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Collect screen paperboard of mine power transformer and ordinary power transformer in practical lifetime cycle to make insulation test samples, and according to the standard of power, use test means such as viscosity tester, scanning electron microscopy to compare and analyze microstructures of insulation paper such as polymerization degree, surface morphology of mine power transformer and ordinary power transformer, as well as electrical properties such as partial discharge and electrical strength; at the same time, effect of microstructure changes on electrical performances during aging was discussed. The analysis results show that the insulation defects gradually form and expand in the insulation paper during the aging process; compared with the insulation paper of ordinary power transformers, the surface morphology changes of the insulation paper of mine power transformers are more obvious, and the formed defects are more significant.In the aging process, the polymerization degree of insulation paper of ordinary power transformer and mine power transformer presents a gradual decline trend, but the decline speed of polymerization degree of mine power transformer insulation paper is faster.The operating environment of mining area is the main reason that the aging of insulation paper of mine power transformer is more serious than that of ordinary power transformer.In the process of operation, the insulation paper of mine power transformer will produce more discharge quantity, more discharge times and wider discharge phase than ordinary power transformer.In the aging process, the electrical strength of insulation paper of both ordinary power transformer and mine power transformer decreases gradually, but the electrical strength of insulation paper of mine power transformer is lower than that of ordinary power transformer.The microstructural defects of insulation paper of mine power transformers are the direct causes of the more significant changes in their electrical properties.In the process of state monitoring and maintenance of power equipment, it is suggested that the insulation state monitoring of mine power transformers should be carried out strictly according to the power standards,electrical property parameters are more suitable for insulation status monitoring and fault diagnosis of mine power transformer.

Application principle of polarization spectrum method based on recovery voltage method was introduced which was used in state detection of transformer oil-paper insulation, and a viewpoint was pointed out that main time constant of polarization spectrum curve was an important factor for judging state of transformer oil-paper insulation. Influence of charging voltage, residual charge and temperature on measurement result of polarization spectrum curve was analyzed separately with conclusions that charging voltage only influenced the maximal value of recovery voltage but did not influence main time constant of polarization spectrum curve, and residual charge and temperature would influence the main time constant. Matters needed attention were proposed that transformer should be fully discharged firstly, charging voltage should be as high as possible in range of 0-2 000 V and environmental temperature should be stable during actual application of polarization spectrum method based on recovery voltage method in state detection of transformer oil-paper insulation.

An online intelligent examination system of coal mining enterprises was proposed based on analysis of actual examination requirements of enterprise employees. A Web examination system is built firstly according to professional characteristics of the employees, and the system is optimized functionality. Secondly, GAAA algorithm integrated with genetic algorithm and ant algorithm is improved. The improved GAAA algorithm firstly updates ant colony pheromone, then searches test database by a comprehensive search of genetic algorithm and parallel distribution of ant algorithm for optimizing group volume of the database. At last, the improved GAAA algorithm is applied in the system to achieve examination of employees at anytime they like and anywhere they are and auto-generating examination paper. The practical application shows that speed of auto-generating examination paper of the system is high, repetition rate is low, the algorithm is feasible, and the system can meet practical requirements of online examination effectively and improve online examination efficiency of coal mine enterprise.

The paper introduced structure and key technologies of mine-used intrinsically safe wireless through-the-earth communication system，and analyzed working principle of the system. The system uses low-frequency electromagnetic radiation technology, digital communication technology and intrinsically safe power supply technology, which has characteristics of smaller volume, lighter weight and easy operation. The test results of prototype show that the system has realized two-way through-the-earth communication for 50 m with communication rate of about 150 bit/s and bit error rate of no larger than 0.2 %, and has a certain practical value

In view of problem that 35 kV power system of a Coal Mine often happens over-voltage at thunderstorm day, the paper analyzed causes of over-voltage, indicated that over-voltage was induced by fraction frequency resonance and the fraction frequency resonance was induced by PT and capacitance to earth of overhead line. Through analyzing parameters of resonance over-voltage of the power system, it gave corresponding reform scheme, namely replacing PT with better excitation voltammetry characteristic, adding nonlinear harmonic eliminator at neural point of high-voltage side of PT and installing intelligent resonance eliminating device with multifunction. The actual application showed that 35 kV power system has not happened resonance over-voltage with reliable running after using the reform scheme.

