Excavation control device, method and excavation equipment

Abstract

The present disclosure relates to a tunneling control device, method and tunneling equipment. The device includes: a three-dimensional scanner detects the tunneling tunnel of the tunneling equipment to obtain the point cloud data of the current tunneling tunnel; an inertial navigation device detects the tunneling equipment to obtain the position data and attitude data of the tunneling equipment; an attitude meter detects the cutting head of the tunneling equipment to obtain the position data and attitude data of the cutting head; a processing module establishes a real-time tunnel model and a first model for the tunneling equipment in the reference system where the preset tunnel model is located; according to the preset tunnel model, the real-time tunnel model and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross section of the current tunneling tunnel is adjusted. While improving the accuracy and consistency of the tunneling work, the safety of the tunneling workers can also be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of tunneling, and in particular to a tunneling control device, method and tunneling equipment. Background Art

[0002] At present, the tunneling tunnel is a dead-end tunnel before it is connected. The environment is extremely harsh, with problems such as high roof pressure and humid temperature. The tunneling equipment will also produce high concentrations of dust, gas and outburst water during operation. In the relevant technology, when performing tunneling operations underground in coal mines, tunneling workers need to manually judge the tunneling boundaries of the tunneling equipment and adjust the position and posture of the tunneling equipment, as well as the position and posture of the cutting head, which is prone to large tunneling errors. When the safe passage distance reserved for tunneling workers between the tunneling equipment and the two sides of the current tunneling tunnel is less than the preset safe passage distance, it is easy to pose a certain threat to the personal safety of the tunneling workers. Therefore, how to improve the accuracy and consistency of tunneling work and improve the safety of tunneling workers when performing tunneling operations is a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, the present disclosure proposes a tunneling control device, method and tunneling equipment.

[0004] According to one aspect of the present disclosure, there is provided a tunneling control device, the device comprising:

[0005] A 3D scanner is used to detect the current tunneling tunnel of the tunneling equipment and obtain point cloud data of the current tunneling tunnel;

[0006] An inertial navigation device is used to detect the tunneling equipment and obtain position data and attitude data of the tunneling equipment;

[0007] An attitude meter, used to detect the cutting head of the tunneling equipment to obtain position data and attitude data of the cutting head;

[0008] a processing module, configured to establish a real-time tunnel model in a reference system where a preset tunnel model is located according to the point cloud data, and to establish a first model for the tunneling equipment in the reference system according to parameters of the tunneling equipment, position data and posture data of the tunneling equipment, and position data and posture data of the cutting head; and

[0009] According to the preset tunnel model, the real-time tunnel model and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross-section of the current tunneling tunnel are adjusted.

[0010] In a possible implementation, adjusting the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross section of the current tunneling tunnel according to the preset tunnel model, the real-time tunnel model, and the first model includes at least one of the following adjustment operations:

[0011] When it is determined that there is an angle between the center line of the first model and the center line of the preset tunnel model, adjusting the posture of the tunneling equipment according to the angle;

[0012] When it is determined that the first distance between the tunneling equipment and the cross section of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding first preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel;

[0013] When it is determined that the second distance between the tunneling equipment and both sides of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding second preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel;

[0014] When it is determined that the shape of the cross section of the current tunneling tunnel determined according to the real-time tunnel model does not match the shape of the corresponding preset tunnel cross section, adjusting the posture of the cutting head;

[0015] When it is determined that the third distance between the cutting head and the cross-section of the current excavation tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding third preset distance, the relative position between the cutting head and the cross-section of the current excavation tunnel is adjusted.

[0016] In a possible implementation manner, the device further includes:

[0017] A compass, used to detect the three-dimensional scanner and obtain the orientation data of the three-dimensional scanner;

[0018] The step of establishing a real-time lane model in a reference system where a preset lane model is located according to the point cloud data comprises: establishing the real-time lane model in a reference system where a preset lane model is located according to the point cloud data and the orientation data.

[0019] In a possible implementation, the three-dimensional scanner is further used to send the point cloud data to the inertial navigation device according to a preset interval time;

[0020] The inertial navigation device is further used to perform automatic calibration according to the point cloud data when the point cloud data is received.

[0021] In a possible implementation manner, the device further includes:

[0022] An image acquisition device is used to photograph the space where the tunneling equipment is currently located to obtain image data of the space;

[0023] The processing module is also used to control the tunneling equipment to clear obstacles that need to be cleared in the current space according to the image data.

