CN103726844B - Based on the automatic coal-mining method of coal-face - Google Patents
Based on the automatic coal-mining method of coal-face Download PDFInfo
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Abstract
The invention discloses a kind of automatic coal-mining method based on coal-face, the method comprises: treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios described in determining according to the mining engineering plan and geotechnical boring data for the treatment of production zone; And coal-winning machine according to described in treat that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatic coal mining operation.
Description
Technical field
The present invention relates to a kind of automatic coal-mining method based on coal-face.
Background technology
China's coal-mine exploitation, based on underground mine exploitation, is extremely prone to accidents at coal mine work area, causes stop work and production, cause very large loss.In order to improve the automatization level of coal-face, reduce underground operators, improve Safety of Coal Mine Production level, reduce coal mine waste rock and go out cash amount, energy conservation, unmanned or few people that just must realize coal-face melts and adopts, and realizes the operated from a distance of coal excavation apparatus, just must realize the coal and rock identify of coal-face, realize the automatic of coal-winning machine or Long-distance Control coal cutting.
In the course of the work, the height of cylinder regulates at present primarily of manually completing coal-winning machine.On the one hand, be because the coal petrography work plane of coal-face is unclear, do not know when cut rock.On the other hand, geologic data and other position, device data information do not merge, people for information utilization not enough, can not also dare not judge.In real work, coal-winning machine produces a large amount of coal ash dust in the course of the work, makes manually to be difficult to observe cylinder whether cutting rock with vision.Meanwhile, the noise of machine itself is very strong, is also difficult to judge whether cutting rock by sound status.And manually closely operating control coal-winning machine, having great danger, the environment of high dust, easily causes gas explosion.And, for manual adjustment roller height, have very big hysteresis quality, coal mining machine roller cut brings a large amount of rock, is mixed into raw coal, reduce the quality of raw coal, also bring great inconvenience to coal separation work, and cutting rock also weares and teares coal-winning machine equipment, decrease the life-span, add the cost of maintenance and repair.Meanwhile, lasting cutting rock also can cause the rimrock at coal mining interface to cave in, and create greater casualties accident.The working environment of coal-winning machine is high-risk, high dust, strong noise, dark space, has been difficult to for the artificial duty obtaining coal-winning machine.Realize coal mining machine roller automatic adjustment height and be not only the important step realizing coal-face Automation of Manufacturing Process, and to extending service life of a machine, improve the operating efficiency of coal-winning machine, the maintenance improving equipment dependability, alleviate the wearing and tearing of pick, reduce coal-winning machine, ensure safety of workers, make operating personnel away from dangerous work face, the safety improving coal mining activity, improve Coal Quality significant, and the prerequisite of automatic adjustment height first will identify coal-rock interface.
Coal-Rock Interface Recognition can make coal-winning machine have the ability in automatic tracing coal petrography cut face, not only contributes to the automation guiding underground coal mine coal mining activity, improves coal production benefit; And reduce the spoil and other mineral content that must remove in coal separation process.Coal-Rock Interface Recognition technology can be used for manually-operated coal-winning machine and computer-controlled coal-winning machine.Reliable Coal-Rock Interface Recognition system all has outstanding advantage in economic benefit and safety work two, and it can improve the rate of extraction in coal seam, reduces the content of spoil, ash and the sulphur in coal; Improve coal mining activity efficiency; Alleviate equipment attrition; Reduce maintenance of equipment amount and downtime; Due to wear and tear in machines, reduce the rock dust content in air, and operating personnel can be made away from dangerous work face.As one of key equipment realizing coal mining automation, Coal-Rock Interface Recognition system needs further investigation.Therefore carry out the research of coal and rock identify technology, the operating efficiency of coal road automation driving face will be improved further.Coal and rock identify technology is one of key technology realizing digging automation, the automatic identification that reliable coal and rock identify technology not only can make development machine can realize top board or base plate in operation process, but also the identification of the coal seam that can realize roadway's sides and rock stratum, and can realize the identification of coal seam dirt band and judge its position existed.
