IDEAS home Printed from https://ideas.repec.org/a/gam/jsusta/v15y2022i1p560-d1018357.html
   My bibliography  Save this article

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
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2071-1050/15/1/560/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2071-1050/15/1/560/
    Download Restriction: no
    ---><---

    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. 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.
    3. 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.
    4. 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.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. 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.
    2. Jicheng Wan & Xuhui Zhang & Chao Zhang & Wenjuan Yang & Mengyu Lei & Yuyang Du & Zheng Dong, 2023. "Vision and Inertial Navigation Combined-Based Pose Measurement Method of Cantilever Roadheader," Sustainability, MDPI, vol. 15(5), pages 1-16, February.
    3. Houqiang Yang & Changliang Han & Nong Zhang & Changlun Sun & Dongjiang Pan & Minghui Dong, 2019. "Stability Control of a Goaf-Side Roadway under the Mining Disturbance of an Adjacent Coal Working Face in an Underground Mine," Sustainability, MDPI, vol. 11(22), pages 1-18, November.
    4. Zhaowen Du & Shaojie Chen & Junbiao Ma & Zhongping Guo & Dawei Yin, 2020. "Gob-Side Entry Retaining Involving Bag Filling Material for Support Wall Construction," Sustainability, MDPI, vol. 12(16), pages 1-20, August.
    5. Zhengzheng Xie & Nong Zhang & Yuxin Yuan & Guang Xu & Qun Wei, 2019. "Study on Safety Control of Composite Roof in Deep Roadway Based on Energy Balance Theory," Sustainability, MDPI, vol. 11(13), pages 1-18, July.
    6. Tieliang An & Xigui Zheng & Dengxing Zhu & Deyu Qian & Yu Guo & Juncai Cao, 2019. "Experimental investigation of pretensioned bolts under cyclic loading: Damage assessment using acoustic emission," International Journal of Distributed Sensor Networks, , vol. 15(5), pages 15501477198, May.
    7. Peng Ma & Deyu Qian & Nong Zhang & Hideki Shimada & Dongjiang Pan & Kejun Huang, 2020. "Application of Bolter Miner Rapid Excavation Technology in Deep Underground Roadway in Inner Mongolia: A Case Study," Sustainability, MDPI, vol. 12(7), pages 1-17, March.
    8. Olga Zhironkina & Sergey Zhironkin, 2023. "Technological and Intellectual Transition to Mining 4.0: A Review," Energies, MDPI, vol. 16(3), pages 1-37, February.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jsusta:v:15:y:2022:i:1:p:560-:d:1018357. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.