关键词: 自主截割, 纵轴式掘进机, 截割轨迹规划, 断面栅格地图

Abstract: Autonomous cutting control method of longitudinal roadheader was researched, which was one of the key technologies to realize autonomous cruising of tunneling equipments. The system was overall designed which had the functions of cutting trajectory planning，automatic cutting and load self-adaption cutting. The longitudinal roadheader was adopted as the object of the study and its control principle was introduced. The system was built by using PCC and power panel. The method of cutting trajectory planning was mainly studied. The relation between coal hardness, swaying speed of cutting arm and revolving speed of motor was analyzed in accordance with which the cutting environmental factor was modeled. Grid map of roadway section was built by using grid method. Cutting trajectory which avoided crashing the parting could be planned basing on the map. Cutting trajectory and automatic control flow was separately set according to cutting processes and degree of coal hardness. And the influence to cutting trajectory caused by roadheader body position and pose was finally analyzed. The above results showed that the system was set up initially and the other two key technologies and underground industrial tests need to be carried out.