针对目前煤矿巷道掘进工作面智能化应用水平较低导致掘进效率低下、采掘接替紧张的问题，分析了制约巷道掘进工作面实现智能化的关键技术-快速掘进煤炭地质保障技术、智能超前自主感知技术、智能掘进大数据云计算及控制软件技术。论述了煤矿快速掘进理论及技术基础，以煤矿高分辨率三维地震勘探技术、矿井地质透明化技术为支撑，巷道围岩应力及其控制理论为基础，快速掘进设备为保障，形成实现煤矿智能高效掘进的探测、掘进、支护协同作业的基础支撑理论。重点阐述了煤矿巷道掘进工作面的智能超前自主感知技术，包括高分辨地质雷达探测技术、基于TSOA定位原理混合算法的掘进机位姿感知技术、基于同步定位与建图(SLAM)原理的掘进工作面环境感知技术、掘进设备运行状态感知技术。形成实现智能化掘进工作面的“掘进机位姿感知、工作面环境感知、设备状态感知”的空间一体化感知体系。在分析煤矿综掘工作面实现智能化快掘自主感知和调控技术的基础上，提出按照“以智能化超前感知为基础，以多源数据计算为中心，以安全智能快速掘进为目标”的原则进行设计和构建煤矿智能快速掘进技术体系。开发基于F5G通讯的多源数据和多源图像传输、存储技术，确保了数据传输的高效、可靠和稳定。依托大数据分析和云计算平台，开发具有CPU、存储和网络资源聚合计算基础架构VMware vSphere的软件-智能化掘进-SmartX，系统架构划分为数据源层、智能化超前感知数据采集层、多源数据和图像的传输存储层、大数据云平台数据分析层、决策应用层，包括超前地质探测精准感知、掘进设备位姿感知和掘进工作面环境感知等8个主要功能模块。形成智能化掘进工作面Hadoop&Spark一体化大数据云计算分析处理平台，智能化掘进-SmartX系统。分析煤矿巷道智能化掘进面临的挑战和未来发展，提出继续研制高质量感知设备与多源数据、图像深度融合技术，提高智能掘进设备上使用的感知设备种类、精度和智能性等，提升多源数据、图像在深度融合方面的精度和准确度。加大研发基于F5G通讯技术的掘进工艺智能化技术，智能化掘进设备在工作过程中，确保各项参数判定和指令动作在提前设定的状态下快速可靠准确完成。提出进一步提升巷道智能化掘进辅助生产环节的智能化水平，以减少现场作业人员数量，减轻作业人员劳动强度，实现掘进工作面智能化水平整体提升。

In view of the low level of intelligent application in coal mine roadway heading face,which leads to low driving efficiency and shortage of mining replacement,the key technologies that restrict the roadway heading face to realize intelligentization are analyzed,such as coal geological guarantee technology for rapid excavation,intelligent advanced autonomous sensing technology,intelligent big data cloud computing and control software technology.Also,the theory and technical basis of rapid excavation in coal mine are discussed.Supported by high-resolution 3D seismic exploration technology and mine geological transparency technology,based on roadway surrounding rock stress and its control theory,and supported by rapid drivage equipment,the basic supporting theory of intelligent and efficient exploration,drivage and support cooperative operation in coal mine is formed.The intelligent advanced autonomous sensing technology of coal mine roadway heading face is elaborated,including high-resolution geological radar detection technology,roadheader position and pose sensing technology based on TSOA positioning principle hybrid algorithm,heading face environment sensing technology based on synchronous positioning and mapping (SLAM) principle,and drivage equipment operation state sensing technology.A space integrated perception system is formed to realize intelligent heading face “perception of roadheader posture,mining face environment and equipment status”.Based on the analysis of the technology of intelligent fast drivage self-sensing and control in fully mechanized coal mining face,according to the principle of “intelligent advanced perception as the basis,multi-source data calculation as the center,and safe intelligent rapid excavation as the goal”,the intelligent rapid excavation technology system of coal mine is designed and constructed.The development of multi-source data and multi-source image transmission and storage technology based on F5G communication ensures the high efficiency,reliability and stability of data transmission.Relying on big data analysis and cloud computing platform,the software intelligent drivage Smartx with CPU,storage and network resource aggregation computing infrastructure VMware vSphere is developed.The system architecture is divided into data source layer,intelligent advanced sensing data acquisition layer,multi-source data and image transmission and storage layer,big data analysis layer and decision application layer,and consists eight main functional modules,including advanced geological detection precision perception,drivage equipment position and posture perception and heading face environment perception.An intelligent heading face Hadoop & spark integrated big data cloud computing analysis and processing platform,and intelligent heading Smartx system are formed.The challenges and future development of intelligent drivage in coal mine roadway are analyzed.It is proposed to develop high-quality perception equipment and multi-source data and image depth fusion technology,improve the types,accuracy and intelligence of perception equipment used on intelligent drivage equipment,and increase the accuracy of multi-source data and image in depth fusion.Also,it is proposed to enhance the research and development of intelligent drivage technology based on F5G communication technology,therefore,in the working process of intelligent drivage equipment,the parameters and command action in the state of advance setting can be completed quickly,reliably and accurately.It is proposed to further improve the intelligent level of the auxiliary production of intelligent drivage,so as to reduce the number of on-site operators,reduce the labor intensity of operators,and realize the overall improvement of the intelligent level of heading face.

1 煤矿快速掘进理论及技术基础

   1.1 快速掘进煤炭地质保障理论及技术

   1.2 巷道围岩应力及其控制理论

   1.3 快速掘进理论与技术

2 智能化超前自主感知理论与技术

   2.1 超前地质探测精准感知

   2.2 基于TSOA定位原理混合算法的掘进设备位姿感知

   2.3 基于同步定位与建图(SLAM)原理的掘进工作面环境感知

   2.4 掘进设备运行状态感知

   2.5 掘进巷道围岩多参数感知

3 基于F5G通讯的多源数据、图像传输和存储技术

   3.1 多源数据的传输和存储

   3.2 多源图像的传输和存储

4 智能化掘进工作面大数据云计算和控制软件技术

   4.1 智能化掘进云计算平台构架和功能

   4.2 掘进智能控制软件

5 结语及展望