Foreign country starts from the beginning of the sixties to the research of coal and rock identify.The method that domestic and international research in recent years is taked mainly contains the methods such as gamma-ray detection method, radar detection system, infrared detecting method, active power monitoring method, vibration analysis method, optical detection.
Although Chinese scholars proposes multiple coal-rock interface detection method, but great majority are still in theoretical and experimental study stage, also do not possess practical value, simultaneously due to the various reasons such as complexity of geological conditions, the scope of application of the Coal-Rock Interface Recognition system of some practicalities is severely limited, and result of use is not good.
The shortcoming of γ back dispersion method is that artificial gamma-ray penetration capacity is not enough, is difficult to ensure and top coal good contact.In addition, in coal, field trash also also exists impact to detection accuracy.
The Technical comparing of natural Gamma ray method is ripe, and its advantage is non-cpntact measurement, and signal analysis is simple, but the method has its own shortcomings: (1) requires to stay certain thickness top coal; (2) the method can not be applicable to top board containing radioactive element or the lower work plane of radioactive element content, and such as the method is poor for sandstone top board compliance, only has the mine of about 20% to apply for China's coal mines; (3) affect by dirt band amount in coal seam, because the content of spoil in bastard coal mixture and gamma Rays intensity have direct relation, and the spacing of gamma Rays intensity to probe and bastard coal mixture is very sensitive, therefore the minor variations of distance may cause the change that gamma Rays intensity is larger, detection accuracy is reduced, therefore for the situation that dirt band in coal seam is serious, the method is also difficult to realize coal-rock detection; (4) commercialization is difficult to, because each fully mechanized coal face has up to a hundred hydraulic supports, the coal let-down degree of each hydraulic support all needs to detect, therefore a fully mechanized coal face just needs to install up to a hundred natural Gamma ray bastard coal sensors, and the cost based on the bastard coal interface identification sensor of natural Gamma ray is very high.(5) survey meter installation and maintenance inconvenience, put coal environment on coalface complicated, survey meter probe positions is not easily fixed, and bastard coal mixture may block the aperture on steel plate to the impact of tail boom, causes gamma-rays cannot arrive probe smoothly.
Radar detection system is subject to the problem of signal attenuation that high seam causes, and the dispersivity impact of coal characteristic is serious, and signal is difficult to detect, and this technology is limited in the scope of application of underground coal mine.United States Bureau of Mines and then have developed a kind of continuous wave Doppler radar technology, for overcoming the scattering problems caused by coal and antenna, the advantage of the method oneself need not know the physical characteristic of coal petrography in advance, and the scope of application is wider.Shortcoming is that investigative range is less, and signal attenuation is comparatively serious.The shortcoming of electron spin resonance is that when measuring bastard coal mixing coal seam, accuracy of measurement can decline.
Infrared detecting method run into coal and rock Protodyakonov coefficient close to time, not easily calculate coal-rock interface.The method can cause temperature in addition and intercoupling between heightening.And the geological conditionss such as its None-identified dirt band.
The limitation of active power monitoring method be coal and rock Protodyakonov coefficient close to time, be difficult to calculate coal-rock detection.And when only having cut to rock stratum, just can calculate coal-rock interface.
Vibration detection requires that coal petrography Protodyakonov coefficient difference is large equally, and only has cut just can calculate coal-rock interface to rock stratum.In addition, general mode identification method effect is used not to be very good.The factors such as the method for the geologic body mechanical property of the vibration signal that United States Bureau of Mines's vibration coal-rock interface probe method collects and coal-winning machine institute cut, mining machines type, pick state and cut coal are all relevant, and these vibration signals are imported into self-adapting signal discrimination system and classify to vibration signal and identify.United States Bureau of Mines have employed three cover self-adapting signal discrimination systems and carries out analysis of vibration signal, but these self-adapting signal discrimination systems do not consider the particularity that coal industry field is applied, all common-mode classification software, therefore, although be obviously inferior to the test of the sample of known type at the classification accuracy of UNKNOWN TYPE sample to " cutting coal " and " cutting rock " two states.
The shortcoming of dust probe method, when only having cut cutter rock, could calculate coal-rock interface.
