the shuttle car 1 decelerates to the third preset speed until the shuttle car 1 stops at the coal mining equipment 2. Thus, while ensuring that the shuttle car 1 moves efficiently to the coal mining equipment 2, the movement stability of the shuttle car 1 is also improved, thereby ensuring the stable loading of the coal 3 by the shuttle car 1.

[0063] It should be noted that the first positioning device is used to be installed in the shuttle car to collect the first positioning data of the shuttle car. The specific type of the first positioning device can be set according to actual needs, without limitation. For example, the first positioning device can be a UWB (Ultra Wide Band) base station. The second positioning device is used to be installed in the coal mining equipment 2 to collect the second positioning data of the coal mining equipment 2. The specific type of the second positioning device can be set according to actual needs, without limitation. For example, the second positioning device can also be a UWB base station. The third positioning device is used to be installed at the turning position 4 to collect the third positioning data of the turning position 4. The specific type of the third positioning device can be set according to actual needs, without limitation. For example, the third positioning device can also be a UWB base station. The first positioning data, the second positioning data and the third positioning data are all positioning data, which can include: three-axis coordinate data, inclination data, azimuth data, etc. The moving speed of the shuttle car 1 can be achieved by controlling the walking mechanism of the shuttle car 1. Specifically, the wheel encoder and the wheel drive motor of the walking mechanism cooperate to realize the walking closed-loop control, so that the shuttle car 1 can be reduced from the first preset speed to the second preset speed according to the first preset acceleration, and from the first preset speed to the third preset speed according to the second preset acceleration. At the same time, the distance between the shuttle car 1 and the turning position 4 and the distance between the shuttle car 1 and the coal mining equipment 2 can be obtained by calculating and processing between the first positioning data, the second positioning data and the third positioning data, or can be obtained by radar, camera and other devices in conjunction with algorithms. The second preset distance, the first preset acceleration and the second preset speed are used to control the shuttle car 1 to pass through the turning position 4 at a low speed. The second preset distance, the first preset acceleration and the second preset speed can be set according to actual needs, and there is no restriction on this. The third preset distance, the second preset acceleration and the third preset speed are used to control the shuttle car 1 to stop smoothly at the coal mining equipment 2. The third preset distance, the second preset acceleration and the third preset speed can be set according to actual needs, and there is no restriction on this. Among them, the first preset speed is greater than the second preset speed, and the first preset speed is greater than the third preset speed.

[0064] In order to achieve accurate positioning of the shuttle car in the width direction of the lane, in an optional implementation manner, before the above step S201, the method further includes:

[0065] Step S301, in the process of the shuttle car moving to the position of the coal mining equipment, controlling the first distance measuring device in the shuttle car to collect the distance between the side of the shuttle car and the roadway wall to obtain a third distance;

[0066] Step S302, when the third distance is less than the fourth preset distance, the traveling mechanism of the shuttle car is controlled according to the preset steering angle to turn the shuttle car in a direction away from the lane side until the third distance is greater than or equal to the fifth preset distance, and the fifth preset distance is greater than or equal to the fourth preset distance.

[0067] In the above embodiment, the schematic diagram of the planar structure when the shuttle car is offset during movement is as follows: Figure 5 As shown, by collecting the distance between the side of the shuttle car 1 and the lane side 5, the shuttle car 1 is accurately positioned in the lane width direction, and when the distance between the side of the shuttle car 1 and the lane side 5 is less than the fourth preset distance, the shuttle car 1 is controlled to turn in the direction away from the lane side 5 according to the preset steering angle, until the distance between the side of the shuttle car 1 and the lane side 5 is greater than the fifth preset distance, thereby realizing the automatic correction of the moving direction of the shuttle car 1, and ensuring the efficient and stable movement of the shuttle car 1. The steering of the shuttle car 1 can be achieved by controlling the running mechanism of the shuttle car 1, and the wheel steering valve and the wheel steering angle sensor of the running mechanism cooperate to realize the steering closed-loop control, so that the shuttle car 1 can be turned in the direction away from the lane side 5 according to the preset steering angle, and turned in the direction close to the lane side 5 to resume straight driving.

[0068] It should be noted that the first ranging device is used to be installed on the side of the shuttle car to collect the distance between the side of the shuttle car and the lane wall. The specific type of the first ranging device can be set according to actual needs and is not limited to this. By way of example, the first ranging device can be a plurality of ultrasonic radars. For example, 12 ultrasonic radars are respectively distributed on the first side and the second side of the shuttle car, with the front of the shuttle car as the front end and the rear of the car as the rear end, then the first side and the second side are the left and right sides of the shuttle car respectively.

[0069] The sidewall is the side wall of the laneway, and the side of the shuttle car and the sidewall of the laneway are arranged relative to each other. For example, the distance between the side of the shuttle car and the sidewall collected by the first ranging device may be the distance between the first side of the shuttle car and the first sidewall of the laneway, the first sidewall being the sidewall close to the first sidewall, and the first sidewall and the first sidewall being arranged relative to each other; the distance between the side of the shuttle car and the sidewall collected by the first ranging device may be the distance between the second side of the shuttle car and the second sidewall of the laneway, the second sidewall being the sidewall close to the second sidewall, and the second sidewall and the second sidewall being arranged relative to each other.

