The online identification of rock hardness is the basis to adjust the rotation velocity and swing velocity of cutting head in real time. To effectively identify the hardness of rock around roadway under different cutting conditions, a novel method based on the hydraulic cylinder pressure signal is proposed. Here, we analyze the changing rule of cutting head load under different rock hardness through dynamic simulation, and the transfer characteristics between cutting dynamic load and the hydraulic cylinder pressure. On this basis, a function model between the hydraulic cylinder pressure and the protodyakonov scale of rock hardness is constructed to identify the rock hardness. The average recognition accuracy of the heavy-duty roadheader in the test is 92.01%. The experimental results indicate that the model can effectively identify the rock hardness under different cutting conditions. This study can be used for online identification of rock hardness and provide reliable basis for the automatic control of roadheader.

岩石硬度的在线识别是实时调整切割头旋转速度和摆动速度的基础。为了有效识别不同切削条件下巷道周围岩石的硬度，提出了一种基于液压缸压力信号的新方法。在此，我们通过动态模拟分析了不同岩石硬度下切削头载荷的变化规律，以及切削动载荷与液压缸压力之间的传递特性。在此基础上，建立了液压缸压力与岩石硬度的protodyakonov尺度之间的函数模型，以识别岩石硬度。试验中重型掘进机的平均识别精度为92.01％。实验结果表明，该模型可以有效识别不同切割条件下的岩石硬度。该研究可用于岩石硬度的在线识别，为掘进机的自动控制提供可靠的依据。