[0024] In a possible implementation, the cutting head is arranged on the tunneling equipment through a cutting arm, and the device further includes:

[0025] An angle sensor, used for detecting the cutting arm to obtain posture data of the cutting arm;

[0026] The step of establishing a first model for the tunneling equipment in the reference system according to the parameters of the tunneling equipment, the position data and the posture data of the tunneling equipment, and the position data and the posture data of the cutting head comprises:

[0027] A first model of the tunneling equipment is established in the reference system according to the parameters of the tunneling equipment, the position data and posture data of the tunneling equipment, the position data and posture data of the cutting head, and the posture data of the cutting arm.

[0028] According to another aspect of the present disclosure, there is provided a tunneling control method, the method comprising:

[0029] Control the 3D scanner to detect the current tunneling tunnel of the tunneling equipment to obtain the point cloud data of the current tunneling tunnel;

[0030] Controlling the inertial navigation device to detect the tunneling equipment to obtain position data and attitude data of the tunneling equipment;

[0031] Controlling the attitude instrument to detect the cutting head of the tunneling equipment to obtain position data and attitude data of the cutting head;

[0032] Establishing a real-time tunnel model in a reference system where a preset tunnel model is located according to the point cloud data, and establishing a first model for the tunneling equipment in the reference system according to parameters of the tunneling equipment, position data and posture data of the tunneling equipment, and position data and posture data of the cutting head; and

[0033] According to the preset tunnel model, the real-time tunnel model and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross-section of the current tunneling tunnel are adjusted.

[0034] According to another aspect of the present disclosure, there is provided a tunneling device, comprising:

[0035] body,

[0036] A cutting head, arranged on the machine body;

[0037] The above-mentioned excavation control device.

[0038] According to another aspect of the present disclosure, there is provided a tunneling control device, comprising:

[0039] processor;

[0040] a memory for storing processor-executable instructions;

[0041] Wherein, the processor is configured to: execute the above-mentioned excavation control method.

[0042] According to another aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned excavation control method is implemented.

[0043] According to the excavation control device, method and excavation equipment proposed in the present disclosure, the excavation control device can automatically and accurately perform excavation operations, control the position and posture of the excavation equipment, and the position and posture of the cutting head by digitizing the current excavation tunnel of the excavation equipment, the position and posture of the excavation equipment, and the position and posture of the cutting head, with less manual operation, and can improve the accuracy and consistency of the excavation work while also improving the safety of the excavation workers.

[0044] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0046] Figure 1 , Figure 2 A schematic structural diagram of a tunneling control device according to an embodiment of the present disclosure is shown.

[0047] Figure 3 A schematic diagram showing a tunneling device 100 according to an embodiment of the present disclosure performing tunneling operations in a current tunneling tunnel.

[0048] Figure 4 A schematic diagram showing the shape of the cross-section a of the current tunneling tunnel and the shape of the preset tunnel cross-section q according to an embodiment of the present disclosure.

[0049] Figure 5 A schematic structural diagram of another excavation control device according to an embodiment of the present disclosure is shown.

[0050] Figure 6 A flow chart of a tunneling control method according to an embodiment of the present disclosure is shown.

[0051] Figure 7 A block diagram of a device 800 for implementing the above-mentioned tunneling control method according to an embodiment of the present disclosure is shown.

[0052] Figure 8 A block diagram of a device 1900 for implementing the above-mentioned tunneling control method according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0053] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0054] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0055] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0056] Figure 1 , Figure 2 A schematic structural diagram of a tunneling control device according to an embodiment of the present disclosure is shown. Figure 3 A schematic diagram showing a tunneling device 100 according to an embodiment of the present disclosure performing tunneling work in a current tunneling tunnel is shown. Figure 1 The tunneling control device shown can be used in Figure 2 The excavation equipment 100 shown in the figure can be a device for excavating underground space, for example, a boring machine for excavating underground space such as tunnels in coal mines, or a device for excavating underground space such as underground tunnels in water conservancy, hydropower, railways, subways, municipal engineering, etc., which is not limited in the present disclosure. Figure 2 During the excavation operation of the excavation equipment 100 shown in the figure, the following steps are performed in Figure 3The o-xyz coordinate system established in the current excavation tunnel shown in the figure is used to illustrate the working process of each part of the excavation control device during the excavation operation. Among them, the xoz plane can represent the plane where the cross section a of the current excavation tunnel is located, the xoy plane can represent the plane where the ground b of the current excavation tunnel is located, the plane where the top plate d of the current excavation tunnel is located is parallel to the xoy plane, the yoz plane can represent the plane where the right side c of the current excavation tunnel is located, and the left side of the current excavation tunnel is not shown.

