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

Abstract

The application provides a shuttle car loading method, a shuttle car loading device and a computer readable storage medium. The method comprises the following steps: controlling the shuttle car to move to a position where a coal mining device is located, 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 device; controlling the second transfer device to continuously convey coal in a 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, controlling the first transfer device to convey the coal in a direction from the first feeding end to a first discharging end by a first preset distance; and when the second coal height reaches a second preset height, controlling the first transfer device and the second transfer device to stop conveying the coal. The automatic loading of the coal on the shuttle car is realized, so that the participation of manual work is greatly reduced, and the problem that the coal on the shuttle car is overloaded and spills to the ground due to the 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] Shuttle cars are a key piece of equipment used in coal mining, transporting coal over short distances at the tunneling face. During the loading process, operators drive the shuttle car to the coal mining equipment, where the coal cut by the mining equipment is transferred to the shuttle car until it is fully loaded. During this process, operators must manually determine whether the shuttle car is fully loaded. However, due to obstructed visibility underground and fatigue from prolonged work, not only is the shuttle car loading efficiency low, leading to increased coal loading costs, but it also results in inaccurate loading, making it prone to overloading and spillage, 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 to be overloaded on the shuttle car 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 of the first feed end, and the second coal height is the coal height of 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, the method further comprises: controlling a first positioning device in the shuttle vehicle to collect first positioning data of the shuttle vehicle 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 the case that there is no turning position between the path between the shuttle vehicle and the coal mining equipment, controlling a traveling mechanism of the shuttle vehicle according to the first positioning data and the second positioning data, so as to move the shuttle vehicle to the position of the coal mining equipment, the traveling mechanism being used to control the movement of the shuttle vehicle, the turning position being a turning position of the path between the current position of the shuttle vehicle and the position of the coal mining equipment; in the case that there is the turning position between the path between the shuttle vehicle and the coal mining equipment, controlling the shuttle vehicle to move 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; calculating a first distance between the shuttle vehicle and the turning position according to the first positioning data and the third positioning data; in the case that the first distance is less than a second preset distance, controlling the traveling mechanism of the shuttle vehicle according to a first preset acceleration, so as to reduce the moving speed of the shuttle vehicle from the first preset speed to a second preset speed, until the shuttle vehicle passes the turning position; after the shuttle vehicle passes the turning position, gradually increasing the moving speed of the shuttle vehicle from the second preset speed; calculating a second distance between the shuttle vehicle and the coal mining equipment according to the first positioning data and the second positioning data; in the case that the second distance is less than a third preset distance, controlling the traveling mechanism of the shuttle vehicle according to a second preset acceleration, so as to reduce the current moving speed of the shuttle vehicle to a third preset speed; when the shuttle vehicle moves to the position of the coal mining equipment, controlling the shuttle vehicle to stop moving.

[0007] Optionally, before the shuttle vehicle moves to the position of the coal mining equipment, the method further comprises: during the movement of the shuttle vehicle to the position of the coal mining equipment, controlling a first distance measuring device in the shuttle vehicle to collect a distance between a side of the shuttle vehicle and a sidewall of a roadway, to obtain a third distance; in the case that the third distance is less than a fourth preset distance, controlling the traveling mechanism of the shuttle vehicle according to a preset turning angle, so as to turn the shuttle vehicle in a direction away from the sidewall of the roadway, until the third distance is greater than or equal to a fifth preset distance, the fifth preset distance being greater than or equal to the fourth preset distance.

[0008] Optionally, before the shuttle vehicle is controlled to move to the position where the coal mining equipment is located, the method further comprises: during the movement of the shuttle vehicle to the position where the coal mining equipment is located, a second distance measuring device in the shuttle vehicle collects the distance between the shuttle vehicle and the obstacle to obtain a fourth distance; when the fourth distance is less than a sixth preset distance, the traveling mechanism of the shuttle vehicle is controlled according to a third preset acceleration, so that the current moving speed of the shuttle vehicle is reduced to a fourth preset speed; when the shuttle vehicle moves to the position of the obstacle, the shuttle vehicle is controlled to stop moving and an alarm information is sent.

[0009] Optionally, when the first coal material height reaches a first preset height, the first transfer device is controlled to transport the coal material in the direction from the first feeding end to the first discharging end by a first preset distance, comprising: the starting current of the first transfer device is linearly increased according to a soft starting rate until the starting current reaches the operating current of the first transfer device, the soft starting rate being used for controlling adjustment of the starting current; the first transfer device is controlled to transport the coal material in the direction from the first feeding end to the first discharging end by the first preset distance according to the operating current.

