Key technology of intelligent drivage perception in coal mine roadway

In view of the low level of intelligent application in coal mine roadway heading face,which leads to low driving efficiency and shortage of mining replacement,the key technologies that restrict the roadway heading face to realize intelligentization are analyzed,such as coal geological guarantee technology for rapid excavation,intelligent advanced autonomous sensing technology,intelligent big data cloud computing and control software technology.Also,the theory and technical basis of rapid excavation in coal mine are discussed.Supported by high-resolution 3D seismic exploration technology and mine geological transparency technology,based on roadway surrounding rock stress and its control theory,and supported by rapid drivage equipment,the basic supporting theory of intelligent and efficient exploration,drivage and support cooperative operation in coal mine is formed.The intelligent advanced autonomous sensing technology of coal mine roadway heading face is elaborated,including high-resolution geological radar detection technology,roadheader position and pose sensing technology based on TSOA positioning principle hybrid algorithm,heading face environment sensing technology based on synchronous positioning and mapping (SLAM) principle,and drivage equipment operation state sensing technology.A space integrated perception system is formed to realize intelligent heading face “perception of roadheader posture,mining face environment and equipment status”.Based on the analysis of the technology of intelligent fast drivage self-sensing and control in fully mechanized coal mining face,according to the principle of “intelligent advanced perception as the basis,multi-source data calculation as the center,and safe intelligent rapid excavation as the goal”,the intelligent rapid excavation technology system of coal mine is designed and constructed.The development of multi-source data and multi-source image transmission and storage technology based on F5G communication ensures the high efficiency,reliability and stability of data transmission.Relying on big data analysis and cloud computing platform,the software intelligent drivage Smartx with CPU,storage and network resource aggregation computing infrastructure VMware vSphere is developed.The system architecture is divided into data source layer,intelligent advanced sensing data acquisition layer,multi-source data and image transmission and storage layer,big data analysis layer and decision application layer,and consists eight main functional modules,including advanced geological detection precision perception,drivage equipment position and posture perception and heading face environment perception.An intelligent heading face Hadoop & spark integrated big data cloud computing analysis and processing platform,and intelligent heading Smartx system are formed.The challenges and future development of intelligent drivage in coal mine roadway are analyzed.It is proposed to develop high-quality perception equipment and multi-source data and image depth fusion technology,improve the types,accuracy and intelligence of perception equipment used on intelligent drivage equipment,and increase the accuracy of multi-source data and image in depth fusion.Also,it is proposed to enhance the research and development of intelligent drivage technology based on F5G communication technology,therefore,in the working process of intelligent drivage equipment,the parameters and command action in the state of advance setting can be completed quickly,reliably and accurately.It is proposed to further improve the intelligent level of the auxiliary production of intelligent drivage,so as to reduce the number of on-site operators,reduce the labor intensity of operators,and realize the overall improvement of the intelligent level of heading face.