Research On Cutting Path Planning Of Coal Shearer Under Complicated Conditions

As the basic energy source in my country's economic development,coal will not change its dominant position in the next few decades,and it will still play an important role in national energy security and development.Since entering the 21 st century,emerging technologies have greatly promoted the progress of human society,and people's requirements for lifestyle and working environment have also been continuously improved.This has also led to the need for coal mines to change the traditional high-intensity work methods and ultimately achieve high efficiency,Safe mining,that is,unmanned and intelligent mining.In recent years,the development of coal mine mechanization has been accelerating,and tremendous progress has been achieved in productivity.The face of coal mine safety production has been greatly changed.The entire industry has basically achieved comprehensive mechanization,and some of the systems have been automated,providing a good foundation for the development of intelligent coal mines.As the core component of coal mine production system,the study of coal cutting path planning of shearer is of great significance to realize intelligent mining.Aiming at the complex production environment of coal mines,based on the research of three-dimensional coal seams,this paper comprehensively analyzes the current situation,advantages and disadvantages of the current shearer path planning,and proposes the path planning process of the shearer in a complex environment.This article comprehensively utilizes three-dimensional geological modeling technology,GIS theory,geostatistics,intelligent algorithms,computer simulation technology,shearer path planning and other technologies to provide a theory for shearer path planning under complex geological conditions.in accordance with.The thesis carried out the following research and discussion:(1)In this paper,the original geological drilling,return airway,transportation and cut-off data of the coal seam of the working face are used as the original data,and the kriging interpolation method is used to generate the virtual drilling of the coal seam as supplementary data,and the Delaunay triangulation is used to generate The roof and floor surface model is then used to "loft" the coal seam entity based on generalized triangular prism voxels,and finally a three-dimensional coal seam entity model is obtained.(2)This article proposes a modeling method for fault planes and fits them into a three-dimensional coal seam model.Based on information such as fault borehole data,fault boundary data,fault tendency and dip angle,the DTIN triangulation method is used to establish a fault plane model.The fault plane cuts the triangle mesh on the upper and lower surfaces of the original coal seam to obtain the coordinates of the intersection points of the upper and lower surfaces.After processing according to the fault distance,the upper and lower walls of the fault are obtained.The upper and lower walls are modeled by the partition modeling method,and faults are formed based on GTP loft Three-dimensional solid model of coal seam.(3)This article takes normal faults as an example to establish a working face advancing model.When exposing the fault,the method of picking the top and leaving the bottom was adopted to cross the fault,and the fault demonstration model was established.According to relevant experience,the calculation formula of the advance distance of the slope and the lifting amount per cut was obtained,and then the mechanical model of the support in different directions and the support kinematics model were established,The height of mining and the angle of peeling during the fault period were determined and verified.(4)This paper proposes the process of planning the coal cutting path of the shearer drum with the double arc spline curve.Based on the three-dimensional coal geological model,the model data is uniformly expressed in the unified coordinate system of the mining area,and then the double arc sample is adopted.The curve is fitted,optimized by genetic algorithm,and simulated on the matlab platform,and the coal cutting path planning of the shearer drum is realized.(5)Introduce the actual engineering background,plan the path of the working face with faults,calculate the advance distance and angle of the slope,divide the road section in the direction of the working face,and fit it according to the double arc spline curve,The genetic algorithm optimizes the trajectory of each road section,and carries out the path planning evaluation on it.It is concluded that the error between the planned path and the roof and floor is within the allowable range,which is acceptable for the actual working conditions.At the same time,the economic benefits are improved,and the project schedule and efficiency are also improved.