In view of problem of difficult location of fault existed in real time fault detection methods of powerful conveyor belt, the paper proposed an identification algorithm of joints of powerful conveyor belt based on image processing technology which takes a joint as a reference point. Firstly, based on the characteristics of joint points, a joint point is represented by a value. According to the value, upper or lower joint point could be distinguished simply. Then according to the features of joints, matching style of the longest common subsequence algorithm was modified and applied to recognize joint. The practical application showed that the algorithm has high precision and fast speed, can efficiently recognize joints of powerful conveyor belt and satisfy demand of joint locating of fault detection of powerful conveyor belt.

For problems that underground broadcasting system with analog audio broadcasting mode has poor flexibility and small voice communication range, the paper proposed design scheme of a new kind of mine-used digital broadcasting system, introduced designs of overall structure of the system, audio terminal and gateway program. The system accesses the audio terminal in industrial Ethernet, realizes packet and designated broadcasting, which solves problems of underground unicast and multicast.

With the continuous increase of coal mining depth, the occurrence and prevention of deep rockburst in China have become normalized. In order to improve the effectiveness of deep rockburst prevention and control technology, starting from the technical difficulties of deep rockburst prevention and control in on-site engineering, combined with practical data statistics of disaster prevention and control engineering, this study demonstrates that the deep rockburst in China is due to its high geological stress and large range of human mining disturbance. The stress recovery of surrounding rock is fast after rock stress unloading during the disaster prevention and control process. The low effectiveness of rockburst prevention and control can be attributed to the new requirements of “three highs and one low” prevention and control technology in deep mining compared to that in shallow mining, including high-strength large-sized drilling to relieve pressure, in order to solve the collapse prone problem of thick and hard coal seams; small spacing high-density drilling to solve the problem of disconnected pressure relief range in drilling; multiple rounds of repeated high-frequency construction to solve the problem of rapid stress recovery after unloading pressure in deep coal seams; and the mining face is advancing at a low speed to solve the problem of high mining disturbance intensity. In response to the new requirements of “three highs and one low” prevention and control mode for deep rockburst, in order to further improve the safety and reliability of rockburst prevention and control, and based on the limitations of optimizing development and mining deployment for conventional source rockburst prevention and control, this paper proposes the technology of actively regulating the structure and load of overlying rock layers in the deep rockburst prevention and control areas, and presents some further scientific problems that need to be solved. Against the background of several typical rockburst accidents in recent years with the problem of “missed targets” in the prevention and control plans, a local targeted prevention and control technology for deep rockburst mining space has been developed, and the scientific challenges that need to be solved in the future have been pointed out. Against the background of the difficulty in evaluating safety issues after the implementation of coal mine rockburst prevention and control measures, a deep rockburst prevention and control unloading standard evaluation technology is proposed, and the scientific difficulties that need to be solved in the future are pointed out. The coal industry vigorously promotes intelligent mining, but the disaster control still relies on manual labor and personnel to operate in a high-risk environment. This paper also explores the emerging research direction and scientific challenges of intelligent mining and intelligent prevention and control of deep rockburst. Finally, it is objectively pointed out that the prevention and control of rockburst is not purely a theoretical and technical issue, and the human understanding of technical issues is also one of the important reasons for rockburst accidents. Combining with the on-site engineering practice, this paper discusses the concept and mechanism of rockburst, whether rockburst can be predicted, whether rockburst can be prevented and controlled, and how to deal with rockburst mines and other industry focused technical issues. It is pointed out that the problem of rockburst engineering is a struggle between humans and nature, which requires practitioners to objectively understand, objectively accept, and conduct in-depth research. The current achievement is of significance.

