Main shaft automatic loading and unloading method, device, system, electronic equipment and storage medium

Abstract

The application relates to a main shaft automatic loading and unloading system, method, device, electronic equipment and storage medium, and belongs to the technical field of coal loading and unloading. The method comprises the following steps: acquiring the weight of coal loaded each time, the weight of material in a skip, the tension of a steel wire rope and skip image information after coal unloading; performing a judgment step, which comprises the following steps: judging whether the weight of material after skip loading is consistent with the weight of loaded coal; judging whether the weight of material after skip unloading is zero; judging whether the tension of the steel wire rope after skip unloading is consistent with the tension of the steel wire rope when the skip is empty; if at least one of the judgment steps is false, a neural network model is used to analyze the skip image information, the position and residual amount of residual coal in the skip are determined, the impact path and impact strength of an air cannon are determined according to the position and residual amount of the residual coal, and the air cannon is used to treat the residual coal according to the impact path and impact strength. The application reduces the possibility of secondary loading.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal loading and unloading, and in particular to a main shaft automatic loading and unloading method, device, system, electronic equipment and storage medium. BACKGROUND

[0002] The main shaft automatic loading and unloading system is responsible for the production and transportation tasks of the whole mine, and its safe and efficient operation is crucial.

[0003] In the current main shaft automatic loading and unloading PLC system, the coal feeder of the loading and unloading station loads coal into the skip of the hoist, and under the lifting of the hoist, the coal is lifted to the unloading station through the skip, thereby realizing the automatic loading and unloading of coal.

[0004] However, if the internal lining of the skip is damaged due to friction and coal flow impact, or the coal quality changes and becomes sticky, or the coal flow is blocked by gangue, ironware and wood in the coal discharge port, the coal unloading will not be smooth, resulting in residual coal in the skip, incomplete unloading of coal, and the inability of the staff to timely determine whether the skip has been unloaded and to process it, which may cause the skip to descend to the coal feeder for reloading, resulting in secondary loading and safety hazards. SUMMARY

[0005] In order to reduce the possibility of secondary loading and improve transportation safety, the present application provides a main shaft automatic loading and unloading method, device, system, electronic equipment and storage medium.

[0006] In a first aspect, the present application provides a main shaft automatic loading and unloading method applied to a main shaft automatic loading and unloading system, executed by an electronic device, and adopts the following technical solution:

[0007] Obtain the weight of coal loaded each time, the real-time weight of the skip, the tension of the steel wire rope and the image information of the skip after unloading coal;

[0008] Perform a judgment step, which includes:

[0009] Determine whether the weight of the skip after loading is consistent with the weight of the coal;

[0010] Determine whether the skip is empty after discharging according to the weight of the skip;

[0011] Determine whether the skip is empty after discharging according to the tension of the steel wire rope;

[0012] If at least one of the judgment steps is false, analyze the skip image information using a neural network model to determine the position and residual amount of the residual coal pile in the skip;

[0013] Determine the impact path and impact strength of the air cannon according to the position and residual amount of the residual coal pile;

[0014] The air cannon processes the residual coal pile according to the impact path and impact strength.

[0015] By adopting the technical scheme, the electronic device obtains the weight of the coal loaded each time and compares it with the weight after the loading of the skip hopper, so that it can accurately verify whether the loading process is accurate, effectively prevent overloading or insufficient loading, and monitor the skip hopper weight in real time, dynamically master the change of the coal in the skip hopper, and judge whether the skip hopper is empty by combining the skip hopper weight and the steel wire rope tension, thereby improving the judgment accuracy and reliability. The neural network model is used to analyze the skip hopper image information, so that the position and residual amount of the residual coal pile can be accurately determined. The air cannon is used to process the residual coal pile, so that the skip hopper can be completely emptied after each unloading, the transportation and unloading problems caused by the residual coal pile are avoided, the transportation efficiency is improved, manual intervention is reduced, and labor cost is reduced.

[0016] Further, the application neural network model to analyze the skip hopper image information, determine the position and residual amount of the residual coal pile in the skip hopper, comprising:

[0017] Obtain a plurality of time-continuous skip hopper image information;

[0018] Determine the sharpness of each skip hopper image information, and take the skip hopper image information with the highest sharpness as the first image information;

[0019] Input the first image information into the neural network model to determine the contour of the residual coal pile;

[0020] Establish a coordinate system on the first image information, determine a set of coordinate points in the contour, and determine the position of the residual coal pile as the set of coordinate points;

[0021] Obtain point cloud data in the contour, establish a virtual model of the skip hopper according to the point cloud data, determine the volume of the residual coal pile in the virtual model, and calculate the residual amount of the residual coal pile according to the volume.

[0022] By adopting the technical scheme, a plurality of time-continuous skip hopper image information is obtained, and the image with the highest sharpness is selected as the first image information, so that the image data for subsequent processing has high resolution and clear details. The neural network model is used to process the first image information, so that the contour of the residual coal pile can be automatically recognized. The coordinate system is established on the first image information, and the set of coordinate points in the contour is determined, so that the position of the residual coal pile can be accurately positioned. The point cloud data in the contour is obtained, and the virtual model of the skip hopper is established, so that three-dimensional modeling of the residual coal pile can be realized. This helps to more intuitively understand the shape and distribution of the residual coal pile, and then accurately calculate the volume and residual amount thereof.

[0023] Further, the determining the impact path and the impact strength of the air cannon according to the position and the residual amount of the residual coal pile further comprises:

[0024] determining the residual amount of each residual coal pile;

[0025] determining at least one cylindrical impact range according to the residual amount of each residual coal pile, the axis of the impact range being opposite to the air cannon, adjusting the size of the impact range according to a first ratio of the first residual amount of the residual coal pile in the impact range to the total residual amount of all the residual coal piles until the first ratio reaches a first preset value;

[0026] determining the impact path and the impact strength of the air cannon according to the position of the air cannon, the position of each impact range and the size of each impact range.

[0027] By using the above technical solution, the residual coal piles are sorted in descending order according to the residual amount to obtain a first sequence, and then the residual coal pile with a larger residual amount is taken as a main residual body, the impact range is first divided according to the main residual body for analysis, when the first ratio reaches the first preset value, it is determined that the air cannon can solve most of the residual at one time according to the impact range, when the first ratio does not reach the first preset value, the air cannon needs to have a large impact range or generate another impact range, and the next residual coal pile in the first sequence is determined as a new main residual body, when the distance between the main residual body and the original impact range is greater than a preset distance, another impact range is generated to make the air cannon process the residual coal in multiple times, when the distance between the main residual body and the original impact range is greater than a preset value, the impact range is enlarged to make the air cannon continuously process the residual coal, and then the cleaning scheme of the air cannon can be automatically planned according to the actual condition of the residual coal in the skip.