[0070] The preset steering angle, the fourth preset distance and the fifth preset distance are used to correct the moving direction of the shuttle car. The fourth preset distance and the fifth preset distance can be set according to actual needs without limitation. For example, the fourth preset distance can be 0.3m and the fifth preset distance can be 1m, but the fourth preset distance must be smaller than the fifth preset distance. That is to say, when the distance between the side of the shuttle car and the lane wall is less than 0.3m, the traveling mechanism of the shuttle car is controlled according to the preset steering angle to turn the shuttle car in the direction away from the lane wall until the distance between the side of the shuttle car and the lane wall is greater than 1m, after which the shuttle car resumes the straight-ahead state.

[0071] In order to avoid the shuttle car from colliding with obstacles and effectively improve the moving safety of the shuttle car, in an optional implementation manner, before the above step S201, the method further includes:

[0072] Step S401, when the shuttle car moves to the position where the coal mining equipment is located, the second distance measuring device in the shuttle car collects the distance between the shuttle car and the obstacle to obtain a fourth distance;

[0073] Step S402, when the fourth distance is less than the sixth preset distance, controlling the travel mechanism of the shuttle according to the third preset acceleration so that the current moving speed of the shuttle is reduced to the fourth preset speed;

[0074] Step S403, when the shuttle car moves to the obstacle, the shuttle car is controlled to stop moving and an alarm message is issued.

[0075] In the above embodiment, the schematic diagram of the planar structure when there is an obstacle during the movement of the shuttle is as follows: Figure 6 As shown, by collecting the distance between the shuttle car 1 and the obstacle 6, that is, the fourth distance mentioned above, the obstacle 6 in the tunnel is accurately positioned, and when the distance between the shuttle car 1 and the obstacle 6 is less than the sixth preset distance, the speed is decelerated to the fourth preset speed until the shuttle car 1 stops at the obstacle 6. Thus, while ensuring the efficient movement of the shuttle car 1 to the coal mining equipment, the collision with the obstacle 6 is avoided, thereby effectively improving the movement safety of the shuttle car 1 and ensuring the stable loading of the coal by the shuttle car 1.

[0076] It should be noted that the second distance measuring device is used to be installed on the shuttle car 1 to collect the distance between the shuttle car 1 and the obstacle 6. The specific type of the second distance measuring device can be set according to actual needs and is not limited to this. For example, the second distance measuring device can be a plurality of laser radars, for example: two laser radars are respectively distributed at the front end and the rear end of the shuttle car 1. The alarm information is used to remind the operator, and the alarm information can be sound information, light information, etc. emitted by the alarm on the shuttle car 1. The sixth preset distance, the third preset acceleration and the fourth preset speed are used to control the shuttle car 1 to stop smoothly at the obstacle 6. The sixth preset distance, the third preset acceleration and the fourth preset speed can be set according to actual needs and are not limited to this.

[0077] In order to further reduce the shaking and sliding problem of the coal and improve the loading stability of the coal, in an optional implementation, the above step S204 includes:

[0078] Step S2041, linearly increasing the starting current of the first transfer device according to a soft start rate until the starting current reaches the operating current of the first transfer device, wherein the soft start rate is used to control and adjust the starting current;

[0079] Step S2042: Control the first transfer device according to the operating current to transport the coal material along the direction from the first feeding end to the first discharging end for the first preset distance.

[0080] In the above embodiment, the starting current of the first transfer device is linearly increased according to the soft start rate until the operating current is reached, so as to realize the soft start of the first transfer device, which not only reduces the impact on the structural components in the shuttle car during the starting process, thereby extending the service life of the shuttle car, but also reduces the shaking and slipping of the coal, thereby improving the loading stability of the coal. It should be noted that the soft start rate is used to control the starting current to slowly increase to the operating current to realize the soft start of the first transfer device, and the soft start rate and the operating current can be set according to actual needs, and there is no limitation on this.

[0081] In order to improve the loading efficiency of the shuttle car, in an optional implementation, before the above step S205, the method further includes:

[0082] Step S501, obtaining the conveying speed of the second transfer device;

[0083] Step S502, adjusting the conveying speed of the first transfer device according to the conveying speed of the second transfer device and the first preset height to obtain a first conveying speed;

[0084] Step S503, controlling the first transfer device to continuously transport the coal according to the first conveying speed until the second coal height reaches the second preset height.

[0085] In the above embodiment, the first conveying speed is determined according to the conveying speed of the second transfer device and the first preset height, and the first transfer device is controlled to continuously convey the coal according to the first conveying speed until the second coal height reaches the second preset height. In this way, while ensuring that the shuttle car can be fully loaded with coal, the first transfer device can also be in a uniform and smooth conveying state, which not only effectively improves the loading efficiency of the shuttle car, but also avoids the problems of shaking and slipping of the coal due to the continuous starting and stopping of the first transfer device, thereby improving the loading stability of the coal.

[0086] It should be noted that when the first transfer device is about to finish conveying the coal material for the first preset distance in the direction from the feed end to the discharge end, the coal material at the feed end of the first transfer device reaches the first preset height again. Therefore, the first transfer device continues to convey the coal material for the first preset distance, thereby realizing the continuous conveying of the coal material by the first transfer device, and then realizing the synchronization of coal material loading and coal material transfer. Assuming that the conveying speed of the above-mentioned second transfer device is the second conveying speed, the first conveying speed of the first transfer device is determined according to the second conveying speed and the first preset height. When the second conveying speed is greater, the first coal material height at the feed end of the first transfer device reaches the first preset height faster, and the first conveying speed is greater. In addition, when the first preset height is greater, the first coal material height at the feed end of the first transfer device reaches the first preset height more slowly, and the first conveying speed is smaller. Therefore, the first conveying speed should be a speed that can ensure that the coal material can be transported away in time when it reaches the first preset height, and at the same time will not cause excessive accumulation or overflow of the coal material in the first transfer device. The first conveying speed, the second conveying speed and the first preset height can be set according to actual needs, and there is no restriction on this.