[0010] Optionally, before the first transfer device and the second transfer device are controlled to stop transporting the coal material when the second coal material height reaches a second preset height, the method further comprises: obtaining the transporting speed of the second transfer device; adjusting the transporting speed of the first transfer device according to the transporting speed of the second transfer device and the first preset height to obtain a first transporting speed; and controlling the first transfer device to continuously transport the coal material according to the first transporting 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 The feed end is connected to the second discharge end of the coal mining equipment; the 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; the first acquisition unit is used to obtain the first coal height and the second coal height, the first coal height is the coal height of the first feed end, and the second coal height is the coal height of the first discharge end; the third control unit is used to control the first transfer device to transport the coal from the first feed end to the first discharge end for a first preset distance when the first coal height 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 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 includes at least a first transfer device, the first transfer device is a device on the shuttle car for transferring coal transported by the 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: controlling the shuttle car to transfer the coal transported by the coal mining equipment; The car moves 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; the above-mentioned second transfer device is controlled to continuously transport the above-mentioned coal material along the direction from the second feed end to the above-mentioned second discharge end; the first coal material height and the second coal material height are obtained, the above-mentioned first coal material height is the coal material height at the above-mentioned first feed end, and the above-mentioned second coal material height is the coal material height at the above-mentioned first discharge end; when the above-mentioned first coal material height reaches the first preset height, the above-mentioned first transfer device is controlled to transport the above-mentioned coal material for a first preset distance along the direction from the above-mentioned first feed end to the above-mentioned first discharge end; when the above-mentioned second coal material height reaches the second preset height, the above-mentioned first transfer device and the above-mentioned second transfer device are controlled to stop transporting the above-mentioned coal material. The present application controls a shuttle car to move to the coal mining equipment and connects the feed end of a first transfer device in the shuttle car to the discharge end of a 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; measures a first coal height at the feed end of the first transfer device, and when the first coal height reaches a first preset height, controls the first transfer device to transport the coal a first preset distance from the feed end to the discharge end; measures a 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 transport of the first and second transfer devices. This achieves automatic loading of coal onto the shuttle car, significantly reducing manual intervention, effectively improving both the shuttle car's loading efficiency and the shuttle car's loading accuracy. The present application solves the problem in the prior art of manual loading leading to coal overload and spillage onto the ground on the shuttle car. 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 flow chart of a shuttle car loading method 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 car provided in an embodiment of the present application when it deviates during movement is shown;

[0020] Figure 6 A schematic diagram of the planar structure of a shuttle vehicle when an obstacle exists during its movement according to 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 point; 5. Lane side; 6. Obstacle. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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 present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this 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 that includes 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 reasons such as obstructed vision underground and fatigue caused by long-term operation, not only is the loading efficiency of the shuttle car low, resulting in increased operating costs for coal loading, but the loading accuracy of the shuttle car is also low, and the shuttle car is prone to overloading of coal and spillage to the ground. In order to solve the problem of overloading of coal on the shuttle car and spillage to the ground caused by 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 with reference to 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 diagram of a mobile terminal for a shuttle car 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) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will 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 than shown, or with Figure 1 Different configurations shown.

[0030] The memory 104 can be used to store computer programs, such as software programs and modules for application software, such as the computer program corresponding to the shuttle loading method in the embodiments of the present invention. The processor 102 executes the computer programs stored in the memory 104 to execute various functional applications and data processing, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory (RAM) and may also include 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 memory remote from the processor 102, which can be connected to the mobile terminal via a network. Examples of such networks 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 transmit data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication 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 includes the following steps:

[0033] Step S201: Control the shuttle car to move to the location 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 diagram of the shuttle car is as follows: Figure 3 As shown, the shuttle car moves to the plane structure diagram of the coal mining equipment as shown Figure 4As shown, the shuttle car 1 includes at least a first transfer device 11, which is a device on the shuttle car 1 for transferring coal delivered by the coal mining equipment 2. The first transfer device 11 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 11, and the first discharge end is the discharge end of the first transfer device 11. The coal mining equipment 2 includes at least a second transfer device 21, which is a device on the coal mining equipment 2 for transferring the coal. The second transfer device 21 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 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 to the discharge end of the second transfer device 21 in the coal mining equipment 2 to facilitate subsequent loading of the shuttle car.

[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 operational 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 using a cutting portion at the front end, and to transport the coal 3 at the front end to the shuttle car 1 at the rear end using a second transfer device 21. The specific type of the coal mining equipment 2 can be set according to actual needs and is not limited to this. For example, the coal mining equipment 2 can be a continuous coal miner, an anchor miner, 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 are not limited to 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 achieve conveying control of the first transfer device 11 and the second transfer device 21.

[0036] Step S202: Control 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 height and a second coal height, wherein the first coal height is the coal height at the first feeding end, and the second coal height is the coal height at the first discharging end.

[0039] Specifically, the first coal material height is the coal material height at the feed end of the first transfer device (i.e., the above-mentioned first feed end), and the second coal material height is the coal material 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 material height at the feed end of the first transfer device. It is understandable that by using the first AI camera to collect the first coal material height at the feed end of the first transfer device, the first coal material 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 material height at the discharge end of the first transfer device. It is understandable that by using the second AI camera to collect the second coal material height at the discharge end of the first transfer device, the second coal material 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 and second AI cameras are AI cameras that employ AI algorithms to collect coal height information. The specific types of the first and second AI cameras can be configured based on actual needs and are not limited thereto. In addition to the first and second AI cameras, other sensors can also be used to collect the first and second coal height information, and this is not limited thereto.

[0041] Step S204: When the height of the first coal reaches a first preset height, the first transfer device is controlled to transport the coal for a first preset distance from the first feeding end to the first discharging end.

[0042] Specifically, because 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 coal can be continuously accumulated at the feed end of the first transfer device as the second transfer device continuously transports coal from the feed end to the discharge end. Furthermore, when the first coal reaches a first predetermined height, the first transfer device transports the coal a first predetermined distance from the feed end to the discharge end, thereby continuously transferring the coal from the feed end of the first transfer device to the discharge end of the first transfer device and ensuring that there is always space for loading the coal at the feed end of the first transfer device. The first predetermined height should be set to ensure that the shuttle car can be fully loaded and minimize the risk of coal spilling from the shuttle car. The first predetermined distance can be set according to actual needs and is not limited thereto. The first predetermined distance should be set to ensure that, after the shuttle car is loaded, the top of the coal has a flat surface with few peaks and valleys along the feed end to the discharge end of the first transfer device.

[0043] Step S205: When the second coal material height reaches a second preset height, the first transfer device and the second transfer device are controlled to stop transporting the coal material.