[0028] Further, the determining the impact path and the impact strength of the air cannon according to the position of the air cannon, the position of each impact range and the size of each impact range comprises:

[0029] judging whether each impact range is greater than a maximum impact range corresponding to the maximum impact strength of the air cannon;

[0030] if not greater than the maximum impact range, making the air cannon opposite to the impact range in the virtual model to determine the impact path of the air cannon, and searching for the impact strength of the air cannon corresponding to the impact range according to a preset table;

[0031] if greater than the maximum impact range, overlapping the axis of the impact range with the axis of the maximum impact range, and calculating a second ratio of the first residual amount of the residual coal pile in the impact range to the second residual amount of the residual coal pile in the maximum impact range;

[0032] judging whether the second ratio is greater than a second preset value;

[0033] If the second ratio is greater than a second preset value, the air cannon is made to face the axis of the impact range in the virtual model to determine the impact path of the air cannon, and the maximum impact strength is adopted;

[0034] If the second ratio is not greater than the second preset value, the impact path and impact strength of the air cannon are determined in the virtual model according to the shape of the residual coal pile.

[0035] By adopting the technical solutions described above, the present application further determines the impact path and impact strength according to the position of the air cannon, the position and size of the impact range after the impact range is determined, wherein the air cannon has the maximum impact strength and also has the corresponding maximum impact range. Therefore, the impact range is first compared with the maximum impact range.

[0036] When the impact range is not greater than the maximum impact range, the direction of the air cannon is simulated and determined in the virtual model, and the impact strength required by the impact range is determined according to the specifications of the air cannon. When the impact range is greater than the maximum impact range, the second ratio of the second residual amount located in the maximum impact range to the first residual amount in the overall impact range is calculated when the air cannon adopts the maximum impact strength. When the second ratio is greater than the preset value, the air cannon can impact most of the residual coal when the maximum impact strength is adopted, and due to the fluidity of the coal, the nearby residual coal will also be cleaned up by the way, so the air cannon can be determined to clean up in a fixed direction in the virtual model. When the second ratio is not greater than the second preset value, the air cannon needs to move to clean up, and the method of projecting the circumscribed rectangle is adopted at this time.

[0037] When the rectangle is close to a square, the air cannon can move to clean up in a circle; when the rectangle is not close to a square, i.e. in a strip shape, the air cannon can move to clean up in a back-and-forth manner, and then the moving direction and impact strength of the air cannon are simulated and determined in the virtual model according to the preset rules. Further, the cleaning scheme of the air cannon can be automatically planned according to the actual situation of the residual coal in the skip.

[0038] Further, the method further comprises:

[0039] obtaining video information of the loading station;

[0040] generating an electronic fence in the video information;

[0041] identifying a worker in the video information, and generating an alarm information when the worker enters the electronic fence.

[0042] In a second aspect, the present application provides a main shaft automatic loading and unloading device, which adopts the following technical solutions:

[0043] an acquisition module, configured to acquire the weight of coal loaded each time, the weight of material conveyed in the skip, the tension of the steel wire rope, and image information of the skip after coal is unloaded;

[0044] a judging module configured to perform a judging step, the judging step comprising:

[0045] judging whether the weight of the material in the skip is consistent with the weight of the coal loaded after the skip is loaded;

[0046] judging whether the weight of the material in the skip is zero after the skip is unloaded;

[0047] judging whether the tension of the steel wire rope after the skip is unloaded is consistent with the tension of the steel wire rope when the skip is empty;

[0048] a residual analysis module configured to, if at least one of the judging steps performed by the judging module is false, analyze the skip image information by using a neural network model to determine the position and residual amount of the residual coal pile in the skip;

[0049] an air cannon treatment scheme planning module configured to determine the impact path and impact strength of the air cannon according to the position and residual amount of the residual coal pile;

[0050] an execution module configured to cause the air cannon to treat the residual coal pile according to the impact path and impact strength.

[0051] In a third aspect, the present application provides an automatic loading and unloading system for a main shaft, which adopts the following technical scheme:

[0052] The system comprises a PLC controller, a hoist, a loading station and an unloading station, the hoist is located between the loading station and the unloading station, the hoist comprises a winch and a skip, the winch drives the skip to ascend and descend between the coal feeder and the unloading station;

[0053] The loading station comprises a loading weighing sensor, the skip is provided with a material weighing sensor, the winch is provided with a steel wire rope tension detection sensor, and the unloading station is provided with an air cannon that is opposite to the skip and performs emptying treatment on the skip after the coal is unloaded, a gimbal that regulates the direction of the air cannon, and a laser radar camera that is used to shoot the skip image information after the coal is unloaded;

[0054] The loading weighing sensor, the material weighing sensor, the steel wire rope tension detection sensor and the air cannon are connected with the PLC controller;

[0055] The system further comprises an electronic device, the electronic device is connected with the PLC controller and the laser radar camera respectively, and performs the method according to any one of the first aspect.

[0056] By adopting the technical scheme, the PLC controller acquires data of various sensors, and forwards data calculated by the electronic device to issue instructions to various execution devices, so that comprehensive automatic control of the hoist, the loading station and the unloading station is realized. Further, the loading weighing sensor detects the weight of the loaded coal, the material conveying weighing sensor detects the weight of the coal in the skip, and the electronic device compares the two weights to determine whether it is in a normal loading state. After the skip is unloaded, the skip coal weight and the steel wire rope tension are monitored to determine whether there is residual coal in the skip. With the assistance of the laser radar camera, the residual coal can be treated by the air cannon. Therefore, the degree of automation of the loading and unloading station is further improved, the residual coal does not need to be handled by humans, and the skip is emptied more accurately, thereby improving the overall performance and operation efficiency of the main shaft automatic loading and unloading system.

[0057] In a fourth aspect, the present application provides an electronic device, which adopts the following technical scheme:

[0058] An electronic device comprises:

[0059] at least one processor;

[0060] a memory;

[0061] at least one computer program, wherein the at least one computer program is stored in the memory and configured to be executed by the at least one processor, and the at least one computer program is configured to perform the method according to any one of the second aspect.