[0087] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0088] The embodiment of the present application also provides a shuttle loading device. It should be noted that the shuttle loading device of the embodiment of the present application can be used to execute the shuttle loading method provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0089] The shuttle loading device provided in the embodiment of the present application is introduced below.

[0090] Figure 7 is a structural block diagram of a shuttle loading device according to an embodiment of the present application. Figure 7 As shown, the device comprises:

[0091] The first control unit 100 is used to control the shuttle car to move to the position of the coal mining equipment, so that the first feeding end of the shuttle car and the second discharging end of the coal mining equipment are connected.

[0092] Specifically, the structural schematic diagram of the shuttle car is as follows: Figure 3 As shown, the schematic diagram of the structure of the shuttle car moving to the coal mining equipment is as follows Figure 4 As shown, the shuttle car 1 at least includes a first transfer device 11, which is a device on the shuttle car 1 for transferring coal transported by the coal mining equipment 2, and the first transfer device 11 at least includes a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device 11, and the first discharge end is the discharge end of the first transfer device 11. The coal mining equipment 2 at least includes a second transfer device 21, which is a device on the coal mining equipment 2 for transferring the coal, and the second transfer device 21 at least includes a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device 21, and the second discharge end is the discharge end of the second transfer device 21. The shuttle car 1 is controlled to move to the coal mining equipment 2, and the feed end of the first transfer device 11 in the shuttle car 1 is connected with the discharge end of the second transfer device 21 in the coal mining equipment 2, so as to carry out subsequent shuttle car loading.

[0093] It should be noted that if Figure 3 and Figure 4As shown, the shuttle car 1 is a key supporting transfer equipment in coal mining, which is used for short-distance transportation of coal 3 at the excavation working face. Usually, the shuttle car 1 moves back and forth between the coal mining equipment 2 and the crushing, transportation and other operating equipment to transfer the coal 3 cut by the coal mining equipment 2 to the operating equipment, thereby meeting the operating needs of underground coal mining. The specific type of the shuttle car 1 can be set according to actual needs and is not limited to this. For example, the shuttle car 1 includes: a car body, a first transfer device 11, a walking mechanism, etc. The car body is the main structure of the shuttle car 1, which is used to carry various components and carry coal 3. The first transfer device 11 is used for the transfer of coal 3 on the shuttle car 1 to achieve uniform distribution of coal 3 on the car body, thereby ensuring that the shuttle car 1 is fully loaded. The walking mechanism is used for the movement of the shuttle car 1, which has functions such as walking, steering, and braking. The coal mining equipment 2 is used to cut the coal 3 on the working surface with the cutting part at the front end, and to transport the coal 3 at the front end to the shuttle car 1 at the rear end with the second transfer device 21. The specific type of the coal mining equipment 2 can be set according to actual needs, and there is no limitation on this. For example, the coal mining equipment 2 can be a continuous coal miner, an anchor digger, etc. The first transfer device 11 and the second transfer device 21 are two conveying devices that cooperate with each other. The specific types of the first transfer device 11 and the second transfer device 21 can be set according to actual needs, and there is no limitation on this. For example, the first transfer device 11 and the second transfer device 21 can both be scraper conveyors. The feed end of the first transfer device 11 is located below the discharge end of the second transfer device 21. The motors of the first transfer device 11 and the second transfer device 21 can be controlled by a frequency converter to realize the conveying control of the first transfer device 11 and the second transfer device 21.

[0094] The second control unit 200 is used to control the second transfer device to continuously transport the coal from the second feed end to the second discharge end.

[0095] Specifically, when the second transfer device continuously transports the coal from the feed end to the discharge end, the coal can be continuously accumulated at the feed end of the first transfer device to realize automatic loading of the coal on the shuttle car.

[0096] The first acquisition unit 300 is used to acquire a first coal height and a second coal height, wherein the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end.

[0097] Specifically, the first coal height is the coal height at the feed end of the first transfer device (i.e., the above-mentioned first feed end), and the second coal height is the coal height at the discharge end of the first transfer device (i.e., the above-mentioned first discharge end). The first AI (Artificial Intelligence) camera is used to collect the first coal height at the feed end of the first transfer device. It can be understood that by using the first AI camera to collect the first coal height at the feed end of the first transfer device, the first coal height can be accurately obtained, thereby ensuring the automatic and accurate loading of the shuttle car. The second AI camera is used to collect the second coal height at the discharge end of the first transfer device. It can be understood that by using the second AI camera to collect the second coal height at the discharge end of the first transfer device, the second coal height can be accurately obtained, thereby ensuring the automatic and accurate loading of the shuttle car.

[0098] It should be noted that both the first AI camera and the second AI camera are AI cameras, which use AI algorithms to collect coal height. The specific types of the first AI camera and the second AI camera can be set according to actual needs, and there is no restriction on this. In addition to the first AI camera and the second AI camera, other sensors can also be used to collect the first coal height and the second coal height, and there is no restriction on this.

[0099] The third control unit 400 is used to control the first transfer device to transport the coal for a first preset distance along the direction from the first feeding end to the first discharging end when the height of the first coal reaches a first preset height.

