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: ① an accurate positioning of fixed or moving target points such as shearer and scraper conveyor up to millimeter or centimeter level; ② the 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; ③ the 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; and ④ a 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.