Key common technology of intelligent heading in coal mine roadway

According to the national strategy of “intelligent development of coal mines”,the current research status of roadway intelligent heading in the world is analyzed.Combining with the complex conditions of coal mine prominent problems of roadway heading and severe challenges with intelligent heading,four key common technologies,such as intelligent cutting,intelligent navigation,intelligent collaborative control and remote intelligent measurement and control that directly affect and restrict the accelerated development of intelligent heading of coal mine are proposed,and the solutions are also given.Aiming at the problem of intelligent cutting in the heading system,the intelligent shaping cutting control method based on visual servo and the adaptive cutting control method of BP neural network optimized by genetic algorithm are proposed to improve the quality and efficiency of cutting and forming.Aiming at the problem of intelligent navigation of the heading system,the intelligent navigation control method of the crawler heading system based on the fusion of inertial navigation and visual information and the intelligent navigation control method of the hydraulic traveling heading system based on the fusion of inertial navigation,digital total station and cylinder stroke information are proposed to improve the accuracy of positioning and orientation testing and realize intelligent navigation.Aiming at the problems of multi-system coordinated control and multi-task parallel control in the heading system,such as heading,support,drilling anchor and transportation,the parallel operation control methods based on reinforcement learning and agent and the intelligent collaborative control methods based on leader-follower and behavior are put forward,in order to realize the intelligent collaborative control and parallel operation of multirobot systems or smart devices and improve heading efficiency.Aiming at the problem of intelligent measurement and control of the heading system,the intelligent measurement and control system architecture of the local control layer,the short-range centralized control layer and the remote monitoring layer are constructed,and a virtual remote intelligent control method driven by a digital twin are proposed,in order to ensure the safe,reliable and efficient operation of the heading system and realize immersive virtual remote intelligent measurement and control.Cracking the four key common technical problems of intelligent heading in coal mines.