Intelligent rapid tunneling system of China Coal Science and Engineering Corporation leads the new layout of coal machinery equipment industry

"If a worker wants to do a good job, he must first sharpen his tools". Recently, the high-order intelligent fast excavation system developed by Taiyuan Research Institute of China Coal Science and Technology Group Corporation, led by the all-in-one digging and anchoring machine, has helped the S1208 rubber conveying chute of Ningtiaota Coal Mine of Shaanxi Coal Group to achieve the precise connection with the S1208 drainage measure roadway, and the coal science and technology heavy equipment has been organically linked with the efficient production organization, which has taken a solid step towards building a high-quality roadway project with high standards.
This 6015-meter construction roadway is the key project of this year's excavation plan of Ningtiaota Coal Mine. The roadway is designed as a large cross-section rectangle, with a excavation width of 6 meters and a excavation height of 4.1 meters. According to the geological conditions of the coal seam and the actual situation of the roadway where it is located, Taiyuan Research Institute has developed an efficient equipment system with the large mining height and anchor digging integrated machine as the lead, the intelligent control system as the center, and the anchor bolt transfer machine, the flexible belt conveyor and the step-type self-moving machine tail as the rear support, which has realized the efficient operation of the excavation, support, transportation, communication and control links. The expansion of stand-alone intelligent functions and the effective integration of system intelligent functions. The intelligent high-precision navigation system completes the centimeter-level positioning and orientation of the rapid excavation system through high-speed wireless communication network. Under the high quality and efficient production organization, with the excellent performance of the accurate penetration of the kilometer and the kilometer roadway, it has enabled and accelerated the intelligence of mine roadway excavation in China.
In recent years, with the opening of the construction of intelligent coal mines, Shanxi, Shandong, Inner Mongolia, Shaanxi, Henan and other provinces have successively issued implementation plans for intelligent coal mine construction. Automatic orientation and navigation, automatic cutting and shaping technology of roadway section are listed as a basic requirement of intelligent tunneling equipment. However, due to the harsh environment of the coal mine driving face, the complex driving process, and the low frequency and large amplitude vibration and shaking of the driving equipment, how to accurately locate and navigate has been a worldwide problem restricting the intelligent driving equipment. Taiyuan Research Institute has long been committed to excavating the difficult and painful points that restrict the intelligent underground tunneling equipment, focusing on building a comprehensive solution for the navigation and positioning of tunneling equipment, and tackling key technical problems such as integrated navigation and positioning of underground confined space tunneling equipment, automatic cutting operation planning and control. Taiyuan Research Institute adopts high-precision inertial navigation technology, integrates optical measurement, machine vision and other multi-sensor technologies, and proposes adaptive correction algorithms and compensation schemes. Improve the performance of the navigation and positioning system from the control elements, evaluation algorithms and other levels, and realize the centimeter-level positioning of the tunneling equipment and the autonomous correction of the inertial navigation system. It has the advantages of high accuracy of heading angle and attitude angle maintenance and high-precision self-alignment under the condition of no auxiliary navigation source. The application of the navigation system can improve the comprehensive driving efficiency of the working face by more than 20%, and each production shift can reduce 1-2 people. At the same time, we actively carried out technical iteration, and the second generation of tunneling equipment navigation system, with the calibration time shortened by more than 60% compared with the previous generation, and the navigation accuracy increased by more than 10 times, greatly improving the intelligent level of coal mine tunneling and the efficiency of tunneling, and ensuring the safety of operation.
The independently developed intelligent tunneling autonomous navigation system has been widely used in coal mine rapid excavation equipment such as Guoneng Group, Shaanxi Coal Group and Shanxi Coking Coal Group. The continuous footage of the navigation guidance in several coal mines has exceeded 3000 meters, and the planned cutting and mining of the digging-anchor integrated machine has been successfully realized. The deviation between the section forming accuracy and the predetermined track has reached centimeter level, which truly solves the problem of cutting and positioning of coal mining equipment, Assist the coal mine to realize intelligent tunneling. Whenever we talk about this navigation system, the drivers of the all-in-one digging and anchoring machine will happily say, "Since the use of the driving navigation system, we have no longer worried about the deviation of the all-in-one digging and anchoring machine. The quality of the roadway formation is better than the original. It is really a 'sight' installed for the all-in-one digging and anchoring machine!"The intelligent centralized control system of tunneling is equipped with video monitoring and voice interaction system covering the whole line from the working face to the ground, which enables the rapid tunneling equipment to have "a pair of smart eyes" and "a pair of smart ears". The multi-information fusion network of the cluster equipment enables the equipment to have the transmission nerve, and the high-precision sensor and three-dimensional human-computer interaction interface enable the equipment to have the sense of perception. Of course, this is inseparable from the core wisdom of the program algorithm. The operator only needs to operate remotely in the underground centralized control center and the ground dispatching panel according to the human-computer interaction interface, and can realize the one-button coal flow start and stop of the complete set of equipment with the whole process no more than 1 minute, and can also realize the automatic planning and cutting of the tunneling equipment, and the accurate cooperative control of the walking position between the equipment. In addition, the autonomous navigation and attitude control, auxiliary anchoring, online locking and other diversified functions of the tunneling equipment are integrated into the automatic operation process of the equipment. The complete set of equipment in the excavation working face can realize the automatic operation of the whole process of the excavation operation after the system is adopted, and achieve the safety and reliability of the excavation.
