Principle and key technology of autonomous navigation cutting for deep coal seam

The structure of deep coal seams is more complicated,and it is more difficult to realize unmanned cutting of coal shearers.Based on the summary of the shearer structure and the evolution of cutting control technology,this paper proposes that the shearer cutting control technology has experienced three development stages:manual visual cutting,airborne detection cutting,and teaching and memory cutting.Now it has entered the fourth stage of autonomous navigation and cutting,and the paper proposes a navigation cutting theory and technical framework suitable for automatic driving of deep coal seam shearers,including four technical connotations of navigation map,position perception,path planning,and attitude control,and nine key technologies including refined coal seam cutting location map,precise coal seam cutting navigation map,dynamic coal seam cutting guidance map,shearer fusion positioning method,positioning accuracy improvement,intelligent mining unit full pose parameter matrix establishment,physical virtual model driving and interaction,driverless collision avoidance path planning,cutting operation intelligent height adjustment and straightening.The system explains the basic principles of core technologies related to the shearer’s autonomous navigation and cutting technology.Firstly,an intelligent coal seam mining navigation map is built,and then the map is updated from refined coal seam cutting positioning,precise coal seam cutting navigation and dynamic coal seam cutting guidance and control.The key steps are to realize map construction and update.Secondly,through the integration of positioning and positioning accuracy improvement methods,the shearer’s precise perception is completed.Thirdly,the full pose parameter matrix of the intelligent mining unit is created,and combined with the physical virtual model drive and interactive technology,a digital twin system for navigation and cutting is built.Finally,based on real time fully mechanized mining equipment’s pose status and coal seam navigation map information,it realizes unmanned anti interference and anti collision path planning,cutting drum adaptive height adjustment control,and walking path automatic straightening control.In this way,the intelligent navigation and cutting control of the deep seam shearer is realized,which provides new theoretical and technical support for the realization of unmanned operation on the intelligent mining face.