[0057] like Figure 1 As shown, the device includes a three-dimensional scanner 11, an inertial navigator 12, an attitude meter 13 and a processing module 14.

[0058] The three-dimensional scanner 11 is used to detect the excavation equipment 100 (such as Figure 2 The tunneling equipment 100 shown may include a cutting head 10 and a body 20) to detect the current tunneling tunnel and obtain point cloud data of the current tunneling tunnel.

[0059] The three-dimensional scanner 11 can be set at any position on the body 20 of the tunneling equipment 100 that can detect the shape of the current tunneling tunnel, and the present disclosure does not limit this. Figure 2 As shown, the 3D scanner 11 can be set in the middle and rear of the body 20 of the tunneling equipment 100. In addition, the 3D scanner 11 can be set in the middle and rear of the body 20 of the tunneling equipment 100, where there is little or no vibration, so as to avoid the adverse effect of the vibration generated during the tunneling operation of the tunneling equipment 100 on the detection process of the 3D scanner 11. The 3D scanner 11 can be set to the current tunneling tunnel through the wire point (set on the right side of the current tunneling tunnel c (such as Figure 3 The prism at the position of the measuring mark on the left side of the tunnel (as shown) and / or the left side of the tunnel emits a laser, and the point cloud data of the current tunnel is determined based on the reflected light after the prism reflects the laser.

[0060] The inertial navigation device 12 is used to detect the tunneling equipment 100 and obtain position data and attitude data of the tunneling equipment 100 .

[0061] The inertial navigation device 12 may be disposed at any position on the body 20 of the tunneling device 100 other than the three-dimensional scanner 11, which is capable of detecting the position and posture of the tunneling device 100, and the present disclosure does not limit this. Figure 2 As shown, the inertial navigation device 12 can be arranged on the left side of the three-dimensional scanner 11 .

[0062] The data directly detected by the inertial navigation unit 12 may include the angular velocity, acceleration, etc. of the tunneling equipment 100. By integrating the data directly detected by the inertial navigation unit 12, the position data and attitude data of the tunneling equipment 100 may be obtained. Among them, the position data of the tunneling equipment 100 includes the longitude and latitude corresponding to the location of the tunneling equipment 100. The attitude data of the tunneling equipment 100 includes the heading angle, roll angle (also called "roll angle"), pitch angle (also called "pitch roll angle"), horizontal acceleration, etc. of the location of the tunneling equipment 100.

[0063] Since the position data and attitude data of the tunneling equipment 100 are obtained by integrating the data directly detected by the inertial navigation system 12, as the detection time increases, the position data and attitude data of the tunneling equipment 100 obtained according to the inertial navigation system 12 may have errors. In order to reduce the error, the three-dimensional scanner 11 is also used to send the point cloud data to the inertial navigation system 12 according to a preset interval time. The inertial navigation system 12 is also used to automatically calibrate according to the point cloud data when receiving the point cloud data. Among them, the preset interval time can be set according to the position data and point cloud data of the tunneling equipment 100. For example, the preset interval time can be determined according to the difference between the position data of the tunneling equipment 100 and the same data value determined respectively according to the point cloud data (such as the data value such as the distance between the tunneling equipment 100 and the two sides of the current tunneling tunnel). The smaller the difference, the longer the preset interval time can be set. For example, the preset interval time can be 5 minutes. In this way, by automatically calibrating the inertial navigation device 12, the error can be reduced and the accuracy of the position data and attitude data of the tunneling equipment 100 can be improved.

[0064] The attitude meter 13 is used to detect the cutting head 10 of the tunneling equipment 100 to obtain position data and attitude data of the cutting head 10 .

[0065] The attitude indicator 13 may be disposed at a position such as the root of the cutting head 10 of the tunneling equipment 100 where the position and attitude of the cutting head 10 can be detected, and the present disclosure does not limit this. Figure 2 As shown, the attitude indicator 13 can be arranged at the connection between the cutting head 10 and the fuselage 20 of the tunneling equipment 100. The position data of the cutting head 10 includes the longitude and latitude corresponding to the position of the cutting head 10. The attitude data of the cutting head 10 includes the horizontal angle, pitch angle, roll angle, heading angle, etc. corresponding to the position of the cutting head 10.

[0066] The processing module 14 is used to establish a real-time tunnel model in a reference system (for example, the o-xyz coordinate system described above) where a preset tunnel model is located according to the point cloud data, and to establish a first model for the tunneling equipment 100 in the reference system according to the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, and the position data and posture data of the cutting head 10; and to calculate the relative position between the tunneling equipment 100 and the current tunneling tunnel and / or the cross section a (such as the position of the cutting head 10 and the cross section a) between the cutting head 10 and the current tunneling tunnel according to the preset tunnel model, the real-time tunnel model, and the first model. Figure 3 The relative positions between the two components are adjusted.

