On the academic ideology of"Digging is modelling"

MA Hongwei; SUN Siya; WANG Chuanwei; MAO Qinghua; XUE Xusheng; LIU Peng; TIAN Haibo; WANG Peng; ZHANG Ye; NIE Zhen; MA Kexiang; GUO Yifeng; ZHANG Heng; WANG Saisai; LI Lang; SU Hao; CUI Wenda; CHENG Jiashuai; YU Zukun

doi:10.13225/j.cnki.jccs.2024.1083

Abstract：To realize safe,efficient,and intelligent excavation of coal mine roadways,the academic concept of"Digging is modelling"is proposed,which defines thecontent and architectural framework of the concept,as well as extracts the key technical issues related to it.Specifically,these include multiplexmining model construction technology integrating multi-source information,the intelligent cutting technology based on mining model,the intelligent temporary support techno-logy based on mining model,the intelligent permanent support technology based on mining model,the intelligent naviga-tion technology based on mining model,and the mechanical equipments intelligence parallel cooperative control techno-logy based on mining model.The problem of mining model construction is addressed by proposing a method that integ-rates multi-source data such as geological exploration,mine design,and advance detection.This method provides a uni-fied basis for the model construction of various subsystem of the excavating system.Furthermore,to address the issue of intelligent cutting based on mining model,a coupling submodel of mining model and cutting subsystem model is estab-lished.Intelligent cutting trajectory planning and cutting parameter optimization methods are proposed,an intelligent cut-ting strategy for mining is formulated,and adaptive planning of the cutting subsystem is realized.In order to address the issue of intelligent temporary support based on mining model,a sub-model for temporary support is established and coupled with the cuttingmining model and temporary support subsystem.Additionally,an adaptive adjustment method for temporary support posture and support force is proposed to ensure the safe and reliable operation of the temporary support subsystem,improve the stability of the surrounding rock,and lay a spatio-temporal foundation for parallel and cooperat-ive digging and anchoring operations.To address the issue of permanent support based on mining model,we have estab-lished a permanent support subsystem coupled with temporary support mining model.Additionally,we propose a collabor-ative control method for each drilling and anchoring equipment in the permanent support subsystem under limited time and space.This approach aims to achieve efficient collaborative control of the permanent support subsystem.Aiming to address the challenge of intelligent navigation based on mining models,a sub-model integrating mining model and naviga-tion subsystem is established.Furthermore,an accurate navigation method for intelligent excavating system,combining in-ertial navigation with total station technology,is proposed to enhance the precision of roadway driving and formation qual-ity.In order to address the issue of intelligent parallel cooperative control in a cluster based on the tunnel model,we have established a parallel cooperative control sub-model that is integrated with the tunnel model and the cluster cooperative control subsystem.Additionally,we have developed a multi-machine parallel cooperative control strategy and proposed a cooperative control method for multi-task and multi-system intelligent excavating systems to achieve safe and efficient driving.The shield mine excavation robot system developed by team based on the academic concept of"Digging is model-ling".This system has been successfully utilized by Shaanxi Coal and Chemical Industry Group Shaanxi Xiao Bao Dang Mining Co.,Ltd.,effectively addressing challenges in mine roadway excavation under complex geological conditions such as thick dirt,high hardness,and serious sheet wall.As a result,it has significantly enhanced the safety,efficiency,and in-telligence level of tunnel excavation.