融合地理信息和采煤机位姿的工作面自适应调高与调直原理研究

The technological difficulties of intelligent fully-mechanized coal mining face are the self-adaptive horizon control of shearer and the automatic face alignment. This is hindered by a fundamental inability to accurately determine the three dimensional position and attitude of the shearer as it progresses through the coal panel. Therefore, this project studies the method and technology of self-adaptive horizon control and face alignment based on the key point of accurately acquiring position and attitude information of the shearer. With the combination method of INS and axial encoder, the method and technology of high precision positioning and attitude principle of shearer will be studying for obtaining the shearer’s moving trajectory and cutting trajectory according to workface geographic coordinate system. The digital model of the workface coal seam will be built with the geographic information system (GIS). Through combining the shearer’s cutting trajectory with the digital model of the workface coal seam, the shearer can percept the workface coal seam. The cutting path programming for the shearer self- adaptive in the workface coal seam will be studied to solving the limit of the memory cutting in complex geological conditions. The retrieval model of the scraper conveyor will be built based on the shearer’s moving trajectory. The automatic face alignment method will be studied based on the scraper conveyor, as removing the accumulated error of the alignment based on the hydraulic support. The research result will significantly improve the safety, efficient, environmental coal exploitation ability, and .the realization of intelligent coal mining face.

采煤机自适应调高与工作面自动调直是制约智能化综采工作面的技术瓶颈，主要原因是不能精确获取工作面地理坐标系下采煤机的位姿信息。为此，本项目以精确获取采煤机位姿信息为突破点，研究基于采煤机位姿的自适应调高与动态调直原理与技术。利用惯性导航与轴编码器组合方法研究采煤机高精度定位定姿原理及误差补偿方法，获得工作面地理坐标系下包含绝对方位信息的采煤机运行轨迹与截割轨迹；利用地理信息系统建立工作面煤层数字化模型，将采煤机截割轨迹与工作面煤层模型融合，实现采煤机对工作面煤层的感知；研究采煤机自适应煤层地质条件的截割路径规划方法，实现采煤机自适应调高，解决记忆截割在复杂地质条件下的调高受限问题；建立基于采煤机运行轨迹的刮板输送机空间形状反演模型，研究以刮板输送机为基准的综采工作面动态调直方法，消除以液压支架为基准工作面校直的累计误差。为提高我国煤矿安全、高效、绿色开采能力，实现综采工作面智能提供技术支撑。

实现智能化无人开采是国际煤炭开采领域共同追求的前沿技术，也是解决我国煤矿安全、高效、绿色开采问题的技术跨越。采煤机自适应调高与工作面自动调直是制约智能化综采工作面的技术瓶颈。本项目针对这一技术瓶颈，提出了融合煤层地理信息和采煤机位姿的综采工作面自适应调高与调直的原理方案，在采煤机准确定位、复杂地质条件采煤机截割路径规划、综采工作面动态调直三个方面开展了系统研究。通过深入分析采煤机在综采工作面的运动特征，提出了基于闭合路径的卡尔曼滤波方法、基于动态零速校正的卡尔曼滤波方法以及融合闭合路径和动态零速校正的信息滤波方法，显著提高了采煤机定位精度。通过分析综采工作面自动化系统对采煤机自动截割的要求，提出了煤层分段线性表示的煤层倾角识别方法、基于采煤机调高控制精度的截割路径规划方法，为采煤机自适应煤层地质条件的调高控制提供了控制目标。基于采煤机定位系统、采煤机与刮板输送机的运动约束关系以及综采工作面的工艺流程，提出了刮板输送机形状反演方法和综采工作面自动动态调直方法，可实现综采工作面不停机的连续调直。