采煤机智能化发展现状及关键技术展望

邱锦波; 刘聪; 吴昊坤; 庄德玉; 朱胜强

doi:10.13272/j.issn.1671-251x.2024050039

采煤机智能化发展现状及关键技术展望

doi: 10.13272/j.issn.1671-251x.2024050039

邱锦波^{1, 2,},
刘聪^{1, 2},
吴昊坤¹,
庄德玉¹,
朱胜强^{1, 2}

1.
中煤科工集团上海有限公司，上海　200030
2.
煤炭智能开采与岩层控制全国重点实验室，上海　200030

基金项目: 国家发展和改革委项目（0732118）。

详细信息

作者简介:
邱锦波（1973—），男，四川乐山人，副研究员，硕士，主要从事采煤机电气控制技术的研究与开发工作，E-mail：qiujinbo@ccri-sh.cn

中图分类号: TD632.1
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- 文章访问数: 262
- HTML全文浏览量: 48
- PDF下载量: 80
- 被引次数: 0
出版历程
- 收稿日期: 2024-05-14
- 修回日期: 2024-07-20
- 网络出版日期: 2024-08-02

Current status and key technology prospects of shearer intelligent development

QIU Jinbo^{1, 2
,},
LIU Cong^{1, 2},
WU Haokun¹,
ZHUANG Deyu¹,
ZHU Shengqiang^{1, 2}

1.
CCTEG Shanghai Co., Ltd., Shanghai 200030, China
2.
State Key Laboratory of Intelligent Coal Mining and Strata Control, Shanghai 200030, China

摘要

摘要: 介绍了国内外采煤机智能化发展的现状：采煤机目前正朝着智能机器人化的方向发展，处于智能化初级阶段。阐述了采煤机智能化发展历程及趋势：英国远程操作长壁工作面（ROLF）计划、采煤工作面自动化系统（MINOS）、美国航空航天局（NASA）长壁自动化合作项目、澳大利亚煤炭工业研究计划（ACARP）、澳大利亚联邦科学与工业研究组织（CSIRO）项目、欧盟长壁钻井设备新型机械化与自动化（NEMAEQ）等6项科研项目在采煤机智能化发展中扮演了重要角色；采煤机发展趋势在于利用不断发展的监测传感及远程控制技术代替人工干预及操作，不断提高工作面设备的生产效率及可靠性，朝信息化、一体化、无人化、智能化的方向发展。从采煤机智能感知、智能控制和智能通信3个方面介绍了采煤机智能化关键技术，指出基于煤岩识别的智能截割技术、智能滚筒调速技术、采煤机精确定位技术和基于三维地质模型的采煤机规划开采技术是亟待突破的关键技术。从采煤机降尘和降噪2个方面对采煤机智能化发展过程中不可忽视的人机关系进行了论述。
- 采煤机智能化 /
- 智能感知 /
- 智能控制 /
- 智能通信 /
- 智能截割 /
- 智能滚筒调速 /
- 精确定位 /
- 规划开采
Abstract: This paper introduces the current situation of intelligent development of shearer at home and abroad. The shearer is currently developing towards intelligent robotics and is in the primary stage of intelligence. This paper elaborates on the development process and trends of intelligent shearer. There are six scientific research projects that have played important roles in the intelligent development of shearer, including the UK remotely operated longwall face (ROLF) program, mine operating system (MINOS), NASA long wall automation cooperation project, Australian Australian coal industry’s research program (ACARP), Australian commonwealth scientific and industrial research organization (CSIRO) project, and EU new mechanisation and automation of longwall and drivage equipment (NEMAEQ). The development trend of shearer is to use continuously developing monitoring, sensing, and remote control technologies to replace manual intervention and operation, continuously improve the production efficiency and reliability of working face equipment, and develop towards informationization, integration, unmanned, and intelligent direction. This paper introduces the key technologies of intelligent perception, intelligent control, and intelligent communication of shearer. It points out that intelligent cutting technology based on coal rock recognition, intelligent drum speed regulation technology, precise positioning technology of shearer, and planning and mining technology based on three-dimensional geological models are key technologies that urgently need to be broken through. The human-machine relationship that cannot be ignored in the intelligent development process of shearer is discussed from two aspects: dust reduction and noise reduction.
- shearer intelligence /
- intelligent perception /
- intelligent control /
- intelligent communication /
- intelligent cutting /
- intelligent drum speed regulation /
- precise positioning /
- planning mining

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图 1 采煤机机身部分传感装置

Figure 1. Sensing device for the body of the coal mining machine

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图 2 采煤机控制软件

Figure 2. Coal mining machine control software

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图 3 LASC技术框架

Figure 3. Technology framework of longwall automation steering committee（LASC）

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图 4 ROLF系统采煤机控制台

Figure 4. Coal mining machine control station of remotely operated longwall face system

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图 5 惯性导航装置水平及垂直控制准确率

Figure 5. Accuracy of horizontal and vertical control of inertial navigation devices

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图 6 采煤机位姿感知技术

Figure 6. Coal mining machine pose perception technology

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图 7 设备间防碰撞互操作协议架构

Figure 7. Architecture of anti-collision interoperability protocol between devices

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图 8 基于冲击波检测的煤岩识别装置

Figure 8. Coal rock recognition device based on shock wave detection

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图 9 基于CAN总线及工业以太网的分布式电气控制系统

Figure 9. Distributed electrical control system based on CAN bus and industrial Ethernet

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图 10 综采工作面采煤机割煤工艺

Figure 10. Coal cutting technology of coal mining machine in fully mechanized mining face

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图 11 采煤机通信网络及应用方案

Figure 11. Communication network and application scheme for coal mining machine

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图 12 抑尘喷雾位置

Figure 12. Dust suppression spray position

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图 13 大型机械噪声控制测试及优化过程

Figure 13. Testing and optimization process for noise control of large machinery

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表 1 美国长壁工作面设备及相关系统的自动化发展概况

Table 1. Overview of automation development of long wall working face equipment and related systems in the United States

系统	自动化功能		1975	1980	1985	1990	1995	2000	2005	2010	2015	2020
支护	电液控制系统	面板控制		√	√	√	√	√	√
	电液控制系统	全工作面控制							√	√	√	√
	抑尘喷雾装置	液压控制	√	√	√	√	√	√	√
	抑尘喷雾装置	数字化控制
	接近检测										√	√
	彩色指示系统										√	√
采煤机	记忆截割	固定采煤高度			√	√	√	√	√	√
	记忆截割	图形规划									√	√
	伽马射线煤岩界面识别					√
	自动化组件（摇臂、俯仰控制、末端装置）									√	√	√
	防撞系统									√	√	√
	俯仰控制										√	√
	惯性导航	工作面对齐									√	√
		水平控制									√	√
		蠕变控制									√	√
刮板输送机	软启动、负载均衡、过载保护	液压控制			√	√
	软启动、负载均衡、过载保护	数字化控制					√	√	√	√	√	√
	尾部驱动链张紧器	液压控制			√	√	√	√
	尾部驱动链张紧器	数字化控制							√	√	√	√
远程操作（外部或地面）											√	√

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