[0062] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical scheme:

[0063] A computer-readable storage medium stores a computer program capable of being loaded and executed by a processor to perform the method according to any one of the first aspect.

[0064] In summary, the present application has at least one of the following beneficial technical effects:

[0065] 1. The weight of the coal loaded each time is acquired and compared with the weight after the skip loading hopper, so that it can be accurately verified whether the loading process is accurate, and the overloading or insufficient loading situation is effectively prevented. Real-time skip weight monitoring can dynamically master the change of the coal in the skip, and the skip weight and the steel wire rope tension are combined to determine whether the skip is empty, thereby improving the judgment accuracy and reliability;

[0066] 2. The neural network model is used to analyze the skip image information, so that the position and residual amount of the residual coal pile can be accurately determined;

[0067] 3. The use of air cannons for treating residual coal piles ensures that the skip is completely emptied after each unloading, avoiding problems of transport and unloading due to residual coal piles, improving transport efficiency, reducing manual intervention and reducing labor costs. BRIEF DESCRIPTION OF DRAWINGS

[0068] Figure 1 is the electric control structure diagram of the main shaft automatic loading and unloading system in the embodiment of the application.

[0069] Figure 2 is the flowchart of the main shaft automatic loading and unloading method in the embodiment of the application.

[0070] Figure 3 is the running track schematic diagram generated when the length-width ratio of the minimum bounding rectangle is close to 1 in the embodiment of the application.

[0071] Figure 4 is the running track schematic diagram generated when the length-width ratio of the minimum bounding rectangle is not close to 1 in the embodiment of the application.

[0072] Figure 5 is the structure block diagram of the main shaft automatic loading and unloading device in the embodiment of the application.

[0073] Figure 6 is the structure block diagram of the electronic device in the embodiment of the application.

[0074] Reference signs: 1, PLC controller; 2, loading weighing sensor; 3, material conveying weighing sensor; 4, steel wire rope tension detection sensor; 5, cloud platform; 6, air cannon; 7, laser radar camera; 8, radar material level meter; 9, display screen. DETAILED DESCRIPTION

[0075] To make the objectives, technical solutions and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described below in a clear and complete manner with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some but not all of the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the application.

[0076] In addition, the term “and / or” in this paper is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character “ / ” in this paper generally represents an “or” relationship between the associated objects before and after it, unless otherwise specified.

[0077] The embodiment of the application provides a main shaft automatic loading and unloading system, which refers to Figure 1The loading station is provided with a PLC controller 1, a coal feeder and a hoist, the hoist comprises a winch and a skip, the winch can drive the skip to ascend and descend between the coal feeder and the unloading station.

[0078] Further, the loading station is provided with a loading weighing sensor 2, and the skip is provided with a conveying weighing sensor 3, the loading weighing sensor 2 and the conveying weighing sensor 3 are connected with the PLC controller 1. The PLC controller 1 adopts the combination of PROFINET data communication and I / O hard-wire transmission, and transmits data to the host computer in the garage, which is referred to as an electronic device. Then, the electronic device obtains the weight of the coal loaded into the skip and the actual weight of the coal loaded in the skip, and then can judge whether the coal feeding is accurate by comparison.

[0079] The winch is provided with a steel wire rope tension detection sensor 4, which is also connected with the PLC controller 1, so that the electronic device can comprehensively analyze whether the loading process is normal according to the steel wire rope tension and the weight of the coal.

[0080] After the skip delivers the coal to the unloading station, the coal is unloaded to the unloading station, and then the unloading station receives the coal and performs the next delivery.

[0081] The system further comprises a holder 5, an air cannon 6 and a laser radar camera 7 provided on the unloading station, the holder 5 can drive the air cannon 6 to rotate to different directions and angles, such as the holder 5. The air cannon 6 and the laser radar camera 7 are opposite to the position where the skip ascends to the highest position, when the skip ascends to the highest position and unloads the coal, the air cannon 6 can clean the residual coal in the skip, and the laser radar camera 7 can shoot the image information of the skip after unloading the coal.

[0082] The holder 5, the air cannon 6 and the laser radar camera 7 are all connected with the PLC controller 1, therefore, the electronic device can obtain the image information of the skip through the PLC controller 1, analyze the residual coal in the skip according to the image information of the skip, plan the rotation scheme of the holder 5 and the impact strength of the air cannon 6, and make the air cannon 6 clean the skip according to the planned direction and impact strength.

[0083] Further, in order to improve the stability of the system, the system adopts a double redundancy system, so as to start the standby system in time when a fault occurs, and ensure the stability of the system.

[0084] In order to facilitate the control of starting and stopping the coal feeder, the loading station further comprises a coal feeder bin, the coal feeder bin is provided with a radar material level meter 8, the radar material level meter 8 is connected with the PLC controller 1, when the coal in the coal feeder bin is lower than the preset value, the PLC controller 1 gives feedback to stop the coal feeder.

[0085] The PLC controller 1 is also connected to a display screen 9, which can preferably be a touch screen, for viewing system-related data, such as the coal feeder level, the weight of the material in the skip, the operation data of the hoist, the skip image information, etc.

[0086] The embodiment of the present application discloses a main shaft automatic loading and unloading method, which is applied to a main shaft automatic loading and unloading system, and refers to Figure 2 is executed by an electronic device, which can be a server or a terminal device. The server can be a physical server, a server cluster composed of multiple physical servers, or a distributed system, and can also be a cloud server providing cloud computing services. The terminal device can be a smartphone, a tablet computer, a desktop computer, etc., but is not limited thereto. The method comprises the following steps (steps S101-S105):

[0087] Step S101: acquiring the weight of the coal loaded each time, the weight of the material in the skip, the steel wire rope tension, and the skip image information after unloading.

[0088] Specifically, the electronic device acquires the weight of the coal loaded each time, the weight of the material in the skip, the steel wire rope tension, and the skip image information after unloading by communicating with the PLC controller.

[0089] Step S102: performing a judgment step, which comprises the following steps (steps S1021-S1023):

[0090] Step S1021: judging whether the weight of the material in the skip after loading is consistent with the weight of the coal loaded.

[0091] Step S1022: judging whether the weight of the material in the skip after unloading is zero.

[0092] Step S1023: judging whether the steel wire rope tension after unloading is consistent with the steel wire rope tension when the skip is empty.

