Center of Shanxi Engineering Research for Coal Mine Intelligent Equipment, Taiyuan University of Technology
College of Mining Engineering, Taiyuan University of Technology
College of Safety and Emergency Management Engineering, Taiyuan University of Technology
College of Mechanical and Vehicle Engineering, Taiyuan University of Technology

智能决策支持的掘进多行为协同控制是煤矿掘进工作面智能化的核心之一，掘进多行为协同控制的最优时序规划是智能决策的关键。针对煤矿掘进多行为控制模式单一、固化、协同作业能力差等问题，设计了一种煤矿掘进多行为协同控制智能决策模型，实现了掘进多行为在最优时序下的协同作业。首先，提出了掘进多行为协同控制智能决策方法，确定了掘进多行为可行时序规划集和多目标最优时序规划策略；其次，根据掘进现场的规定和工艺要求，确定了掘进动作事件集，通过对事件集中两两动作事件之间时间关系的分析，求出掘进多行为时间关系约束矩阵；然后，根据时间点关系约束矩阵转换方法，将掘进多行为时间关系约束矩阵转换为时间点关系约束矩阵，再求出掘进多行为可行时序规划集；最后，定义不同掘进目标下的求解函数，求得不同掘进目标的最优时序。实验结果表明，在不同掘进目标下，按照模型决策出的掘进动作最优时序规划结果，掘进机器人可无干涉协同作业，且掘进作业1个工作循环的执行时间与决策模型计算的时间基本一致。

Intelligent decision-making support for multi-behavior collaborative control in coal mine excavation is one of the core functions of the coal mine excavation working face. The optimal time series planning of multi-behavior collaborative control in excavation is the key to intelligent decision-making. In order to solve the problems of single control mode, solidification and poor collaborative operation capability of multi-behavior in coal mine excavation, an intelligent decision-making model of multi-behavior collaborative control in coal mine excavation is designed. It realizes the collaborative operation of multi-behavior in the optimal time series. Firstly, an intelligent decision-making method for excavation multi-behavior collaborative control is proposed. The feasible time series planning set and multi-objective optimal time series planning strategy for excavation multi-behavior are determined. Secondly, based on the regulations and process requirements of the excavation site, a set of excavation action events is determined. By analyzing the time relationship between two action events in the event set, a constraint matrix for the time relationship of excavation multi-behaviors is obtained. Thirdly, based on the transformation method of the time relationship constraint matrix, the multi-behavior time relationship constraint matrix of excavation is transformed into a time relationship constraint matrix. The feasible time series planning set of excavation multi-behavior is obtained. Finally, the solving functions for different excavation objectives are defined and the optimal time series for different excavation objectives is obtained. The experimental results show that the excavation robot can work collaboratively without interference according to the optimal time series planning results of the excavation action determined by the model under different excavation objects. The execution time of one working cycle of the excavation operation is basically consistent with the time calculated by the decision-making model.

国家重点研发计划项目（2020YFB1314004）；山西省揭榜招标项目(20201101008)；山西省重点研发计划项目(202102100401015)。

0 引言
1 掘进多行为协同控制智能决策方法
2 掘进多行为协同控制智能决策模型构建
2.1 掘进动作事件定义
2.2 掘进动作事件时间关系矩阵建立
2.3 掘进动作时序规划计算
3 模型实例化
4 实验验证
5 结论

王宏伟，郄晨飞，付翔，等. 煤矿掘进多行为协同控制智能决策模型[J]. 工矿自动化，2023，49(6)：120-127.

WANG Hongwei, QIE Chenfei, FU Xiang, et al. Intelligent decision-making model of multi-behavior collaborative control in coal mine excavation[J]. Journal of Mine Automation，2023，49(6)：120-127.