[0100] Specifically, since the feed end of the first transfer device in the shuttle car is connected to the discharge end of the second transfer device in the coal mining equipment, when the second transfer device continuously transports coal from the feed end to the discharge end, the coal can be continuously accumulated at the feed end of the first transfer device, and when the height of the first coal reaches the first preset height, the first transfer device transports the coal from the feed end to the discharge end for a first preset distance, so that the coal at the feed end of the first transfer device is continuously transferred to the discharge end of the first transfer device, and the feed end of the first transfer device always has space for loading coal. Among them, the setting of the first preset height needs to ensure that the shuttle car can reach a full load state and minimize the risk of coal overflowing from the shuttle car. The first preset distance can be set according to actual needs and is not limited to this. Among them, the setting of the first preset distance should ensure that after the shuttle car is loaded, the top of the coal has fewer peaks and troughs in the direction from the feed end to the discharge end of the first transfer device, and tends to a planar structure.

[0101] The fourth control unit 500 is used to control the first transfer device and the second transfer device to stop transporting the coal when the second coal height reaches a second preset height.

[0102] Specifically, when the second coal height reaches the second preset height, it indicates that the shuttle car is fully loaded, so the transportation of the first transfer device and the second transfer device is stopped to allow the shuttle car to complete the loading of the coal. The setting of the second preset height needs to ensure that the shuttle car can reach a fully loaded state and minimize the risk of coal spilling from the shuttle car. In addition, the first preset height and the second preset height can be the same. It can be understood that by comparing the first coal height with the first preset height, the second coal height with the second preset height, and the transportation control of the first transfer device and the second transfer device, the automatic loading of coal on the shuttle car can be achieved, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, thereby reducing the operating cost of coal loading, but also improving the loading accuracy of the shuttle car, reducing the problem of coal overloading and spilling on the ground on the shuttle car, thereby ensuring the safe operation of underground equipment such as the shuttle car.

[0103] In this embodiment, the shuttle car is controlled to move to the coal mining equipment, and the feed end of the first transfer device in the shuttle car is connected to the discharge end of the second transfer device in the coal mining equipment; the second transfer device is controlled to continuously transport the coal from the feed end to the discharge end; the first coal height at the feed end of the first transfer device is collected, and when the first coal height reaches the first preset height, the first transfer device is controlled to transport the coal from the feed end to the discharge end for a first preset distance; the second coal height at the discharge end of the first transfer device is collected, and when the second coal height reaches the second preset height, the transportation of the first transfer device and the second transfer device is stopped, so that the automatic loading of coal on the shuttle car is realized, thereby greatly reducing the participation of manual labor, not only effectively improving the loading efficiency of the shuttle car, but also improving the loading accuracy of the shuttle car. The present application solves the problem in the prior art that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading.

[0104] In order to realize remote control of the movement of the shuttle car so as to make the movement control of the shuttle car more flexible and safe, in an optional implementation manner, the first control unit includes:

[0105] A first control module controls the camera device in the shuttle car to collect image data within a set range around the shuttle car, and transmits the image data to a remote control console, so that the remote control console processes the image data to generate a travel instruction and sends the travel instruction to the shuttle car;

[0106] The second control module receives the travel instruction sent by the remote control console, and controls the travel mechanism of the shuttle car according to the travel instruction, so that the shuttle car moves to the position of the coal mining equipment, and the travel mechanism is used to control the movement of the shuttle car.

[0107] In the above embodiment, the camera device is used to be installed around the shuttle car to collect image data around the shuttle car. By collecting image data around the shuttle car, image monitoring of the moving road conditions of the shuttle car is realized. The remote control console is used to remotely control the movement of the shuttle car. The specific type of the remote control console can be set according to actual needs, and there is no limitation on this. For example, the remote control console can be equipped with a steering wheel, a brake pedal, an accelerator pedal, an emergency stop switch, a voice communication system, a display system, etc. The display system displays navigation data, image data, radar charts, etc. The remote control console can generate corresponding control instructions to realize the control of the shuttle starting, walking, steering, braking, loading and unloading, etc. The remote control of the shuttle car can be configured at the coal mining equipment to perform copy control or shutdown when necessary. The control of the remote control console realizes the remote control of the movement of the shuttle car, thereby making the movement control of the shuttle car more flexible and safe, thereby ensuring the efficient and stable movement of the shuttle car. The control instructions include the above-mentioned walking instructions and other instructions.

[0108] It should be noted that the specific type of the camera device can be set according to actual needs, and there is no limitation on this. For example, the camera device can be a plurality of cameras, and the plurality of cameras form a 360° panoramic image. At the same time, by using the camera device and combining the algorithm, an alarm area, a parking area, a driving area, etc. can be demarcated around the shuttle car to realize the protection of personnel approaching parking. The communication method between the remote control console and the shuttle car can be set according to actual needs, and there is no limitation on this. For example, the remote control console and the shuttle car can communicate by wire, by adding a carrier module to the shuttle car electric control box and the feed switch of the shuttle car power supply, using the shuttle car power cable carrier communication, and Ethernet communication between the feed switch of the shuttle car power supply and the remote control console; the remote control console and the shuttle car can communicate by wireless, the shuttle car electric control system is equipped with a 5G communication terminal module to communicate with the 5G network, and the remote control console communicates with the shuttle car by connecting the 5G network by wire.

