深部煤层构造较为复杂，实现采煤机无人驾驶开采更加困难。在总结采煤机结构和截割调控技术演变历程基础上，提出了采煤机截割调控技术在经历了人工目测截割、机载探测截割、示教记忆截割三个发展阶段后，已经进入到自主导航截的第四阶段,并提出了适用于深部煤层采煤机自动驾驶的导航截割理论与技术框架，包括导航地图、位姿感知、路径规划、姿态控制4项技术内涵，和精细化煤层截割定位地图、精准化煤层截割导航地图、动态化煤层截割导控地图、采煤机融合定位方法、定位精度提升、智采机组全位姿参数矩阵建立、物理-虚拟模型驱动与交互、无人驾驶防冲撞路径规划、截割作业智能调高调直九项关键技术。系统阐述了采煤机自主导航截割技术相关核心技术基本原理：首先，构建煤层智能化开采导航地图，从精细化煤层截割定位、精准化煤层截割导航和动态化煤层截割导控3个关键步骤实现地图构建及更新；其次，通过融合定位和定位精度提升方法，完成了采煤机位姿精确感知；再次，创建智采机组全位姿参数矩阵，并结合物理-虚拟模型驱动与交互技术构建出导航截割数字孪生系统；最后，基于实时综采装备位姿状态和煤层导航地图信息，实现了无人驾驶防干涉防冲撞路径规划、截割滚筒自适应调高控制以及行走路径自动调直控制。从而实现了深部煤层采煤机智能导航截割控制，为智采工作面实现无人作业提供了新的理论技术支撑。

The structure of deep coal seams is more complicated,and it is more difficult to realize unmanned cutting of coal shearers.Based on the summary of the shearer structure and the evolution of cutting control technology,this paper proposes that the shearer cutting control technology has experienced three development stages:manual visual cutting,airborne detection cutting,and teaching and memory cutting.Now it has entered the fourth stage of autonomous navigation and cutting,and the paper proposes a navigation cutting theory and technical framework suitable for automatic driving of deep coal seam shearers,including four technical connotations of navigation map,position perception,path planning,and attitude control,and nine key technologies including refined coal seam cutting location map,precise coal seam cutting navigation map,dynamic coal seam cutting guidance map,shearer fusion positioning method,positioning accuracy improvement,intelligent mining unit full pose parameter matrix establishment,physical virtual model driving and interaction,driverless collision avoidance path planning,cutting operation intelligent height adjustment and straightening.The system explains the basic principles of core technologies related to the shearer’s autonomous navigation and cutting technology.Firstly,an intelligent coal seam mining navigation map is built,and then the map is updated from refined coal seam cutting positioning,precise coal seam cutting navigation and dynamic coal seam cutting guidance and control.The key steps are to realize map construction and update.Secondly,through the integration of positioning and positioning accuracy improvement methods,the shearer’s precise perception is completed.Thirdly,the full pose parameter matrix of the intelligent mining unit is created,and combined with the physical virtual model drive and interactive technology,a digital twin system for navigation and cutting is built.Finally,based on real time fully mechanized mining equipment’s pose status and coal seam navigation map information,it realizes unmanned anti interference and anti collision path planning,cutting drum adaptive height adjustment control,and walking path automatic straightening control.In this way,the intelligent navigation and cutting control of the deep seam shearer is realized,which provides new theoretical and technical support for the realization of unmanned operation on the intelligent mining face.