[0093] Specifically, in the case of normal loading, the weight of the material in the skip after loading should be consistent with the weight of the coal loaded. If not, there can be residual coal in the skip, resulting in overloading during loading. Further, in the case of normal unloading and emptying, the weight of the material in the skip after unloading should be zero, and the steel wire rope tension should be close to the tension when the empty skip is pulled. Therefore, when the weight of the material in the skip after unloading is not zero or the steel wire rope tension after unloading is not consistent with the steel wire rope tension when the skip is empty, there can be residual coal in the skip.

[0094] If all the judgments in the judgment step are yes, no operation is performed.

[0095] If at least one of the judgments in the judgment step is no, steps S103-S105 are performed.

[0096] Step S103: applying the neural network model to analyze the skip image information to determine the position and residual amount of the residual coal pile in the skip, including (step S1031 to step S1035):

[0097] Step S1031: obtaining skip image information corresponding to multiple consecutive times.

[0098] Specifically, the laser radar camera continuously captures the skip in real time, and the electronic device obtains skip image information at multiple consecutive times after the time when the judgment is negative.

[0099] Step S1032: determining the sharpness of each skip image information, and taking the skip image information with the highest sharpness as the first image information.

[0100] Step S1033: inputting the first image information into the coal material contour convolutional neural network model to determine the contour of the residual coal pile.

[0101] Specifically, the electronic device selects images with higher sharpness for analysis to facilitate improving the accuracy of the analysis results.

[0102] The electronic device pre-trains the coal material contour convolutional neural network model. During training, a large amount of sample data containing coal material images is collected. These sample images cover different forms of coal material, lighting conditions, backgrounds, etc. to ensure the generalization ability of the model. The sample images are labeled to clearly define the contour area of the coal material. The sample images are preprocessed, such as normalization, cropping, rotation, scaling, etc. to improve the training efficiency and accuracy of the model.

[0103] Configure training parameters such as learning rate, batch size, number of iterations, etc., and use preprocessed sample data to train the model. During the training process, the model will continuously adjust the weight and bias parameters to minimize the loss function. By monitoring the loss value and accuracy rate during the training process, the training effect of the model is evaluated.

[0104] Evaluate the trained model using a test data set. Evaluate the performance of the model by calculating accuracy, recall, F1 score, etc. Optimize the model based on the evaluation results, retrain the model based on the optimized model, and evaluate its performance again. Through multiple iterations of training, the accuracy and generalization ability of the model are continuously improved, and the coal material contour convolutional neural network model is trained.

[0105] After the electronic device inputs the first image information into the coal material contour convolutional neural network model, the coal material contour in the first image information can be recognized.

[0106] Step S1034: establishing a coordinate system on the first image information and determining a set of coordinate points within the coal material contour, and determining the set of coordinate points as the position of the residual coal pile.

[0107] Step S1035: Obtain point cloud data in the coal material contour, establish a virtual model of the skip according to the point cloud data in the coal material contour, determine the volume of the residual coal pile in the virtual model, and calculate the residual amount of the residual coal pile according to the volume.

[0108] Specifically, the electronic device can obtain point cloud data of the photographed skip image information through the laser radar camera, and then overlap the point cloud data with the coordinate system to determine the point cloud data located in the coal material contour. The point cloud data includes the three-dimensional coordinates of each point, and then the volume of the residual coal pile can be determined through the three-dimensional coordinates of each point in the coal material contour, and then the residual amount of the residual coal pile can be calculated according to the weight of the coal material per unit volume multiplied by the volume.

[0109] Step S104: Determine the impact path and impact strength of the air cannon according to the position and residual amount of the residual coal pile, including (step S1041 to step S1043):

[0110] Step S1041: Determine the residual amount of each residual coal pile.

[0111] Specifically, the electronic device determines the residual amount of each residual coal pile through image recognition.

[0112] Step S1042: Determine at least one cylindrical impact range according to the residual amount of each residual coal pile, the axis of the impact range is opposite to the air cannon, and adjust the size of the impact range according to the first ratio of the first residual amount of the residual coal pile in the impact range to the total residual amount of all residual coal piles until the first ratio reaches a first preset value.

[0113] Step S1043: Determine the impact path and impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range.

[0114] Wherein, step S1042 includes (step S11 to step S19):

[0115] Step S11: Determine the residual coal pile with the largest residual amount as the main residual body, and determine the distance between each residual coal pile and the main residual body in the virtual model.

[0116] Specifically, the distance between two residual coal piles is determined as the length of the shortest line segment between the edges of the two residual coal piles in the virtual model.

[0117] Step S12: Arrange each residual coal pile in descending order according to the distance, and take the main residual body as the head of the queue to obtain a first sequence.

[0118] Step S13: determining a cylinder impact range including the main residual body contour in the virtual model, the axis of the impact range being opposite to the air cannon.

[0119] Specifically, when the air cannon is working, it will rapidly release the stored compressed air through a specific nozzle or discharge port. During this process, the compressed air will form a powerful air flow, which will maintain a certain shape and speed when it is ejected. Under the premise that the air cannon barrel is circular, the application believes that the generated air column is close to a cylindrical shape.

[0120] Therefore, a cylinder impact range for simulating the impact air flow is generated in the virtual model, and the axis of the impact range is opposite to the air cannon, so as to completely clean the main residual body, and the impact range covers the main residual body contour.

[0121] Perform the following steps in a loop:

[0122] Step S14: determining a first ratio of a sum of a residual amount of the main residual body and a first residual amount of the residual coal pile in the first sequence located in the impact range to a total residual amount of all residual coal piles.

[0123] Specifically, after the impact range is generated in the virtual model, other residual coal piles in the first sequence may also be covered in the impact range, that is, while the main residual body is impacted, the residual coal piles located in the impact range are also impacted. Then, the electronic device determines the first residual amount according to the point cloud data of the residual coal piles located in the impact range.

[0124] The sum of the first residual amount and the residual amount of the main residual body is the amount of coal that can be impacted by the current impact range, and then the first ratio of the sum to the total residual amount can be calculated. The first ratio can determine whether the current impact range can impact most of the residual coal piles.

[0125] Step S15: determining whether the first ratio reaches a first preset value.

[0126] If the first ratio reaches the first preset value, step S1043 is performed: determining the impact path and impact strength of the air cannon according to the location of the air cannon, the location of each impact range, and the size of each impact range.

[0127] Specifically, the electronic device presets the first preset value, which can be set to a value close to 1, for example, 0.97. The closer the first preset value is to 1, the higher the cleanliness that needs to be cleaned by the air cannon. When the first ratio is greater than or equal to the first preset value, it can be determined that the current impact range can impact most of the residual coal piles.

