数字孪生驱动的综放工作面地面一体化决策调度系统

Digital twin-driven integrated ground decision scheduling system for fully mechanized top-coal caving face

  • 摘要: 针对煤矿生产调度与安全管理中设备协同率低、数据集成度不足及安全监测覆盖不全等问题,提出了一种数字孪生驱动的综放工作面地面一体化决策调度系统设计方案。该系统采用“工作面智能终端−巷道控制节点−地面管控中心”三级集中控制架构−工作面智能终端实时采集设备状态与环境参数,巷道控制节点通过隔爆服务器进行数据清洗、融合与边缘预处理,地面管控中心集成数字孪生系统与智能决策引擎实现全局监控与协同优化;通过融合工业以太网与无线Mesh网络,构建高可靠性通信基础设施;采用精确三维模型与运动学机理模型相结合方法构建综放工作面设备数字孪生模型,利用三维场景自动化构建算法实现虚实动态同步;通过多源数据采集与处理、实时数据驱动的同步映射、采放协同控制及多系统融合接入,实现采煤机自主规划截割与支架规划放煤的协同作业。该系统在煤矿的实际应用结果表明:支架跟机率稳定在97%以上,放煤自动化率超过85%,人工干预比例低于10%,单班作业人员由5人减至1人;系统响应延迟小于200 ms,帧率保持在30帧/s以上,实现了“感知—分析—决策—控制”的闭环管理。

     

    Abstract: To address the problems of low equipment coordination efficiency, insufficient data integration, and incomplete safety monitoring coverage in coal mine production scheduling and safety management, a digital twin-driven integrated ground decision scheduling system for the fully mechanized top-coal caving face was proposed. The system adopted a three-level centralized control architecture consisting of intelligent working face terminals, roadway control nodes, and a ground management and control center. The intelligent working face terminals collected equipment status and environmental parameters in real time, the roadway control nodes performed data cleaning, fusion, and edge preprocessing through explosion-proof servers, and the ground management and control center integrated a digital twin system with an intelligent decision engine to achieve global monitoring and coordinated optimization. By integrating industrial Ethernet and wireless Mesh networks, a highly reliable communication infrastructure was constructed. A digital twin model of fully mechanized top-coal caving face equipment was constructed by combining accurate three-dimensional models with kinematic models, and dynamic synchronization between physical and virtual entities was achieved using a three-dimensional scene automatic construction algorithm. Through multi-source data acquisition and processing, real-time data-driven synchronous mapping, coordinated control of coal cutting and top-coal caving, and multi-system integrated access, coordinated operations of autonomous shearer cutting planning and planned coal caving by hydraulic supports were realized. The application results in an actual coal mine showed that the following rate of the hydraulic supports remained above 97 percent, the automation rate of coal caving exceeded 85 percent, the proportion of manual intervention was lower than 10 percent, and the number of operators per shift was reduced from five to one. The system response latency was less than 200 ms, and the frame rate remained above 30 frames per second, achieving closed-loop management integrating perception, analysis, decision-making, and control.

     

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