论“采煤就是采数据”的学术思想  

On the academic ideology of “Coal mining is data mining”

作　　者：马宏伟[1,2] 薛旭升 毛清华[1,2] 齐爱玲 王鹏[1,2] 聂珍 张旭辉 曹现刚 赵英杰[1,2] 郭逸风 MA Hongwei;XUE Xusheng;MAO Qinghua;QI Ailing;WANG Peng;NIE Zhen;ZHANG Xuhui;CAO Xiangang;ZHAO Yingjie;GUO Yifeng(School of Mechanical Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control,Xi’an 710054,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]陕西省矿山机电装备智能检测与控制重点实验室,陕西西安710054

出　　处：《煤炭科学技术》2025年第1期272-283,共12页Coal Science and Technology

基　　金：国家自然科学基金面上资助项目(51834006,52274158);陕西省重点研发计划专项资助项目(2023-LL-QY-03)。

摘　　要：煤矿智能化的核心是综采工作面的智能化,综采工作面智能化的关键是数字化。为了提高综采工作面的智能化水平,提出了“采煤就是采数据”的煤矿综采工作面智能化开采学术思想,凝练了数字工作面构建、精准截割、设备位姿检测与控制、设备群速度控制和设备群协同控制等五大关键技术,阐述了基于五大关键技术的学术思想内涵,构建了基于数字工作面智能开采的学术思想体系架构。针对综采工作面数字煤层构建问题,融合数字煤层数据、设备群数据等,利用空间插值算法、数字孪生技术等构建数字工作面,构建了包括数字煤层数据、历史截割位姿和速度数据、采煤量数据、设备群协同数据等的数据库,阐述了多源数据融合的数字工作面动态更新方法,提高数字工作面模型的精度;针对综采工作面精准截割问题,阐述了融合数字煤层驱动的截割轨迹规划数据和历史截割位姿数据的轨迹规划方法,以及基于规划轨迹数据的智能插补轨迹跟踪控制方法,利用人工智能算法对规划截割轨迹数据和轨迹跟踪控制的位姿插补数据进行迭代优化,提高截割轨迹规划和轨迹跟踪控制精度;针对综采工作面设备位姿检测与控制问题,阐述了基于多传感器融合数据的工作面装备位姿精准检测方法,以及基于神经网络算法的位姿控制方法,通过位姿感知数据和位姿控制数据的深度融合与迭代优化,实现综采工作面设备群位姿的精准检测与控制;针对综采工作面设备群速度控制问题,提出力−电耦合的截割载荷测量方法,以及基于人工智能寻优算法的速度智能控制方法,融合截割载荷数据和采煤量数据,利用人工智能寻优算法决策最优的牵引速度、截割速度、运煤速度,实现基于设备群速度匹配的高效智能截割控制;针对综采工作面设备群协同控制问题,阐述了基于人工智能算法的�The core of coal mine intelligence is the intelligence mining face,and the key to the intelligence of compre-coal mine intelligence is the intelligence of comprehensive mining hensive mining face is digitalisation.In order to improve the intelligent level of comprehensive mining face,the academic idea of intelli-gent mining of comprehensive mining face of“Coal mining is data mining”is put forward,and five key technologies such as digital work-ing face construction,precise cutting,equipment position detection and control,equipment group speed control and equipment group co-control are condensed,and the academic thought connotation of the idea based on the five key technologies is elaborated.It elaborates the connotation of academic ideas based on the five key technologies,and constructs the academic idea system architecture based on digital working face intelligent mining.With regard to the construction of the digital coal seam in the comprehensive mining face,it integrates the digital coal seam data,equipment group data,etc.,and uses spatial interpolation algorithm and digital twin technology to construct the di-gital working face,constructs a database including digital coal seam data,historical cutting position and speed data,coal mining data,equipment group cooperative data,etc.,and elaborates the dynamic updating method of the digital working face by integrating data from multiple sources,so as to improve the accuracy of the digital working face model.For the problem of accurate cutting in comprehensive mining face,the trajectory planning method that integrates the cutting trajectory planning data driven by digital coal seam and historical cutting position data,as well as the intelligent interpolation trajectory tracking control method based on the planning trajectory data are elaborated,and the artificial intelligence algorithm is used to carry out iterative optimization on the planning cutting trajectory data and the position interpolation data for trajectory tracking control,so as to increase the accura

关 键 词：数字工作面 截割轨迹规划 位姿控制 速度控制 协同控制 

分 类 号：TD263[矿业工程—矿井建设] TP242[自动化与计算机技术—检测技术与自动化装置]