[0128] Further, when the first ratio reaches the first preset value, the electronic device can further determine the impact path and impact strength of the air cannon according to the location and size of the current impact range, in combination with the location of the air cannon.

[0129] If the first ratio does not reach the first preset value, steps S16-S19 are executed.

[0130] Step S16: The next residual pile in the first sequence is taken as a new main residual pile.

[0131] Step S17: It is determined whether the distance between the new main residual pile and each impact range is greater than a preset distance.

[0132] Specifically, the electronic device is preset with the preset distance, which is used to determine whether to change the size of the impact range or reset another impact range.

[0133] If all distances are greater than the preset distance, step S18 is executed: another impact range including the new main residual pile is determined, and the loop step is repeatedly executed until the first ratio reaches the first preset value.

[0134] Specifically, if the distance between the main residual pile and each impact range is greater than the preset distance, the distance between the new main residual pile and each impact range is too far, and it is difficult for the air cannon to impact the new main residual pile when cleaning according to the impact range. Therefore, another impact range including the new main residual pile is generated, and the loop step is further repeated to sequentially determine whether the next residual pile in the first sequence can be impacted.

[0135] If there is at least one distance not greater than the preset distance, step S19 is executed: the radius of the impact range closest to the new main residual pile is enlarged to obtain a new impact range, so that the updated impact range includes the new main residual pile, and the loop step is repeatedly executed until the first ratio reaches the first preset value.

[0136] Specifically, when there is at least one distance not greater than the preset distance, the impact range closest to the new main residual pile is first determined, and its radius is enlarged, and the new main residual pile is contained in the new impact range, and the loop step is further repeated to sequentially determine whether the next residual pile in the first sequence can be impacted.

[0137] Further, when the electronic device executes step S1043, steps S21-S26 are included:

[0138] Step S21: It is determined whether each impact range is greater than the maximum impact range corresponding to the maximum impact strength of the air cannon.

[0139] Specifically, the air cannon has a maximum impact strength, and if the impact range is too large, the air cannon cannot complete the cleaning at one time without changing the direction angle. Therefore, the impact range is compared with the maximum impact range when the maximum impact strength.

[0140] If the impact range is not greater than the maximum impact range, step S22 is performed: the air cannon is made to face the impact range in the virtual model to determine the impact path of the air cannon, and the impact strength of the air cannon corresponding to the impact range is found according to a preset table.

[0141] Specifically, when the impact range is not greater than the maximum impact range, it indicates that the air cannon can work in a fixed direction, so the position of the air cannon is simulated according to the actual situation in the virtual model, and the direction corresponding to when the air cannon faces the impact range is determined, for example, the horizontal direction angle and the numerical direction angle.

[0142] Further, since the size of the impact range is proportional to the impact strength of the air cannon, the stronger the impact strength, the larger the impact range generated. Therefore, the electronic device presets a table, which includes the impact strength of the air cannon corresponding to each size of the impact range, and the impact strength is determined by looking up the table.

[0143] If the preset table does not have an impact strength that completely corresponds to the compared impact range, the impact strength corresponding to the impact range that is greater than and closest to the compared impact range in the preset table is selected.

[0144] If the impact range is greater than the maximum impact range, steps S23-S26 are performed.

[0145] Step S23: The axis of the impact range is overlapped with the axis of the maximum impact range, and the second ratio of the first residual amount of the residual coal pile in the impact range to the second residual amount of the residual coal pile in the maximum impact range is calculated.

[0146] Specifically, if the impact range is greater than the maximum impact range, the operation scheme of the air cannon during cleaning needs to be planned.

[0147] In order to complete the cleaning as soon as possible, the air cannon adopts the maximum impact strength, the axis of the impact range is overlapped with the axis of the maximum impact range, the generatrix length of the maximum impact range is the same as the generatrix length of the impact range, and then the second residual amount of the residual coal pile in the maximum impact range is determined according to the point cloud data.

[0148] Step S24: It is judged whether the second ratio is greater than a second preset value.

[0149] Specifically, the electronic device first calculates the second ratio of the second residual amount to the first residual amount, and has a second preset value, which is close to 1, for example, 0.97, etc. The second preset value is used to measure whether the cleaning of the residual coal pile by the air cannon with the maximum impact strength and without moving can be mostly cleaned.

[0150] If the second ratio is greater than the second preset value, step S25 is performed: the axis of the impact range is made to face the air cannon in the virtual model to determine the impact path of the air cannon, and the maximum impact strength is adopted.

[0151] Specifically, when the second ratio is greater than the second preset value, the air cannon impacts with the maximum impact strength and does not change the direction, most of the residual coal in the impact range can be cleaned up, even if the first residual amount and the second residual amount are not completely equal, in the actual cleaning process, the residual coal can be cleaned up together with a small amount of residual coal caused by the air wave emitted by the air cannon or the vibration caused by the coal falling, so in the virtual model, the air cannon is operated in the direction of the axis of the impact range.

[0152] In another possible implementation, if the second ratio is not greater than the second preset value, the air cannon cannot achieve the expected effect by cleaning the residual coal in one direction, so the operation path of the air cannon needs to be further planned.

[0153] If the second ratio is not greater than the second preset value, step S26 is performed: determining the impact path and impact strength of the air cannon in the virtual model according to the shape of the residual coal.

[0154] Specifically, step S26 includes (step S261 to step S266):

[0155] Step S261: determining the projection of the residual coal located in the impact range on the circular end face of the impact range.

[0156] Step S262: generating the minimum circumscribed rectangle of the projection, and respectively acquiring the length and width of the minimum circumscribed rectangle.

[0157] Specifically, since the air cannon impacts the impact range directly, the projection of the residual coal on the circular end face of the impact range can reflect the general layout of the residual coal. The minimum circumscribed rectangle is used to facilitate the layout of the operation route of the air cannon, so that the air cannon can complete the cleaning with the least path and shorten the cleaning time.

[0158] Further, if the ratio of the length and width of the minimum circumscribed rectangle is close to 1, it indicates that the shape of the minimum circumscribed rectangle is approximately a square, and the air cannon can use the circle drawing mode for cleaning.

[0159] Step S263: if the ratio of the length and width is close to 1, it includes:

[0160] Step S264: taking the line connecting the center of the minimum circumscribed rectangle and any angle as the first line segment.