[0067] Among them, the preset tunnel model is used to indicate the parameters related to the tunnel obtained by performing tunneling operations according to the preset tunneling route. According to the preset tunnel model, the center line of the preset tunnel model, the shape and size of the preset tunnel section, the preset tunneling route, and the ground of the preset tunneling tunnel at different positions on the preset tunneling route, the top plate of the preset tunneling tunnel, the right side of the preset tunneling tunnel, the shape, size and other parameters of the left side of the preset tunneling tunnel, etc. can also be determined. The real-time tunnel model is used to indicate the parameters related to the current tunneling tunnel. According to the real-time tunnel model, the center line of the current tunneling tunnel can be determined, and the shape, size and other parameters of the section a of the current tunneling tunnel, the ground b of the current tunneling tunnel, the top plate d of the current tunneling tunnel, the right side c of the current tunneling tunnel, the shape, size and other parameters of the left side of the current tunneling tunnel, etc. can also be determined. The first model is used to indicate parameters related to the excavation equipment 100 performing excavation operations in the current excavation tunnel. According to the first model, the center line of the excavation equipment 100 (also referred to as the center line of the first model in this article), the position data and posture data of the excavation equipment 100, the position data and posture data of the cutting head 10, etc. can be determined.

[0068] According to the excavation control device of the embodiment of the present disclosure, by digitizing the current excavation tunnel of the excavation equipment, the position and posture of the excavation equipment, and the position and posture of the cutting head, the position and posture of the excavation equipment, as well as the position and posture of the cutting head can be automatically and accurately controlled with less manual operation. While improving the accuracy and consistency of the excavation work, it can also improve the safety of the excavation workers.

[0069] In a possible implementation, the processing module 14 may be implemented by a dedicated hardware circuit, or by combining general processing hardware (such as a CPU, a single-chip microcomputer, a field programmable logic device FPGA, etc.) with executable logic instructions to execute the working process of the processing module 14. The present disclosure does not limit the implementation of the processing module 14.

[0070] Among them, the processing module 14 can be used to generate adjustment instructions for adjusting the relative position between the excavation equipment 100 and the current excavation tunnel and / or the relative position between the cutting head 10 and the section a of the current excavation tunnel according to the preset tunnel model, the real-time tunnel model, and the first model, and adjust the relative position between the excavation equipment 100 and the current excavation tunnel and / or the relative position between the cutting head 10 and the section a of the current excavation tunnel according to the adjustment instructions.

[0071] In a possible implementation, the relative position between the tunneling equipment 100 and the current tunneling tunnel and / or the relative position between the cutting head 10 and the section a of the current tunneling tunnel is adjusted according to the preset tunnel model, the real-time tunnel model, and the first model, including at least one adjustment operation from the following operations one to five.

[0072] Operation 1: When it is determined that there is an angle between the center line of the first model and the center line of the preset tunnel model, the posture of the tunneling equipment 100 is adjusted according to the angle.

[0073] Among them, since the first model is used to indicate parameters related to the excavation equipment 100 performing excavation operations in the current excavation tunnel, the direction of the center line of the preset tunnel model is consistent with the direction of the preset excavation route. Therefore, it is possible to determine whether the direction of the center line of the first model (that is, the direction in which the excavation equipment 100 performs excavation operations) is parallel to the direction of the center line of the preset tunnel model (that is, the direction of the preset excavation route) (that is, determine whether there is an angle between the center line of the first model and the center line of the preset tunnel model), and based on the judgment result, determine whether the direction in which the excavation equipment 100 performs excavation operations is consistent with the direction of the preset excavation route.

[0074] Wherein, when it is determined that there is an angle between the center line of the first model and the center line of the preset tunnel model, it can be determined that the direction in which the tunneling equipment 100 performs the tunneling operation is inconsistent with the direction of the preset tunneling route, and the tunneling equipment 100 can be controlled to rotate counterclockwise or clockwise according to the angle, so that the center line of the first model is parallel to the center line of the preset tunnel model, so as to ensure that the direction in which the tunneling equipment 100 performs the tunneling operation is consistent with the direction of the preset tunneling route. For example, when it is determined that the angle between the center line of the first model and the center line of the preset tunnel model is 45 degrees, the tunneling equipment 100 can be controlled to rotate 45 degrees counterclockwise.