[0109] In order to ensure that the shuttle car moves efficiently to the coal mining equipment and improve the movement stability of the shuttle car, in an optional implementation, the first control unit further includes:

[0110] A third control module controls the first positioning device in the shuttle car to collect the first positioning data of the shuttle car in real time, and controls the second positioning device in the coal mining equipment to collect the second positioning data of the coal mining equipment in real time;

[0111] a fourth control module, in the case where there is no turning position in the path between the shuttle car and the coal mining equipment, controlling the travel mechanism of the shuttle car according to the first positioning data and the second positioning data, so that the shuttle car moves to the position where the coal mining equipment is located, the travel mechanism is used to control the movement of the shuttle car, and the turning position is the turning position of the path between the current position of the shuttle car and the position of the coal mining equipment;

[0112] a fifth control module, in the case where there is a turning position on the path between the shuttle car and the coal mining equipment, controlling the shuttle car to move according to a first preset speed, and controlling a third positioning device to collect third positioning data of the turning position, wherein the third positioning device is located at the turning position;

[0113] A first calculation module calculates the distance between the shuttle vehicle and the turning position according to the first positioning data and the third positioning data to obtain a first distance;

[0114] a sixth control module, when the first distance is less than the second preset distance, controlling the travel mechanism of the shuttle according to the first preset acceleration, so that the moving speed of the shuttle is reduced from the first preset speed to the second preset speed until the shuttle passes the turning position;

[0115] a seventh control module, controlling the moving speed of the shuttle car to gradually increase from the second preset speed after the shuttle car passes the turning position;

[0116] A second calculation module calculates the distance between the shuttle car and the coal mining equipment according to the first positioning data and the second positioning data to obtain a second distance;

[0117] an eighth control module, which controls the travel mechanism of the shuttle according to the second preset acceleration when the second distance is less than the third preset distance, so as to reduce the current moving speed of the shuttle to the third preset speed;

[0118] The ninth control module controls the shuttle car to stop moving when the shuttle car moves to the position where the coal mining equipment is located.

[0119] In the above embodiment, accurate positioning of the shuttle car and the coal mining equipment is achieved by collecting the first positioning data and the second positioning data, and the running mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data, so as to realize the mobile navigation of the shuttle car, thereby ensuring that the shuttle car moves accurately to the coal mining equipment, and further ensuring the stable loading of the shuttle car. In the case where there is no turning position in the path between the above-mentioned shuttle car and the above-mentioned coal mining equipment, that is, when the shuttle car can move to the position of the coal mining equipment without turning, the running mechanism of the above-mentioned shuttle car can be directly controlled according to the first positioning data and the second positioning data, so that the above-mentioned shuttle car moves to the position of the above-mentioned coal mining equipment. However, in the case where there is a turning position 4 in the path between the above-mentioned shuttle car 1 and the above-mentioned coal mining equipment 2, that is, when the shuttle car 1 needs to turn to move to the position of the coal mining equipment 2, Figure 4 As shown, the third positioning data collection is also required to realize the accurate positioning of the turning position 4 between the shuttle car 1 and the coal mining equipment 2, and the running mechanism of the shuttle car 1 is controlled according to the third positioning data to realize the mobile navigation of the shuttle car 1, so as to ensure that the shuttle car 1 accurately passes the turning position 4 and moves to the coal mining equipment 2, thereby ensuring the stable loading of the shuttle car 1. The shuttle car 1 moves to the coal mining equipment 2 according to the first preset speed, and during the movement, when the distance between the shuttle car 1 and the turning position 4 (i.e., the above-mentioned first distance) is less than the second preset distance, it is decelerated from the first preset speed to the second preset speed according to the first preset acceleration, and passes the turning position 4 at a low speed. When passing the turning position 4, the moving speed of the shuttle car 1 is gradually increased from the second preset speed, and can still be increased to the first preset speed, but if the distance to the coal mining equipment 2 is close at this time, it is not necessary to speed up to the first preset speed, and it can also be accelerated from the second preset speed according to the set preset acceleration. When the distance between the shuttle car 1 and the coal mining equipment 2 (i.e., the above-mentioned second distance) is less than the third preset distance, the shuttle car 1 decelerates to the third preset speed until the shuttle car 1 stops at the coal mining equipment 2. Thus, while ensuring that the shuttle car 1 moves efficiently to the coal mining equipment 2, the movement stability of the shuttle car 1 is also improved, thereby ensuring the stable loading of the coal 3 by the shuttle car 1.

[0120] In order to achieve accurate positioning of the shuttle in the width direction of the lane, in an optional implementation, the device further includes:

[0121] a fifth control unit, for controlling the first distance measuring device in the shuttle car to collect the distance between the side of the shuttle car and the roadway wall to obtain a third distance before controlling the shuttle car to move to the position of the coal mining equipment and during the process of the shuttle car moving to the position of the coal mining equipment;

[0122] The sixth control unit controls the traveling mechanism of the shuttle car according to a preset steering angle when the third distance is less than the fourth preset distance, so as to turn the shuttle car in a direction away from the lane side until the third distance is greater than or equal to the fifth preset distance, and the fifth preset distance is greater than or equal to the fourth preset distance.

[0123] In the above embodiment, the schematic diagram of the planar structure when the shuttle car is offset during movement is as follows: Figure 5 As shown, by collecting the distance between the side of the shuttle car 1 and the lane side 5, the shuttle car 1 is accurately positioned in the lane width direction, and when the distance between the side of the shuttle car 1 and the lane side 5 is less than the fourth preset distance, the shuttle car 1 is controlled to turn in the direction away from the lane side 5 according to the preset steering angle, until the distance between the side of the shuttle car 1 and the lane side 5 is greater than the fifth preset distance, thereby realizing the automatic correction of the moving direction of the shuttle car 1, and ensuring the efficient and stable movement of the shuttle car 1. The steering of the shuttle car 1 can be achieved by controlling the running mechanism of the shuttle car 1, and the wheel steering valve and the wheel steering angle sensor of the running mechanism cooperate to realize the steering closed-loop control, so that the shuttle car 1 can be turned in the direction away from the lane side 5 according to the preset steering angle, and turned in the direction close to the lane side 5 to resume straight driving.