[0161] If the first line segment is greater than the diameter of the maximum impact range, step S265 is performed: a plurality of concentric circles are generated around the center of the minimum circumscribed rectangle, the radius of the first innermost concentric circle is equal to the radius of the maximum impact range, and the distance between adjacent concentric circles is equal to the diameter of the maximum impact range, a starting point is selected on the innermost concentric circle, and a running track is generated according to the starting point and the concentric circles, so that when the air cannon is directed at the running track and impacts with the maximum impact strength, the minimum circumscribed rectangle is covered, and the air cannon is caused to run in the virtual model to determine the impact path.

[0162] Specifically, if the first line segment is greater than the diameter of the maximum impact range, the air cannon cannot necessarily achieve the expected cleaning effect when it is cleaned around the center of the minimum circumscribed rectangle with the maximum impact strength.

[0163] Referring to Figure 3 a, concentric circles are divided within the minimum circumscribed rectangle, each concentric circle is a track facing the axis of the air cannon when it runs one circle, after the concentric circles are divided, a starting point is selected on the innermost circle, and after the innermost circle is run, the outer circle is translated to reach the point ki (i = 1, 2, …, n, n is the number of concentric circles), then the second circle is moved, and then each concentric circle is sequentially walked from the inside to the outside.

[0164] After the running track is determined, the electronic device causes the air cannon to move according to the running track in the virtual model to determine the actual impact path of the air cannon.

[0165] If the first line segment is not greater than the diameter of the maximum impact range, step S183 is performed: a circular running track is generated with the center of the minimum circumscribed rectangle as the center and half the length of the first line segment as the radius, the air cannon is caused to run in the virtual model to obtain the impact path, the first line segment is taken as the impact diameter of the air cannon, and the impact strength of the air cannon corresponding to the impact diameter is looked up according to a preset table.

[0166] Specifically, referring to Figure 3 b in the description, if the first line segment is not greater than the diameter of the maximum impact range, the air cannon moves in a circular manner, and the circular track has a starting point at any point on the circular track.

[0167] In the virtual model, the axis of the maximum impact range generated by the air cannon moves along the circular track to obtain the running path of the air cannon. In order to completely clean the residual coal pile, the length of the first line segment is taken as the impact diameter of the air cannon, the impact range of the air cannon is greater than the minimum circumscribed rectangle, and all the residual coal pile can be covered to achieve a better cleaning effect.

[0168] Further, the electronic device determines the impact strength of the air cannon corresponding to the impact diameter according to the table lookup method.

[0169] In another implementation, if the ratio of the length and the width of the minimum bounding rectangle is not close to 1, the air cannon can be used in a reciprocating manner for cleaning.

[0170] Step S266: if the ratio of the length and the width is not close to 1, the following steps are included:

[0171] If the width is greater than the diameter of the maximum impact range, step S267 is performed: a starting point is determined on any width, the distance between the starting point and the nearest corner is equal to the radius of the maximum impact range, a running track of reciprocating translation movement is generated in the minimum bounding rectangle, and the axis of the air cannon is directed to the running track to impact with the maximum impact strength, so as to cover the minimum bounding rectangle. The air cannon is made to run in the virtual model to determine the impact path.

[0172] Specifically, if the width is greater than the diameter of the maximum impact range, the air cannon needs to reciprocate at least once with the maximum impact strength to complete the cleaning. Therefore, the running track of reciprocating translation movement is generated in the minimum bounding rectangle, and the actual impact path of the air cannon is determined through the virtual model.

[0173] Referring to a in Figure 4 , a starting point is determined on the width, and then a first track parallel to the length is generated, and then the second track parallel to the length is generated by moving downward along the width, the distance between the adjacent two tracks parallel to the length is equal to the diameter corresponding to the maximum impact range, and then the running track is generated.

[0174] If the width is not greater than the diameter of the maximum impact range, step S268 is performed: a starting point is determined at the midpoint of any width, and a running track is generated parallel to the length, the air cannon is made to run in the virtual model to determine the impact path, the width is determined as the impact diameter, and the impact strength of the air cannon corresponding to the impact diameter is found according to the preset table.

[0175] Specifically, referring to b in Figure 4 , if the width is not greater than the diameter of the maximum impact range, the air cannon can move along a straight line to complete the cleaning, and therefore the running track is generated in the minimum bounding rectangle. The impact path is determined through simulation in the virtual model.

[0176] Step S105: the air cannon is made to process the residual coal pile according to the impact path and the impact strength.

[0177] Specifically, after the electronic device determines the impact path and the impact strength, the driving scheme of the gimbal is determined according to the impact path, and the gimbal is made to act according to the driving scheme by sending a command to the PLC controller, so that the air cannon runs according to the impact path and works with the impact strength, thereby completing the processing of the residual coal pile.

[0178] In another possible implementation, the above method further includes:

[0179] acquire video information of the loading station; generate an electronic fence in the video information; identify a worker in the video information, and generate an alarm information when the worker enters the electronic fence.

[0180] Specifically, a camera is arranged at the loading station, and the camera captures a dangerous operation area, such as a position of a hoist, a coal feeder or a discharging machine. The camera is connected with a PLC controller, and the electronic device generates an electronic fence in the video information after acquiring the video information through the PLC controller. Then, a worker in the video information is identified, and an alarm is generated when the worker enters the electronic fence, prompting the worker to pay attention to operation safety.

[0181] To better implement the above method, the embodiment of the application further provides a main shaft automatic loading and unloading device, referring to Figure 5 , the main shaft automatic loading and unloading device 200 comprises:

[0182] The acquisition module 201 is configured to acquire a coal weight of each loading, a conveying weight in the skip, a steel wire rope tension and skip image information after discharging coal;

[0183] The judgment module 202 is configured to execute a judgment step, and the judgment step comprises:

[0184] judging whether the conveying weight after feeding the skip is consistent with the coal weight of the loading;

[0185] judging whether the conveying weight after discharging the skip is zero;

[0186] judging whether the steel wire rope tension after discharging the skip is consistent with the steel wire rope tension when the skip is empty;

[0187] The residual analysis module 203 is configured to, when at least one of the judgment steps executed by the judgment module 202 is false, analyze the skip image information by using a neural network model to determine a position and a residual amount of a residual coal pile in the skip;

[0188] The air cannon treatment scheme planning module 204 is configured to determine an impact path and an impact strength of the air cannon according to the position and the residual amount of the residual coal pile;

[0189] The execution module 205 is configured to make the air cannon treat the residual coal pile according to the impact path and the impact strength.

