基于位姿测量与煤层DEM的采煤机滚筒自动调高方法

An automatic height adjustment method for shearer drums based on pose measurement and coal seam DEM

针对现有滚筒调高方法存在的问题,提出了一种综合利用地球物理探测、地学信息建模和位姿测量技术的自动调高方法,通过震波CT(Computerized Tomography)探查工作面内各点煤厚变化,结合地质测量巷道钻孔探测的煤厚值,建立波速煤厚统计模型以准确计算工作面内煤厚值,而后利用地学信息建模构建煤层顶底板DEM(Digital Elevation Model),结合基于位姿传感系统测量的采煤机姿态,定位滚筒截割边界点,再采用空间分析函数对DEM和边界点进行叠置分析,计算滚筒调高量值,最后传输至采煤机控制系统,完成自动调高。以山西某煤矿为例进行了应用,结果表明,该调高方法具有简单、易行、稳定的优点,且实时性和精确度都能较好地满足现场需求。

In terms of existing problems of auto-height adjustment, geophysical survey, geosciences modeling and posture measurement were integrated in a novel method developed in this study. Seismic wave CT was used to detect and compute the coal seam thickness within workface. A coal seam thickness forecasting model was then built combined with geological measurement results. A roof and floor DEM of coal seam was constructed through geosciences modeling technique using detected result and basic geological measurement data. A posture monitoring system collected position and posture parameters during shearer cutting operation. Drum cutting boundary points were located using those parameters in the same coordinate system of DEM. Spatial analysis function integrated boundary points with DEM and evaluated adjusting volume of drum height. Software program and interfaces were designed and developed. In a case study at a coal mine in Shanxi Province, the method was applied and the results indicate the proposed method satisfies the field requirements in instantaneity, accuracy and stability and is much easier to be implemented.