High-pressure water jet-flash spotting result of the test shows, diameter is the shower nozzle of 1.5mm, when detecting 200mm top coal and being thick, and must pressure 42MPa.With coal seam thickness increase needed for water flow pressure also can greatly increase, therefore this kind of method has certain requirement for surveyed coal seam thickness.
Other method, such as, utilize acoustic signal to carry out the identification of bastard coal interface, have signals collecting easily, non-cpntact measurement, do not affect the features such as miscellaneous equipment work, simplify technical difficulty, reduce cost.But method requires coal and rock medium difference greatly, and when only having cut to rock stratum, just can calculate coal-rock interface.Underground coal mine environment is very severe, the noise that the acoustic signal that bastard coal let-down produces often is excited by environment pollute, signal component is complicated, proposes very high requirement to follow-up signal analysis.
Summary of the invention
For the deficiencies in the prior art, the object of this invention is to provide a kind of automatic coal-mining method based on coal-face.
To achieve these goals, one aspect of the present invention provides a kind of automatic coal-mining method based on coal-face, and the method comprises: treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios described in determining according to the mining engineering plan and geotechnical boring data for the treatment of production zone; And coal-winning machine treats that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatic coal mining operation according to determined.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for manual, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is the flow chart of the automatic coal-mining method based on coal-face according to an embodiment of the invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Fig. 1 is the flow chart of the automatic coal-mining method based on coal-face according to an embodiment of the invention.As shown in Figure 1, according to an embodiment of the invention, disclose a kind of automatic coal-mining method based on coal-face, the method can comprise:
The upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios is treated described in determining according to the mining engineering plan and geotechnical boring data for the treatment of production zone; And
Coal-winning machine treats that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatic coal mining operation according to determined.
Treat production zone to carry out geotechnical boring and can obtain geotechnical boring data, can determine according to geology borehole data the mining engineering plan treating production zone.Can determine coal seam height according to mining engineering plan, coal seam thickness, the layout of coal excavation apparatus (such as support, scraper plate etc.) also can be decided.In addition, boring point coal seam and the separation of floor strata and the separation of coal seam and roof strata can be determined according to geology borehole data.According to mining engineering plan and alternatively in conjunction with multiple boring point borehole data can determine the upper work plane (i.e. the upper line of demarcation of coal seam and rock stratum) of coal seam and rock stratum and the lower work plane (i.e. the lower line of demarcation of coal seam and rock stratum) of coal seam and rock stratum.In simple terms, according to mining work plan view, beginning boundary and the termination border of coal mining are confirmable, at this moment just can determine upper work plane and lower work plane.If have borehole data in border, then can also determine upper work plane and lower work plane in conjunction with borehole data.
In an embodiment of the invention, can have been come by the mode of modeling above-mentioned process.Such as, can set up according to the mining engineering plan and geotechnical boring data treating production zone the coal-mining model controlled for coal-winning machine, described in this model can comprise, treat the upper parameters of mining face of production zone, lower parameters of mining face, coal seam height parameter, coal seam thickness parameter and coal excavation apparatus arrangement parameter.
After setting up coal-mining model, coal-winning machine can carry out automatic coal mining operation based on this coal-mining model.Owing to establishing coal-mining model in advance, coal-winning machine can carry out coal cutting according to this model from along up/down work plane.
In the process of coal cutting, can revise the cutting track of coal-winning machine cutting drum.In other words, can the up/down work plane in coal-mining model be revised.Here is some embodiments of correction in this paper.
The first embodiment can be revised upper work plane, comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result cutting track, described upper work plane is revised, to determine the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
Alternatively or additionally, can revise lower work plane, comprise:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result cutting track, described lower work plane is revised, to determine the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
In a first embodiment, correction can adopt conventional curve-fitting method.To revise upper work plane, for any point-of-interest on cutting track, if judge that this point-of-interest is in coal seam, and this point is arranged in the below of work plane corresponding points, then retain the corresponding points in upper work plane, ignore this point-of-interest; If this point-of-interest is in coal seam, and this point is arranged in the top of work plane corresponding points, then retain this point-of-interest, ignore corresponding points; If judge that this point-of-interest is in rock stratum, and this point is arranged in the below of work plane corresponding points, then retain this point-of-interest, ignores this corresponding points; If this point-of-interest is in rock stratum, and this point is arranged in the top of work plane corresponding points, then retain corresponding points, ignores this point-of-interest.Be appreciated that point-of-interest and corresponding points refer to the crossing intersection point of cutting track and upper work plane and same vertical curve respectively here.
