Cutting coal path planning of shearer up-drum based on double arc spline curve
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摘要: 采煤机上滚筒常发生切割顶板岩层的现象，这不仅会缩短滚筒截齿寿命，还会降低采出率，因此必须对上滚筒割煤路径进行规划。而传统的采煤机割煤路径规划方法存在误差较大、无法适应地质条件的改变、算法复杂等问题。针对上述问题，提出了一种基于双圆弧样条曲线的采煤机上滚筒割煤路径规划方法。首先采集工作面钻孔、回风巷、运输巷及切眼等的数据建立三维煤层地质模型；然后根据煤壁空间坐标系对模型进行仿真切割，得到顶板控制点集合，以相邻两点为一组建立连续控制点坐标系，根据双圆弧基本结构求解圆弧半径及圆心坐标，根据圆弧参数得出相邻两控制点之间的路径，即上滚筒割煤路径；最后采用遗传算法分析顶板曲线与割煤路径之间的关系，建立煤岩适应度函数模型，经过选择、交叉、变异操作对割煤路径进行仿真优化，得到更为合理、精确度更高的割煤路径。仿真结果表明：通过遗传算法优化得到了较为光滑的割煤路径，其中上滚筒割煤路径与顶板误差范围为0.183 9~0.349 3 m，上滚筒截割顶板岩层现象得到改善，表明优化路径有效地减少了切矸量，提高了采出率。Abstract: The life of the drum cutters is shortened and the coal output rate is reduced due to the problem that the shearer up-drum often cuts the roof rocks. It is therefore essential to plan the cutting path of the up-drum. However, the characteristic features of traditional methods are large errors, inability to adapt to changes in geological conditions and complicated algorithms. A method for cutting coal path planning of shearer up-drum based on double arc spline curve is proposed to solve the above problems. Firstly, the data of borehole, return airway, headentry and open-off cut from the working face is collected to build a three-dimensional geologic model of coal seam; Secondly, the model is simulated and cut to obtain a set of roof control points according to the coal wall spatial coordinate system, and a continuous control point coordinate system is established with two adjacent points as a group. The arc radius and center coordinates are calculated according to the basic structure of double arc, and the path between two adjacent control points, namely the up-drum cutting path, is obtained according to the arc parameters. A genetic algorithm is used to analyze the relationship between the roof curve and the cutting path so as to establish the rock fitness function model. A more reasonable and accurate cutting path is achieved by simulating and optimizing the cutting path through selection, crossover and mutation operations. Simulation results show that a smoother cutting path is obtained through genetic algorithm optimization. The error range between the up-drum cutting path and the roof is 0.183 9-0.349 3 m. The problem that the up-drum cutting the roof rocks has been improved, indicating that the optimized path effectively reduces the gangue amount and increases the recovery rate.
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