智能化采煤系统架构及关键技术研究

Research on the architecture and key technologies of intelligent coal mining system

针对我国当前推广应用的可视化远程干预智能化采煤模式进行了分析,介绍、总结了基于视频监控的远程干预综采智能化、以巡检机器人辅助的工作面智能化,以及基于惯性导航技术的综采智能导航等3个方向的技术发展情况,提出了当前可视化远程干预智能化采煤所面对的“看、动、想、稳”4个方面实际问题。分析了复杂开采条件下智能化采煤所面对的自适应技术和综采机器人技术2项技术难题,归纳出开采空间多元信息采集及交叉融合、智能化采煤决策基础理论、综采装备群智能化协作3个科学难题。围绕技术、科学难题,提出了智能化开采系统需要具备的4个基本要素,分别为:煤炭开采空间感知能力、智能分析及决策能力、自动执行能力、可靠及稳健运维能力,设计了以“感知、决策、执行、运维”为4个维度的智能化采煤系统架构。研究了关键技术待突破方向,包括开采地质环境增强感知技术、智能开采工艺分析决策技术、开采装备智能化技术、煤矿智能巡检机器人技术、开采系统智能运维技术、辅助生产环节智能化技术、综采智能服务等方面。最后,以国能集团神东榆家梁煤矿智能化采煤示范工程项目为例,开展了基于“透明工作面”的数字化采煤应用,初步实现了智能化自主采煤。

With the reformation of automation,digitalization and informatization in the coal industry,intelligent coal mining has become an important development direction.This paper analyzes the visual remote intervention intelligent mining mode which is widely used in China,introduces the technology development in three directions:the remote intervention intelligent mining based on video monitoring,the intelligent working face assisted by inspection robot,and the integrated mining intelligent navigation based on inertial navigation technology.Furthermore,the paper summarizes the four practical problems of"seeing,moving,thinking and stabilizing in the current stage based on the visual remote intervention mining method.Then,the paper analyzes two technical problems faced by intelligent coal mining under complex mining conditions,which are self-adaptive technology and fully mechanized mining robot technology.Three scientific problems that intelligent coal mining must be solved are summarized as the multi-information collection and cross fusion of mining space,intelligent coal mining decision-making basis theory,and the intelligent cooperation of comprehensive mining cluster.At the same time,according to the summarized technical and scientific problems,an architecture of intelligent coal mining system containing four dimensions of perception,decision-making,implementation,operation and maintenance is proposed,as well as the four basic elements is summarized,which are coal mining spatial perception ability,intelligent analysis and decision-making ability,automatic execution ability,reliable and stable operation and maintenance ability.In addition,the breakthrough directions of key technologies are proposed,including mining geological environment enhancement sensing technology,intelligent mining technology analysis and decision-making technology,mining equipment intelligent technology,intelligent inspection robot technology,intelligent operation and maintenance technology of mining system,intelligent technology of auxiliary production links,and comprehensive mining intelligent service.Finally,a demonstration project in Yujialiang Coal Mine of CHN Energy Shendong Coal Group Limited is introduced.The application results show that the intelligent coal mining system based on’transparent working face’has initially achieved an intelligent coal mining.