[0075] Operation 2: When it is determined that the first distance between the tunneling equipment 100 and the section a of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding first preset distance, adjust the relative position between the tunneling equipment 100 and the current tunneling tunnel.

[0076] Among them, the first distance can indicate the distance between the tunneling equipment 100 and the cross section a of the current tunneling tunnel, and can include the distance between the center point of the tunneling equipment 100, the cutting head 10 of the tunneling equipment 100, and any component or position of the tunneling equipment 100 and the cross section a of the current tunneling tunnel, etc., and the present disclosure does not limit this. The first preset distance can be determined according to the parameters of the tunneling equipment 100 and the tunneling standard, etc., so that the tunneling equipment 100 can perform tunneling operations according to the tunneling standard. For example, the first preset distance between the center point of the tunneling equipment 100 and the cross section a of the current tunneling tunnel can be set to 7 meters. In the case where the first distance is 9 meters, it can be determined that the first distance is greater than the first preset distance, and the tunneling equipment 100 is controlled to move forward 2 meters.

[0077] Operation three, when it is determined that the second distance between the tunneling equipment 100 and the two sides of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding second preset distance, adjust the relative position between the tunneling equipment 100 and the current tunneling tunnel.

[0078] Among them, the second preset distance between the same or different excavation equipment 100 and the right side c of the current excavation tunnel and the second preset distance between the excavation equipment 100 and the left side of the current excavation tunnel can be set according to the parameters of the excavation equipment 100, the actual excavation requirements, such as the safe passage distance between the excavation equipment 100 and the two sides of the current excavation tunnel (i.e., the right side c and the left side of the current excavation tunnel), etc. For example, when the width of the current excavation tunnel is 5 meters and the width of the excavation equipment 100 is 2.8 meters, the second preset distance between the excavation equipment 100 and the right side c of the current excavation tunnel can be set to 1 meter, and the second preset distance between the excavation equipment 100 and the left side of the current excavation tunnel can be set to 1.2 meters. When it is determined that the distance between the excavation equipment 100 and the right side c of the current excavation tunnel is 0.8 meters and the distance between the excavation equipment 100 and the left side of the current excavation tunnel is 1.4 meters, the excavation equipment 100 can be controlled to move 0.2 meters to the left so that the second distance between the excavation equipment 100 and both sides of the current excavation tunnel is consistent with the corresponding second preset distance.

[0079] Operation four: when it is determined that the shape a of the cross section of the current tunneling tunnel determined according to the real-time tunnel model does not match the shape of the corresponding preset tunnel cross section q, the posture of the cutting head 10 is adjusted.

[0080] Among them, the shape of the upper edge of the preset tunnel section q can be a broken line shape, a curve shape, etc., and the shape of the preset tunnel section q can be a rectangle, a trapezoid, an irregular shape, a semicircular arch, a circular arch, a three-center arch, a horseshoe shape, an ellipse and a circle, etc. Technical personnel in this field can set the shape of the preset tunnel section q according to different actual needs, and the present disclosure does not limit this.

[0081] For example, Figure 4 A schematic diagram showing the shape of the cross section a of the current tunnel and the shape of the preset tunnel cross section q according to an embodiment of the present disclosure. Figure 4 As shown, it is assumed that the shape of the preset tunnel section q is a horseshoe shape. The solid line represents the section a of the current tunnel, and the dotted line represents the preset tunnel section q. If there is a gap between the upper edge of the section a of the current tunnel and the upper edge of the preset tunnel section q, it can be determined that the upper edge of the current tunnel is under-excavated, and it is necessary to adjust the posture of the cutting head 10 and control the cutting head 10 to continue to perform excavation operations above the current tunnel, so that the shape of the section a of the current tunnel matches the shape of the corresponding preset tunnel section p.

[0082] Operation five, when it is determined that the third distance between the cutting head 10 and the section a of the current excavation tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding third preset distance, adjust the relative position between the cutting head 10 and the section a of the current excavation tunnel.

[0083] When the tunneling equipment 100 stops working, if the tunneling equipment 100 is started by mistake, the cutting head 10 may move and continue to dig the current tunnel. Therefore, it is necessary to keep a safe distance between the cutting head 10 and the cross section a of the current tunnel to avoid the situation of mistaken digging of the current tunnel when the tunneling equipment 100 stops working. The third preset distance can be set to be greater than or equal to the safe distance. For example, the third preset distance can be set to 2 meters. When the third distance is determined to be 1.5 meters, the cutting head 10 can be controlled to move backward (i.e., in the y-axis direction) by 0.5 meters.