[0044] Specifically, when the second coal height reaches a second preset height, it indicates that the shuttle car is fully loaded. Therefore, the first and second transfer devices cease transporting coal, allowing the shuttle car to complete coal loading. The second preset height is set to ensure that the shuttle car can reach a full load and minimize the risk of coal spilling from the shuttle car. Furthermore, the first and second preset heights can be the same. It is understood that by comparing the first coal height with the first preset height, comparing the second coal height with the second preset height, and controlling transport by the first and second transfer devices, automatic coal loading onto the shuttle car can be achieved, significantly reducing manual intervention. This not only effectively improves shuttle car loading efficiency and thereby reduces coal loading costs, but also improves shuttle car loading accuracy, reduces the risk of coal overloading and spillage onto the surface, and thereby ensures 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 through the control 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 this embodiment, in the shuttle car loading method, 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 the 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: 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 material along the direction from the second feed end to the above-mentioned second discharge end; obtain the first coal material height and the second coal material height, the above-mentioned first coal material height is the coal material height at the above-mentioned first feed end, and the above-mentioned second coal material height is the coal material height at the above-mentioned first discharge end; when the above-mentioned first coal material height reaches the first preset height, control the above-mentioned first transfer device to transport the above-mentioned coal material along the direction from the above-mentioned first feed end to the above-mentioned first discharge end for a first preset distance; when the above-mentioned second coal material 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 material. The present application controls a shuttle car to move to the coal mining equipment and connects the feed end of a first transfer device in the shuttle car to the discharge end of a 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; measures a first coal height at the feed end of the first transfer device, and when the first coal height reaches a first preset height, controls the first transfer device to transport the coal a first preset distance from the feed end to the discharge end; measures a 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 transport of the first and second transfer devices. This achieves automatic loading of coal onto the shuttle car, significantly reducing manual intervention, effectively improving both the shuttle car's loading efficiency and the shuttle car's loading accuracy. The present application solves the problem in the prior art of manual loading leading to coal overload and spillage onto the ground on the shuttle car.

[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 with reference to specific embodiments.

[0048] In order to achieve remote control of shuttle movement to make the shuttle movement control more flexible and safe, in an optional embodiment, 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 a remote control console, so that the remote control console processes the image data, generates a travel instruction, and transmits 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 to move the shuttle car to the location of the coal mining equipment. The travel mechanism is used to control the movement of the shuttle car.

[0051] In the above-described embodiment, cameras are mounted around the shuttle car to capture image data from all around the shuttle car. This capture of image data from all around the shuttle car enables visual monitoring of the shuttle car's movement. A remote control console is used to remotely control the shuttle car's movement. The specific type of the remote control console can be configured based on actual needs and is not limited thereto. For example, the remote control console can be equipped with a steering wheel, brake pedal, accelerator pedal, emergency stop switch, voice communication system, and display system. The display system can display navigation data, image data, radar charts, and the like. The remote control console can generate corresponding control commands to control the shuttle car's start, movement, steering, braking, loading and unloading, and other functions. A remote controller for the shuttle car can be installed at the coal mining equipment to perform duplicate control or shutdown when necessary. Remote control of the shuttle car's movement is achieved through the control of the remote control console, thereby making the shuttle car's movement control more flexible and safe, thereby ensuring efficient and stable movement of the shuttle car. The control commands include the aforementioned travel commands and other commands. It should be noted that the specific type of camera device can be configured based on actual needs and is not limited to this. For example, the camera device can be multiple cameras, which together form a 360° panoramic image. Furthermore, using the camera device in conjunction with an algorithm, alarm zones, parking zones, and driving zones can be defined around the shuttle to implement personnel approach parking protection. The communication method between the remote control console and the shuttle can be configured based on actual needs and is not limited to this. For example, the remote control console and the shuttle can communicate via wired communication. By adding carrier modules to the shuttle's electrical control box and the shuttle's power supply switch, carrier communication can be achieved using the shuttle's power cable. Ethernet communication can be used between the shuttle's power supply switch and the remote control console. Alternatively, wireless communication can be achieved between the remote control console and the shuttle. The shuttle's electrical control system can be equipped with a 5G communication terminal module to communicate with the 5G network, and the remote control console can communicate with the shuttle via a wired connection to the 5G network.

[0052] In order to ensure that the shuttle car moves efficiently to the coal mining equipment while improving the movement stability of the shuttle car, in an optional embodiment, the above step S201 further includes:

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

[0054] Step S20103: If 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 based on the first positioning data and the second positioning data to move the shuttle car to the position of the coal mining equipment, the travel mechanism being used to control the movement of the shuttle car, and the turning position being the turning position in 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 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.

[0056] Step S20107: Calculate the distance between the shuttle and the turning position based on the first positioning data and the third positioning data to obtain a first distance;

[0057] Step S20109: When the first distance is less than a second preset distance, controlling the travel mechanism of the shuttle according to a first preset acceleration to reduce the moving speed of the shuttle from the first preset speed to a second preset speed until the shuttle passes the turning position;

