Underground intelligent rapid tunneling system for coal mine

Abstract

The invention discloses an underground intelligent rapid tunneling system for a coal mine, which comprises an optical fiber inertial navigation measurement unit and a laser tracking measurement unit, wherein a data acquisition module receives triaxial acceleration data, triaxial angular velocity data and three-dimensional space coordinate data, a central processing module inputs the triaxial acceleration data, the triaxial angular velocity data and the three-dimensional space coordinate data into an extended Kalman filter to generate a six-degree-of-freedom pose state data stream, an intelligent prediction module inputs the six-degree-of-freedom pose state data stream into a long-period memory neural network to generate a future pose peristaltic trend track, a control decision module generates a continuous trace hydraulic cylinder stroke compensation instruction, and an electrohydraulic servo driving module drives a hydraulic cylinder to generate trace telescopic motion. Therefore, the creep trend of the pose of the tunneling machine can be accurately prejudged, continuous and micro dynamic compensation is realized, saw-tooth fluctuation of a tunneling track is effectively restrained, the tunneling straightness and the forming precision of a tunnel are improved, the compensation action is free from mechanical interference, and the tunneling operation is ensured to be continuously carried out.

Inventors

ZHANG JUNMAN
LI HAICHENG
Han Wanhai

Assignees

陕西能源冯家塔矿业运营有限责任公司

Dates

Publication Date: 20260512
Application Date: 20260224