基于精确大地坐标的煤矿透明化智能综采工作面自适应割煤关键技术研究及系统应用

目前煤矿智能综采工作面存在生产环境状态不透明、成套装备难以应对煤层起伏变化、信息化与智能化集成度不高等问题，其系统的适应性和实用性受到影响。具体而言，主要是缺乏基于地理信息系统的可视化数字孪生管控平台，无法实现基于统一大地坐标驱动的透明化工作面的自适应割煤。为突破相关技术难题，提出并研究了测量机器人大地坐标传导、透明化工作面系统建立和动态修正、5G通信、采煤机与地质模型的自适应耦合以及基于时态地理信息系统（TGIS）的“一张图”一体化管控平台等多项关键技术，完成了多维可视化软件系统的开发与硬件系统的高度集成，实现了：(1)采煤机、刮板输送机等固定或移动目标点达毫米或厘米级的精确定位；(2)三维地测模型、设备模型、开采环境与工业控制之间的基于逻辑关系的一体化集成和数字孪生系统的构建；(3)综采工作面采煤机、视频、惯导、测量机器人和地质雷达等信息的可靠、实时传输；(4)为地面调度指挥控制中心的远程决策和智能自适应控制提供了可视化管控环境。系统已经成功应用于临沂矿业集团菏泽煤电郭屯煤矿3301,2305两个工作面，初步实现了较为复杂地质条件下的智能化自适应开采和地面远程管控。

Key technologies and system of adaptive coal cutting in transparent intelligent fully mechanized coal mining face based on precisegeodetic coordinates

At present,there are some problems in the intelligent fully mechanized coal mining face,such as the opaque production environment,the difficulty for the complete set of equipment to deal with the fluctuation of coal seam,and the low integration degree of information and intellectualization.Specifically speaking,it is mainly due to the lack of visual digital twin management and control platform based on geographic information system,thus it cannot realize an adaptive coal cutting at transparent working face based on unified geodetic coordinate drive.In order to overcome the related technical problems,this paper puts forward and studies a number of key technologies,such as measuring robot and precise positioning,transparent working surface system establishment and dynamic correction,5G communication,self-adaptive coupling of shearer and geological model,TGIS based“one map”integrated management and control platform and other key technologies.The development of multi-dimensional visualization software system and high integration with hardware system are completed.It realizes:①an accurate positioning of fixed or moving target points such as shearer and scraper conveyor up to millimeter or centimeter level;②the integration of 3D geological and surveying model,equipment model,mining environment and industrial control based on logical relationship and the construction of digital twin system;③the reliable and real-time transmission of information such as shearer,video,inertial navigation,measuring robot and geological radar in a fully mechanized coal mining face;and④a visual control environment for the remote decision-making and intelligent adaptive control of the ground dispatching command and control center.The system has been successfully applied at the 3301 and 2305 coal mining faces in the Guotun coal mine,Heze,Shandong,China.The intelligent adaptive mining and ground remote control under a little complicated geological conditions are preliminarily realized,which lays a high-tech foundation for coal miners.