The R&D and application of the intelligent centralized control system for tunneling integrates new technologies and concepts such as big data, cloud computing and the Internet of Things. In recent years, the intelligent construction of coal mine has become the development direction of the coal industry and the inevitable trend of the future coal mine production. As a part of it, the intelligent centralized control system of tunneling has laid a solid foundation for the unmanned and less manned operation of coal mine production, and also empowered the traditional coal machinery equipment. In the future, with the vigorous development of digital twinning, artificial intelligence and other technologies, and the cooperation of all industries, I believe that the functions of the intelligent centralized control system for tunneling will also be richer, the dream of liberating workers with technology will also be realized, and the development of the coal mining industry will also reach a new level.
As a pioneer in the research and development of high-end equipment for coal machinery in China, the Taiyuan Research Institute of China Coal Science and Technology takes leading the scientific and technological progress of the national coal machinery industry as its own responsibility, and is committed to thoroughly solving the problem of efficient and rapid tunneling of coal roadway under various surrounding rock conditions. The complete set of rapid excavation equipment of Taiyuan Research Institute has been popularized and applied in more than 30 large coal production enterprises across the country, such as Shanxi, Shaanxi and Inner Mongolia. It has created successful application cases of various geological conditions with stable surrounding rock conditions of 3000 meters per month, moderately stable surrounding rock conditions of 2000 meters per month, and complex surrounding rock conditions of 800 meters per month. It has created the world record of 3088 meters per month in coal roadway, and its market share has been the first in China for many years. Compared with the original tunneling method, the tunneling speed is increased by about three times, and the number of operators is reduced by two thirds, which effectively alleviates the mining imbalance, and realizes the transformation of China's roadway tunneling technology and equipment from "following" to "leading", and from the middle and low end of the value chain to the middle and high end of the value chain, leading the development direction of domestic coal mine tunneling technology and equipment.
In March 2020, the Guiding Opinions on Accelerating the Intelligent Development of Coal Mines jointly issued by the eight ministries and commissions of the country clearly put forward the requirement to focus on the breakthrough of intelligent rapid tunneling. Taiyuan Research Institute actively responded to the national call, deeply implemented the overall development thinking of "1245" of China Coal Science and Technology, held high the banner of intelligent leadership, and seized the development opportunity of intelligent coal mines, Relying on the national key research and development plan "large mine integrated tunneling robot" project, and taking advantage of its own equipment and technical advantages, it has completed the top-level planning and design of intelligent tunneling equipment technology, and has built corresponding intelligent tunneling systems around three types of complete sets of equipment led by tunneling machines, continuous mining machines, and digging and anchoring machines. After several rounds of technical practice and iterative upgrading, the intelligent rapid excavation system of Taiyuan Research Institute is gradually becoming mature, and the automation and intelligent functions are constantly enriched, and standardization work has been carried out. The intelligent rapid excavation system of different supporting types has been put into use in intelligent mines in Inner Mongolia, Shaanxi, Shanxi and other provinces, and has been favored by a large number of users.
The intelligent and unmanned engineering of coal mine tunneling equipment is a long-term task. Although the stage achievements have been achieved, there are still many "stuck neck" technologies in the distance from the real realization of unmanned tunneling working face. China Academy of Coal Sciences Taiyuan will continue to follow the pace of coal mine intelligent construction, strive to tackle key technologies, improve the quality of intelligent rapid excavation system, and empower and increase efficiency for the coal machinery equipment industry, It will contribute to the intelligent construction of coal mines.
An educated gentleman cannot but be resolute and broad-minded, for he has taken up a heavy responsibility and a long course. The national "double carbon" strategic goal puts forward new requirements for the reform and enterprise development of China's coal industry. Taiyuan Research Institute complies with the trend, has the courage to explore, and is confident to build a new green development path of technological innovation, intelligent guidance, and win-win cooperation, to achieve a step forward in the intelligent manufacturing of high-end coal machinery equipment.