| With the gradual implementation of the national strategy for the construction of intelligent coal mines,the technology of fully mechanized mining face with few people and unmanned mining has developed rapidly.After collaborative research and development,major mining groups have realized an intelligent mining mode based on the "memory cutting" technology.However,due to the shortcomings of the "memory cutting" technology,the automatic height adjustment mode of the shearer is still passive,and the real-time coupling with the geological model is weak.During the mining process,manual correction is still required to adapt to the changes in the coal seam.This thesis proposes a shearer mining control baseline planning algorithm based on a high-precision three-dimensional dynamic geological model with the goal of selfadaptive cutting of the shearer in the fully mechanized working face and realizing the optimal mining in the local area.It realizes the synchronous planning of pitching base line,bottom cutting path and roof cutting path of fully mechanized working face.Collect and sort out the coal seam geological information of the fully mechanized working face,establish a gray geographic information system space-time database,and realize the dynamic correction of the high-precision 3D geological model of the working face.The positional relationship before and after the advance of the scraper conveyor is analyzed,and a conveyor advance simulation algorithm is proposed to simulate the continuous advancing path of the shearer.Analyze the closed area between the shearer’s advancing path and the coal seam floor,and propose an area control method to realize the calculation of the optimal advancing path.The floor grid data model is constructed with the optimal advancing path control points of the shearer,and the control points are corrected with the vertical curvature of the scraper conveyor,so as to realize the two-way constraint of the floor control points,and at the same time plan the pitch control baseline and the floor planning cutting path of the fully mechanized working face.Finally,based on the planning method of the floor control baseline,two kinds of roof cutting path planning algorithms are proposed.The main research contents are as follows:(1)This thesis analyzes the operation mechanism of the shearer,summarizes the constraints that need to be considered when adjusting the drum of the shearer,puts forward the mining mode of "planning cutting" based on the prediction data of the geological model,and designs the cutting path planning and management system of the fully mechanized working face.(2)Comparing the detection results of different geophysical methods,focusing on analyzing the influence of directional drilling and working face manual sketch data on improving the accuracy of the geological model,it is proposed a construction method of high-precision three-dimensional dynamic geological model of the fully mechanized working face,which uses directional drilling data to describe the coal seam trend and corrects the geological model with working face sketch data.l(3)It is proposed to process the geological data of the fully mechanized working face based on grey geographic information system theory,build a grey geographic information system spatiotemporal database,increase support for temporal data fusion,and adopted an improved "version+incremental" spatiotemporal data model to improve the efficiency of data storage and processing.(4)The adjustment and control parameters of the shearer drum are analyzed,the communication interface for calculating the drum adjustment parameters and the communication protocol between the planning cutting system and the shearer control system are designed,and the precise control of the shearer drum based on the planning cutting path is realized.(5)An in-depth study of the spatial position relationship before and after the scraper conveyor is carried out,and a complete set of moving simulation algorithms is derived.Considering the pitch angle of the shearer and the step amount of the floor of the fully mechanized working face comprehensively,all possible situations of the floor after the shearer is continuously propelled are simulated and calculated,and the selection principle of the optimal propelling path is put forward.(6)Based on the optimal advancing path,it is proposed a method for constructing a data grid model of the floor with the floor control points as the skeleton.The control points are detected by the vertical curvature of the scraper conveyor,and the correction methods of abnormal points in different situations are studied.Finally,based on the floor control point grid,the control points are connected along the pulling direction to form the planned cutting path of the trailing drum,and the control points are connected along the advancing direction to generate the working face pitch mining control baseline.(7)Based on the planning process of the advancing path and the cutting path of the floor,two kinds of planning algorithms for the roof cutting path are proposed.the pitch mining algorithm and the coal seam boundary tracking algorithm.The pitch mining algorithm can better adapt to the change of the coal seam roof and realize the optimal mining in the region;the coal seam boundary tracking algorithm can simplify the operation and realize the rapid calculation of the adjustment amount of the drum.(8)The realization and application of the path planning system was carried out in the test mine,and the planning of the pitching baseline of the floor and the cutting path of the roof and floor were realized.After practical production application,under relatively stable production conditions,the planned cutting production method has an average daily output of 5665.60 t,and the average daily footage of two lanes is 2.88 m.Compared with the conventional production model,the average daily output is increased by 27.50%,and the average daily footage is increased by 14.29%,the production efficiency is significantly improved. |
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