# Cutting Path Planning Technology of Shearer Based on Virtual Reality
## 3 Kinematics Analysis and Cutting Path Planning Method of Real Shearer
### Selection of Operation Parameters of the Shearer  
In the coal production process, the selection of the operating parameters of the shearer is key to achieving high-efficiency and high-quality cutting under various working conditions, and as well, meeting the production capacity of the working face. When the model of the fully mechanized mining equipment is selected, the performance of the shearer is mainly affected by the traction speed and the drum cutting speed; this study focuses on the traction speed of shearer. Under the condition of guaranteed normal coal falling and conveying, the higher the traction speed of the shearer, the better the coal quality, the lower the specific energy of cutting, and the higher the coal production efficiency. However, the traction speed is restricted by the traction and the cutting powers of the shearer motor. On the other hand, the higher the traction speed, the lower the recovery rate of the coal seam with larger fluctuation. In actual production, the mining replacement arrangement, mining technology, and mechanization degree vary in each mining operation. In most cases, higher production capacity of the working face and recovery rate of the coal seam is required.  
With reference to the mine production capacity verification standard, the coal mining face capacity is calculated as follows:  
\[A_{C}=10^{-4}l\cdot h\cdot r\cdot b\cdot n\cdot N\cdot c\cdot a, \tag{11}\]  
where \(A_{C}\) is the annual production capacity of the coal mining face, 10,000 tons/year; \(l\) is the average length of coal mining face, m; \(h\) is the average mining height of coal seam in coal mining face, m; \(r\) is the raw coal density, m\({}^{3}\); \(b\) is the average daily advancement of coal mining face, m/d; \(n\) is the annual working days, d; \(N\) is the normal cycle operation coefficient, %, according to the technical  
\begin{table}
\begin{tabular}{c c c c} \hline \hline \multicolumn{1}{c}{**Judgment of Action**} & \multicolumn{1}{c}{**Before Adjustment**} & \multicolumn{1}{c}{**Specific Action**} & \multicolumn{1}{c}{**After Adjustment**} \\ \hline \(\Delta H>\Delta H_{max}\) or & & & Traction speed is reduced to a minimum, \\ \(\Delta H<\Delta H_{min}\) & & & drum lifts \\ \hline \(\Delta H<\Delta H_{max}\) and & & K-Q \(>\) 0.02 & Traction speed is increased, drum lifts \\ \(\Delta H>\Delta H_{up}\) & & Q-K \(>\) 0.02 & Traction speed is decreased, drum lifts \\  & & \(|\)Q-K\(|\leq\) 0.02 & Traction speed is decreased, drum lifts \\ \hline \(\Delta H<\Delta H_{up}\) and & & & Traction speed is constant, drum is \\ \(\Delta H>\Delta H_{down}\) & & & not adjusted \\ \hline \(\Delta H<\Delta H_{down}\) & & K-Q \(>\) 0.02 & Traction speed is increased, drum descends \\ and \(\Delta H>\Delta H_{min}\) & & Q-K \(>\) 0.02 & Traction speed is decreased, drum descends \\  & & \(|\)Q-K\(|\leq\) 0.02 & Traction speed is constant, drum descends \\ \hline \hline \end{tabular}
\end{table}
Table 1: Strategy of action judgment.  
performance of coal mining equipment, the production organization, staff quality, and other factors, generally taking 0.8; \(c\) is the recovery rate of coal mining face, %; \(a\) is the average number of coal mining face. It can be seen that for annual production capacity, the speed of coal-mining equipment needs to be adjusted when other conditions are fixed. With reference to the actual production experience of a coal mine, the minimum average traction speed of the shearer may be up to 3 m/min for higher production capacity.