煤岩识别是实现采煤机滚筒高度自动调节的关键技术，是综采机械智能化的体现，也是实现无人自动化开采的先决条件;可靠的煤岩识别系统在提高生产效益、减轻设备磨损、保障工人安全等方面具有突出的优点。目前煤岩界面主要依据人工或者单一传感器监测进行识别，所以识别的结果不准确，具有一定的误差;因此，提出一种基于数据融合理论的多传感器煤岩识别方法;该方法以煤岩在硬度上的差异为基础，以采煤机摇臂销轴为研究对象，在摇臂与连接架销轴处布置4个经过等效强度处理的销轴传感器，采集采煤机截割不同硬度煤壁与岩壁时销轴的应变数据，对采集到的数据通过加权融合理论进行系数分配、融合，获得多传感数据融合的组合判据，利用组合判据对煤岩分界面进行识别。实验结果表明，销轴传感器采集到的应变数据在截割煤和岩时波动较大，且割煤应变数据和割岩应变数据有重叠部分，很难精准的实现煤岩界面的识别;通过数据融合方法处理后的应变数据波动较小;利用拟合公式对应变数据标定，得到销轴传感器所受的载荷值:截割岩时销轴受力范围为24.766 ~ 25.467 kN，截割煤时销轴受力范围为23.493 ~ 24.348 kN;与单一传感器测量相比，差异明显，没有重合部分;因此，可以采用这种方法在实际的生产工作中标定截割煤和岩时销轴受力的期望值范围，以此期望值范围的差异作为采煤机煤岩界面识别的依据。

Coal and rock identification is the key technology to realize an automatic adjustment of shearer drum height. Reliable coal and rock identification system has outstanding advantages in improving production efficiency,reducing e- quipment wear,and ensuring miners’ safety. At present,the coal-rock interface is mainly identified by miners or sin- gle-sensor monitoring,so the recognition results are inaccurate and have some errors. Therefore,a multi-sensor coal- rock recognition method based on data fusion theory is proposed. This method is based on the difference of hardness of coal and rock,and uses the pin shaft of shearer rocker arm for data collection. Four pin shaft sensors with equivalent strength treatment are arranged between the rocker arm and the connector,and the strain data of the pin shaft when the shearer cuts different hardness coal wall and rock wall are collected,and the collected data are distributed and merged by weighted fusion theory. The combination criterion of multi-sensor data fusion is obtained,and the coal-rock interface is identified by the combination criterion. The experimental results show that the strain data collected by pin shaft sen- sor fluctuate greatly in coal and rock cutting,and there is overlap between coal cutting strain data and rock cutting strain data,so it is difficult to accurately identify coal and rock interface. The fluctuation of strain data processed by data fusion method is small. The load value of the pin shaft sensor is obtained by calibrating the strain data with the fit- ting formula:the stress range of the pin shaft is 24. 766-25. 467 kN in cutting rock and 23. 493-24. 348 kN in coal cutting. Compared with the single sensor measurement,the difference is obvious,and there is no overlap part. There- fore,this method can be used to calibrate the expected value range of cutting coal and rock pin shaft force in practical production,and the difference of expected value range can be used as the basis for the coal and rock interface identifi- cation of shearer.