基于采煤机截割路径的动态三维地质模型构建方法

doi:10.12068/j.issn.1005-3026.2021.05.015

东北大学学报（自然科学版） ›› 2021, Vol. 42 ›› Issue (5): 706-712.DOI: 10.12068/j.issn.1005-3026.2021.05.015

基于采煤机截割路径的动态三维地质模型构建方法

李娟莉^1,2，姜朔^1,2，谢嘉成^1,2,3，孙梦祯^1,2

(1. 太原理工大学机械与运载工程学院，山西太原030024; 2. 煤矿综采装备山西省重点实验室，山西太原030024; 3. 太重煤机有限公司博士后科研工作站，山西太原030024)

修回日期:2020-09-15 接受日期:2020-09-15 发布日期:2021-05-20
通讯作者: 李娟莉
作者简介:李娟莉(1979-)，女，山西寿阳人，太原理工大学教授.
基金资助:
基金项目；(半空) 基金项目.国家自然科学基金资助项目(52004174)；山西省应用基础研究计划青年基金资助项目(201901D211022)；山西省工业研发计划项目(201903D121141).

Construction Method of the Dynamic 3-D Geological Model Based on Shearer Cutting Path

LI Juan-li^1,2， JIANG Shuo^1,2， XIE Jia-cheng^1,2,3， SUN Meng-zhen^1,2

1. College of Mechanical and Vehicle Engineering， Taiyuan University of Technology， Taiyuan 030024， China; 2. Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment， Taiyuan 030024， China; 3. Post Doctoral Scientific Research Station， Taiyuan Heavy Industry Co.， Taiyuan 030024， China.

Revised:2020-09-15 Accepted:2020-09-15 Published:2021-05-20
Contact: LI Juan-li
About author:-
Supported by:
-

摘要/Abstract

摘要： 针对虚拟综采工作面难以构建实时动态煤层的问题，提出了一种根据采煤机行走轨迹构建三维地质模型的方法.建立了初始三维地质模型和动态三维地质模型，并提取了目标煤层的轨迹曲线，为采煤机提供了目标截割路径;基于当前工作面采煤机的实际截割情况及未来发展趋势提出了三种采煤机截割方案，分别是采煤机记忆截割、人工干预的采煤机记忆截割和采煤机自主截割;建立了真实的虚拟综采工作面，构建了三种方案的实际煤层形态，并进行了仿真对比实验.结果表明:通过采煤机自主截割方案构建的实际煤层的总体平均误差为15.73mm，能够实现较小的割岩量和较高的回采效率.

关键词: 三维地质模型;虚拟综采工作面;截割方案;数字孪生;Unity3d

Abstract: Given that it is difficult to construct a real-time dynamic coal seam in a virtual fully mechanized coal mining face， a method of constructing the 3-D geological model based on the walking trajectory of the shearer is proposed. The initial 3-D geological model and dynamic 3-D geological model are established， and the trajectory curve of the target coal seam is extracted， which provides the target cutting path for the shearer. Based on the actual cutting situation and future development trend of the shearer， three kinds of shearer cutting schemes are put forward， which are memory cutting， memory cutting with manual intervention and autonomous cutting. The real virtual fully mechanized coal mining face is established， the actual coal seam morphology of three schemes is constructed， and the simulation contrast experiment is carried out. The results show that the overall average error of the actual coal seam constructed by the shearer’s autonomous cutting scheme is 15.73mm， which can achieve smaller rock cutting amount and higher mining efficiency.

Key words: 3-D geological model; virtual fully mechanized coal mining face; cutting plan; digital twin; Unity3d

中图分类号:

李娟莉，姜朔，谢嘉成，孙梦祯. 基于采煤机截割路径的动态三维地质模型构建方法[J]. 东北大学学报（自然科学版）, 2021, 42(5): 706-712.

LI Juan-li， JIANG Shuo， XIE Jia-cheng， SUN Meng-zhen. Construction Method of the Dynamic 3-D Geological Model Based on Shearer Cutting Path[J]. Journal of Northeastern University(Natural Science), 2021, 42(5): 706-712.

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基于采煤机截割路径的动态三维地质模型构建方法

Construction Method of the Dynamic 3-D Geological Model Based on Shearer Cutting Path

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