[0190] Further, the residual analysis module 203 is specifically configured to:

[0191] acquire skip image information corresponding to a plurality of continuous times;

[0192] determine a definition of each skip image information, and take the skip image information with the highest definition as first image information;

[0193] input the first image information into the coal material contour convolutional neural network model to determine the contour of the residual coal pile;

[0194] establish a coordinate system on the first image information, determine a set of coordinate points within the coal material contour, and determine the position of the residual coal pile as the set of coordinate points;

[0195] obtain point cloud data within the coal material contour, establish a virtual model of the skip according to the point cloud data, determine the volume of the residual coal pile in the virtual model, and calculate the residual amount of the residual coal pile according to the volume.

[0196] Further, the air cannon treatment scheme planning module 204 is specifically configured to:

[0197] determine the residual amount of each residual coal pile;

[0198] determine at least one cylindrical impact range according to the residual amount of each residual coal pile, the axis of the impact range is opposite to the air cannon, and adjust the size of the impact range according to a first ratio of the first residual amount of the residual coal pile in the impact range to the total residual amount of all residual coal piles until the first ratio reaches a first preset value;

[0199] determine the impact path and impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range.

[0200] When the residual analysis module 203 determines the impact path and impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range, it is specifically configured to:

[0201] determine whether each impact range is greater than the maximum impact range corresponding to the maximum impact strength of the air cannon;

[0202] if not greater than the maximum impact range, determine the impact path of the air cannon in the virtual model opposite to the impact range, and find the impact strength of the air cannon corresponding to the impact range according to a preset table;

[0203] if greater than the maximum impact range, overlap the axis of the impact range with the axis of the maximum impact range, and calculate a second ratio of the first residual amount of the residual coal pile in the impact range to the second residual amount of the residual coal pile in the maximum impact range;

[0204] determine whether the second ratio is greater than a second preset value;

[0205] if the second ratio is greater than the second preset value, determine the impact path of the air cannon in the virtual model opposite to the axis of the impact range, and use the maximum impact strength;

[0206] If the second ratio is not greater than the second preset value, the impact path and impact strength of the air cannon are determined in the virtual model according to the shape of the residual coal pile.

[0207] Further, the main shaft automatic loading and unloading device 200 further comprises:

[0208] The video information acquisition module is configured to acquire video information of the loading station.

[0209] The electronic fence generation module is configured to generate an electronic fence in the video information.

[0210] The alarm module is configured to identify a worker in the video information, and generate an alarm information when the worker enters the electronic fence.

[0211] The various changes and specific examples in the method in the foregoing embodiments are also applicable to the main shaft automatic loading and unloading device in this embodiment. Through the foregoing detailed description of the main shaft automatic loading and unloading method, those skilled in the art can clearly understand the implementation method of the main shaft automatic loading and unloading device in this embodiment. Therefore, for the sake of brevity of the description, the implementation method of the main shaft automatic loading and unloading device in this embodiment will not be described in detail.

[0212] To better implement the above method, an electronic device is provided in an embodiment of the present application, which refers to Figure 6 The electronic device 300 comprises a processor 301 and a memory 303. The memory 303 is connected to the processor 301, for example, through a bus 302. Optionally, the electronic device 300 can further comprise a transceiver 304. It should be noted that the transceiver 304 is not limited to one in actual application, and the structure of the electronic device 300 does not constitute a limitation on the embodiments of the present application.

[0213] The processor 301 can be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, digital signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure content of the present application. The processor 301 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0214] The bus 302 can include a path that transmits information between the above-mentioned components. The bus 302 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 302 can be divided into an address bus, a data bus, a control bus, and the like.

[0215] The memory 303 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0216] The memory 303 is used to store application program codes for implementing the scheme of the present application, and is controlled by the processor 301 to perform. The processor 301 is used to execute the application program codes stored in the memory 303 to realize the content shown in the foregoing method embodiments.

[0217] Figure 6 The electronic device 300 shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0218] The embodiment of the application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the main shaft automatic loading and unloading method provided by the above embodiment, the weight of the coal material loaded each time is obtained, and the weight after the loading hopper is compared, so that it can be verified whether the loading process is accurate, the overloading or insufficient loading situation is effectively prevented, the real-time loading hopper weight monitoring can dynamically master the change of the coal material in the loading hopper, the loading hopper is judged to be emptied or not by combining the loading hopper weight and the steel wire rope tension, the judgment accuracy and reliability are improved, the neural network model is used to analyze the loading hopper image information, the position and residual amount of the residual coal pile can be accurately determined, the air cannon is used to process the residual coal pile, the loading hopper can be completely emptied after each unloading, the transportation and unloading problems caused by the residual coal pile are avoided, the transportation efficiency is improved, the manual intervention is reduced, and the labor cost is reduced.

[0219] In the embodiment, the computer readable storage medium can be a tangible device that maintains and stores instructions for use by an instruction execution device. The computer readable storage medium can be, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer readable storage medium can be a portable computer disk, a hard disk, a U disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, an optical disk, a magnetic disk, a mechanical coding device, and any combination thereof.

[0220] The computer program in the embodiment includes program codes for executing all the above methods, and the program codes can include instructions corresponding to the execution of the method steps provided by the above embodiment. The computer program can be downloaded from the computer readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device through a network (such as the Internet, a local area network, a wide area network, and / or a wireless network). The computer program can be completely executed on a user computer, or executed as a separate software package.

[0221] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so: all equivalent changes made according to the structure, shape, principle of the application should be covered in the protection scope of the application.