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

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

[0060] Step S20115: When the second distance is less than a third preset distance, controlling the travel mechanism of the shuttle according to the second preset acceleration to reduce the current moving speed of the shuttle to a 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, the first positioning data and the second positioning data are collected to realize the accurate positioning of the shuttle car and the coal mining equipment, and the travel mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data to realize the movement navigation of the shuttle car, so as to ensure that the shuttle car moves to the coal mining equipment accurately, and then ensures the stable loading of the shuttle car. When there is no turning position between the above shuttle car and the above coal mining equipment, that is, the shuttle car does not need to turn to move to the position of the coal mining equipment, the travel mechanism of the above shuttle car can be directly controlled according to the first positioning data and the second positioning data to move the above shuttle car to the position of the above coal mining equipment. However, when there is a turning position 4 between the above shuttle car 1 and the above coal mining equipment 2, that is, the shuttle car 1 needs to turn to move to the position of the coal mining equipment 2, as shown in Figure 4 the third positioning data is collected to realize the accurate positioning of the turning position 4 between the shuttle car 1 and the coal mining equipment 2, and the travel mechanism of the shuttle car 1 is controlled according to the third positioning data to realize the movement navigation of the shuttle car 1, so as to ensure that the shuttle car 1 accurately passes through the turning position 4 and moves to the coal mining equipment 2, and then ensures 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 in the moving process, when the distance between the shuttle car 1 and the turning position 4 (i.e. the above first distance) is less than the second preset distance, the shuttle car 1 is decelerated from the first preset speed to the second preset speed according to the first preset acceleration, and passes through the turning position 4 at a low speed. When passing through 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. However, 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 the shuttle car 1 can 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 second distance) is less than the third preset distance, the shuttle car 1 is decelerated to the third preset speed until it stops at the coal mining equipment 2. Therefore, while ensuring that the shuttle car 1 moves to the coal mining equipment 2 efficiently, the moving stability of the shuttle car 1 is also improved, and the stable loading of the coal material 3 by the shuttle car 1 is ensured.

[0063] It should be noted that the first positioning device is installed in the shuttle car to collect first positioning data of the shuttle car. The specific type of the first positioning device can be set according to actual needs and is not limited to this. For example, the first positioning device can be a UWB (Ultra Wide Band) base station. The second positioning device is installed in the coal mining equipment 2 to collect second positioning data of the coal mining equipment 2. The specific type of the second positioning device can be set according to actual needs and is not limited to this. For example, the second positioning device can also be a UWB base station. The third positioning device is installed at the turning position 4 to collect third positioning data of the turning position 4. The specific type of the third positioning device can be set according to actual needs and is not limited to this. 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 speed of shuttle car 1 can be controlled by controlling the travel mechanism of shuttle car 1. Specifically, the wheel encoders and wheel drive motors of the travel mechanism cooperate to implement closed-loop travel control, thereby enabling shuttle car 1 to decrease from a first preset speed to a second preset speed based on a first preset acceleration, and from the first preset speed to a third preset speed based on a second preset acceleration. Furthermore, the distance between shuttle car 1 and turning point 4 and the distance between shuttle car 1 and coal mining equipment 2 can be obtained by calculating and processing the first, second, and third positioning data, or by using radar, cameras, or other devices in conjunction with an algorithm. The second preset distance, first preset acceleration, and second preset speed are used to control the low-speed passage of shuttle car 1 through turning point 4. The second preset distance, first preset acceleration, and second preset speed can be set as needed and are not subject to limitation. The third preset distance, second preset acceleration, and third preset speed are used to control the smooth stop of shuttle car 1 at coal mining equipment 2. The third preset distance, second preset acceleration, and third preset speed can be set as needed and are not subject to limitation. 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 embodiment, before the above step S201, the method further includes:

[0065] Step S301: When the shuttle car moves to the position of the coal mining equipment, the first distance measuring device in the shuttle car is controlled 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 is controlled according to the preset steering angle to turn the shuttle 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. When the distance between the side of the shuttle car 1 and the lane side 5 is less than a fourth preset distance, the shuttle car 1 is controlled to steer away from the lane side 5 according to a preset steering angle until the distance between the side of the shuttle car 1 and the lane side 5 exceeds a fifth preset distance. This automatically corrects the direction of movement of the shuttle car 1 and ensures 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. The wheel steering valve and wheel steering angle sensor of the running mechanism cooperate to implement closed-loop steering control, thereby enabling the shuttle car 1 to steer away from the lane side 5 according to the preset steering angle, as well as steer toward the lane side 5 to resume straight travel.

[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. For 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 end as the rear end, then the above-mentioned first side and second side are the left and right sides of the shuttle car respectively.

[0069] The lane side is the side wall of the lane, and the side of the shuttle car and the lane side are arranged relative to each other. For example, the distance between the side of the shuttle car and the lane side collected by the first distance measuring device can be the distance between the first side of the shuttle car and the first lane side of the lane, the above-mentioned first lane side is the lane side close to the above-mentioned first side, and the first side and the first lane side are arranged relative to each other; the distance between the side of the shuttle car and the lane side collected by the first distance measuring device can be the distance between the second side of the shuttle car and the second lane side of the lane, the above-mentioned second lane side is the lane side close to the above-mentioned second side, and the second side and the second lane side are 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 and are not limited to this. 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 side is less than 0.3m, the running mechanism of the shuttle car is controlled according to the preset steering angle to make the shuttle car turn in the direction away from the lane side until the distance between the side of the shuttle car and the lane side is greater than 1m, and then the shuttle car resumes the straight state.

[0071] In order to avoid collision between the shuttle and obstacles and effectively improve the moving safety of the shuttle, in an optional embodiment, before the above step S201, the method further includes:

[0072] Step S401: When the shuttle car moves to the location 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.

