煤矿无人化智能开采系统理论与技术研发进展

Progresses in theory and technological development of unmanned smart mining system

提出以矿井物联网和先进传感等通信方式为支撑环境,构建“感知、传输、决策、执行、运维、监管”六维度智能开采控制系统;基于此系统架构,提出无人化智能开采控制技术路线和系统方案;最后,对煤矿无人化智能开采系统的理论和技术研发最新进展进行了详细论述。利用双光谱热红外摄像及图像增强技术,解决综采工作面生产工况条件下的视觉监控透尘问题;提出多目视频帧图像融合和全景视频拼接技术,解决工作面大视角覆盖以及实时无死角视频监控问题;利用三维颜色查找法,解决增强算法在质量和实时性难以满足井下视觉测量任务的问题。工作面设备自适应控制进一步发展:构建精准三维地质模型,进行开采预测和模型动态修正,为智能开采提供精准地质保障;结合采煤机截割模板修正技术、工作面多源信息融合智能控制技术,规划采煤机割煤路线;利用新一代信息技术,实现高质量的视频传输,满足智能控制及感知设备的无线接入;利用远距离液压保障技术,在有限开采空间内减轻检修强度、增加安全性。在行业当前普遍采用的“工作面内自动控制+远程干预模式”的智能化开采技术基础上,提出了新一代无人化智能采煤控制技术方法,设计了“井上智能决策、井下自动执行、面内无人作业”的智能无人开采模式;提出聚焦“一网到底”的网络型控制系统、基于透明地质的采煤机自主规划割煤技术、云台摄像机自动跟机视频技术以及基于一体化操作座椅的地面远控平台等关键技术的研发,并应用于黄陵一矿627智能化工作面,实现工作面1人巡视,采煤机自主规划截割,地面2人远程辅助控制的常态化生产。

This paper proposes to build a six-dimension smart mining control system of“perception,transmission,decision-making,implementation,operation and maintenance,and supervision”based on the supporting environment of the mine internet of things and advanced sensing communication methods.Furthermore,under the guidance of this system,the technical route and system scheme of unmanned smart mining control are developed.Finally,the latest development of the theory and technology of unmanned smart mining system in coal mines is discussed in detail.Dual spectrum thermal infrared camera and image enhancement technology are proposed to solve the problem of dust penetration of visual monitoring under the production conditions of fully mechanized mining face.The technology of multiple-camera video frame image fusion and panorama video splicing is proposed to solve the problems of large angle coverage and real-time dead angle video monitoring in the working face.The 3D color search method is used to solve the problem that the enhancement algorithm is difficult to meet the underground visual measurement task in quality and real-time.The adaptive control of the working face equipment is further developed,including that the accurate 3D geological model is built,and the mining prediction and dynamic correction of the model is proposed,which provide accurate geological support for smart mining.Combined with the correction technology of shearer cutting template and the smart control technology of multi-source information fusion of working face,the cutting route of shearer can be predicted.The new generation of information technology is used to achieve high-quality video transmission and meet the wireless access of smart control and sensing devices.A long-distance hydraulic guarantee technology is implemented to alleviate maintenance intensity and improve safety in limited mining space.The Yujialiang Coal Mine has proposed a new generation of smart unmanned coal mining control technology method,and designed a smart unmanned mining mode of“intelligent decision-making in surface office,automatic execution in underground mine,and unmanned operation in mine working face”.No.627 smart working face of the Huangling No.1 Coal Mine has focused on the research and development of key technologies such as the network control system of“one network to the bottom”,the autonomous planning coal cutting technology of shearers based on transparent geology,the automatic tracking video technology of PTZ cameras,and the ground remote control platform based on integrated operation seats.Normalized production has been realized with one person patrolling the working face,the shearer independently planning and cutting,and two people on the surface for remote auxiliary control.