[0222] In addition, it should be understood that relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. A main shaft automatic loading and unloading method applied to a main shaft automatic loading and unloading system, executed by an electronic device, characterized in that, The method comprises the following steps: acquiring the weight of the coal loaded each time, the weight of the material in the skip, the tension of the steel wire rope, and the image information of the skip after the coal is unloaded; performing a judgment step, which comprises: judging whether the weight of the material in the skip after the coal is loaded is consistent with the weight of the coal loaded each time; judging whether the weight of the material in the skip after the coal is unloaded is zero; judging whether the tension of the steel wire rope after the coal is unloaded is consistent with the tension of the steel wire rope when the skip is empty; if at least one of the judgment steps is false, analyzing the image information of the skip by using a neural network model to determine the position and the amount of the residual coal in the skip; determining the impact path and the impact strength of the air cannon according to the position and the amount of the residual coal; causing the air cannon to process the residual coal according to the impact path and the impact strength; the method of determining the impact path and the impact strength of the air cannon according to the position and the amount of the residual coal further comprises: determining the amount of each residual coal; determining at least one cylindrical impact range according to the amount of each residual coal, the axis of the impact range being opposite to the air cannon, and adjusting the size of the impact range according to the first ratio of the first amount of the residual coal in the impact range to the total amount of all the residual coal until the first ratio reaches a first preset value; determining the impact path and the impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range; the method of determining the impact path and the impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range comprises: judging whether each impact range is greater than the maximum impact range corresponding to the maximum impact strength of the air cannon; if not greater than the maximum impact range, determining the impact path of the air cannon by causing the air cannon to be opposite to the impact range in a virtual model, and finding the impact strength of the air cannon corresponding to the impact range according to a preset table; if greater than the maximum impact range, overlapping the axis of the impact range with the axis of the maximum impact range, and calculating the second ratio of the first amount of the residual coal in the impact range to the second amount of the residual coal in the maximum impact range; judging whether the second ratio is greater than a second preset value; if the second ratio is greater than the second preset value, determining the impact path of the air cannon by causing the air cannon to be opposite to the axis of the impact range in a virtual model, and adopting the maximum impact strength; if the second ratio is not greater than the second preset value, determining the impact path and the impact strength of the air cannon according to the shape of the residual coal in a virtual model.

2. The method of claim 1, wherein, the method of analyzing the image information of the skip by using a neural network model to determine the position and the amount of the residual coal in the skip comprises: acquiring the image information of the skip corresponding to multiple continuous times; determining the definition of each image information of the skip, and taking the image information with the highest definition as the first image information; inputting the first image information into a coal profile convolutional neural network model to determine the profile of the residual coal; establishing a coordinate system on the first image information, and determining a set of coordinate points in the profile of the coal to determine the position of the residual coal. Obtaining point cloud data in the coal material profile, establishing a virtual model of the skip according to the point cloud data, determining the volume of the residual coal pile in the virtual model, and calculating the residual amount of the residual coal pile according to the volume.

3. The method of claim 1, wherein, The method further comprises: Obtaining video information of the loading station; Generating an electronic fence in the video information; Identifying a worker in the video information, and generating an alarm information when the worker enters the electronic fence.

4. A main shaft automatic loading and unloading device based on the method according to any one of claims 1 to 3, characterized in that, Comprise: An acquisition module is configured to acquire the weight of the coal material for each loading, the weight of the material in the skip, the tension of the steel wire rope, and image information of the skip after unloading of the coal material; A judgment module is configured to perform a judgment step, which comprises: Judging whether the weight of the material in the skip after loading of the coal material is consistent with the weight of the coal material for each loading; Judging whether the weight of the material in the skip after unloading of the coal material is zero; Judging whether the tension of the steel wire rope after unloading of the coal material is consistent with the tension of the steel wire rope when the skip is empty; A residual analysis module is configured to, when at least one of the judgment steps performed by the judgment module is false, analyze the image information of the skip by using a neural network model to determine the position and residual amount of the residual coal pile in the skip; An air cannon treatment scheme planning module is configured to determine the impact path and impact strength of the air cannon according to the position and residual amount of the residual coal pile; An execution module is configured to cause the air cannon to treat the residual coal pile according to the impact path and impact strength. The air cannon treatment scheme planning module is specifically configured to: Determine the residual amount of each residual coal pile; Determine at least one cylindrical impact range according to the residual amount of each residual coal pile, the axis of the impact range being opposite to the air cannon, adjust the size of the impact range according to a first ratio of the first residual amount of the residual coal pile in the impact range to the total residual amount of all residual coal piles until the first ratio reaches a first preset value; Determine the impact path and impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range. When the residual analysis module determines the impact path and impact strength of the air cannon according to the position of the air cannon, the position of each impact range, and the size of each impact range, the residual analysis module is specifically configured to: Judge whether each impact range is greater than a maximum impact range corresponding to the maximum impact strength of the air cannon; If not greater than the maximum impact range, determine the impact path of the air cannon in the virtual model so that the air cannon is opposite to the impact range, and find the impact strength of the air cannon corresponding to the impact range according to a preset table; If greater than the maximum impact range, overlap the axis of the impact range with the axis of the maximum impact range, calculate a second ratio of the first residual amount of the residual coal pile in the impact range to a second residual amount of the residual coal pile in the maximum impact range; Judge whether the second ratio is greater than a second preset value; If the second ratio is greater than the second preset value, determine the impact path of the air cannon in the virtual model so that the air cannon is opposite to the axis of the impact range, and adopt the maximum impact strength; If the second ratio is not greater than the second preset value, determine the impact path and impact strength of the air cannon in the virtual model according to the shape of the residual coal pile.

5. A main shaft automatic loading and unloading system characterized by, The application is applied to a loading station, comprising a PLC controller (1), a hoist and a coal feeder, the hoist comprises a winch and a skip, the winch drives the skip to ascend and descend between the coal feeder and an unloading station; The coal feeder comprises a loading weighing sensor (2), the skip is provided with a feeding weighing sensor (3), the winch is provided with a steel wire rope tension detection sensor (4), the system further comprises an air cannon (6) arranged on the unloading station and facing the skip ascending to the highest position and emptying the skip after unloading coal, a holder (5) for regulating the direction of the air cannon (6) and a laser radar camera (7) for shooting the image information of the skip after unloading coal; The loading weighing sensor (2), the feeding weighing sensor (3), the steel wire rope tension detection sensor (4), the air cannon (6), the holder (5) and the laser radar camera (7) are connected with the PLC controller (1); Further comprising an electronic device, the electronic device is connected with the PLC controller (1) and executes the method as claimed in any one of claims 1-3.

6. The system of claim 5, wherein, Further comprising: The system adopts a double redundancy system; The loading station further comprises a coal feeder bin, the coal feeder bin is provided with a radar material level meter (8), the radar material level meter (8) is connected with the PLC controller (1); The PLC controller (1) is further connected with a display screen (9).

7. An electronic device, comprising: Comprise: At least one processor; Memory; At least one computer program, wherein the at least one computer program is stored in the memory and is configured to be executed by the at least one processor, the at least one computer program is configured to execute the method as claimed in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer program is stored and can be loaded and executed by the processor to execute the method as claimed in any one of claims 1 to 3.

Images