[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 to reduce the current moving speed of the shuttle to a 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 shuttle movement 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, accurate positioning of the obstacle 6 in the tunnel is achieved, and when the distance between the shuttle car 1 and the obstacle 6 is less than the sixth preset distance, the shuttle car 1 is decelerated to the fourth preset speed until the shuttle car 1 stops at the obstacle 6. Therefore, while ensuring the efficient movement of the shuttle car 1 to the coal mining equipment, the collision with the obstacle 6 is also 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 mounted on the shuttle 1 to measure the distance between the shuttle 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 thereto. For example, the second distance measuring device can be multiple laser radars, for example, two laser radars located at the front and rear ends of the shuttle 1. Alarm information is used to alert operators and can be, for example, an audible or visual signal emitted by an alarm on the shuttle 1. The sixth preset distance, third preset acceleration, and fourth preset speed are used to control the smooth stop of the shuttle 1 at the obstacle 6. The sixth preset distance, third preset acceleration, and fourth preset speed can be set according to actual needs and are not limited thereto.

[0077] In order to further reduce the shaking and slipping problem of the coal and improve the loading stability of the coal, in an optional embodiment, 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 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 unit is linearly increased according to the soft start rate until it reaches the operating current, thereby achieving a soft start of the first transfer unit. This not only reduces the impact on the structural components within the shuttle car during the startup process, thereby extending the service life of the shuttle car, but also reduces problems such as swaying and slipping of the coal, thereby improving coal loading stability. It should be noted that the soft start rate is used to control the starting current to slowly increase to the operating current to achieve a soft start of the first transfer unit. The soft start rate and operating current can be set according to actual needs and are not limited thereto.

[0081] In order to improve the loading efficiency of the shuttle car, in an optional embodiment, 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: Control the first transfer device to continuously transport the coal according to the first transport 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 complete conveying the coal for the first preset distance from the feed end to the discharge end, the coal at the feed end of the first transfer device has reached the first preset height. Therefore, the first transfer device continues to convey the coal for the first preset distance, thereby achieving continuous coal conveying by the first transfer device and further achieving synchronization of coal loading and coal transfer. Let the conveying speed of the second transfer device be the second conveying speed. The first conveying speed of the first transfer device is determined based on the second conveying speed and the first preset height. When the second conveying speed is greater, the first coal height at the feed end of the first transfer device reaches the first preset height faster, and the first conveying speed is greater. Conversely, when the first preset height is greater, the first coal height at the feed end of the first transfer device reaches the first preset height slower, and the first conveying speed is lower. Therefore, the first conveying speed should be a speed that ensures that the coal can be promptly conveyed when it reaches the first preset height, while not causing excessive accumulation or overflow of the coal 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 are not limited thereto.

[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 present application also provides a shuttle loading device. It should be noted that the shuttle loading device of the present application can be used to perform the shuttle loading method provided in the present application. The device is used to implement the above-mentioned embodiments and preferred embodiments, and the details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[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 the shuttle loading device according to an embodiment of the present application. Figure 7 As shown, the device includes:

[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 is connected to the second discharging end of the coal mining equipment.

[0092] Specifically, the structural 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 includes at least a first transfer device 11, which is a device on the shuttle car 1 for transferring coal delivered by the coal mining equipment 2. The first transfer device 11 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 11, and the first discharge end is the discharge end of the first transfer device 11. The coal mining equipment 2 includes at least a second transfer device 21, which is a device on the coal mining equipment 2 for transferring the coal. The second transfer device 21 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 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 to the discharge end of the second transfer device 21 in the coal mining equipment 2 to facilitate subsequent loading of the shuttle car.

[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, used for short-distance transportation of coal material 3 in the tunneling working face. Usually, the shuttle car 1 reciprocates between the coal mining equipment 2 and the crushing, transportation and other operation equipment to transfer the coal material 3 cut by the coal mining equipment 2 to the operation equipment, thereby meeting the operation needs of underground coal mining. The specific type of the shuttle car 1 can be set according to actual needs, and no limitation is made in this regard. For example, the shuttle car 1 includes a vehicle body, a first transfer device 11, a walking mechanism and the like. The vehicle body is the main structure of the shuttle car 1, which is used to carry various components and carry the coal material 3. The first transfer device 11 is used for the transfer of the coal material 3 on the shuttle car 1 to realize the uniform distribution of the coal material 3 on the vehicle body, thereby ensuring the full load of the shuttle car 1. The walking mechanism is used for the movement of the shuttle car 1, which has the functions of walking, turning, braking and the like. The coal mining equipment 2 is used to cut the coal material 3 on the working face by the cutting part at the front end, and to deliver the coal material 3 at the front end to the shuttle car 1 at the rear end by the second transfer device 21. The specific type of the coal mining equipment 2 can be set according to actual needs, and no limitation is made in this regard. For example, the coal mining equipment 2 can be a continuous miner, a tunneling anchor machine and the like. The first transfer device 11 and the second transfer device 21 are two conveying devices that cooperate with each other. The specific type of the first transfer device 11 and the second transfer device 21 can be set according to actual needs, and no limitation is made in this regard. For example, the first transfer device 11 and the second transfer device 21 can both be a scraper conveyor. The motor 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 convey the coal material in the direction from the second feeding end to the second discharging end.

[0095] Specifically, when the second transfer device continuously conveys the coal material in the direction from the feeding end to the discharging end, the coal material can be continuously accumulated at the feeding end of the first transfer device to realize the automatic loading of the coal material on the shuttle car.

[0096] The first acquisition unit 300 is used to acquire the first coal material height and the second coal material height. The first coal material height is the coal material height of the first feeding end, and the second coal material height is the coal material height of the first discharging end.

[0097] Specifically, the first coal material height is the coal material height at the feed end of the first transfer device (i.e., the above-mentioned first feed end), and the second coal material height is the coal material 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 material height at the feed end of the first transfer device. It is understandable that by using the first AI camera to collect the first coal material height at the feed end of the first transfer device, the first coal material 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 material height at the discharge end of the first transfer device. It is understandable that by using the second AI camera to collect the second coal material height at the discharge end of the first transfer device, the second coal material 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 and second AI cameras are AI cameras that employ AI algorithms to collect coal height information. The specific types of the first and second AI cameras can be configured based on actual needs and are not limited thereto. In addition to the first and second AI cameras, other sensors can also be used to collect the first and second coal height information, and this is not limited thereto.