[0124] The sidewall is the side wall of the laneway, and the side of the shuttle car and the sidewall of the laneway are arranged relative to each other. For example, the distance between the side of the shuttle car and the sidewall collected by the first ranging device may be the distance between the first side of the shuttle car and the first sidewall of the laneway, the first sidewall being the sidewall close to the first sidewall, and the first sidewall and the first sidewall being arranged relative to each other; the distance between the side of the shuttle car and the sidewall collected by the first ranging device may be the distance between the second side of the shuttle car and the second sidewall of the laneway, the second sidewall being the sidewall close to the second sidewall, and the second sidewall and the second sidewall being arranged relative to each other.

[0125] The preset steering angle, the fourth preset distance and the fifth preset distance are used to correct the moving direction of the shuttle car. The fourth preset distance and the fifth preset distance can be set according to actual needs without limitation. For example, the fourth preset distance can be 0.3m and the fifth preset distance can be 1m, but the fourth preset distance must be smaller than the fifth preset distance. That is to say, when the distance between the side of the shuttle car and the lane wall is less than 0.3m, the traveling mechanism of the shuttle car is controlled according to the preset steering angle to turn the shuttle car in the direction away from the lane wall until the distance between the side of the shuttle car and the lane wall is greater than 1m, after which the shuttle car resumes the straight-ahead state.

[0126] In order to prevent the shuttle car from colliding with obstacles and effectively improve the moving safety of the shuttle car, in an optional embodiment, the device further includes:

[0127] The first acquisition unit is used for acquiring the distance between the shuttle car and the obstacle by the second distance measuring device in the shuttle car before the shuttle car is controlled to move to the position of the coal mining equipment, and obtaining a fourth distance during the process of the shuttle car moving to the position of the coal mining equipment;

[0128] a seventh control unit, configured to control the travel mechanism of the shuttle according to the third preset acceleration when the fourth distance is less than the sixth preset distance, so as to reduce the current moving speed of the shuttle to the fourth preset speed;

[0129] The eighth control unit is used to control the shuttle car to stop moving and issue an alarm message when the shuttle car moves to the obstacle.

[0130] In the above embodiment, the schematic diagram of the planar structure when there is an obstacle during the movement of the shuttle is as follows: Figure 6 As shown, by collecting the distance between the shuttle car 1 and the obstacle 6, that is, the fourth distance mentioned above, the obstacle 6 in the tunnel is accurately positioned, and when the distance between the shuttle car 1 and the obstacle 6 is less than the sixth preset distance, the speed is decelerated to the fourth preset speed until the shuttle car 1 stops at the obstacle 6. Thus, while ensuring the efficient movement of the shuttle car 1 to the coal mining equipment, the collision with the obstacle 6 is avoided, thereby effectively improving the movement safety of the shuttle car 1 and ensuring the stable loading of the coal by the shuttle car 1.

[0131] In order to further reduce the shaking and sliding problem of coal and improve the loading stability of coal, in an optional implementation, the third control unit includes:

[0132] A tenth control module linearly increases the starting current of the first transfer device according to a soft start rate until the starting current reaches the operating current of the first transfer device, wherein the soft start rate is used to control and adjust the starting current;

[0133] An eleventh control module controls the first transfer device to transport the coal material along the direction from the first feeding end to the first discharging end to the first preset distance according to the operating current.

[0134] In the above embodiment, the starting current of the first transfer device is linearly increased according to the soft start rate until the operating current is reached, so as to realize the soft start of the first transfer device, which not only reduces the impact on the structural components in the shuttle car during the starting process, thereby extending the service life of the shuttle car, but also reduces the shaking and slipping of the coal, thereby improving the loading stability of the coal. It should be noted that the soft start rate is used to control the starting current to slowly increase to the operating current to realize the soft start of the first transfer device, and the soft start rate and the operating current can be set according to actual needs, and there is no limitation on this.

[0135] In order to improve the loading efficiency of the shuttle car, in an optional embodiment, the device further includes:

[0136] A second acquisition unit is used for acquiring a conveying speed of the second transfer device before controlling the first transfer device and the second transfer device to stop conveying the coal when the height of the second coal reaches a second preset height;

[0137] An adjusting unit, configured to adjust the conveying speed of the first conveying device according to the conveying speed of the second conveying device and the first preset height to obtain a first conveying speed;

[0138] A ninth control unit is used to control the first transfer device to continuously transport the coal according to the first conveying speed until the second coal height reaches the second preset height.

[0139] In the above embodiment, the first conveying speed is determined according to the conveying speed of the second transfer device and the first preset height, and the first transfer device is controlled to continuously convey the coal according to the first conveying speed until the second coal height reaches the second preset height. In this way, while ensuring that the shuttle car can be fully loaded with coal, the first transfer device can also be in a uniform and smooth conveying state, which not only effectively improves the loading efficiency of the shuttle car, but also avoids the problems of shaking and slipping of the coal due to the continuous starting and stopping of the first transfer device, thereby improving the loading stability of the coal.

