综采工作面透明化开采模式及关键技术

原长锁; 王峰

doi:10.13272/j.issn.1671-251x.2021110048

综采工作面透明化开采模式及关键技术

doi: 10.13272/j.issn.1671-251x.2021110048

原长锁^1,,
王峰²

1.
国家能源集团神东煤炭集团公司技术研究院, 陕西榆林　719315
2.
北京天玛智控科技股份有限公司, 北京　101399

基金项目: 山东省重大科技创新工程资助项目（2020CXGC011501）。

详细信息

作者简介:
原长锁（1969-），男，陕西蒲城人，高级工程师，现主要从事煤矿机电设备管理工作，E-mail：yyz250516@163.com

中图分类号: TD67
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- PDF下载量: 56
- 被引次数: 0
出版历程
- 收稿日期: 2021-11-19
- 修回日期: 2022-03-10
- 网络出版日期: 2022-03-05

Transparent mining mode and key technologies of fully mechanized working face

YUAN Changsuo^1
,,
WANG Feng²

1.
Technology Research Institute, CHN Energy Shendong Coal Group Co., Ltd., Yulin 719315, China
2.
Beijing Tianma Intelligent Control Technology Co., Ltd., Beijing 101399, China

摘要

摘要: 针对目前基于自适应工作面地质条件的智能开采技术无法满足实际工程应用要求的问题，提出了包括模型构建、待开采空间定位、截割控制决策与执行3个阶段的综采工作面透明化开采模式，即以煤层赋存勘探为基础，以工作面三维数字化模型为对象，通过剖切三维数字化模型、提取待开采煤层顶底板轨迹坐标，制定采煤机调高控制策略，最终采煤机依据截割轨迹参数进行调高控制，达到自主割煤目标；阐述了三维数字化模型建立、三维激光点云模型建立、模型剖切与截割规划、采煤机调高控制等综采工作面透明化开采关键技术。在国家能源集团神东煤炭集团公司榆家梁煤矿43102综采工作面开展了透明化开采模式及关键技术工程应用：构建工作面初始三维地质模型，沿煤层顶底板分界线完成钻孔勘测，实现对工作面煤层赋存情况的探测；获取的数据导入初始三维地质模型后，得到工作面三维数字化模型；在工作面回采过程中每天进行地质测绘，通过测绘数据实现三维数字化模型误差纠偏；构建采场实时三维激光点云模型，提取三维激光点云模型中煤壁、顶板交接处三维坐标数据集形成剖切线，利用剖切线对三维数字化模型进行剖切，获得下一割煤循环的顶底板轮廓曲线；通过分析煤层赋存变化情况制定截割规划，指导采煤机后续割煤循环过程中滚筒自主调高控制。应用结果表明，三维数字化模型误差小于±0.2 m，初步实现了采煤机依据工作面煤层赋存条件进行自主割煤。
- 透明化开采 /
- 智能化开采 /
- 三维数字化模型 /
- 三维激光点云模型 /
- 模型剖切 /
- 采煤机截割规划 /
- 采煤机调高控制
Abstract: In order to solve the problem that the intelligent mining technology based on adaptive working face geological conditions can not meet the practical engineering application requirements, a transparent mining mode of fully mechanized working face is proposed, which includes three stages, namely model construction, positioning of space to be mined and cutting control decision and execution. The mode is based on the coal seam occurrence exploration, and the 3D digital model of working face is taken as the object. The height adjustment control strategy of the shearer is formulated by cutting the 3D digital model and extracting the track coordinates of the roof and floor of the coal seam to be mined. Finally, the shearer adjusts the height control according to the cutting track parameters to achieve the goal of autonomous coal cutting. This paper expounds the key technologies of transparent mining in fully mechanized working face, such as establishment of 3D digital model, establishment of 3D laser point cloud model, model cutting and cutting planning and shearer height adjustment control. In the 43102 fully mechanized working face of Yujialiang Coal Mine of CHN Energy Shendong Coal Group Co., Ltd., the transparent mining mode and key technologies engineering application are carried out. The initial 3D geological model of the working face is constructed, and the borehole survey is completed along the boundary line between the roof and floor of the coal seam so as to realize the detection of the occurrence of the coal seam in the working face. After the acquired data is imported into the initial 3D geological model, a 3D digital model of the working face is obtained. Geological mapping is carried out daily during the mining process of the working face, and the error correction of the 3D digital model is realized through the mapping data. The real-time 3D laser point cloud model of the stope is constructed, the 3D coordinate data set at the junction of coal wall and roof in the 3D laser point cloud model is extracted to form a cutting line. The cutting line is used to cut the 3D digital model to obtain the contour curve of roof and floor in the next coal cutting cycle. By analyzing the changes of coal seam occurrence, the cutting plan is formulated to guide the automatic height adjustment control of the drum in the subsequent coal cutting cycle of the shearer. The application results show that the error of the 3D digital model is less than ±0.2 m, and the shearer can automatically cut coal according to the coal seam occurrence conditions of the working face.
- transparent mining /
- intelligent mining /
- 3D digital model /
- 3D laser point cloud model /
- model cutting /
- shearer cutting planning /
- shearer height adjustment control

HTML全文

图 1 工作面巡检机构

Figure 1. Inspection mechanism of working face

下载: 全尺寸图片幻灯片

图 2 工作面三维激光扫描工作原理

Figure 2. Working principle of 3D laser scanning of working face

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图 3 点对点坐标传导方式

Figure 3. Point to point coordinate conduction mode

下载: 全尺寸图片幻灯片

图 4 工作面三维数字化模型

Figure 4. 3D digital model of working face

下载: 全尺寸图片幻灯片

图 5 三维激光点云模型

Figure 5. 3D laser point cloud model

下载: 全尺寸图片幻灯片

图 6 三维数字化模型和地质测绘顶底板轮廓曲线对比

Figure 6. Comparison of top and bottom contour curves between 3D digital model and geological mapping

下载: 全尺寸图片幻灯片

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