The method revising lower work plane is similar to the method revising upper work plane, repeats no more.
After above-mentioned process, the some line of reservation can be linked up, to obtain revised up/down work plane.
The above-mentioned modification method to upper work plane is just schematic, and the scope in unrestricted our face.It may occur to persons skilled in the art that and other method can also be used to carry out matching to two lines.
The second embodiment can be revised upper work plane, comprising:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
Determine whether to need to revise described upper work plane according to judged result;
If determine to need to revise described upper work plane, then according to described judged result, described upper work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised upper work plane, and records the cutting track of coal-winning machine cutting drum.
Alternatively or additionally, can revise lower work plane, comprise:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
Determine whether to need to revise described lower work plane according to judged result;
If determine to need to revise described lower work plane, then according to judged result, described lower work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised lower work plane, and records the cutting track of coal-winning machine cutting drum.
The second embodiment can be manually revise, namely by people according to parameter relevant with up/down work plane in upper under judged result manual correction/work plane or amendment coal-mining model.
In the first and the second embodiment, judge that the method which kind of location status point-of-interest is in can have a variety of.Such as, can by the following method in any one or multiple combination determine which kind of location status point-of-interest is in:
1, the coal petrography ratio that cut gets off is analyzed; This method can pass through gateway belt on-line element analysis of coal, such as, measure the weight change of the coal (being likely rock or coal petrography mixture) on gateway belt to judge that point-of-interest is arranged in coal seam or rock stratum (this is different from the density of rock based on coal).
2, carry out analysis to the running parameter state of coal-winning machine to judge, determine whether to cut rock stratum; The running parameter of coal-winning machine such as has electric current, voltage, power etc.Due to the density of coal and rock or quality different, the resistance brought to coal-winning machine has difference, and the power of therefore voltage when coal-winning machine cutting coal and cutting rock, electric current or consumption may have difference.Therefore can judge that point-of-interest is arranged in coal seam or rock stratum according to the change of the coal-winning machine running parameters such as electric current, voltage, power
By the coal-rock detection situation on direct surveillance's coal-winning machine travel track.This mode is the most direct mode, can pass through people's direct visual perception.
The third embodiment needs to use coal and rock identify device.This coal and rock identify device can be the existing device for identifying coal seam and rock stratum, and it such as can use image technique, infrared technique etc.Coal and rock identify device can be arranged on coal-winning machine, follows coal-winning machine and moves together.Or arrange along the work plane of coal-winning machine.
In this embodiment, a cutting drum of coal-winning machine cuts along described upper work plane, and coal and rock identify device identifies the coal seam near described upper work plane and rock stratum simultaneously;
Often cut a cutter coal, determine the cutting path of next coal operation of lancinating according to the recognition result of described coal and rock identify device;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
Alternatively or additionally, a cutting drum of coal-winning machine cuts along described lower work plane, and coal and rock identify device identifies the coal seam near described lower work plane and rock stratum simultaneously;
Often cut a cutter coal, determine the cutting path of next coal operation of lancinating according to the recognition result of described coal and rock identify device;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
Specifically, above work plane is example, and carry out in the process of coal cutting at coal-winning machine cutting drum, cylinder often cut one section, is positioned on coal-winning machine or along the coal and rock identify device that upper work plane is arranged and just can identifies the coal-rock detection line of upper work plane at this section.When after the complete cutter coal of coal mining machine cut, (such as treating apparatus) according to the recognition result determination coal-rock detection line of coal and rock identify device, can it can be used as the cutting path cutting off a cutter coal.Because coal-winning machine is generally back and forth reciprocating coal cutting, often cut a cutter, the cutting path of next cutter can have been determined according to the recognition result of coal and rock identify device.