In order to improve the production of coalbed methane vertical wells in the central and northern Zhengzhuang block, southern Qinshui Basin, Shanxi, China, this paper analyzes the reasons for the poor stimulation effect of medium-deep coalbed methane vertical wells, based on the ground stress test data and fracturing monitoring data of these evaluation wells in the study area, proposes targeted stimulation techniques, designs and carries out field comparative pilot studies and analyzes their results. The results show that there are three main reasons for the low production of these vertical wells in the study area. Firstly, the vertical fracture is dominant, resulting in the shorter length of hydraulic fractures. With the increase of burial depth, the length and width of fractures decreases at the same fracturing scale. Secondly, with the increase of burial depth, the embedment depth of proppants into coal rock increases and the closure of hydraulic fractures speeds up. As a result, the stable production time is short, and the main form of gas production curve is “single peak” type. Thirdly, after the initial fracturing, the coal body structure is much more broken, and new fractures are easy to enter the initial fractures, which increases the difficulty of creating new fractures, resulting in poor stimulation effect. In view of the above reasons, the paper proposes an innovative technology of pre-plug, large-scale and remote-support re-fracturing. Pre-plug means that relatively low displacement, sand ratio and scale are first used to fill initial fractures, and then large-scale re-fracturing is carried out to create new fractures. Large-scale fracturing refers to the fracturing with large displacement, large fluid volume and high sand ratio. In order to improve the stimulation effect of middle-deep reservoirs, the fracturing fluid volume is increased from 600−800 m3 to more than 1 300−2 000 m3, the displacement is increased from 6−8 m3/min to more than 10−14 m3/min, and a low viscosity fracturing fluid system combined with low density proppants is used to increase the sand ratio from 7%−8% to more than 10%−15%. Remote-support is a combination of self-suspended proppants and large displacement to increase proppants migration distance and increase the proportion of the propped fractures. The average daily production of a single well reached 1 380 m3, which was 1 190 m3 higher than that before, and nearly 1 000 m3 higher than the stable gas production of adjacent wells, realizing the production breakthrough of vertical wells in the low-production area of the middle-deep reservoir in the north of Zhengzhuang block. Results of the comparative pilot studies showed that the average net construction pressure increased by 3.3 MPa after pre-plug, compared with the initial fracturing, which means that new fractures were formed and resulted in the production increase by 1 000 m3 compared with that of the wells without the Pre-plug. The pilot results show that, in general, the larger the technical parameters of pre-plug, large-scale and remote-support re-fracturing, the better the production performance.

Aiming at the problems of low efficiency of coal mine data utilization and less data sharing caused by the lack of standardized coal mine data model, this paper studies the three-dimensional spatial multivariate data relationship and attribute data planning of coal mines. The process and algorithm from mining engineering plan to tunnel 3D modeling are given, the coal mine data model based on ORM mapping is formed, and the 3D model is output under WebGL technology system. The results shows that the spatial data model established in this paper has high storage and utilization efficiency, and can provide support for data utilization and analysis of mine safety information intelligent decision-making.

In order to utilize high-rank coal efficiently and cleanly, based on Shanxi lean coal, this paper explores the molecular structure characteristics of lean coal and constructs a molecular model of lean coal. In this paper, X-ray photoelectron spectroscopy (XPS) and solid-state nuclear magnetic resonance carbon spectroscopy （13C NMR） were used to characterize and analyze the element occurrence and carbon atom structure of lean coal, and a macromolecular model of lean coal was constructed and optimized. The results showed that the molecular aromatic structure of lean coal was composed of 1 naphthalene, 8 anthracene, 1 tetraphenylene, 1 pyrene, 2 pyridine, 2 pyrrole and 1 thiophene. The oxygen-containing structure includes two intramolecular oxygen-bonded aliphatic carbons, two oxygen-substituted aromatic carbons and one carbonyl carbon. Aliphatic hydrocarbons are composed of 2 fatty methyl groups, 3 aromatic methyl groups, 2 methylene groups and 4 methylene groups. The final macromolecular model of lean coal is C200H140O5N4S. After the initial model was optimized, the valence energy and non-bond energy of coal molecules decreased, but the valence electron energy of coal molecules in the final model was higher than that of non-bond energy, which was the main part of the total energy. Therefore, from the point of view of the adsorption space that the surface of lean coal can provide for gas, the adsorption advantage of CO2 gas in lean coal is stronger than CH4 gas.

