智能综采工作面规划截割与超前修正曲线技术研究

Research on Intelligent Fully Mechanized Mining Face Planning Cutting and Advanced Correction Curve Technology

  • 摘要: 针对甘肃灵台邵寨煤业有限公司2 m中厚煤层工作面局部顶底板起伏、微构造发育导致传统记忆截割超欠挖、资源回收率低及顶板管理风险的问题,基于多源信息融合理论与预测控制方法,研发并应用集自主规划与超前修正于一体的智能截割技术。该技术通过集成光纤惯性导航与多传感器阵列,采用扩展卡尔曼滤波算法实现采煤机位姿高精度实时感知;利用克里金插值算法构建并动态刷新工作面三维地质模型;应用改进A*寻径算法,基于动态模型自主规划下一刀最优截割曲线;建立融合井下工程写实信息的量化修正模型,实现突发地质异常超前干预。工业性试验表明,该技术将截割高度均方根误差从142.6 mm降至37.5 mm,工作面资源回收率由95.1%提升至97.6%,原煤含矸率降低61.1%,日均推进度提高24.6%,有效解决该矿智能化开采精准截割难题,为中厚煤层安全高效绿色开采提供可靠技术支撑。

     

    Abstract: Aiming at the problems of traditional memory cutting overbreak and underbreak, low resource recovery rate, and roof management risks caused by local roof and floor undulations, microstructure development in the 2-meter medium-thick coal seam working face of Gansu Lingtai Shaozhai Coal Industry Co., Ltd, based on the multi-source information fusion theory and predictive control method, an intelligent cutting technology integrating autonomous planning and advanced correction is developed and applied. This technology by integrating fiber optic inertial navigation and multi-sensor array, and adopting extended Kalman filtering algorithm to achieve high-precision real-time perception of shearer poses; Use Kriging interpolation algorithm to construct and dynamically refresh a 3D geological model of the working face; Apply the improved A* path finding algorithm to autonomously plan the next optimal cutting curve based on dynamic model; Establish a quantitative correction model that integrates realistic information from downhole engineering to achieve advanced intervention for sudden geological anomalies. The industrial tests show that this technology reduces the root mean square error of cutting height from 142.6 mm to 37.5 mm, improves the resource recovery rate of the working face from 95.1% to 97.6%, the gangue content of raw coal is decreased by 61.1%, and the daily average advancement progress is improved by 24.6%, which effectively solve the difficult problem of precise cutting in intelligent mining of this mine and provide reliable technical support for safe, efficient, and green mining of medium-thick coal seams.

     

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