连采机横移路径规划方法研究  

Study on lateral movement path planning method of continuous mining machine

作　　者：韩雷 温江涛 HAN lei;WEN Jiangtao(Yujialiang Coal Mine,China Energy Shendong Coal Group Co.,Ltd.,Yulin,Shaanxi 719315)

机构地区：[1]国能神东煤炭集团有限责任公司榆家梁煤矿,陕西省榆林市719315

出　　处：《中国煤炭》2023年第S02期315-321,共7页China Coal

摘　　要：连采机掘进作业包含切槽、移机和扫帮流程,其中移机过程中的“出帮”和“入帮”过程路径复杂,是连采机智能行走和智能作业研究中的难点。针对该问题,通过采用连采机导航定位设备获取连采机中轴点的坐标,推导出连采机左上截齿和右上截齿的坐标,随后以连采机左上截齿横坐标与左边帮横坐标一致、右上截齿横坐标与右边帮横坐标一致为前提,建立了“出帮”和“入帮”的轨迹模型,并重点针对“出帮”过程进行了仿真分析。结合仿真分析结果,进一步提出了将弧形轨迹拆分成分段的直线轨迹的优化方法。井下实验结果表明,提出的轨迹优化算法能够满足连采机横移的要求。The excavating operation of continuous mining machine includes the process of cutting groove,moving machine and sweeping wall,in which the pathes of"going out of wall"and"going into wall"are complicated,which is a difficult point in the research of intelligent walking and intelligent operation of continuous mining machine.In order to solve this problem,the coordinates of the left-upper and right-upper picks of the continuous mining machine are derived by using the navigation and positioning equipment of the continuous mining machine to obtain the coordinates of the central axis point.Then,on the premise that the horizontal coordinates of the left-upper pick are consistent with the horizontal coordinates of the left side wall,and the horizontal coordinates of the right upper pick are consistent with the horizontal coordinates of the right side wall,the trajectory model of"going out of wall"and"going into wall"is established,and the"going out of wall"process is simulated and analyzed.Combined with the simulation results,the optimization method of dividing arc trajectory into subsection straight trajectory is put forward.The underground experimental results show that the proposed trajectory optimization algorithm can meet the requirements of continuous mining machine lateral movement.

关 键 词：连采机 路径规划 巷道掘进 仿真分析 

分 类 号：TD421.65[矿业工程—矿山机电]