Coupling system for coal mining machine on fully mechanized coal mining face of coal mine and geological model

Abstract

The invention provides a coupling system for a coal mining machine on a fully mechanized coal mining face of a coal mine and a geological model. An inertial navigation encoder combined positioning device, a coal and rock stratum boundary line identification device and a GITP module are arranged on the coal mining machine, and a measurement robot is used for transmitting geodetic coordinates to calibrate the inertial navigation encoder combined positioning device in real time, the accurate spatial position and attitude of the coal mining machine are acquired, and the coal and rock stratum boundary line data is acquired through the coal and rock stratum boundary line identification device; at the same time, a coal seam three-dimensional geologic model is dynamically updated in combination with coal seam data measured by geological engineering disclosure, handover or maintenance crews; the optimal predicted cutting line of future N cuts is calculated by using the cutting line prediction service; and the cutting path of the coal mining machine is constrained by combining the GITP module, so that the highly coupled spatial relationship of the coal mining machine and the coal seam three-dimensional geologic model based on a unified geodetic coordinate system is established. A practical solution is provided for realizing self-adaptive coal cutting based on accurate positioning and a three-dimensional dynamic geologic model, and the intelligent mining level of the fully mechanized coal mining face of the coal mine is improved.

Description

technical field [0001] The invention relates to the technical field of coal mine intelligent mining and mine equipment, in particular to a coupling system of a shearer and a geological model in a fully mechanized coal mining face. Background technique [0002] The fully mechanized mining face is the first site of coal mine production, the working environment is relatively harsh, and there are many safety hazards. Therefore, the fundamental task of building an intelligent mine is to build an intelligent fully mechanized mining face with few or no people. At present, as the country comprehensively promotes the transformation of coal mine intelligent technology, a lot of work has been done in the construction of intelligent fully mechanized mining face, but there are still the following problems: [0003] First, in the coal mining mode based on "one-key start and stop, memory cutting coal", the shearer is not associated with the geological model of the working face, and the pos...

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Problems solved by technology

[0003] First, in the coal mining mode based on "one-key start and stop, memory cutting coal", the shearer is not associated with the geological model of the working face, and the posture of the shearer cannot be dynamically adjusted according to the change of the spatial shape of the coal seam. Therefore, , the practicability of this coal mining method is affected;

[0004] The second is that in the actual operation of the coal mining method using the Australian LASC system, the cumulative error of the system calculation will become larger and larger due to reasons such as inertial navigation drift. The correction system is complex in operation and less intelligent

At the same time, the spatial data calculation of the LASC system uses relative coordinate calculation, which is not associated with the 3D dynamic geological model established based on geodetic coordinate data such as boreholes, and its practicability is also greatly affected

[0005] To sum up, the shearer is the core equipment of the fully mechanized mining face, and the coal seam is the mining object. If the high coupling between the shearer and the spatial variation of the geological model of the coal seam cannot be realized, it is difficult to realize the self-adaptive cutting of the shearer. At the same time, if the coal seam geological model is not updated in time, its practical application will inevitably be limited

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