[0084] Among them, Figure 2 As shown, if the cutting head 10 is directly fixed on the body 20 of the tunneling equipment 100, the relative position between the cutting head 10 and the cross section a of the current tunneling tunnel can be controlled by adjusting the relative position between the tunneling equipment 100 and the cross section a of the current tunneling tunnel. Figure 3As shown, if the cutting head 10 is indirectly fixed to the body 20 of the tunneling equipment 100 through the cutting arm 30, the relative position between the cutting head 10 and the cross-section a of the current tunneling tunnel can be controlled by adjusting the relative position between the cutting arm 30 and / or the tunneling equipment 100 and the cross-section a of the current tunneling tunnel.

[0085] Figure 5 FIG. 2 is a schematic diagram showing the structure of another excavation control device according to an embodiment of the present disclosure. In a possible implementation, Figure 5 As shown, the device may further include a compass 15 for detecting the three-dimensional scanner 11 to obtain the orientation data of the three-dimensional scanner 11. The orientation data of the three-dimensional scanner 11 may include the azimuth angle of the three-dimensional scanner 11. The establishing of the real-time lane model in the reference system where the preset lane model is located according to the point cloud data may include: establishing the real-time lane model in the reference system where the preset lane model is located according to the point cloud data and the orientation data.

[0086] In one possible implementation, Figure 2 As shown, the compass 15 can be set on the body 20 of the tunneling equipment 100 at a position corresponding to the three-dimensional scanner 11, such as being connected to the three-dimensional scanner 11 and located below the three-dimensional scanner 11.

[0087] In one possible implementation, Figure 5 As shown, the apparatus may further include an image acquisition device 16 for photographing the space where the tunneling equipment 100 is currently located to obtain image data of the space. The processing module 14 is also used to control the tunneling equipment 100 to clear obstacles that need to be cleared in the current space according to the image data. Among them, one or more image acquisition devices 16 may be set, and each image acquisition device 16 may be respectively set at any position on the body 20 of the tunneling equipment 100 that is different from the three-dimensional scanner 11 and the inertial navigator 12 and is capable of photographing the space where the tunneling equipment 100 is currently located. The present disclosure does not limit the number and position of the image acquisition device 16. For example, Figure 2 As shown, four image acquisition devices 16 may be provided, respectively disposed at the left front, right front, left rear, and right rear of the body 20 of the tunneling equipment 100, to facilitate the acquisition of image data in the space at the left front, right front, left rear, and right rear of the tunneling equipment 100.

[0088] By using the image data of the space where the tunneling equipment is currently located captured by the image acquisition device, it is possible to determine whether there are obstacles that need to be cleared in the space where the tunneling equipment is currently located. If it is determined that there are obstacles that need to be cleared in the space where the tunneling equipment is currently located, the tunneling equipment is controlled to clear the obstacles that need to be cleared.

[0089] In one possible implementation, Figure 3 As shown, the cutting head 10 can also be set on the tunneling equipment 100 (that is, the tunneling equipment 100 can include the cutting head 10, the cutting arm 30 and the fuselage 20) through the cutting arm 30, and the device can also include: an angle sensor (not shown in the figure) for detecting the cutting arm 30 to obtain the posture data of the cutting arm 30. The first model of the tunneling equipment 100 is established in the reference system according to the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, and the position data and posture data of the cutting head 10, which can include: establishing the first model of the tunneling equipment 100 in the reference system according to the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, the position data and posture data of the cutting head 10, and the posture data of the cutting arm 30.

[0090] The angle sensor can be set at any position on the cutting arm 30 that can detect the posture of the cutting arm, and the present disclosure does not limit the setting position of the angle sensor. Since the cutting head 10 can be fixedly connected to the body 20 of the tunneling equipment 100 through the cutting arm 30, when the cutting head 10 is connected to the body 20 of the tunneling equipment 100 through the cutting arm 30, the position and posture of the cutting head 10 relative to the tunneling equipment 100 can be determined by the posture data of the cutting arm 30, the position data and posture data of the cutting head 10. Therefore, according to the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, the position data and posture data of the cutting head 10, and the posture data of the cutting arm 30, the first model of the tunneling equipment 100 can be accurately established in the reference system where the preset tunnel model is located.

[0091] In a possible implementation, the tunneling control device may further include a display component, and the display content of the display component may include point cloud data, position data and posture data of the tunneling equipment 100, position data and posture data of the cutting head 10, the processing process of the processing module 14, specific values ​​that need to be adjusted for the position and posture of the tunneling equipment 100, specific values ​​that need to be adjusted for the position and posture of the cutting head 10, etc., and the present disclosure does not limit this. Among them, the display component includes any one of a liquid crystal display component, an OLED (Organic Light-Emitting Diode, organic light-emitting semiconductor) display component, and a CRT (Cathode Ray Tube, cathode ray tube) display component, and the present disclosure does not limit this.