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

[0100] Specifically, because 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 coal can be continuously accumulated at the feed end of the first transfer device as the second transfer device continuously transports coal from the feed end to the discharge end. Furthermore, when the first coal reaches a first predetermined height, the first transfer device transports the coal a first predetermined distance from the feed end to the discharge end, thereby continuously transferring the coal from the feed end of the first transfer device to the discharge end of the first transfer device and ensuring that there is always space for loading the coal at the feed end of the first transfer device. The first predetermined height should be set to ensure that the shuttle car can be fully loaded and minimize the risk of coal spilling from the shuttle car. The first predetermined distance can be set according to actual needs and is not limited thereto. The first predetermined distance should be set to ensure that, after the shuttle car is loaded, the top of the coal has a flat surface with few peaks and valleys along the feed end to the discharge end of the first transfer device.

[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 a second preset height, it indicates that the shuttle car is fully loaded. Therefore, the first and second transfer devices cease transporting coal, allowing the shuttle car to complete coal loading. The second preset height is set to ensure that the shuttle car can reach a full load and minimize the risk of coal spilling from the shuttle car. Furthermore, the first and second preset heights can be the same. It is understood that by comparing the first coal height with the first preset height, comparing the second coal height with the second preset height, and controlling transport by the first and second transfer devices, automatic coal loading onto the shuttle car can be achieved, significantly reducing manual intervention. This not only effectively improves shuttle car loading efficiency and thereby reduces coal loading costs, but also improves shuttle car loading accuracy, reduces the risk of coal overloading and spillage onto the surface, and thereby ensures 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 coal from the feed end to the discharge end; a first coal height at the feed end of the first transfer device is measured, and when the first coal height reaches a 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; a second coal height at the discharge end of the first transfer device is measured, and when the second coal height reaches the second preset height, the transport of the first and second transfer devices is stopped. This achieves automatic loading of coal onto the shuttle car, thereby significantly reducing manual intervention, effectively improving both the shuttle car loading efficiency and the shuttle car loading accuracy. This application solves the problem in the prior art of manual loading that causes coal overloading and spillage onto the ground on the shuttle car.

[0104] In order to achieve remote control of the shuttle movement to make the shuttle movement control more flexible and safe, in an optional embodiment, the first control unit includes:

[0105] a first control module, 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;

[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 as to move the shuttle car to the position of the coal mining equipment. The travel mechanism is used to control the movement of the shuttle car.

[0107] In the above-described embodiment, cameras are mounted around the shuttle car to capture image data from all around the shuttle car. This capture of image data from all around the shuttle car enables visual monitoring of the shuttle car's movement. A remote control console is used to remotely control the shuttle car's movement. The specific type of the remote control console can be configured based on actual needs and is not limited thereto. For example, the remote control console can be equipped with a steering wheel, brake pedal, accelerator pedal, emergency stop switch, voice communication system, and display system. The display system can display navigation data, image data, radar charts, and the like. The remote control console can generate corresponding control commands to control the shuttle car's start, movement, steering, braking, loading and unloading, and other functions. A remote controller for the shuttle car can be installed at the coal mining equipment to perform duplicate control or shutdown when necessary. Remote control of the shuttle car's movement is achieved through the control of the remote control console, thereby making the shuttle car's movement control more flexible and safe, thereby ensuring efficient and stable movement of the shuttle car. The control commands include the aforementioned travel commands and other commands.

[0108] It should be noted that the specific type of camera device can be configured based on actual needs and is not limited to this. For example, the camera device can be multiple cameras, which together form a 360° panoramic image. Furthermore, using the camera device in conjunction with an algorithm, alarm zones, parking zones, and driving zones can be defined around the shuttle to implement personnel approach parking protection. The communication method between the remote control console and the shuttle can be configured based on actual needs and is not limited to this. For example, the remote control console and the shuttle can communicate via wired communication. By adding carrier modules to the shuttle's electrical control box and the shuttle's power supply switch, carrier communication can be achieved using the shuttle's power cable. Ethernet communication can be used between the shuttle's power supply switch and the remote control console. Alternatively, wireless communication can be achieved between the remote control console and the shuttle. The shuttle's electrical control system can be equipped with a 5G communication terminal module to communicate with the 5G network, and the remote control console can communicate with the shuttle via a wired connection to the 5G network.

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

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

[0111] a fourth control module for controlling a traveling mechanism of the shuttle car based on the first positioning data and the second positioning data to move the shuttle car to the location of the coal mining equipment when there is no turning position in the path between the shuttle car and the coal mining equipment, the traveling mechanism being configured to control the movement of the shuttle car, the turning position being a turning position in the path between the current location of the shuttle car and the location of the coal mining equipment;

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

[0113] a first calculation module, calculating the distance between the shuttle 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, configured to control the travel mechanism of the shuttle according to a first preset acceleration when the first distance is less than a second preset distance, so as to reduce the moving speed of the shuttle from the first preset speed to a second preset speed until the shuttle passes the turning position;

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

[0116] a second calculation module, 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;

