巷道掘进机定向掘进技术研究

Research on Directional Driving Technology of a Roadheader

针对矿井下巷道掘进面的实际情况,提出了一种掘进机自主定位定向方法,通过建立数学计算模型,进行仿真模拟,搭建实验平台验证其可行性。分析对比结果显示,在满足巷道成型标准的情况下,该技术可以对400 m范围内进行探测。为扩大测量范围和提高测量精度,提出了一种坐标定位方案,可以实现实时巡航监测,减少井下人工作业时间。该技术可有效防止掘进巷道错位,实时监测姿态和位置,进一步提升无人开采能力。

In view of the actual situation of underground roadway heading face,this paper puts forward an autonomous positioning and orientation method of roadheader,establishes a mathematical calculation model,carries out simulation,and builds an experimental platform to verify its feasibility.The analysis and comparison results show that:under the condition of meeting the roadway forming standard,the technology can detect within 400 m.In order to expand the measurement range and improve the measurement accuracy,a coordinate positioning scheme is proposed,which can realize real-time cruise monitoring and reduce the underground manual operation time.The technology can effectively prevent roadway dislocation,real-time monitoring posture and position,and further improve the unmanned mining capacity.