Current status and development trend of intelligent technology of underground coal mine transportation system
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摘要: 井工煤矿运输系统按运输对象不同可分为主运输系统和辅助运输系统。阐述了我国井工煤矿主运输系统和辅助运输系统底层装备和系统智能化技术现状，从顶层规划和标准体系、单机智能化等方面分析了主运输系统和辅助运输系统智能化技术存在的问题。重点介绍了3种主运输系统智能化关键技术，包括基于全数字化的FCS（现场总线控制系统）分布式带式输送机通信控制技术、基于机器音视觉的多传感融合增强型带式输送机保护技术、煤流线协同经济运行控制技术，以及2种辅助运输系统智能化关键技术，包括基于工业互联网架构的煤矿井下辅助运输管控一体化技术、煤矿井下车联网及无人驾驶技术。结合《煤矿智能化建设指南（2021年版）》对智能主煤流运输系统和智能辅助运输系统的要求，从近期和中远期阐述了井工煤矿主运输系统和辅助运输系统智能化发展趋势及目标。提出现阶段我国井工煤矿主运输系统应重点研究基于机器音视觉多传感融合的带式输送机增强型保护和检测技术、智能巡检机器人技术等，辅助运输系统应重点研究精细化闭环管控和高级辅助驾驶技术。Abstract: The underground coal mine transportation system can be divided into the main transportation system and the auxiliary transportation system according to the different transportation objects. This paper expounds the status of the bottom equipment and system intelligent technology of the main and auxiliary transportation systems in the underground coal mine in China. This study also analyzes the problems existing in the intelligent technology of the main and auxiliary transportation systems from the aspect of the top planning, standard system and single machine intelligent technology. The three key technologies of intelligent main transportation system are introduced, including distributed communication control technology of belt conveyor based on full digital FCS (fieldbus control system), enhanced protection technology of belt conveyor based on multi-sensor fusion of machine audio and vision, and coordinate economic operation control technology of coal flow. The two key technologies of intelligent auxiliary transportation system are also introduced, including management and control integration technology of underground coal mine auxiliary transportation based on industrial Internet architecture, vehicle-to-everything and unmanned driving technology in underground coal mine. Combined with the requirements of Coal mine intelligent construction guide (2021 edition) for intelligent main coal flow transportation system and intelligent auxiliary transportation system, this paper expounds the intelligent development trend and goal of main transportation system and auxiliary transportation system of underground coal mine from the short term and medium and long term. At present, the research of the main transportation system of underground coal mine in China should focus on the enhanced protection and detection technology of belt conveyor based on multi-sensor fusion of machine audio and vision, intelligent inspection robot technology, etc. And the research of the auxiliary transportation system should focus on the fine closed-loop control and advanced auxiliary driving technologies.
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【编者按】煤矿智能化是煤炭工业高质量发展的核心技术支撑。运输系统作为煤矿生产的重要环节，其智能化运行对于提升煤矿安全生产水平具有重要意义。近年来，随着人工智能、工业物联网、云计算、大数据、机器人等技术的快速发展及其与现代煤炭开采深度融合，我国煤矿运输智能化技术取得了一系列研究成果，但总的来看，智能运输技术在煤矿企业的应用尚未普及，在关键技术、工程应用方面需进一步研究。为总结交流科研成果，探讨技术难题与技术发展方向，推动煤矿运输智能化技术发展，进而实现无人化运输目标，《工矿自动化》于2022年第6期策划出版“煤矿智能运输技术与应用”专题。特别感谢中煤科工集团常州研究院有限公司陈晓晶副研究员对专题组稿工作的大力支持！衷心感谢各位专家学者在百忙之中为本专题撰稿！
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图 1 基于全数字化的FCS分布式带式输送机通信控制架构
Figure 1. Distributed communication control structure of belt conveyor based on full digital fieldbus control system
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图 2 带式输送机多机互联和区域控制
Figure 2. Multi-machine interconnection and zone control of belt conveyor
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图 3 基于机器音视觉的多传感融合增强型带式输送机保护装置
Figure 3. Enhanced protection devices for belt conveyor based on multi-sensor fusion of machine audio-vision
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图 4 主运煤流协同控制系统界面
Figure 4. Coordinate control system interface of main coal flow transportion
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图 5 基于工业互联网架构的煤矿井下辅助运输管控一体化技术架构
Figure 5. Management and control integration technology structure of underground coal mine auxiliary transportation based on industrial Internet
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图 6 煤矿井下车联网及无人驾驶技术架构
Figure 6. Vehicle-to-everything and unmanned driving technology structure in underground coal mine
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