基于地质模型及设备感知的采煤机自适应截割方法  

Self-adaptive interception cutting method of coal mining machine based on geological model and equipment perception

作　　者：宋焘 马骋 张孝斌 吴宁 董博 SONG Tao;MA Cheng;ZHANG Xiaobin;WU Ning;DONG Bo(Shaanxi Shanmei Huangling Mining Co.,Ltd.,Yan’an 727307,China;Coal Mine Intelligent Mining Technology Innovation Center,Minister of Emergency Management,Yan’an 727307,China;Xi’an Hezhiyu Information Technology Co.,Ltd.,Xi’an 710000,China)

机构地区：[1]陕西陕煤黄陵矿业有限公司,陕西延安727307 [2]应急管理部煤矿智能化开采技术创新中心,陕西延安727307 [3]西安合智宇信息科技有限公司,陕西西安710000

出　　处：《陕西煤炭》2023年第6期100-105,共6页Shaanxi Coal

摘　　要：复杂地质条件下的煤炭安全、高效开采面临诸多难题,其中采煤机滚筒自适应截割是解决这些问题的关键技术,现有的以记忆割煤为主的自动化开采已无法满足煤炭智能化开采要求。本文提出一种基于地质模型及设备感知的采煤机自适应截割方法,该方法利用现有的钻探、物探以及巷道写实数据,并通过回采中揭露的地质信息和隐式迭代插值算法对初始静态地质模型进行动态更新,建立综采工作面动态地质模型。开采过程中,运用综采设备的惯性导航技术、雷达定位技术等多传感器感知技术和大数据分析决策技术,来不断修正开采模型,并根据修正后的开采模型规划采煤机截割轨迹,指导采煤机自动调高。通过煤矿井下实验证明,采用本文提出的自适应截割方法,能够满足复杂地质条件下采煤机滚筒自动调高的控制要求,对复杂地质条件下的煤炭安全、高效开采具有重要意义。Numerous problems would be encountered for coal mine’s safe and high efficient mining under conditions of complex geology.Among them,coal mining machine’s self-adaptive interception cutting are the key technologies for achieving coal comprehensive mining intelligence.The existing automated mining of memory coal-cutting has been unable to meet coal intelligent mining requirements.We propose a self-adaptation interception cutting method for coal mining machines based on geological models and equipment perception.The method uses existing drilling,physical exploration,and roadway’s actual data,and through the revealed geological information and hidden iterative interpolation algorithm in the mining,the initial static geological model is dynamically updated to establish a comprehensive working surface dynamic geological model.In the mining process,multi-sensor perception technology,such as inertial navigation technology of mechanized mining equipment,radar positioning technology and big data analysis decision-making techniques are used to continuously revise the geological model,plan the cut trajectory of the coal mining machine,and according to the revised geological model to guide the coal mining machine automatically increasing height.The mine experiment proves that the use of self-adaptation interception cutting method can meet the control requirements of automatic heightening of coal mining machine rollers under complex geological conditions,which is of great significance for the safe and efficient mining of coal under complex geological conditions.

关 键 词：地质模型 设备感知 采煤机 自动调高 截割轨迹 

分 类 号：TD421[矿业工程—矿山机电]