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Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Author

Listed:
  • Jianjun Wu

    (China Coal Huajin Group Co., Ltd., Yuncheng 043000, China)

  • Ziyue Xu

    (School of Mines, China University of Mining and Technology, Xuzhou 221116, China)

  • Xinqiu Fang

    (School of Mines, China University of Mining and Technology, Xuzhou 221116, China)

  • Guangliang Shi

    (Wangjialing Coal Mine, China Coal Huajin Group Co., Ltd., Yuncheng 043000, China)

  • Haiyan Wang

    (Wangjialing Coal Mine, China Coal Huajin Group Co., Ltd., Yuncheng 043000, China)

Abstract

A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to the safe, efficient and intelligent development of coal enterprises is to achieve the autonomous cutting and intelligent control of the cantilever roadheader. In order to realize the automatic cutting shaping control of a large-section coal roadway, the path planning and control method of secondary automatic cutting of a cantilever roadheader were studied. The Wangjialing 12307 belt roadway was used as the engineering background, the vertical displacement law of the roadway roof under different cutting paths was simulated with the FLAC 3D software, the reasonable cutting path was determined according to the actual situation, and the underground industrial test was carried out. The simplified model and spatial position and attitude coordinate system of the roadheader were established, the kinematics of the roadheader was analyzed, and the position and attitude expression of the cutting head center in the roadway coordinate system was obtained. The simplified model of the cutting head was established, the position expression of the pick in the roadway coordinate system was derived, the position coordinate of the inflection point and the cutting step distance were determined according to the relationship between the cutting head and the roadway boundary, and the cutting path control flow was designed. Finally, the reliability of the cutting path control method was verified with a MATLAB simulation. The research works provide a theoretical foundation for path planning and control to realize “secondary autonomous cutting of cantilever roadheader”.

Suggested Citation

  • Jianjun Wu & Ziyue Xu & Xinqiu Fang & Guangliang Shi & Haiyan Wang, 2022. "Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway," Sustainability, MDPI, vol. 15(1), pages 1-22, December.
    • Handle: RePEc:gam:jsusta:v:15:y:2022:i:1:p:560-:d:1018357
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    References listed on IDEAS

    as
    1. Chengjun Hu & Yong Zhang & Rui Yu & Xinqiu Fang & Ziyue Xu & Lixin Wang & Baofu Zhao, 2022. "Research on the Optimization of Cutting Path of Cantilever Roadheader in Large Section Excavation," Sustainability, MDPI, vol. 14(9), pages 1-18, April.
    2. Xiaodong Ji & Minjun Zhang & Yuanyuan Qu & Hai Jiang & Miao Wu, 2021. "Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway," Energies, MDPI, vol. 14(21), pages 1-21, November.
    3. Zhengzheng Xie & Nong Zhang & Deyu Qian & Changliang Han & Yanpei An & Yang Wang, 2018. "Rapid Excavation and Stability Control of Deep Roadways for an Underground Coal Mine with High Production in Inner Mongolia," Sustainability, MDPI, vol. 10(4), pages 1-17, April.
    4. Ziyue Xu & Minfu Liang & Xinqiu Fang & Gang Wu & Ningning Chen & Yang Song, 2022. "Research on Autonomous Cutting Method of Cantilever Roadheader," Energies, MDPI, vol. 15(17), pages 1-14, August.
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