Study on cutting trace planning of longitudinal roadheader and boundary control method

in order to ealize an autonomous operation of the unmanned heading equipment and to complete the established tasks,a study was conducted on the planming of the cuting trace and the boundary conrol metho . ith the analysis on the model of the mathemati relationship between the coal and rock hardnss and theswaying speed ofthe cutting boom.,the revolution of the cutting motor environment information descrition mefhod of the coal nd rock hardness was provided based onthe judgment of the muli senso parameters. A grid method was appied to establish the enironment model and a grid map was prepared.Accoding to the three processes of the bottom cutting automatic cutting and automatic expanding cutting.the cutng races were indidcell planned. A boundary control method was proided anda fine automatic:conrol was conducted on the trace afer the planning.The study resuts showed that the planning nethod of the cutig traces provided coud make thecuttig head to avoid the parting location at any point and to fully cut the completed cross section.With the experimental verification,the designed boundary control method could have a high control accuracy.could ensure the profie qualiy of the roacway boundary and could rovide imporant technical base to realrze the autonomous drectional heading of the mine completed roadway.