综采工作面智能化是我国煤炭开采的重点发展方向之一。综采工作面环境复杂，设备众多，开采工艺各环节高度耦合，且采煤过程中各设备之间的动作协同性要求较高，这给设备的智能控制带来了巨大挑战。为厘清综采工作面智能化的技术现状，发掘技术难题的解决方法，探讨未来的发展方向，首先从工程应用角度出发，围绕采煤机、液压支架群、供液系统、运输系统等核心设备，综述综采工作面智能化的发展历史和技术现状，介绍了智能化综采工作面现有的系统架构和关键技术，梳理智能化建设过程中的技术难点。其次从控制理论角度出发，重点阐述了采煤机滚筒自适应调高、支架姿态控制、支架自动跟机、工作面直线度调整、设备协调控制等技术难点所面临的科学问题，从系统建模、控制算法及优化决策等方面，介绍了解决上述问题的技术路径和国内外最新的研究成果。最后，根据人工智能研究领域的发展动态，展望了采煤机、液压支架、运输系统的智能化发展方向；结合计算机视觉、三维激光点云技术、大数据分析、多智能体控制与决策等方向的研究成果，探讨了综采工作面在视频目标识别与跟踪、关键设备三维姿态感知、透明工作面地质信息获取与建模、设备故障综合诊断、工作面信息挖掘与智能分析、设备集群智能最优控制等方面的智能化技术。

Intelligentizationof fully-mechanized mining face (FMMF) is one of key development directions of coal mining in China. In the FMMF, the environment is complex with many pieces of equipment, the steps of the mining process couple seriously, and the actions of the equipment should be executed collaboratively when mining the coal, which brings an enormous challenge to the intelligent control of equipment. This paper aims to clarify the status of intelligent technology in the FMMF, explore the way to solute the technical problems, and discuss the future development direction. The development history and technical status forintelligentization FMMF are reviewed around the core equipment such as shearer, hydraulic support group, liquid supply system, and transportation system. In industrial application, the system structure and key technologies of the current intelligent FMMF are introduced, and the technical difficulties are analyzed. From a standpoint of cybernetics, the scientific issues in the intelligentization FMMF, such as shearer drum adjustment, attitude control and moving automatically with the shearer of the hydraulic support, the straightness adjustment of the working face, and coordination control of the equipment, are described emphatically. The technological path and the research status both overseas and domestic are introduced addressed to these issues from system modeling, control algorithm, and optical decision. Finally, the prospects of the intelligent development direction of shearer, hydraulic support, and transportation system are given according to the development trend of artificial intelligence. Furthermore, combined with the research results of computer vision, three-dimensional laser point cloud technology, big data analysis, multi-agent control and decision making, etc.,  this paper discusses the intelligent technologies in the aspects of video target recognition and tracking, 3D attitude perception of the key equipment, geological information acquisition and modeling of transparent working face, comprehensive diagnosis of equipment faults, information mining and intelligent analysis of working face, and intelligent optimal control of equipment group in FMMF. 

0 引言

1 综采工作面智能化开采发展历程

2 综采工作面智能化开采技术现状及难点

   2.1 综采工作面智能化开采系统架构

   2.2 采煤机智能化技术现状及难点

   2.3 液压支架智能化技术现状及难点

   2.4 供液系统智能化技术现状及难点

   2.5 运输系统智能化技术现状及难点

3 综采工作面智能化研究前沿及技术展望

   3.1 综采工作面智能化发展方向展望

   3.2 煤矿综采与人工智能交叉领域研究前沿及技术展望

4 结语