May 2023
Volume 75    Issue 5

Virtual planning method for spatial pose and performance fusion advancement of mining and transportation equipment in a complex geological environment

Dong, Mengyao; Xie, Jiacheng; Li, Juanli; Du, Wenyong; Cui, Tao; Huo, Pengfei


In order to realize the autonomous cutting of fully mechanized mining equipment and improve coal production, a mining and transportation equipment dynamic advancement path planning method based on spatial kinematics coordinate deduction prediction and real-time correction prediction of coal-rock state identification of equipment cutting current index is proposed. According to real geological data and equipment operation information, the planning method realizes the spatial three-dimensional planning of the advancement path of the mining equipment, and integrates the relationship between the cutting current index of the shearer and the state recognition of coal-rock mass. The three-dimensional path is dynamically corrected in real time, so the planning path can better adapt to sudden changes of the real geological environment. Unity3d virtual reality technology is used to simulate the real advancement operation process of mining and transportation equipment and carry out advancement prediction. The optimal scheme is transmitted into the existing predictive cutting system to guide the actual physical equipment mining. The path planning method can control the coordinate position error of the advancing cutting path within 15 mm, which provides ideas for research on the advancing path planning of fully mechanized equipment.

Full-text paper:
Mining, Metallurgy & Exploration (2023) 40:231–251;


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