Aiming at the problem of high leakage rate and false alarm rate of traditional statistical methods for abnormal fluctuation in sensor monitoring data caused by dampers opening and closing, a SSA-LSTM wind speed abnormal fluctuation detection method based on the combination of Singular Spectrum Analysis (SSA) and Long and Short-Term Memory Neural Network (LSTM) was proposed by mining the data features in the time-series data in the wind speed sensors. Firstly, SSA was used to pre-process the wind speed sensor monitoring data, and the wind speed data was decomposed into trend component, periodic component and noise component. The data noise generated by turbulent pulsation was removed via reorganizing the trend component and noise component. The LSTM parameters was then optimized, and the optimized LSTM model was used to predict the pre-processed data and obtain the reconstructed wind speed. Finally, the anomaly fraction of the monitored wind speed and reconstructed wind speed was calculated by using the logarithmic probability density function. Anomaly detection for monitoring wind speed was performed by calculating the threshold set value of training set data samples. The experimental results shown that, the removing effect for the data noise generated by turbulence pulsation via SSA was better. Removing the noise component without affecting the data fluctuation was helpful in improving the wind speed reconstruction effect and the anomaly detection accuracy. LSTM can correctly reconstruct the small amplitude wave due to turbulence pulsation without anomalous fluctuation and fits well with the actual data. The reconstruction of abnormal fluctuation segment based on historical fluctuation trend when there was abnormal fluctuation can effectively improve the accuracy of anomaly detection. Through comparative analysis, the reconstruction effect of proposed method in this paper was better than ARIMA, BP and CNN models, with an anomaly detection accuracy of 99.2% and an F1-Score of 0.97, which verified the reliability of the proposed method. The method proposed in the paper has important application value in detecting the abnormal fluctuation of wind speed caused by the opening and closing of dampers.

Studying the interaction between coal slime and flotation agents will be the hot and difficult point of flotation process strengthening. In view of the strong hydrophilic chemical structure characteristics of the surface of difficult flotation coal, this paper introduces the bio-pharmaceutical induced fit effect into the study of the interaction of polar collectors in difficult flotation coal flotation. In this paper, 3D coal molecular structure was optimized and constructed according to the results of coal sample properties. Protomol technology was used to search and represent the active pockets of coal molecules, and the optimal conformation of molecular butt between polar collector and difficult floating coal was searched in the active pockets. According to the binding energy of the optimal conformation of the interaction between polar chemicals and coal molecules, the correspondence between the molecular docking results, induced fit effect and the flotation results was analyzed. The molecular docking results and the recovery rates of refractory coal combustible are both lauryl alcohol< lauraldehyde< methyl laurate, The recovery rate of flotation fuels is positively correlated with the absolute value of molecular docking binding energy and the molecular induced binding effect of coal, which revealed the guiding effect of molecular docking on flotation reagent screening. According to the molecular docking configuration, the differences in binding energy can be attributed to the differences of π-CH interaction and steric hindrance. Furthermore, the three-dimensional space of pharmaceutical molecules was fixed and the induced fit effect between three polar collectors and coal molecules was explored by molecular mechanics simulation. It was found that methyl laurate and the active region of coal molecules could generate greater interaction, and the active region of coal molecules had stronger induction effect and inclusion of methyl laurate, so it had better effect in the flotation process. The application of molecular docking and induced fit effect technology in the field of biomedicine to the field of flotation reagents can provide technical approaches and scientific guidance for the rapid screening of flotation collectors.

Coal has made important contributions to the industrialization process of human society, and has played a key supporting role in ensuring China’s energy security and stable economic development. Since the mid-19th century, the coal-based fuel of coal, kerosene, gas and coal electricity has gradually entered the era of large-scale use. However, the traditional use of coal produces high carbon emissions, which has become a major problem in energy transition. Facing the development of ecological civilization society, the clean and efficient use of coal is imminent, and the innovation of modern coal-based energy technology is imperative. This paper proposes the definition and connotation of modern coal-based energy technology system, which is defined as the production of low-carbon energy products such as coal-based gas, coal-based oil, coal-based hydrogen and coal-based electricity, and the in-situ absorption of carbon dioxide in mining areas to form a clean and low-carbon energy production system with carbon neutrality. Its technical connotation includes coal-based gas, coal-based oil, coal-based hydrogen, coal-based electricity and dynamic carbon neutrality in mining areas, with a total of 5 technical modules, 19 technical units and 61 key technologies. The modern coal-based energy technology system will play an important role of “one main body, three supports and one breakthrough” in the future new energy system. Coal-based electricity provides the main body of electricity system stability. Coal-based oil supports the China’s oil safety. Coal-based gas supports the China’s gas safety. Coal-based hydrogen plays a supporting role in the development of hydrogen energy in China. The major breakthrough is the dynamic carbon neutral technology of coal-based energy. The paper supposes that when the ratio of non-fossil energy and low-carbon coal-based energy is maintained in the range of 2.5−3.0, coal-based energy, oil and gas and wind, water, nuclear energy can be reasonably integrated to form a new quality energy system with strong complementarity, high reliability and low carbon emissions. Based on the major breakthrough and practical application of modern coal-based energy technology, it is predicted that China’s low-carbon coal-based energy production will reach 1.02 billion −1.46 billion tons of standard coal equivalent (tce) in 2060, equivalent to 18%−24% of the national energy demand, and carbon dioxide emissions will be controlled below 500 million tons. Compared with the current energy transformation planning path based on “de coal” planning, the share of coal in our energy system can increase from 10% to more than 20%, and carbon dioxide emissions will reduce by 50%. At that time, the modern coal-based energy system has great technological innovation significance for China’s energy security and carbon dioxide emission reduction, and helps China to become a country with independent energy supply.

