Study on influencing factors and autonomous correction method of roadheader cutting trajectory

Abstract

In order to realize robotized automatic tunneling, this paper have studied the influencing factors of the roadheader cutting trajectory and put forward an autonomous correction method. Considered the efficiency of cutting and the quality of section forming, the uncertain factors that affected the cutting trajectory included the dirt band, the control system and the position and posture of roadheader, and then the constraint condition of each influencing factor have been determined. Aiming at the influencing factors, the method of cutting trajectory correction was proposed. The dirt band could be broken by adjusting the cutting arm swinging speed or cutting motor revolving speed when the dirt band was smaller, or be avoided and processed manually when larger. For the factor of control system, cutting arm slow stop function was used to amend the impact of the cross section boundary trajectory. For the roadheader position and posture error, the error should be decomposed firstly, and procedures or pre-plate and support adjustment were used to realize trajectory correction. This paper laid an important foundation for multi-objective optimization of roadheader cutting trajectory.