[0140] It should be noted that when the first transfer device is about to finish conveying the coal material for the first preset distance in the direction from the feed end to the discharge end, the coal material at the feed end of the first transfer device reaches the first preset height again. Therefore, the first transfer device continues to convey the coal material for the first preset distance, thereby realizing the continuous conveying of the coal material by the first transfer device, and then realizing the synchronization of coal material loading and coal material transfer. Assuming that the conveying speed of the above-mentioned second transfer device is the second conveying speed, the first conveying speed of the first transfer device is determined according to the second conveying speed and the first preset height. When the second conveying speed is greater, the first coal material height at the feed end of the first transfer device reaches the first preset height faster, and the first conveying speed is greater. In addition, when the first preset height is greater, the first coal material height at the feed end of the first transfer device reaches the first preset height more slowly, and the first conveying speed is smaller. Therefore, the first conveying speed should be a speed that can ensure that the coal material can be transported away in time when it reaches the first preset height, and at the same time will not cause excessive accumulation or overflow of the coal material in the first transfer device. The first conveying speed, the second conveying speed and the first preset height can be set according to actual needs, and there is no restriction on this.

[0141] The shuttle loading device includes a processor and a memory. The first control unit, the second control unit, the first acquisition unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0142] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of overloading of coal on the shuttle car and spilling onto the ground due to manual loading in the prior art can be solved by adjusting kernel parameters.

[0143] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0144] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the shuttle loading method.

[0145] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the shuttle loading method is executed when the program is run.

[0146] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0147] Step S201, controlling the shuttle car to move to the position of the coal mining equipment, so that the first feed end of the shuttle car is connected to the second discharge end of the coal mining equipment;

[0148] Step S202, controlling the second transfer device to continuously transport the coal material from the second feed end to the second discharge end;

[0149] Step S203, obtaining a first coal height and a second coal height, wherein the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end;

[0150] Step S204, when the height of the first coal reaches a first preset height, controlling the first transfer device to transport the coal for a first preset distance along the direction from the first feeding end to the first discharging end;

[0151] Step S205, when the second coal material height reaches a second preset height, controlling the first transfer device and the second transfer device to stop transporting the coal material.

[0152] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0153] Step S201, controlling the shuttle car to move to the position of the coal mining equipment, so that the first feed end of the shuttle car is connected to the second discharge end of the coal mining equipment;

[0154] Step S202, controlling the second transfer device to continuously transport the coal material from the second feed end to the second discharge end;

[0155] Step S203, obtaining a first coal height and a second coal height, wherein the first coal height is the coal height at the first feed end, and the second coal height is the coal height at the first discharge end;

[0156] Step S204, when the height of the first coal reaches a first preset height, controlling the first transfer device to transport the coal for a first preset distance along the direction from the first feeding end to the first discharging end;

[0157] Step S205, when the second coal material height reaches a second preset height, controlling the first transfer device and the second transfer device to stop transporting the coal material.

[0158] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0159] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0160] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0161] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0165] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0167] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0168] 1) The shuttle car loading method of the present application controls the shuttle car to move to the coal mining equipment, and connects the feed end of the first transfer device in the shuttle car with the discharge end of the second transfer device in the coal mining equipment; controls the second transfer device to continuously transport coal from the feed end to the discharge end; collects the first coal height at the feed end of the first transfer device, and when the first coal height reaches the first preset height, controls the first transfer device to transport the coal from the feed end to the discharge end for a first preset distance; collects the second coal height at the discharge end of the first transfer device, and when the second coal height reaches the second preset height, stops the transportation of the first transfer device and the second transfer device, thereby realizing automatic loading of coal on the shuttle car, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, but also improving the loading accuracy of the shuttle car. The present application solves the problem in the prior art that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading.

[0169] 2) The shuttle car loading device of the present application controls the shuttle car to move to the coal mining equipment, and connects the feed end of the first transfer device in the shuttle car with the discharge end of the second transfer device in the coal mining equipment; controls the second transfer device to continuously transport coal from the feed end to the discharge end; collects the first coal height at the feed end of the first transfer device, and when the first coal height reaches the first preset height, controls the first transfer device to transport the coal from the feed end to the discharge end for a first preset distance; collects the second coal height at the discharge end of the first transfer device, and when the second coal height reaches the second preset height, stops the transportation of the first transfer device and the second transfer device, thereby realizing automatic loading of coal on the shuttle car, thereby greatly reducing manual participation, not only effectively improving the loading efficiency of the shuttle car, but also improving the loading accuracy of the shuttle car. The present application solves the problem in the prior art that the coal on the shuttle car is overloaded and overflows to the ground due to manual loading.

[0170] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A shuttle car loading method, characterized in that: The shuttle car includes at least a first transfer device, which is a device on the shuttle car used to transfer coal transported by coal mining equipment, and the first transfer device includes at least a first feed end and a first discharge end, the first feed end is the feed end of the first transfer device, and the first discharge end is the discharge end of the first transfer device. The coal mining equipment includes at least a second transfer device, which is a device on the coal mining equipment used to transfer the coal, and the second transfer device includes at least a second feed end and a second discharge end, the second feed end is the feed end of the second transfer device, and the second discharge end is the discharge end of the second transfer device. The method includes: Controlling the shuttle car to move to the position of the coal mining equipment so that the first feeding end of the shuttle car and the second discharging end of the coal mining equipment are connected; Controlling the second transfer device to continuously transport the coal material from the second feed end to the second discharge end; Obtain a first coal material height and a second coal material height, wherein the first coal material height is the coal material height at the first feeding end, and the second coal material height is the coal material height at the first discharging end; When the height of the first coal reaches a first preset height, controlling the first transfer device to transport the coal by a first preset distance in a direction from the first feeding end to the first discharging end; When the height of the second coal reaches a second preset height, the first transfer device and the second transfer device are controlled to stop transporting the coal.

