Coal seam roof and floor path virtual planning method for fully mechanized mining equipment space-time kinematics

Abstract

The invention discloses a coal seam roof and floor path virtual planning method for fully mechanized mining equipment space-time kinematics. The method comprises the following steps of establishing aninherent coal seam roof and floor through Unity3d software; realizing real contact between fully mechanized mining equipment and the coal seam roof and floor by using a physical engine, and constructing a space-time kinematics relationship between the fully mechanized mining equipment and the coal seam roof and floor; dynamically generating a single-cycle coal seam roof and floor by using a meshcomponent, and cooperatively propelling a scraper conveyor and a hydraulic bracket along with the guidance of a coal mining machine; predicting the track of the coal seam roof and floor by using MATLAB and a machine learning algorithm, detecting the contour of the lower-cycle coal seam roof and floor by using detection equipment carried by an unmanned aerial vehicle, and continuously processing discrete points; and fusing the data detected by the unmanned aerial vehicle and the predicted data to obtain a lower-cycle coal seam roof and floor virtual planning path. Through the method, the blindness of track prediction of the coal seam roof and floor can be avoided, and prediction of the lower-cycle coal seam roof and floor and planning of a working path are realized.

Description

technical field [0001] The invention relates to the technical field of mine path planning, in particular to a virtual planning method for coal seam roof and floor paths oriented to the space-time kinematics of fully mechanized mining equipment. Background technique [0002] Because coal mines are very dangerous in the underground mining process, once a fault occurs, it will cause serious losses, so it is necessary to display the working status of the underground in the ground dispatch center. However, the working environment in the underground is very bad. There will be a lot of water mist during the mining process, the underground is relatively dark and the camera is relatively easy to damage. Therefore, there are great limitations in the video surveillance during the mining process, and the clarity is not good. high. [0003] Virtual reality technology can construct a virtual model that is completely consistent with the real model in the virtual space, monitor the real mo...

AI Technical Summary

Problems solved by technology

[0010] There are many defects in the above method, mainly: 1) The method of memory cutting is adopted, and the shearer is adjusted by manual observation during the mining process, which has great blindness to the trajectory of the roof and floor of the coal seam. Prediction of Roof and Floor of Lower Circulation Coal Seam and Planning of Work Path

2) A virtual reality physics engine-based simulation method for collaborative advancement of fully mechanized mining equipment is proposed, but there is a lack of overall research on fully mechanized mining equipment and coal seam matching methods

3) A virtual planning method to support the geographical environment and equipment of the fully mechanized mining face is proposed, but there is a lack of research on the construction of the spatiotemporal kinematic relationship between the fully mechanized mining equipment and the coal seam

4) A coal mining method based on a transparent working face is proposed, but it lacks the fusion of detection data and prediction data for the roof and floor of the coal seam, and lacks the optimization of the virtual path of the roof and floor of the coal seam

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