采煤工作面自动线性检测与校直应用基础研究

Abstract: After ten years golden time for coal mining industry, the pressure of oversupply of coal in China is highlighting, and the disparities between oversupply and inefficient coal mining coexists. Therefore study on intelligent coal mining equipments, improving coal mining efficiency, and reducing mining labor force is one of the methods to advance coal mining industry development in healthy direction. And coal face automatic alignment is a key problem to be solved in intelligent coal mining face system. In this study, challenges in the less-man and no-man coal mining face has been proposed, and the applied basic research on coal face is automation linearity monitoring and alignment has been focused, and two topics will be discussed. The first is about coal face linearity monitoring, where ultra wideband and inertial measurement unit and their data fusion has been applied. The linearity monitoring of coal face is realized by shearer and support real time localization and tracking. The second main topic is coal face automation alignment, which could be realized by close-loop control on shearer and support control system by feeding by coal face linearity to them. The study is focusing on the great challenges of China coal mining industry, and follows the requirement of nation key technology development, and has board market, it will contribute a lot to national economy and society development.

煤炭产业经“黄金十年”的高速发展，煤炭供大于求的压力逐步显现，存在产能过剩和开采不学科这一矛盾。研究智能化的综合自动化采煤装备，提高煤炭生产效率，降低人员和能耗，是促进煤炭行业健康发展的重要手段。工作面线自动线性检测和校直是智能化综采系统要解决的核心问题之一。课题针对少人、无人综采自动化的发展趋势和面临关键问题展开，研究采煤工作面线性检测和校直基础理论和方法，包含两项内容，一是研究采煤工作面走向线性状态的实时检测方法，主要通过采煤工作面环境下超宽带无线电定位和惯性测量单元定位的信息融合，实现液压支架、采煤机等工作面装备的实时精确感知，二是依据线性状态监测结果，研究采煤机和液压支架的联动控制策略，实现工作面自动校直。课题研究内容以煤炭工业发展需求为出发点，符合国家重大科学和技术发展规划，具备广泛的市场应用前景，能为国民经济和社会发展带了良好效益。

虽然我国经济发展保持新常态，但对煤炭资源的需求依然巨大。随着开采深度的增加，开采环境越来越恶劣，安全问题日益突出。保证整个煤矿安全生产的首要途径就是实现综采工作面自动化、无人化开采。综采工作面开采的核心装备是采煤机、液压支架和刮板输送机，因此研究采煤机械的高精度定位对“三机”自动协同控制、采煤机截割滚筒的自动调高、液压支架的自动调直具有重大意义。.完成了基于超宽带无线电技术的采煤机械定位系统设计，完成了煤矿井下环境超宽带无线电电磁传输特性、信道建模和仿真，掌握了超宽带无线电定位系统、惯性单元定位系统的工作原理，分析各自系统优势和不足，提出了超宽带无线电和惯性单元数据融合的基本模型。.完成了超宽带无线电和惯性单元数据融合算法设计、采煤机定位试验系统平台搭建和测试等两项工作。超宽带无线电和惯性单元数据融合的研究，从算法设计、实验测试等方面展开，提出了一种利用惯性单元对超宽带无线电定位进行校正的算法，降低了单独采用超宽带定位技术在煤矿井下信号不稳定的情况下出现跳变等性能恶化影响。实验室测量结果表明，提出的融合算法提高了系统的定位可靠性和定位精度，系统实现精度在30cm之内的概率为95%。完成了采煤机定位实验系统平台搭建和实验室测试。对超宽带定位技术中定位锚点的布设方式进行实验研究，得出定位锚点应该采取空间布设方法，并用实验证明，超宽带定位技术可以实现综采工作面采煤机械的高精度定位，并提出矿井下综采工作面采煤机械定位方案。