掘进智能化为智慧矿山建设提供不可或缺的科技支撑，智能快掘技术是煤炭安全高效生产的客观需求，是解决采掘失衡问题的根本途径。我国煤矿井下巷道掘进作业呈现作业环境恶劣、地质条件复杂、施工工序多、安全性差等问题，智能掘进主要面临掘进单机装备完备性、可靠性和能力不足、围岩时效控制技术薄弱、掘进工序高效协同和掘进装备群的智能化协作技术欠缺三大难题。针对智能掘进保障性技术不足的问题，提出了掘进设备可靠性、巷道围岩状态在线感知、巷道围岩时效控制、低比能耗高效截割、掘进粉尘综合防治5类智能掘进保障技术;基于掘支运一体化技术，提出了以“边缘感知、平台决策、设备执行、远程运维”4个维度的智能掘进系统基本架构，分析和讨论了掘锚(探)一体化、自动截割、智能支护、掘进导航、远程集控5种智能掘进关键技术;为扩大智能掘进核心技术支撑的覆盖面，针对不同掘进设备配套和不同煤层赋存条件，提出了掘支运一体化、全断面掘进机、双锚掘进机及5G+连续采煤机4种智能掘进模式，并在国能、中煤、山能、陕煤等集团得到推广应用;最后，提出巷道掘进智能化的发展方向和建议，建议研究井下空间定位导航新技术、支护效果动态监测与支护工艺精确调整、掘锚一体机器人、掘进工作面高精度智能感知与数字孪生、掘进系统平台化。

Intelligent excavation provides indispensable scientific and technological support for intelligent mine construction.Intelligent rapid-excavation technology is a requirement of safe and efficient coal production,and a fundamental way to solve the imbalance problem between mining and development.The problems of tough operating environment,complicated geological conditions,multiple construction pro-cedures and poor safety are presented in the coal mine roadway development in China.Intelligent excavation mainly faces three problems,such as the insufficient completeness,reliability and ability of stand-alone excavation equipment,the limitation of surrounding rock control technology and the lack of the efficient coordination of excavation process and the intelligent collaboration technology for excavating equipment groups.In order to solve the problem of insufficient intelligent excavation support technology,five kinds of intelligent excavation support technologies are put forward:the reliability of excavating equipment,the online perception of roadway surrounding rock state,the aging control of roadway surrounding rock,the efficient cutting with low specific energy consumption,and the comprehensive control of excavating dust.Based on the integration technology of excavation,support and transportation,the basic architecture of intelligent excavation system with four dimensions of “edge perception,platform decision,equipment execution and remote operation and maintenance” is proposed.Five key intelligent excavation technologies,including integration of excavation and exploration,automatic cutting,intelligent support,excavating navigation and remote centralized control,are analyzed and discussed.In order to expand the coverage of core technology support of intelligent excavation,according to different excavating equipment and different conditions of coal seam,four kinds of intelligent excavation modes,including the integration of excavation,support and transportation,full-section roadheader,roadheader with two bolter and continuous miner with 5G,are proposed,which have been popularized and applied in China National Energy Group,China Coal Group,Shandong Energy Group and Shaanxi Coal Group.Finally,the development direction and suggestion of intelligent roadway excavation are put forward.It is suggested to study the new technology of underground space positioning and navigation,the dynamic monitoring of protection effect and the accurate adjustment of support process,the robot with integrated mining and bolting,the high-precision intelligent perception and digital twin of roadway face,and the platform of excavation system.

1 煤矿智能掘进面临的主要难题

2 煤矿智能掘进保障技术

   2.1 掘进设备可靠性技术

   2.2 巷道围岩状态在线感知技术

   2.3 巷道围岩时效控制技术

   2.4 低比能耗高效截割技术

   2.5 掘进粉尘综合防治技术

3 基于掘支运一体化技术的智能快掘系统架构及关键技术

   3.1 掘锚(探)一体化技术

   3.2 掘进导航技术

   3.3 自动截割技术 

   3.4 智能支护技术

   3.5 远程集控技术

4 智能掘进模式及工程实践

   4.1 掘支运一体化智能掘进模式

   4.2 全断面掘进机智能掘进模式

   4.3 双锚掘进机智能掘进模式

   4.4 5G+连续采煤机智能连掘模式

5 展望