Research On Theory And Method Of Coordinate Position Monitoring For Shearer And Scraper Conveyor

With the rapid development of China’s technology and the transformation and upgrading of energy production and consumption concepts,coal mining methods continue to develop in the direction of green intelligence.Shearer and scraper conveyors are important equipments for fully mechanized mining face,and the two are closely The synergistic motion relationship,real-time accurate monitoring of the position of the shearer and scraper conveyor is an important condition to ensure the safe and efficient production of the shearer and scraper conveyor.The current monitoring of shearer and scraper conveyor is mainly for the attitude and position of single machine.There are few studies on effective collaborative monitoring of shearer and scraper conveyor,and the existing research is mainly focused on the ideal level.Under the working face conditions,the actual situation of the underground under the complicated working conditions is not considered.The research on the shape of the scraper conveyor ignores the terrain conditions.The cooperative motion relationship between shearer and scraper conveyor was analyzed,and the cooperative monitoring method of shearer and scraper conveyor was established.The physical sensing system of coal mining machine and scraper conveyor was established by using strapdown inertial navigation system.The morphological coupling relationship of the shearer on the scraper conveyor was analyzed.The three-dimensional spatial shape calculation method of the scraper conveyor based on the attitude and position information of the shearer’s running path was established,and the shearer was built.The scraper conveyor cooperated with the test platform for test verification,and used the rolling prediction method combined with two machine learning algorithms to predict the working mode of the scraper conveyor.The main research contents and results are as follows:(1)The principle and contact relationship of shearer and scraper conveyor in cooperative motion were studied.The pitch angle,heading angle and the position of shearer on scraper conveyor were obtained by solving strapdown inertial navigation system on shearer.(2)The real-time shape coupling relationship between the shearer and the middle slot of the scraper conveyor was analyzed,and the vertical plane shape calculation model of the scraper conveyor based on the running track of the shearer was established.The pitch angle of the middle groove of the scraper conveyor was detected as The prior information can be used to calculate the pitch angle of the central trough passing through the sections of the shearer during the operation of the shearer,and obtain the shape of the scraper conveyor on the vertical working surface.The working mode of the vertical surface of the scraper conveyor can be accurately grasped in real time,so that the scraper conveyor can maintain a normal working state,so that the shearer can normally walk on the scraper conveyor.(3)The method for calculating the horizontal plane shape of the scraper conveyor can be calculated,and the heading angle of each middle slot of the scraper conveyor can be calculated,and the working mode of the horizontal plane scraper conveyor was obtained,which was combined with the vertical plane scraper conveyor shape calculation method.A three-dimensional space scraper conveyor form was available.The real-time shape of the scraper conveyor can be used to provide a basis for the displacement distance of the hydraulic support’s moving mechanism to ensure the straightness of the fully mechanized mining face.(4)The shape prediction of scraper conveyor was carried out by using support vector machine and extreme learning machine models based on rolling prediction method,and the prediction results were compared.The vertical surface shape of scraper conveyor was determined by the bottom plate formed by the cutting of shearer’s lower drum.Predicting the shape of scraper conveyor can provide position basis for the planning of cutting path of shearer’s lower drum and ensure that scraper conveyor had suitable working form on the vertical surface.