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| Analysis and research on cutting trajectory planning of shearer roof and floor under intelligent fully mechanized mining technology |
| Yang Zeyu |
| Jinneng Holdings Coal Industry Group Shuozhou Shuozhou Coal Wangping Coal Industry Co., Ltd., Huairen, 038300, China |
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Abstract Due to the complex environment of the underground fully mechanized mining face, the cutting height of the roof and floor cannot be adjusted in time during the adaptive cutting process of the double drum electric traction shearer, resulting in poor control of the roof and floor trajectory and low cutting efficiency. Based on this, this paper takes the roof and floor cutting trajectory planning of MG400/980-WD alternating current traction shearer in Wangping Coal Industry as the research object. Firstly, a three-dimensional static model of coal seam is constructed based on Kriging interpolation algorithm to obtain the initial roof and floor cutting trajectory. The initial trajectory is integrated with the historical cutting data, and the dynamic correction of the next tool trajectory prediction is realized by LSTM neural network algorithm. From the verification results, the trajectory error range before correction is 5~15 cm, and the trajectory error range after dynamic correction is concentrated in 0-10 cm. The proportion of small error after correction accounts for more than 96% of the total area, which improves the accuracy of the trajectory.
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