2. The method according to claim 1, characterized in that Controlling the shuttle car to move to the location of the coal mining equipment includes at least: Controlling the camera device in the shuttle car to collect image data within a set range around the shuttle car, and transmitting the image data to a remote control console, so that the remote control console processes the image data to generate a travel instruction and sends the travel instruction to the shuttle car; The travel instruction sent by the remote control console is received, and the travel mechanism of the shuttle car is controlled according to the travel instruction so that the shuttle car moves to the location of the coal mining equipment, and the travel mechanism is used to control the movement of the shuttle car.

3. The method according to claim 1, characterized in that Controlling the shuttle car to move to the location of the coal mining equipment also includes: Controlling the first positioning device in the shuttle car to collect the first positioning data of the shuttle car in real time, and controlling the second positioning device in the coal mining equipment to collect the second positioning data of the coal mining equipment in real time; In the case where there is no turning position in the path between the shuttle car and the coal mining equipment, the travel mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data, so that the shuttle car moves to the position where the coal mining equipment is located, the travel mechanism is used to control the movement of the shuttle car, and the turning position is the turning position of the path between the current position of the shuttle car and the position of the coal mining equipment; When there is a turning position in the path between the shuttle car and the coal mining equipment, the shuttle car is controlled to move according to a first preset speed, and a third positioning device is controlled to collect third positioning data of the turning position, wherein the third positioning device is located at the turning position; Calculate the distance between the shuttle vehicle and the turning position according to the first positioning data and the third positioning data to obtain a first distance; When the first distance is less than a second preset distance, controlling the travel mechanism of the shuttle according to a first preset acceleration so that the moving speed of the shuttle is reduced from the first preset speed to a second preset speed until the shuttle passes the turning position; After the shuttle car passes the turning position, controlling the moving speed of the shuttle car to gradually increase from the second preset speed; Calculate the distance between the shuttle car and the coal mining equipment according to the first positioning data and the second positioning data to obtain a second distance; When the second distance is less than a third preset distance, controlling the travel mechanism of the shuttle according to the second preset acceleration so that the current moving speed of the shuttle is reduced to a third preset speed; When the shuttle car moves to the position where the coal mining equipment is located, the shuttle car is controlled to stop moving.

4. The method according to any one of claims 1 to 3, characterized in that: Before controlling the shuttle car to move to the location of the coal mining equipment, the method further includes: In the process of the shuttle car moving to the position of the coal mining equipment, controlling the first distance measuring device in the shuttle car to collect the distance between the side of the shuttle car and the roadway wall to obtain a third distance; When the third distance is less than the fourth preset distance, the traveling mechanism of the shuttle car is controlled according to the preset steering angle to turn the shuttle car in a direction away from the lane side until the third distance is greater than or equal to the fifth preset distance, and the fifth preset distance is greater than or equal to the fourth preset distance.

5. The method according to any one of claims 1 to 3, characterized in that: Before controlling the shuttle car to move to the location of the coal mining equipment, the method further includes: In the process of the shuttle car moving to the position of the coal mining equipment, the second distance measuring device in the shuttle car collects the distance between the shuttle car and the obstacle to obtain a fourth distance; When the fourth distance is less than the sixth preset distance, controlling the travel mechanism of the shuttle according to the third preset acceleration so that the current moving speed of the shuttle is reduced to a fourth preset speed; When the shuttle car moves to the obstacle, the shuttle car is controlled to stop moving and an alarm message is issued.

6. The method according to claim 1, characterized in that When the height of the first coal reaches a first preset height, controlling the first transfer device to transport the coal a first preset distance from the first feed end to the first discharge end includes: linearly increasing the starting current of the first transfer device according to a soft start rate until the starting current reaches the operating current of the first transfer device, the soft start rate being used to control and adjust the starting current; The first transfer device is controlled according to the operating current to transport the coal material by the first preset distance along the direction from the first feeding end to the first discharging end.

7. The method according to claim 1, characterized in that When the height of the second coal reaches a second preset height, before controlling to stop the first transfer device and the second transfer device from conveying the coal, the method further includes: acquiring a conveying speed of the second transfer device; According to the conveying speed of the second conveying device and the first preset height, the conveying speed of the first conveying device is correspondingly adjusted to obtain a first conveying speed; The first transfer device is controlled to continuously transport the coal according to the first conveying speed until the second coal height reaches the second preset height.

8. A shuttle loading device, characterized in that: The shuttle car includes a first transfer device, a first feed end and a first discharge end. The first transfer device is a device on the shuttle car used to transfer coal transported by coal mining equipment. The first feed end is the feed end of the first transfer device. The first discharge end is the discharge end of the first transfer device. The coal mining equipment includes a second transfer device, a second feed end and a second discharge end. The second transfer device is a device on the coal mining equipment used to transfer the coal. The second feed end is the feed end of the second transfer device. The second discharge end is the discharge end of the second transfer device. The device includes: a first control unit, for controlling the shuttle car to move to the position of the coal mining equipment, so that the first feed end of the shuttle car is connected to the second discharge end of the coal mining equipment; A second control unit is used to control the second transfer device to continuously transport the coal material from the second feeding end to the second discharging end; A first acquisition unit is used to acquire a first coal material height and a second coal material height, wherein the first coal material height is the coal material height at the first feeding end, and the second coal material height is the coal material height at the first discharging end; a third control unit, configured to control the first transfer device to transport the coal by a first preset distance along a direction from the first feeding end to the first discharging end when the height of the first coal reaches a first preset height; The fourth control unit is used to control the first transfer device and the second transfer device to stop transporting the coal when the height of the second coal reaches a second preset height.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images