During the coal mining process, the change in the floor stress state of coal seam will produce deformation and failure. The seam floor failure in different coal mining processes has a certain law. At present, the water disaster monitoring of coal seam floors based on the DC resistivity method mainly focuses on the resistivity response characteristics of floor deformation and damage. To investigate the temporal changes in the electrical properties of the coal seam floor during mining, this study employs the inter-hole DC perspective observation system and the time-lapse resistivity reflection coefficient method. Through numerical simulation and field tests, the study uncovers the temporal variation law of the resistivity of coal seam floor induced by mining activities. First, this paper compares the results of individual inversion and time-lapse resistivity change rates for a typical geoelectric model to validate the reliability of the inter-hole DC perspective time-lapse method. Next, considering the mining-induced damage to the coal seam floor, this paper analyzes the electrical response patterns and charac-teristics of the rise of confined water and the damage zone in the floor during the mining process. It also discusses the feasibility of using a time-lapse resistivity reflection coefficient to assess the depth of coal seam floor damage, offering a theoretical basis for field construction. Finally, , the on-site monitoring tests reveal the electrical change characteristics of coal seam floor during the coal mining process. The time-lapse resistivity reflection coefficient R is utilized to determine the damage depth of the rock layer of the working face floor, which is found to be 15 m. The study results demonstrate that the time-lapse characteristics of the resistivity of coal seam floor mining damage obtained by the inter-hole DC perspective method can mitigate the influence of formation factors and random noise in the monitoring data to a certain extent. Additionally, the time-lapse resistivity reflection coefficient can be utilized to determine the depth of coal seam floor failure. This method transforms the detection target from the single study of geological anomalies to the full life cycle dynamic monitoring of the floor damage of the working face in the process of coal mining and then realizes the detailed depiction of structural damage to the working surface floor.

Based on the green development trend and requirements of China’s coal industry, this paper analyzed the factors that coal mines consider in choosing filling mining methods and the constraints that affect the promotion of filling mining technology. According to the geographical distribution characteristics of different mining areas and the differences in filling demands, four types of priority principles of “protecting the ecological environment, protecting surface buildings, addressing coal gangue and solid waste, and improving economic efficiency” for coal mine filling mining were defined. The ecological mining goal of “building the whole process holographic intelligent ecological mine by adopting filling mining as a regulation tool to protect the ecological environment in coal mines” was put forward. Based on the finite deformation mechanical model of the roof in filling mining, the factors affecting the subsidence of target rocks in filling mining were expounded, and the supporting strength calculation and overburden deformation control equations under three filling engineering modes such as ecological environment protection, ground building protection and gangue treatment were established. In addition, the paper introduced the development status and direction of universal filling technology in coal mines in China, including solid filling of raw gangue waste, modified solid filling, gangue concrete filling, integrated mining-filling-charging, large amount of gangue filling, filling method in thin coal seam, filling method for regional protection, filling method in continuous mining roadway and other filling technologies that meet various needs of coal mines. The material preparation and transportation of different filling technologies, the characteristics of filling process and the adaptive filling equipment were described in detail. In order to realize the intelligent filling of coal mines, a comprehensive data perception system was established, which realized the intelligent process from unit to whole filling working face through spatial planning and filling effect judgment. The sensor network and artificial intelligence algorithm were combined to monitor and control the solid filling process of coal mine in real time, and improve the filling quality and filling efficiency. Coal mine filling mining will play a more important role in the long-term planning of China’s green mine construction. Strengthening the scientific and technological research of the whole process of coal mine production based on active filling, the construction of universal filling technology and process system, the development of new solid filling materials, and the research of intelligent filling mining, will help the filling mining technologies in China’s coal mines have a very broad prospect.

