Path Optimization of Coal Mining Machine Based on Virtual Coal-rock Interface

On the intelligent coal face, when coals fall down, the roller on the coal mining machine can recognize roof coal-rock interface and programme a motion path to avoid knifing the roof rock. It can not only effectively protect the rockerarm of coal mining machine but observably improve the quality of the raw coal produced on the working face. At present, the study on this subject focuses on two aspects: One is the study on technology for recognizing coal-rock interface based on all kinds of principles and the study on tech for projecting the slicing path of top roller; the other is the study on follow-up control technique which aims at the heightening system of coal mining machine. All the study on projecting the slicing path of top roller or the follow-up control of heightening system before did not take the size of the roller into account adequately, which caused the roof rock incised when the coals fell down. On the premise that the size of roller appearance was considered fully, this article puts forward the motion path optimizing of the coal mining machine's top roller based on virtual coal-rock interface, which solves the problem of roof rock's being sliced by top roller while working, and conducts a simulation experiment.