基于虚拟煤岩界面的采煤机上滚筒路径规划  

Path planning of shearer up-drum based on virtual coal-rock interface

作　　者：董刚[1,2] 马宏伟[1] 聂真[1] 

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]平顶山天安煤业股份有限公司六矿,河南平顶山467000

出　　处：《工矿自动化》2016年第10期22-26,共5页Journal Of Mine Automation

基　　金：国家自然科学基金资助项目(51074121)

摘　　要：针对采煤机上滚筒截割过程中在顶板煤岩界面弯曲区域极易截割到顶板岩石的问题,提出了一种基于虚拟煤岩界面的采煤机上滚筒路径规划方法。该方法定义了对上滚筒产生斥力的虚拟煤岩界面和虚拟引力场,模拟了上滚筒跟随煤岩界面落煤的运动过程,通过上滚筒的运动模拟计算出了截割路径离散点,并基于高斯核模型的l2约束最小二乘回归方法,通过训练路径离散点获得了一条光滑的上滚筒截割路径曲线。仿真结果表明,采用该方法规划的路径能够有效避免上滚筒截割到顶板煤岩界面弯曲区域的岩石。For the problem of shearer up-drum cutting rock in roof in the region where coal-rock interface is bended,apath planning method of shearer up-drum based on virtual coal-rock interface was proposed.The method defines virtual coal-rock interface which has repulsion to up-drum and virtual gravitational field,simulates moving process of shearer up-drum along the virtual coal-rock interface,calculates discrete points of cutting path through simulating the motion of shearer up-drum,and obtains a smooth cutting path of up-drum based on regression method of Gaussian kernel model and l2 constraint least square by training the discrete points.The simulation results show that cutting path of shearer updrum planned by the method can avoid up-drum to cu rock in the region where coal-rock interface is bend effectively.

关 键 词：采煤机上滚筒 路径规划 虚拟煤岩界面 路径曲线回归 高斯核模型 l2约束最小二乘法 

分 类 号：TD421.6[矿业工程—矿山机电]