基于改进BINN算法的煤矿巷道断面截割轨迹规划

Coal mine roadway section cutting trajectory planning based on improved BINN algorithm

在煤炭开采前,需要用掘进机对煤岩混合体进行开掘钻进,形成满足煤炭开采条件的巷道环境。巷道是在一次次的断面截割成型工作基础上形成的,在每一次断面截割成型工作开始之前,需要根据待截割断面情况预先规划好将采用何种截割轨迹对断面进行截割,传统的断面截割成型工作仅考虑采用类S型截割轨迹对巷道断面进行全覆盖无差别截割,掘进机截割头经常会截割到煤岩断面内的大块夹矸,造成一定的截齿损耗,由于需要经常更换截齿,导致整体截割效率并不高。为了解决这个问题,可以在对待截割巷道断面环境进行栅格法建模的前提下,采用改进BINN算法进行截割轨迹规划,使所规划截割轨迹避开断面内存在的大块夹矸,在此基础上实现截割轨迹对断面内煤层区域的全遍历覆盖。经仿真实验证明,该方法所规划的截割轨迹能够满足断面成型要求;采用所规划截割轨迹对断面进行截割能够提升截割效率、降低截割能耗。

Before coal mining,it is necessary to excavate and drill coal-rock mixture with road-header to form roadway environment that meets the conditions of coal mining.The roadway is formed on the basis of repeated cross-section cutting and molding work.Before the starts of each section cutting and molding work,it is necessary to plan in advance what cutting trajectory will be used to cut the section according to the situation of the section to be cut.In the traditional cross-section cutting and molding work,only the S-shaped cutting trajectory is taken into account to cut the roadway cross-section completely and indiscriminately,and the cutting head of road-header often cuts into large pieces of gangue in the coal-rock cross-section,which results in a certain loss of cutting tooth.As the cutting teeth need to be replaced frequently,the overall cutting efficiency is not high,so the improved BINN(biologically inspired neural network)algorithm can be used for cutting trajectory planning on the premise of grid modeling for the environment of roadway section to be cut,so that the planned cutting trajectory can avoid the large gangues in the section.On this basis,the full traversal coverage of cutting trajectory on the coal seam area in the section can be realized.The simulation results show that the cutting trajectory planned by the proposed method can meet the requirements of section molding.Cutting the section with the planned cutting trajectory can improve the cutting efficiency and reduce the cutting energy consumption.