Key technology and application of intelligent perception and intelligent control in fully mechanized mining face

During the“13th Five-Year Plan”period, China’s coal mining began to enter an intelligent mode, but it was still in the initial stage of intelligent mining. Firstly, the development of intelligent mining technology at home and abroad was analyzed, with emphasis on the construction of intelligent coal mine in Australia and the technological progress of unmanned long-wall face in Beijing Tiandi-Marco Electro Hydraulic Control System Co., Ltd., Secondly, the top-level design of domestic intelligent mining industry was summarized in terms of intelligent perception and intelligent control. For the key technologies of intelligent perception, the intelligent sensing technology system was established, which overcame the comprehensive sensing technology of fully mechanized mining equipment and the automatic straight-finding technology of working face, and solved the problem of increased cumulative error of long-term coordinate drift of inertial navigation. The Internet of Things has promoted the transparent sensing technology of surrounding rocks, coal-rock interface identification based on multi-information fusion and UWB radar fine measurement, which has a certain advanced detection ability and the ability to adapt to changes in geological conditions of coal seams, and the dynamics of high-precision three-dimensional dynamic geological models correction technology. The robot technology was introduced into the perception system of the fully mechanized working face, and the quick and seamless real-time perception of the production of the fully mechanized working face was realized by the patrol robot. By upgrading the traditional VR modeling technology, a 3D real-world model of the working face was established. For the key technologies of intelligent control, an intelligent control technology system was established, and remote supervisory control technology and autonomous control technology were studied, and the automatic detection of coal-rock interface and real-time recognition of the cutting status of the drum by the use of inspection robots have realized intelligent height adjustment control, pitch mining control and smooth stepped multi-level adjustment control of the propulsion direction in order to develop intelligent coal cutting technology under the mode of inspection robot; Through the protocol improvement of 5G communication system, the performance of video transmission with uplink bandwidth exceeding 300 Mbps and transmission delay less than 20 ms was achieved. The real-time and reliability of remote control in fully mechanized mining were ensured. Through the application of key technologies of intelligent perception and intelligent control, the application practices of remote intervention intelligent control of fully mechanized mining production, visual measurement of coal and rock boundary, automatic measurement and straightening of straightness, UWB radar detection, three-dimensional modeling of fully mechanized mining face in real scene and autonomous coal mining by patrol inspection robot have been carried out. Finally, the unresolved theoretical and key technical problems were put forward, such as the theoretical system of advanced and accurate detection of depth, the theoretical system of unmanned control in the whole process of fully mechanized mining, the communication positioning system of seamless coverage in the whole mine, the target identification in complex environment, the control of up-leaping and down-sliding, and the advanced automatic support shifting technology.