Research On Autonomous Planning Method Of Shearer Cutting Path Under Virtual Coal Seam Environment

Digitalization and informatization are the premise and foundation of intelligent mine construction.Since the concept of intelligent mine was put forward,its development has gone through the stages of single machine automation,comprehensive automation,local intelligent body and so on.Now,it has entered the digital mining stage of deep integration of virtual reality technology and coal mining field.In the fully mechanized mining face composed of shearer,hydraulic support,scraper conveyor,transfer machine,etc.,as the main mining equipment,the research on its operation monitoring and cutting path control has been paid more and more attention.With regards to the low degree of digitization,lack of real geological terrain,and low degree of automation in the cutting process of the traditional virtual fully mechanized mining face,we studied the key technologies of virtual operation and cutting path planning of the shearer on the three-dimensional(3D)virtual coal seam based on the virtual reality engine(Unity3D),aiming to build a virtual scene in line with the actual engineering and realize the "equipment + coal seam" integrated mining.The production process preview and evaluation of the research results can provide some guidance for the actual production.The main contents and achievements of this paper are as follows:(1)Based on Delaunay triangulation,the modeling method of tin coal seam roof and floor is put forward.Firstly,Kring interpolation is applied to the original geological exploration data,then Delaunay triangulation is carried out,and finally,mesh component is used to realize the coal seam modeling in unity3 D.On this basis,the coal seam model is divided into blocks to realize the coal seam model's repair and rapid update with mining.The coal seam model is cut to obtain the coal seam roof and floor data,and the roof and floor contour curve is drawn automatically.(2)The virtual model of shearer and scraper conveyor is constructed.Under the guidance of the idea of Digital Twin,referring to the geometric model,movement model and rule model of the solid fully mechanized mining equipment,a virtual model is constructed which is consistent with the actual situation to realize the attitude analysis and various actions of the virtual shearer and the virtual scraper conveyor.(3)The joint operation of "coal seam + shearer + scraper conveyor" and the independent planning of cutting path are realized.The adaptive arrangement of the virtual scraper conveyor on the coal seam floor and the adaptive walking of the virtual shearer on the scraper are completed.An automatic height adjustment strategy is proposed to adjust the moving direction of the drum by changing the haulage speed of the shearer,and the advancing and following automation of the working face are realized under the corresponding mining process model to complete the independent planning of the cutting path of the shearer.Simulation experiments with different working parameters are carried out,a fuzzy comprehensive evaluation model is built to evaluate the simulation results.(4)The system of man-machine interaction and roaming is designed and developed.In the GUI system of unity3 D,the system login interface and the monitoring panel interface of each equipment are established,and the camera and roaming operations in the scene are designed,which better realizes the man-machine interaction and scene immersion.