Research progress of autonomous perception and control technology for intelligent heading

In order to solve the problems of low intelligentization and low driving efficiency of current coal mine com- prehensive heading face,the key to realizing intelligent rapid heading in coal mine comprehensive heading face is autonomous sensing and control technology. Firstly,the key technical features of intelligent heading are discussed. The robotic equipment for coal mine comprehensive heading is supported by intelligent perception technology,auton- omous control decision-making technology,and group collaborative operation technology to form an intelligent rapid heading technology system framework to achieve exploration-heading-support-anchor inte-gration cooperation. Sec- ondly,it focuses on the self-aware technology of intelligent excavation, including posture perception based on the principle of ultra-wideband,advanced detection based on the dual-frequency electric shock method,environmental perception based on the principle of SLAM,and fault perception based on the transition memory fault Petri net,etc. Autonomous control technology includes intelligent cutting based on swarm intelligence algorithm, path planning based on genetic mutation particle swarm optimization algorithm,autonomous correction based on PID algorithm of BP neural network and so on. Thirdly,it discusses in detail the perception of intelligent temporary support including multi-dimensional information such as surrounding rock pressure,roof and floor conditions,support posture,etc. ,and studies the adaptive control method for the linkage of excavation support and multi-unit multi-cylinder under non- horizontal scenarios. Intelligent permanent support perception includes surrounding rock displacement perception and support equipment stress deformation perception,and discusses the optimization method of anchor network structure. In order to obtain the best propulsion control performance in adaptive drilling control,a particle swarm optimization parameter tuning strategy of the algorithm’ s auto disturbance rejection controller is proposed. Finally,the direction of further development of autonomous perception and control technology for intelligent tunneling of coal mine roadways is discussed.