Similar to the situation of upper work plane to lower work plane identification, repeats no more.
In interchangeable embodiment, the method can also comprise the duty using Video Supervision Technique to monitor coal-winning machine.Even if according to said method provided by the invention, coal-winning machine can carry out cutting process automatically.But scene is monitored and is also necessary.
The automatic coal-mining method based on coal-face that embodiments of the present invention provide, utilizes mining engineering plan and geotechnical boring data to set up the coal-mining model controlled for coal-winning machine.Also proposed in addition and the up/down work plane of coal-mining model is revised, make coal-winning machine coal mining efficiency higher, more economical.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible combination.
In addition, also can be combined between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (9)
1., based on an automatic coal-mining method for coal-face, the method comprises:
The upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios is treated described in determining according to the mining engineering plan and geotechnical boring data for the treatment of production zone; And
Coal-winning machine treats that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatic coal mining operation according to determined;
Wherein, described basis treats that the mining engineering plan of production zone and geotechnical boring data treat the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness and coal excavation apparatus deployment scenarios described in determining, comprise: mining engineering plan and geotechnical boring data according to treating production zone set up the coal-mining model controlled for coal-winning machine, treat the upper parameters of mining face of production zone, lower parameters of mining face, coal seam height parameter, coal seam thickness parameter and coal excavation apparatus arrangement parameter described in this coal-mining model comprises;
Described coal-winning machine treats that the upper work plane of production zone, lower work plane, coal seam height, coal seam thickness carry out automatic coal mining operation according to determined, comprise: after setting up coal-mining model, coal-winning machine carries out automatic coal mining operation based on coal-mining model, coal cutting is carried out from along up/down work plane according to this coal-mining model, and in the process of coal cutting, the up/down work plane in coal-mining model is revised.
2. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result cutting track, described upper work plane is revised, to determine the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
3. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
According to judged result cutting track, described lower work plane is revised, to determine the cutting path of next coal operation of lancinating;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating, and records the cutting track of coal-winning machine cutting drum.
4. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described upper work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
Determine whether to need to revise described upper work plane according to judged result;
If determine to need to revise described upper work plane, then according to described judged result, described upper work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised upper work plane, and records the cutting track of coal-winning machine cutting drum.
5. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described lower work plane, and records the cutting track of coal-winning machine cutting drum;
Often cut a cutter coal, judge the location status of the multiple point-of-interests on described cutting track, this location status comprises coal seam and lithosphere;
Determine whether to need to revise described lower work plane according to judged result;
If determine to need to revise described lower work plane, then according to judged result, described lower work plane is revised;
When cutting off a cutter coal, coal-winning machine cutting drum cuts according to revised lower work plane, and records the cutting track of coal-winning machine cutting drum.
6. the method according to any one of claim 2 to 5, wherein judges that the location status of the multiple point-of-interests on described cutting track is that any one or multiple combination is by the following method determined:
Analyze the coal petrography ratio that cut gets off;
Carry out analysis to the running parameter state of coal-winning machine to judge, determine whether to cut rock stratum; Or
By the coal-rock detection situation on direct surveillance's coal-winning machine travel track.
7. method according to claim 1, the method also comprises the duty using Video Supervision Technique to monitor coal-winning machine.
8. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described upper work plane, and coal and rock identify device identifies the coal seam near described upper work plane and rock stratum simultaneously;
Often cut a cutter coal, determine the cutting path of next coal operation of lancinating according to the recognition result of described coal and rock identify device;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
9. method according to claim 1, wherein, coal-winning machine carries out automatic coal mining operation and comprises:
A cutting drum of coal-winning machine cuts along described lower work plane, and coal and rock identify device identifies the coal seam near described lower work plane and rock stratum simultaneously;
Often cut a cutter coal, determine the cutting path of next coal operation of lancinating according to the recognition result of described coal and rock identify device;
When cutting off a cutter coal, coal-winning machine cutting drum cuts along the determined cutting path for next coal operation of lancinating.
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