Research On Navigation And Self-adaptive Cutting Control Technology Of Shearerbased On Coal Seam Structure

The reqirements of automation,informatization and intelligentization of coal mining is being enhanced with that coal miningindustry towards to the road of cleaning,high yield and high efficiency,sustainable development.The spical envirement of undgerground coal mining restrict the application of some technology which is widely used on ground.This induced the intelligent level is behind the social development pace.How to sense the relative location between mining equipments and coal seam,and to obtain selof-adaption controlstrategy is the key technology of human less coal mining.In this dissertation,a new technology approach to coal-rock detection was proposed based on coal seam geographic information system(GIS).Preise position and orientation techonolgy of shearer with interial navigation system and odemeter based on the shearer motion characteristicwas mastered.The self-adaptive controlling strategy of adjusting ranging arm was obtain through studying the controlling principle of shearer attitude and gradient identification method of coal seam.The main research results are listed as below.(1)A detailed detection method was proposed based on in-seam seismic wave computed tomography,which was used for industrial test.According to the geologicalcharacteristic of 18201 workface in Shanxi Province,dection technology scheme and data process program were determined.The reconsturcion image of coal seam thickness and fault sturcure were plotted.Thecharacteristicdata of fault sturcure was analyzed.The average error of coal seam thickness was 0.468 m.A coal seam GIS model including roof and floor was built with ArcGIS.Through the coal seam GIS model,the digital elevation model of roof and floor was obtained.Theelevation difference between roof and floor is consisting with the average detection thickness of coal seam.The deviation between the elevation difference and the detection thickness of coal seam is 0.03 m.(2)Through researching the motion principle of the shearer,integratednavigation andpositioning technology,errorcompensationstrategy,measuring of the shearer position and cutting tracks was realized.Simulationtest of working face was conduted in labtoary.The spherical error probable of the firsr and second cutting cycle was 0.184 m and 0.267 m,respectively.The shearer positioning system was also tested in 18201 work face.The relation between these tracks and the roof and floor of the coal seam was obtained.The shearer was located in its working face so that it can sense the coal seam.3)A piecewise linear representationmethod of coal seam floor based on the precision of adjusting rang arm and piecewise linear representation error model were proposed.With piecewise linear representation of coal seam floor,coal seam gradient was recognized.The effect of the precision of adjusting rang arm on the piecewise linear representation of coal seam floor was analyzed with the coal seam floor of 18201 workface.It was found that the smaller precision of adjusting rang arm is,the more piecewise linear representation seires is,the smaller fitting error is.This indicated that theadjustingtimesofshearerattitudeismoreandthe exploitation rate of coal seam ishigher with a samller precision of adjusting rang arm for a defined coal seam.According to piecewise linear representation seires,the shearer attitude contlling model was built for the line segemt and change points in the seires.The controlling program based on the coal seam GIS was obtained.There are 95 figures,8tables and 181 references in this paper.