Digital coal seam-based precision mining system for fully mechanized working face
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摘要: 针对目前以记忆截割为核心技术的自动化采煤技术无法自主感知工作面地质条件变化，采煤机难以实现根据煤层厚度变化自动进行调高控制，而对于精准开采方面也只是初步探索的问题，研发了一种基于数字煤层的综采工作面精准开采系统。该系统首先利用煤矿地质数据、工作面切眼数据和工作面运输巷与回风巷地质写实数据和三次样条插值方法建立初始三维数字煤层模型。然后通过综采设备惯性导航系统、里程计、雷达、角度传感器等动态感知采煤机实际行走轨迹和截割轨迹，对建立的初始三维数字煤层模型进行动态修正，生成刮板输送机直线度检测曲线。最后根据修正后的三维数字煤层模型动态规划采煤机截割轨迹曲线，并下发给采煤机控制系统，指导采煤机根据煤层厚度变化自动进行调高控制；通过刮板输送机直线度检测曲线和液压支架行程信息综合分析计算下一刀每台液压支架推移的偏差量，并将下一刀每台液压支架推移的偏差量下发给综采工作面液压支架控制系统，实现液压支架自动调直。试验结果表明：该系统实现了采煤机截割轨迹动态规划、调高轨迹自动跟踪控制和液压支架自动调直；通过三维数字煤层模型的CT切片可以获取采煤机规划刀的截割轨迹，规划的截割轨迹误差小于0.2 m；在无人工干预情况下，对于250 m长的工作面自动化割煤时间大约为1 h，自动割三角煤时间大约为30 min。Abstract: The current automatic coal mining technology with memory cutting as the core technology cannot perceive the changes of geological conditions of the working face autonomously, and the shearer can hardly realize automatic height adjustment control according to the changes of coal seam thickness.And it is only a preliminary exploration for precision mining.In order to solve the above problems, a digital coal seam-based precision mining system for fully mechanized working face is developed.Firstly, the system establishes the initial 3D digital coal seam model by using coal mine geological data, working face cutting data and geological realistic data of the working face transportation and return air roadways and the cubic spline interpolation method.Secondly, through the fully mechanized mining equipment inertial navigation system, odometer, radar, angle sensor, the model dynamically senses the actual walking trajectory and cutting trajectory of the shearer, and dynamically corrects the established initial 3D digital coal seam model and generates the straightness detection curve of the scraper conveyor.Finally, according to the revised 3D digital coal seam model, the cutting trajectory curve of the shearer is dynamically planned and sent to the shearer control system to instruct the shearer to automatically adjust the height according to the change of coal seam thickness.Through the scraper conveyor straightness detection curve and hydraulic support travel information comprehensive analysis, the model calculates the displacement deviation of each hydraulic support for the next cut.And the displacement deviation of each hydraulic support for the next cut is sent to the hydraulic support control system of the fully mechanized working face to realize the hydraulic support automatic straightening.The test results show that the system realizes dynamic planning of cutting trajectory of the shearer, automatic tracking control of the height adjustment trajectory and automatic straightening of hydraulic support.The cutting trajectory of the shearer planning knife can be obtained through the CT slice of 3D digital coal seam model.The planned cutting trajectory error is less than 0.2 m.Without human intervention, the automatic cutting time is about 1 h for 250 m long working face, and the automatic cutting time for triangular coal is about 30 min.
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