The MILD combustion is a combustion mode that occurs in a moderate or extremely low oxygen environment, combining the advantages of high combustion heat utilization and very low NOx emissions, and is considered by the international combustion field to be one of the cleaner combustion technologies with great potential for application. Since the relevant research began around 1990, the technology for achieving a MILD combustion of gas fuels has been relatively mature, while the research on the MILD combustion mechanism and implementation conditions of solid fuels such as coal powder and biomass is still relatively lacking. Based on the high momentum oxidizer jet, internal recirculation is achieved, eliminating the need for external high-temperature preheating to establish MILD combustion, greatly expanding the application range of MILD combustion. This paper provides an overview of the basic characteristics of MILD powder fuel combustion from the aspects of particle dispersion, heating, ignition, combustion, and pollutants. Due to the uneven dispersion and reaction of particles, the MILD combustion process of carbon-based solid fuels such as coal powder is more complex than that of gas fuels. High speed jet MILD combustion not only increases ignition delay but also expands ignition and reaction zones, requiring systematic research on the characteristics and mechanisms of each combustion stage. This paper introduces the research achievements in the theoretical design and equipment development of solid fuel MILD combustion. It is recommended to improve the existing coal-fired boiler burner, adjust the process parameters to match the MILD combustion mode, increase the residence time of coke particles to improve combustion efficiency, improve combustion stability, and suppress various pollutant emissions, including fine particulate matter, through high-precision numerical simulation. Based on the overall approach of interconnected energy systems, the coupling research between MILD combustion and various new combustion technologies should be promoted, especially strengthening the research on the co-combustion characteristics of coal powder, biomass and hydrogen, ammonia and other combustible gases, and assisting in energy transformation. Exploring the characteristics of turbulent two-phase flow, turbulent interphase heat transfer, and turbulent chemical coupling in the powder MILD combustion is crucial for deepening the understanding of powder MILD combustion. It involves multivariate analysis and high-precision simulation, which will be the focus and difficulty of future research.

The safe, green, efficient and low-carbon coal mining is the common goal of surface coal mines around the world. The development intensity and ecological carrying capacity of surface coal mine resources in China show the reverse development characteristics, and the vulnerable ecological environment areas in northwest China have become the main surface coal production areas, which makes surface coal mining and ecological environment protection become important scientific problems, ecological problems and development problems to be solved urgently. On the basis of the development situation, natural conditions and main influencing factors of surface coal mines, the connotation characteristics and overall structure of realizing the safe-green-efficiency-low-carbon mining of surface coal mines were explained. Aiming at the characteristics of the whole life cycle of pre-mining, mid-mining and post-mining of surface coal mines, in terms of four levels: safe mining technology, green mining technology, efficient mining technology and low-carbon mining technology, this paper puts forward eight key technologies including the time-limited slope control technology, the intelligent early warning decision-making technology, the new mode of transportation link, the ecological construction of mining area, the coordinated mining of adjacent mines, the intelligent mining design, the application of electric mining trucks and the ecological damage reduction at mining sources. The key work and direction of safe-green-high efficiency-low carbon cooperative mining in surface coal mines are clarified. In terms of the measures of safety-green-efficiency-low carbon co-development, regarding strengthening a top-level design, accelerating the distributed implementation, enhancing key researches, promoting personnel training, and improving standards and regulations, the paper proposes the target tasks to be accomplished in different stages in 2025, 2030 and 2035. In the new era, surface coal mines should firmly follow the development path of safe-green-high efficiency-low carbon, and realizes the high-quality development goal of surface coal mines.