[0117] an eighth control module, which controls the travel mechanism of the shuttle according to a second preset acceleration when the second distance is less than a third preset distance, so as to reduce the current moving speed of the shuttle to a 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, the collection of the first positioning data and the second positioning data is used to achieve accurate positioning of the shuttle car and the coal mining equipment, and the running mechanism of the shuttle car is controlled according to the first positioning data and the second positioning data, so as to achieve mobile navigation of the shuttle car, thereby ensuring that the shuttle car moves accurately to the coal mining equipment, and further ensuring 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, as Figure 4 As shown, the third positioning data is also collected to accurately locate the turning point 4 between the shuttle car 1 and the coal mining equipment 2. The shuttle car 1's travel mechanism is controlled based on the third positioning data to achieve mobile navigation of the shuttle car 1, thereby ensuring that the shuttle car 1 accurately passes the turning point 4 and moves to the coal mining equipment 2, thereby ensuring stable loading of the shuttle car 1. The shuttle car 1 moves to the coal mining equipment 2 at a first preset speed. During the movement, when the distance between the shuttle car 1 and the turning point 4 (i.e., the first distance described above) is less than a second preset distance, the shuttle car 1 is decelerated from the first preset speed to a second preset speed according to the first preset acceleration, passing the turning point 4 at a low speed. After passing the turning point 4, the shuttle car 1's movement speed is gradually increased from the second preset speed, and can still be increased to the first preset speed. However, if the distance to the coal mining equipment 2 is close at this time, the shuttle car 1 does not need to be accelerated to the first preset speed, and can also be accelerated from the second preset speed according to the 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 is decelerated 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 improved, ensuring that the shuttle car 1 is stably loaded with coal 3.

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

[0121] a fifth control unit, configured to control the first distance measuring device in the shuttle car to measure the distance between the side of the shuttle car and the roadway wall 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 to obtain a third distance;

[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. When the distance between the side of the shuttle car 1 and the lane side 5 is less than a fourth preset distance, the shuttle car 1 is controlled to steer away from the lane side 5 according to a preset steering angle until the distance between the side of the shuttle car 1 and the lane side 5 exceeds a fifth preset distance. This automatically corrects the direction of movement of the shuttle car 1 and ensures 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. The wheel steering valve and wheel steering angle sensor of the running mechanism cooperate to implement closed-loop steering control, thereby enabling the shuttle car 1 to steer away from the lane side 5 according to the preset steering angle, as well as steer toward the lane side 5 to resume straight travel.

[0124] The lane side is the side wall of the lane, and the side of the shuttle car and the lane side are arranged relative to each other. For example, the distance between the side of the shuttle car and the lane side collected by the first distance measuring device can be the distance between the first side of the shuttle car and the first lane side of the lane, the above-mentioned first lane side is the lane side close to the above-mentioned first side, and the first side and the first lane side are arranged relative to each other; the distance between the side of the shuttle car and the lane side collected by the first distance measuring device can be the distance between the second side of the shuttle car and the second lane side of the lane, the above-mentioned second lane side is the lane side close to the above-mentioned second side, and the second side and the second lane side are 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 and are not limited to this. 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 side is less than 0.3m, the running mechanism of the shuttle car is controlled according to the preset steering angle to make the shuttle car turn in the direction away from the lane side until the distance between the side of the shuttle car and the lane side is greater than 1m, and then the shuttle car resumes the straight state.

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

[0127] a first collecting unit configured to collect, by a second distance measuring device in the shuttle car, the distance between the shuttle car and the obstacle to obtain a fourth distance during the process of the shuttle car moving to the position of the coal mining equipment before the shuttle car is controlled to move 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 a fourth preset speed;

[0129] An 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 shuttle movement 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, accurate positioning of the obstacle 6 in the tunnel is achieved, and when the distance between the shuttle car 1 and the obstacle 6 is less than the sixth preset distance, the shuttle car 1 is decelerated to the fourth preset speed until the shuttle car 1 stops at the obstacle 6. Therefore, while ensuring the efficient movement of the shuttle car 1 to the coal mining equipment, the collision with the obstacle 6 is also 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 slipping problem of the coal and improve the loading stability of the coal, in an optional embodiment, the third control unit includes:

[0132] a tenth control module, configured to linearly increase a starting current of the first transfer device according to a soft start rate until the starting current reaches an 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 according to the operating current to transport the coal material for the first preset distance.

[0134] In the above embodiment, the starting current of the first transfer unit is linearly increased according to the soft start rate until it reaches the operating current, thereby achieving a soft start of the first transfer unit. This not only reduces the impact on the structural components within the shuttle car during the startup process, thereby extending the service life of the shuttle car, but also reduces problems such as swaying and slipping of the coal, thereby improving coal loading stability. It should be noted that the soft start rate is used to control the starting current to slowly increase to the operating current to achieve a soft start of the first transfer unit. The soft start rate and operating current can be set according to actual needs and are not limited thereto.

[0135] To improve the loading efficiency of the shuttle car, in an alternative embodiment, the device further comprises:

[0136] A second acquisition unit is configured to acquire the conveying speed of the second transfer device before the first transfer device and the second transfer device stop conveying the coal material when the second coal material height reaches the second preset height;

[0137] An adjustment unit is configured to adjust 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;

[0138] A ninth control unit is configured to control the first transfer device to continuously convey the coal material according to the first conveying speed until the second coal material 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 continuously conveys the coal material according to the first conveying speed until the second coal material height reaches the second preset height, so that the first transfer device can be in a uniform and smooth conveying state while ensuring that the coal material on the shuttle car can be fully loaded, thereby effectively improving the loading efficiency of the shuttle car and avoiding problems such as shaking and slipping of the coal material due to the constant start and stop of the first transfer device, and further improving the loading stability of the coal material.

