Gong-kuang zidonghua (Dec 2020)
Cutting coal path planning of shearer up-drum based on double arc spline curve
Abstract
The life of the drum cutters is shortened and the coal output rate is reduced due to the problem that the shearer up-drum often cuts the roof rocks. It is therefore essential to plan the cutting path of the up-drum. However, the characteristic features of traditional methods are large errors, inability to adapt to changes in geological conditions and complicated algorithms. A method for cutting coal path planning of shearer up-drum based on double arc spline curve is proposed to solve the above problems. Firstly, the data of borehole, return airway, headentry and open-off cut from the working face is collected to build a three-dimensional geologic model of coal seam; Secondly, the model is simulated and cut to obtain a set of roof control points according to the coal wall spatial coordinate system, and a continuous control point coordinate system is established with two adjacent points as a group. The arc radius and center coordinates are calculated according to the basic structure of double arc, and the path between two adjacent control points, namely the up-drum cutting path, is obtained according to the arc parameters. A genetic algorithm is used to analyze the relationship between the roof curve and the cutting path so as to establish the rock fitness function model. A more reasonable and accurate cutting path is achieved by simulating and optimizing the cutting path through selection, crossover and mutation operations. Simulation results show that a smoother cutting path is obtained through genetic algorithm optimization. The error range between the up-drum cutting path and the roof is 0.183 9-0.349 3 m. The problem that the up-drum cutting the roof rocks has been improved, indicating that the optimized path effectively reduces the gangue amount and increases the recovery rate.
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