摘要
综掘巷道现今的"串行"工艺流程中,机械智能化程度较低、采掘比例严重失衡,已成为制约煤矿高效生产的主要技术瓶颈。为此,首先基于一体化式掘锚机组自动化掘进方式与自移式支护相结合的工艺理念,提出了一种综掘巷道掘支锚联合并行施工工艺技术系统,并阐明了其工艺原理,归纳了并行施工工艺技术在工程效益方面的主要优势。然后基于综掘巷道并行工艺技术装备的机器人化升级改造目标,构建了数字孪生理论指导下的综掘巷道并行施工技术流程与工艺体系,并对并行工艺技术装备的智能化发展进行初步探讨,论述了以掘进机器人远程可视化导控、临时支护机器人可靠性撑顶、钻锚机器人多工位锚护为基础功能的综掘巷道智能并行作业模式。在数字孪生技术驱动的综掘巷道并行施工技术系统中,利用多源传感信息链接与互译实现了并行工艺技术装备物理实体与"虚拟数字孪生体"之间的交互感知,并通过远程可视化智能调控系统完成了掘进机的自主纠偏、障碍物感知以及自动截割等智能化革新。最后分别从真实物理拓扑关系、数据传输处理方法、智能决策控制算法和预测性维护机制4个角度进行了数字孪生理论指导下智能化综掘工作面的关键技术发展分析,对智慧煤矿与智能化开采目标展开了基础性探索。
In the current serial technological process of fully mechanized roadway,the low mechanical intelligence degree of the equipment and the serious imbalance of mining and drivage have become the main technical bottlenecks in the efficient production of coal mine.Firstly,based on the technology concept of the combination of automatic driving mode and self-moving support of the integrated driving and anchoring unit,a new parallel technology system is presented based on the combination of excavation,support and anchor in fully mechanized roadway followed with its process principle and advantages of the parallel construction technology in engineering benefits.Then a parallel construction technical process and technological system of the fully mechanized roadway is constructed under the guidance of the digital twin theory based on the robotized upgrade and reconstruction goal of the parallel process technology equipment of the fully mechanized roadway.It is a preliminary discussion on the intelligent development of parallel process technology and equipment,which aims to build an intelligent parallel operation mode including many functions such as the remote visualization guidance of the tunneling robot,the reliable support of the temporary support robot,and the multi-station anchor of the drilling and anchoring robot in a fully mechanized roadway.In the parallel construction technology system driven by the digital twin technology,multi-source sensing information’s linking and mutual translation are used to realize the interactive perception between the physical entities of parallel process technology equipment and the model of virtual digital twin.Meanwhile,the intelligent innovations of roadheader,such as autonomous deviation correction,obstacle sensing and automatic cutting,have been completed through the intelligent control system.Finally,the key technology development of an intelligent fully mechanized face under the guidance of digital twin theory is analyzed from four aspects including real physical topological relations,data transmission and fusion method,intelligent decision control algorithm and predictive maintenance mechanism,which means some preliminary works for the target of intelligent coal mine and intelligent mining.
作者
吴淼
李瑞
王鹏江
沈阳
郑伟雄
王东杰
WU Miao;LI Rui;WANG Pengjiang;SHEN Yang;ZHENG Weixiong;WANG Dongjie(School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China)
出处
《煤炭学报》
EI
CAS
CSCD
北大核心
2020年第S01期506-513,共8页
Journal of China Coal Society
基金
国家重点基础研究发展计划(973)资助项目(2014CB046302)
国家自然科学基金面上资助项目(51874308)
关键词
综掘巷道
掘支锚并行
数字孪生
智慧煤矿
fully mechanized roadway
excavation-support-anchor combination
digital twin
intelligent coal mine
作者简介
吴淼(1958-),男,山东泰安人,教授,博士生导师。E-mail:wum@cumtb.edu.cn;通讯作者:李瑞(1992-),男,陕西神木人,博士研究生。E-mail:913435929@qq.com