[0140] It should be noted that when the first transfer device is about to end conveying the coal material by a first preset distance in the direction from the feeding end to the discharging end, the coal material at the feeding end of the first transfer device reaches the first preset height, and therefore the first transfer device continues to convey the coal material by the first preset distance, thereby realizing continuous conveying of the coal material by the first transfer device and further realizing synchronization of coal material loading and coal material transfer. The conveying speed of the second transfer device is a second conveying speed, and 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 feeding end of the first transfer device reaches the first preset height faster, and therefore the first conveying speed is greater. In addition, when the first preset height is greater, the first coal material height at the feeding end of the first transfer device reaches the first preset height slower, and therefore the first conveying speed is smaller. Therefore, the first conveying speed should be a speed that can ensure that the coal material can be conveyed in time when it reaches the first preset height, while preventing the coal material from being excessively accumulated or overflowing 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 no limitation is made thereto.

[0141] The shuttle vehicle loading device comprises a processor and a memory, the first control unit, the second control unit and the first acquisition unit are stored in the memory as program units, and the corresponding functions are realized by executing the program units stored in the memory by the processor. The modules are located in the same processor, or the modules are located in different processors in any combination.

[0142] The processor comprises a core, and the core calls the corresponding program units in the memory. The core can be one or more, and the problem of overloading of coal on the shuttle vehicle and overflow to the ground caused by manual loading in the prior art can be solved by adjusting the core parameters.

[0143] The memory can 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 memory (flash RAM), and the memory includes at least one memory chip.

[0144] The embodiment of the application provides a computer readable storage medium, the computer readable storage medium comprises a stored program, wherein the computer readable storage medium controls the device to execute the shuttle vehicle loading method when the program runs.

[0145] The embodiment of the application provides a processor, the processor is used for running a program, wherein the processor executes the shuttle vehicle loading method when the program runs.

[0146] The embodiment of the application provides a device, the device comprises a processor, a memory and a program stored in the memory and executable on the processor, and the processor executes the program to realize at least the following steps:

[0147] Step S201, the shuttle vehicle is controlled to move to a position of the coal mining device, so that the first feeding end in the shuttle vehicle and the second discharging end in the coal mining device are connected;

[0148] Step S202, the second transfer device is controlled to continuously convey the coal along the direction from the second feeding end to the second discharging end;

[0149] Step S203, the first coal height and the second coal height are acquired, the first coal height is the coal height of the first feeding end, and the second coal height is the coal height of the first discharging end;

[0150] Step S204, when the first coal height reaches a first preset height, the first transfer device is controlled to convey the coal along the direction from the first feeding end to the first discharging end by a first preset distance;

[0151] Step S205: When the second coal material height reaches a second preset height, the first transfer device and the second transfer device are controlled 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 adapted to execute 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 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 feeding end, and the second coal height is the coal height at the first discharging 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 a first preset distance from the first feeding end to the first discharging end;

[0157] Step S205: When the second coal material height reaches a second preset height, the first transfer device and the second transfer device are controlled to stop transporting the coal material.

[0158] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0159] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0160] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0161] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0162] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flow or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

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

[0164] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), or electrically erasable programmable read only memory (EEPROM), for the storage of software that is read during runtime. The memory is an example of computer readable media.

[0165] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[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 to 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; measures a first coal height at the feed end of the first transfer device, and when the first coal height reaches a first preset height, controls the first transfer device to transport the coal a first preset distance from the feed end to the discharge end; measures a 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 transport of the first and second transfer devices. This achieves automatic loading of coal onto the shuttle car, significantly reducing manual intervention, effectively improving both shuttle car loading efficiency and shuttle car loading accuracy. This application solves the problem in the prior art of manual loading that results in coal overloading and spillage onto the ground on the shuttle car.

[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 to 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; measures a first coal height at the feed end of the first transfer device, and when the first coal height reaches a first preset height, controls the first transfer device to transport the coal a first preset distance from the feed end to the discharge end; measures a 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 transport of the first and second transfer devices, thereby achieving automatic loading of coal onto the shuttle car, thereby significantly reducing manual intervention, effectively improving not only the shuttle car loading efficiency but also the shuttle car loading accuracy. This application solves the problem in the prior art of manual loading that causes coal overload and spillage onto the ground on the shuttle car.

[0170] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection 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 the 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, 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. 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 feed end of the shuttle car is connected to the second discharge end of the coal mining equipment; 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 height and a second coal height, wherein the first coal height is the coal height at the first feeding end, and the second coal height is the coal 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 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. Control the shuttle car to move to the location of the coal mining equipment, including: 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; 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, and the turning position is the turning point of the path between the current position of the shuttle car and the position of the coal mining equipment; 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; 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 passes the turning position, controlling the moving speed of the shuttle to gradually increase from the second preset speed; Calculating the distance between the shuttle car and the coal mining equipment based on 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 a second preset acceleration so as to reduce the current moving speed of the shuttle 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.

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; Receive the travel instruction sent by the remote control console, and control the travel mechanism of the shuttle car according to the travel instruction to move the shuttle car to the position where the coal mining equipment is located. 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: When there is no turning position in the path between the shuttle car and the coal mining equipment, the traveling 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 of the coal mining equipment, and the traveling mechanism is used to control the movement of the shuttle car.

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: During 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: During 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 a sixth preset distance, controlling the travel mechanism of the shuttle according to the third preset acceleration so as to reduce the current moving speed of the shuttle to a fourth preset speed; When the shuttle moves to the obstacle, the shuttle is controlled to stop moving and an alarm message is issued.

6. The method according to claim 1, characterized in that When 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 a starting current of the first transfer device according to a soft start rate until the starting current reaches an operating current of the first transfer device, wherein the soft start rate is 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 in a 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: 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; 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 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.

9. 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