[0092] Among them, the display content can be displayed in the display component in the form of digital twins based on Unity3D software, and the present disclosure does not limit this. For example, by loading point cloud data in Unity3D software that displays a preset tunnel model, the point cloud data and the establishment process of the real-time tunnel model can be displayed. It is also possible to load the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, the position data and posture data of the cutting head 10, and the parameters of the tunneling equipment 100, the position data and posture data of the tunneling equipment 100, the position data and posture data of the cutting head 10, and the establishment process of the first model of the tunneling equipment 100.

[0093] In a possible implementation, human intervention control can be performed in the event of a failure or misoperation of the processing module 14. For example, the excavation worker can directly adjust the relative position between the excavation equipment 100 and the current excavation tunnel and / or the relative position between the cutting head 10 and the cross section a of the current excavation tunnel according to the display content of the display component.

[0094] By setting up a display component, the control process of the tunneling control device can be visualized, and the relative positions of the preset tunnel model, the real-time tunnel model, and the first model can be observed in the same reference system, as well as the specific values ​​that need to be adjusted for the position and posture of the tunneling equipment and the position and posture of the cutting head, thereby facilitating the adjustment of the position and posture of the tunneling equipment and the position and posture of the cutting head.

[0095] The disclosed embodiment also provides a tunneling control method. Figure 6 FIG. 1 is a flow chart showing a tunneling control method according to an embodiment of the present disclosure. Figure 6 As shown, the method includes the following steps S11 to S14.

[0096] In step S11, the three-dimensional scanner is controlled to detect the current excavation tunnel of the excavation equipment to obtain point cloud data of the current excavation tunnel.

[0097] In step S12, the inertial navigation system is controlled to detect the tunneling equipment to obtain position data and posture data of the tunneling equipment.

[0098] In step S13, the attitude meter is controlled to detect the cutting head of the tunneling equipment to obtain position data and attitude data of the cutting head.

[0099] In step S14, a real-time tunnel model is established in a reference system where a preset tunnel model is located based on the point cloud data, and a first model for the tunneling equipment is established in the reference system based on the parameters of the tunneling equipment, the position data and posture data of the tunneling equipment, and the position data and posture data of the cutting head; and based on the preset tunnel model, the real-time tunnel model, and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross-section of the current tunneling tunnel are adjusted.

[0100] The present disclosure does not limit the execution order of step S11, step S12, and step S13, which may be executed sequentially or simultaneously.

[0101] According to the excavation control method of the embodiment of the present disclosure, by digitizing the current excavation tunnel of the excavation equipment, the position and posture of the excavation equipment, and the position and posture of the cutting head, the position and posture of the excavation equipment, as well as the position and posture of the cutting head can be automatically and accurately controlled with less manual operation. While improving the accuracy and consistency of the excavation work, it can also improve the safety of the excavation workers.

[0102] In a possible implementation, adjusting the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross section of the current tunneling tunnel according to the preset tunnel model, the real-time tunnel model, and the first model includes at least one of the following adjustment operations:

[0103] When it is determined that there is an angle between the center line of the first model and the center line of the preset tunnel model, adjusting the posture of the tunneling equipment according to the angle;

[0104] When it is determined that the first distance between the tunneling equipment and the cross section of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding first preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel;

[0105] When it is determined that the second distance between the tunneling equipment and both sides of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding second preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel;

[0106] When it is determined that the shape of the cross section of the current tunneling tunnel determined according to the real-time tunnel model does not match the shape of the corresponding preset tunnel cross section, adjusting the posture of the cutting head;

[0107] When it is determined that the third distance between the cutting head and the cross-section of the current excavation tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding third preset distance, the relative position between the cutting head and the cross-section of the current excavation tunnel is adjusted.

[0108] In a possible implementation, the method further includes: controlling a compass to detect the three-dimensional scanner to obtain orientation data of the three-dimensional scanner. Wherein, establishing a real-time lane model in a reference system where a preset lane model is located according to the point cloud data includes: establishing the real-time lane model in a reference system where a preset lane model is located according to the point cloud data and the orientation data.

[0109] In a possible implementation, the method further includes: controlling the three-dimensional scanner to send the point cloud data to the inertial navigation device according to a preset interval time; and controlling the inertial navigation device to automatically calibrate according to the point cloud data when receiving the point cloud data.

