Although many studies exist on mobile robot path planning, the disadvantages of complex algorithms and many path nodes in logistics warehouses and manufacturing workshops are obvious, mainly due to the inconsistency of map environment construction and pathfinding strategies. In this study, to improve the efficiency of mobile robot path planning, the Delaunay triangulation algorithm was used to process complex obstacles and generate Voronoi points as pathfinding priority nodes. The concept of the grid was used to extract obstacle edges to provide obstacle avoidance strategies for robot pathfinding. Subsequently, the search for priority and regular path nodes used the improved A-star (A*) algorithm. The dynamic fusion pathfinding algorithm (DFPA), based on Delaunay triangulation and improved A*, was designed, which realizes the path planning of mobile robots. MATLAB 2016a was used as the simulation software, to firstly verify the correctness of the DFPA, and then to compare the algorithm with other methods. The results show that under the experimental environment with the same start point, goal point, and number of obstacles, the map construction method and pathfinding strategy proposed in this paper reduce the planned path length of the mobile robot, the number of path nodes, and the cost of overall turn consumption, and increase the success rate of obtaining a path. The new dynamic map construction method and pathfinding strategy have important reference significance for processing chaotic maps, promoting intelligent navigation, and site selection planning.

The new method of rock breaking based on the combination of circular sawblade and conical pick was proposed to improve the effectiveness of hard rock breaking. The numerical simulation method was applied to research the conical pick cutting arc rock plate by ANSYS/LS‐DYNA. The conical pick cutting arc rock plate numerical simulation model was established to research the influence of arc rock plate structural parameters and cutting parameters on cracks formation and propagation of the arc rock plate and the cutting force in the process of conical pick cutting arc rock plate. The amount of cracks is positively correlated with arc rock plate thickness, the cutting speed, and distance of cutting point to arc rock plate central axis and negatively correlated with the cutting angle. The mean peak cutting force is positively correlated with the thickness of arc rock plate and the distance of cutting point to arc rock plate central axis; however, it is negatively correlated with the arc rock plate height and width and cutting angle of conical pick. The simulation results can be used to predict the conical pick work performance with various cutting parameters and structural parameters.

The conical pick is the most crucial tool of roadheader for breaking rock, establishing the conical pick cutting rock and conical pick fatigue life numerical simulation models to investigate the influence of cutting parameters on rock damage, average peak cutting force, specific cutting energy and the conical pick fatigue life. The research results indicate that the width and depth of rock damage increase with increasing cutting depth and cutting speed. The average peak cutting force and the specific cutting energy have the same changing tendency. The changing trend of conical pick fatigue life and conical pick stress is opposite relationship. The optimum cutting angle of the conical pick cutting rock is 45°. Applying the research results for guiding the optimization of the cutting parameters reduces the specific cutting energy and stress and improves the conical pick fatigue life.

Conical picks are applied to rock breaking, and the cutting parameters greatly influence cutting performance and rock damage. A conical pick rock-cutting numerical simulation model and software to provide a quantitative analysis of rock damage are established to research the influence of cutting parameters on cutting force and rock damage. The research results indicated that the average peak cutting force decreases with an increased cutting angle, and the average peak cutting force increases with a decreased cutting speed. The average peak cutting force of the second conical pick increases as the distance between double conical picks increases in the process of rock-cutting with double conical picks. There is a positive correlation between the volume of rock damage, the volume of rock breaking, and the cutting force of the conical pick. The research results provide a reference for optimizing the cutting parameters of conical picks.

To predict fragment separation during rock cutting, previous studies on rock cutting interactions using simulation approaches, experimental tests, and theoretical methods were considered in detail. This study used the numerical code LS-DYNA (3D) to numerically simulate fragment separation. In the simulations, a damage material model and erosion criteria were used for the base rock, and the conical pick was designated a rigid material. The conical pick moved at varying linear speeds to cut the fixed base rock. For a given linear speed of the conical pick, numerical studies were performed for various cutting depths and mechanical properties of rock. The numerical simulation results demonstrated that the cutting forces and sizes of the separated fragments increased significantly with increasing cutting depth, compressive strength, and elastic modulus of the base rock. A strong linear relationship was observed between the mean peak cutting forces obtained from the numerical, theoretical, and experimental studies with correlation coefficients of 0.698, 0.8111, 0.868, and 0.768. The simulation results also showed an exponential relationship between the specific energy and cutting depth and a linear relationship between the specific energy and compressive strength. Overall, LS-DYNA (3D) is effective and reliable for predicting the cutting performance of a conical pick.

In the rock cutting process, conical pick wear is often encountered. In order to restrain this condition, a saw blades and conical pick combined cutting method was put forward. Saw blades were employed to slit the rock for increasing the free surface, and then the conical pick was used to break the rock. To research the cutting performance of the new cutting method, the corresponding experimental device and a three‐dimensional finite element model are established. In order to obtain crack propagation and fragment separation and to study the fracture process of the rock plate, a damage constative model and failure mechanism were combined in the numerical model. The mechanical tests were carried out to achieve the mechanical parameters of the rock. To investigate different parameters affecting rock plate cutting performance, experiments with different compressive strengths, physical parameters, and cutting depths were carried out. Moreover, the confining pressures affecting the cutting performance were adopted to simulate deep mining conditions. The experimental results demonstrated that the peak cutting force shows the exponential positive correlation with compressive strength, thickness of the rock plate, and cutting depth of the conical pick, and exhibits the exponential positive correlation with rock plate height and width. Besides, the numerical simulation results show that peak cutting force and confining pressure have a binomial relationship.