Roadheader Automatic Cutting Method Based on Digital Twin Technology and Its Application and Research

In view of the problems of low roadheader remote cutting accuracy, high labor intensity, poor safety and others of the 3_lower1104 working face in Gaozhuang Coal Industry, a type of digital twin based integrated roadheader automatic cutting system of perception-modeling-control-interaction is proposed. The system integrates inertial navigation and total station to achieve 3D pose accurate perception of equipment, combines GIS and point cloud data to construct a high-precision roadway model, and develops a dynamic template correction algorithm based on real-time point cloud feedback, the template update cycle is ≤ 0.5 s for every 1 m of advancement, the planning efficiency is improved by 80% compared to the traditional static template. The industrial tests show that during 30 days of continuous testing on the 3_lower1104 working face, the standard error of the system’s cutting trajectory deviation is decreased from 18.3 cm of the traditional mode to 4.7 cm, the pass rate of the cross-section forming is improved from 67.5% to 92.8%, and the excavation efficiency is improved by 10%-15%. The distance between the operators and the head-on exceeds 100 m, achieving an unmanned operation mode of "remote centralized control+model-driven".