Coal mining machine is the core equipment of completely automated working face, and the research and development of intelligent coal mining robot is crucial for achieving the intellectualization of fully mechanized working face. This paper comprehensively analyzes the current research status of sensing detection, position and attitude control, speed control, cutting trajectory planning, and tracking control in the coal mining machine roboticization process, and proposes five key technologies that must be solved in the development of intelligent shearer robots, including sensing and detection, pose control, velocity control, cutting trajectory planning and tracking control. Aiming at the problem of intelligent perception, this paper proposes the construction thought of a coal mining robot intelligent perception system, as well as the architecture of a coal mining robot intelligent per-ception system. The architecture of the intelligent perception system for coal mining robots is outlined, enabling a comprehensive sensing of running state, posture, environment, and so on, thereby ensuring the safe and reliable operation of intelligent coal mining robots. In terms of the position and attitude control problem of intelligent coal mining robots, the intelligent PID position and attitude control thought is proposed, along with an improved genetic algorithm-based PID pose control method, enabling precise pose control for the coal mining robot. As to the problem of velocity control, the thought of cutting load measurement based on the fusion of “force-electricity” heterogeneous data is proposed. Additionally, a neural network-based algorithm for cutting load measurement is presented, achieving an accurate load measurement. Furthermore, a traction and cutting speed adaptive control approach is proposed, including an artificial intelligence-based decision-making method for traction and cutting speed and a sliding mode control method for traction and cutting speed with disturbance rejection. This approach enables a precise and adaptive speed control for the coal mining robot. Regarding the problem of cutting trajectory planning and tracking control, the precise cutting trajectory planning thought is proposed, incorporating geological data and historical cutting data into a cutting trajectory planning model. The precise cutting trajectory tracking control thought is proposed, and an intelligent interpolation algorithm-based cutting trajectory tracking control method is given, achieving a high-precision trajectory planning and accurate tracking control for the coal mining robot. Considering the “position-attitude-velocity” collaborative control problem, the intelligent optimization idea of "position-attitude-velocity" collaborative control parameters is proposed, which utilizes an improved particle swarm optimization method based on multi-system constraints to optimize the coordinated control parameters, resulting in intelligent and efficient operation of the coal mining robot. The in-depth investigation of these five key technologies for intelligent coal mining robot provides some valuable insights for accelerating the development of high-performance, efficient, and reliable intelligent coal mining robot.

In view of the intelligentization of coal mine roadway excavation, this paper discusses the current development status of four major categories of intelligent fast excavation equipment, including continuous mining machine, excavation and anchor machine, full-section excavation system, and anchor excavation machine, analyzes the applicability of the four major categories of intelligent fast excavation equipment with the geological conditions, proposes some key technological issues for the realization of intelligent coal mine excavation which need to be resolved, and also explores the information transmission and intelligent analysis technology, intelligent perception technology, precise positioning and navigation technology, autonomous stereotyped directional cutting technology, remote and autonomous cutting control technology of road-header and multi-level and multi-process intelligent cooperative control technology, as they are the basis for the realization of intelligent roadway excavation. Based on the key technological issues needed to be solved in the mine roadway excavation under the complex geological conditions, the paper puts forward the design method of systematic analysis, modular design and optimal combination of functions, according to the functional requirements of the excavation operation and the requirements of the excavation process. A multi-level digital twin architecture of virtual control and virtual-reality combination is studied based on the multi-dimensional information reproduction of heading equipment, environment, and geological structure to realize the remote control of road-heading machine. A control method that integrates single-machine intelligence, system synergism, and synergism of underground intelligent control and surface remote monitoring is proposed. A new type of flexible advance support technology without repetitive crushing, multi-stage telescopic cutting technology of cutting section, and multi-rig parallel operation technology of intelligent anchoring unit have been developed, and a new type of combined unit for rapid roadway heading operation with a parallel operation of excavating, supporting, anchoring, transporting, and exploring processes has been also developed, and a flexible parallel operation technology of excavation robot, advance support robot, anchoring robot, and auxiliary transportation robot group has been proposed. A data-driven multi-machine, multi-process collaborative control behavior planning and decision-making method is proposed. In addition, it is proposed to construct a complete coal mine underground cross-system full-temporal-spatial information digital sensing system, build a data sensing intelligent monitoring platform with multi-parameter, multi-scale and full-temporal-spatial characteristics, that integrates the production state of underground site, spatial information of roadway, state of heading equipment, and risk information, etc., and realize a real-time communication between virtual system and actual tunneling system, so as to realize the intelligent and less-manned heading through data-driven planning and analysis.