Self-adaptive cutting method for coal mining machine based on virtual trajectory control

Abstract

The invention discloses a self-adaptive cutting method for a coal mining machine based on virtual trajectory control, belonging to a cutting trajectory control method of the coal mining machine. The method comprises the following steps: the virtual cutting trajectory is set as a cutting trajectory of the coal mining machine, a roller can cut along the set virtual trajectory after the coal mining machine is started, and the error S between the practical cutting trajectory and the virtual trajectory of the coal mining machine is calculated in real time when the coal mining machine runs, when the error S is more than the maximum error S0 required to be controlled in the practical mining process, a coal mining machine control system is adopted to automatically control the cutting trajectory of the coal mining machine, that is, the height of the cutting roller of the coal mining machine can be adjusted, so that self-adaptive cutting of the coal mining machine based on virtual trajectory control is realized and the problem that the cutting trajectory of an existing coal mining machine is adjusted passively is solved. According to the method, the geological information of a mining area and the cutting trajectory of the coal mining machine can be fused, the cutting trajectory of the coal mining machine can be actively adjusted, the equipment loss and the fault rate are reduced, the cutting effect of the coal mining machine is good and the recovery rate and the coal quality are improved.

Description

technical field [0001] The invention relates to an adaptive cutting method for a coal shearer, in particular to an adaptive cutting method for a coal shearer based on virtual trajectory control, which is suitable for controlling the cutting trajectory of the coal shearer. Background technique [0002] The control of the cutting trajectory of the shearer, except for a very small number of shearers abroad, is mostly by manual operation. That is, the shearer driver judges whether the shearer drum is cutting rock or coal by visual observation and cutting noise, so as to adjust the vertical position of the drum. However, due to the large amount of coal dust generated during the working process of the shearer, the visibility of the working face of the high-power shearer is very low, and the noise of the machine itself is very loud. It is actually difficult for the operator to accurately and timely judge the cutting status of the shearer . Not to mention timely adjustment of the ...

AI Technical Summary

Problems solved by technology

[0004] The above two methods can control the cutting trajectory of the shearer, and both are applied in the actual production of coal mines, which improves the coal mining efficiency to a certain extent, but the above two methods of controlling the cutting trajectory of the shearer are different. The control idea is to adjust the cutting trajectory of the shearer according to the feedback or memory information

The above two methods have the following disadvantages: 1. The geological conditions of the unmined coal seam are variable, and it lacks the prediction of the geological environment of the unmined coal seam; 2. The roof and floor rocks will be cut during the actual operation of the shearer; 3. Lack of effective response when the shearer encounters special geological structures or other special factors

In summary, there is still a relatively large room for improvement in the method of trajectory control of coal mining machines

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