“十三五”期间，我国煤矿开采开始进入了智能化模式，但处于智能开采的初级阶段。首先，对国内外智能开采技术进展进行了分析，重点介绍了澳大利亚的智能煤矿建设和北京天地玛珂电液控制系统有限公司的无人化综采工作面技术进展。其次，按照智能感知和智能控制2个环节总结了国内智能开采行业的顶层设计。对于智能感知关键技术，建立了智能感知技术体系，攻克了综采装备全方位感知技术和工作面自动找直技术，解决了惯性导航长时间坐标漂移的累积误差增大问题；以物联网推动了围岩透明感知技术，基于多信息融合的煤岩界面识别和超宽带雷达精细测量，具备了一定的超前探测能力和适应煤层地质条件变化能力，高精度三维动态地质模型的动态修正技术；将机器人技术引入到综采工作面感知体系中，通过巡检机器人实现综采工作面生产的快速无缝实时感知；通过对传统VR的建模技术升级，建立了工作面三维实景模型。对于智能控制关键技术，建立了智能控制技术体系，研究了远程监督型控制技术和自主控制技术，利用巡检机器人超前对煤岩界面自动检测和滚筒截割状态的实时识别，实现了智能调高控制、俯仰采控制和推进方向的平滑阶梯多级调整控制，开发了巡检机器人模式下的智能割煤工艺；通过对5G通信系统的协议改进，实现了工作面移动传输上行带宽超过300 Mbps和传输延时小于20 ms 的视频传输性能。保证了综采远程控制的实时性和可靠性。通过智能感知与智能控制的关键技术应用，进行了远程干预型智能控制综采生产、视觉测量煤岩分界、直线度自动测量调直、超宽带雷达探测、真实场景综采工作面三维建模和巡检机器人自主采煤等应用实践。最后提出了尚待解决的理论和关键技术问题：深度超前精确探测理论体系、综采全工艺流程无人化控制理论体系、全矿井无缝覆盖通信定位体系、复杂环境下的目标识别、上窜下滑控制和超前自动移架技术等。

During the“13th Five-Year Plan”period, China’s coal mining began to enter an intelligent mode, but it was still in the initial stage of intelligent mining. Firstly, the development of intelligent mining technology at home and abroad was analyzed, with emphasis on the construction of intelligent coal mine in Australia and the technological progress of unmanned long-wall face in Beijing Tiandi-Marco Electro Hydraulic Control System Co., Ltd., Secondly, the top-level design of domestic intelligent mining industry was summarized in terms of intelligent perception and intelligent control. For the key technologies of intelligent perception, the intelligent sensing technology system was established, which overcame the comprehensive sensing technology of fully mechanized mining equipment and the automatic straight-finding technology of working face, and solved the problem of increased cumulative error of long-term coordinate drift of inertial navigation. The Internet of Things has promoted the transparent sensing technology of surrounding rocks, coal-rock interface identification based on multi-information fusion and UWB radar fine measurement, which has a certain advanced detection ability and the ability to adapt to changes in geological conditions of coal seams, and the dynamics of high-precision three-dimensional dynamic geological models correction technology. The robot technology was introduced into the perception system of the fully mechanized working face, and the quick and seamless real-time perception of the production of the fully mechanized working face was realized by the patrol robot. By upgrading the traditional VR modeling technology, a 3D real-world model of the working face was established. For the key technologies of intelligent control, an intelligent control technology system was established, and remote supervisory control technology and autonomous control technology were studied, and the automatic detection of coal-rock interface and real-time recognition of the cutting status of the drum by the use of inspection robots have realized intelligent height adjustment control, pitch mining control and smooth stepped multi-level adjustment control of the propulsion direction in order to develop intelligent coal cutting technology under the mode of inspection robot; Through the protocol improvement of 5G communication system, the performance of video transmission with uplink bandwidth exceeding 300 Mbps and transmission delay less than 20 ms was achieved. The real-time and reliability of remote control in fully mechanized mining were ensured. Through the application of key technologies of intelligent perception and intelligent control, the application practices of remote intervention intelligent control of fully mechanized mining production, visual measurement of coal and rock boundary, automatic measurement and straightening of straightness, UWB radar detection, three-dimensional modeling of fully mechanized mining face in real scene and autonomous coal mining by patrol inspection robot have been carried out. Finally, the unresolved theoretical and key technical problems were put forward, such as the theoretical system of advanced and accurate detection of depth, the theoretical system of unmanned control in the whole process of fully mechanized mining, the communication positioning system of seamless coverage in the whole mine, the target identification in complex environment, the control of up-leaping and down-sliding, and the advanced automatic support shifting technology.