Method and system for height adjustment control of coal shearer

Abstract

The invention proposes a height adjustment control algorithm and its realization technology based on the combination of the digital model of the coal rock roof and floor of the fully mechanized mining face and the height model of the shearer drum. Among them, the digital model of the coal rock roof and floor of the working face is obtained by physical detection technology. Using computer technology to analyze the digital model of the coal roof and floor, determine the roof and floor curves and height trajectories of the coal seam to be mined, and mark the undulating area and critical inflection point of the floor, so as to guide the shearer to choose different height adjustment control strategies according to the actual situation. Moreover, by unifying the mileage position of the shearer with the mileage position of the floor model curve, accurate positioning of the shearer can be obtained, which provides a position basis for subsequent cutting control. After positioning the shearer, the height of the shearer drum can be determined by using the size of the fuselage and the relationship of trigonometric functions, and a relative coordinate system can be established at the current positioning point to compare the relationship between the front and rear drums of the shearer and the digital model curves of the roof and floor. Height difference, and then make decisions for height adjustment control.

Description

technical field [0001] The invention relates to the field of coal mining, in particular to a shearer height adjustment control method and system for a fully mechanized mining face. Background technique [0002] The shearer is the key equipment in the comprehensive mechanized mining of coal. Affected by geological activities, the thickness of the coal seam often has a large spatial difference. The shearer drum needs to be adjusted continuously along the height of the coal-rock interface of the working face to obtain the maximum recovery rate, and try to avoid cutting rock. The automatic height adjustment of the drum means that when the shearer is pulling and moving, the height of the front and rear drums can be automatically adjusted according to the thickness of the coal seam, so as to obtain the maximum recovery rate and avoid cutting the top and bottom plates. [0003] At present, the domestic coal industry is carrying out special scientific and technological activities o...

AI Technical Summary

Problems solved by technology

However, due to the complexity of the underground coal seam and surrounding rock conditions, it is difficult to extract the characteristics of the sensing signal to accurately and reliably judge the coal-rock boundary. Currently, there are no mature products put into practical production applications.

[0005] (2) Due to the unstable, unreliable, and low-precision problems of coal rock identification sensors and their technologies at this stage, coal shearer manufacturers and technical researchers have proposed an automatic control system for shearer height adjustment based on cutting templates

When the thickness of the coal seam or the direction angle of the coal seam changes, the memory cutting template is different from the actual situation, which cannot meet the actual production needs, and manual adjustment is required to re-memorize

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