[0110] In a possible implementation, the method further includes: controlling an image acquisition device to photograph a space in which the tunneling device is currently located to obtain image data of the space; and controlling the tunneling device to clear obstacles that need to be cleared in the current space based on the image data.

[0111] In a possible implementation, the method further includes: controlling the angle sensor to detect the cutting arm to obtain the posture data of the cutting arm. Wherein, establishing the first model for the tunneling equipment in the reference system according to the parameters of the tunneling equipment, the position data and posture data of the tunneling equipment, and the position data and posture data of the cutting head includes: establishing the first model of the tunneling equipment in the reference system according to the parameters of the tunneling equipment, the position data and posture data of the tunneling equipment, the position data and posture data of the cutting head, and the posture data of the cutting arm.

[0112] The present disclosure also provides a tunneling device, including:

[0113] body,

[0114] A cutting head, arranged on the machine body;

[0115] The above-mentioned excavation control device.

[0116] The embodiment of the present disclosure also provides a tunneling control device, including:

[0117] processor;

[0118] a memory for storing processor-executable instructions;

[0119] Wherein, the processor is configured to: execute the excavation control method.

[0120] The embodiment of the present disclosure also provides a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned excavation control method is implemented.

[0121] Figure 7 A block diagram of a device 800 for implementing the above-mentioned tunneling control method according to an embodiment of the present disclosure is shown. For example, the device 800 may be a computer, a tablet device, etc.

[0122] Reference Figure 7 , the device 800 may include one or more of the following components: a processing component 802 , a memory 804 , a power component 806 , a multimedia component 808 , an audio component 810 , an input / output (I / O) interface 812 , a sensor component 814 , and a communication component 816 .

[0123] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0124] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0125] The power supply component 806 provides power to the various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0126] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0127] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0128] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0129] The sensor assembly 814 includes one or more sensors for providing various aspects of the status assessment of the device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the device 800, and the sensor assembly 814 can also detect the position change of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800, and the temperature change of the device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0130] The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0131] In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0132] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 804 including computer program instructions, which can be executed by the processor 820 of the device 800 to perform the above method.

[0133] Figure 8 FIG. 1 is a block diagram of a device 1900 for implementing the above-mentioned tunneling control method according to an embodiment of the present disclosure. For example, the device 1900 may be provided as a server. Figure 8 , the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions, such as an application, that can be executed by the processing component 1922. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

[0134] The device 1900 may also include a power supply component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input / output (I / O) interface 1958. The device 1900 may operate based on an operating system stored in the memory 1932, such as Windows Server™, MacOS X™, Unix™, Linux™, FreeBSD™, or the like.

[0135] In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the device 1900 to perform the above method.

[0136] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0137] Computer readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (non-exhaustive list) of computer readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof. The computer readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (for example, a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.

[0138] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0139] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0140] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0141] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0142] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0143] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0144] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A tunneling control device, characterized in that: include: A 3D scanner is used to detect the current tunneling tunnel of the tunneling equipment and obtain point cloud data of the current tunneling tunnel; An inertial navigation device is used to detect the tunneling equipment to obtain position data and attitude data of the tunneling equipment, wherein the position data of the tunneling equipment includes the longitude and latitude corresponding to the position of the tunneling equipment; An attitude meter, used to detect the cutting head of the tunneling equipment to obtain position data and attitude data of the cutting head; a processing module, configured to establish a real-time tunnel model in a reference system where a preset tunnel model is located according to the point cloud data, and to establish a first model for the tunneling equipment in the reference system according to parameters of the tunneling equipment, position data and posture data of the tunneling equipment, and position data and posture data of the cutting head; and According to the preset tunnel model, the real-time tunnel model and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross-section of the current tunneling tunnel are adjusted.

2. The device according to claim 1, characterized in that The step of adjusting the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross section of the current tunneling tunnel according to the preset tunnel model, the real-time tunnel model, and the first model comprises at least one of the following adjustment operations: When it is determined that there is an angle between the center line of the first model and the center line of the preset tunnel model, adjusting the posture of the tunneling equipment according to the angle; When it is determined that the first distance between the tunneling equipment and the cross section of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding first preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel; When it is determined that the second distance between the tunneling equipment and both sides of the current tunneling tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding second preset distance, adjusting the relative position between the tunneling equipment and the current tunneling tunnel; When it is determined that the shape of the cross section of the current tunneling tunnel determined according to the real-time tunnel model does not match the shape of the corresponding preset tunnel cross section, adjusting the posture of the cutting head; When it is determined that the third distance between the cutting head and the cross-section of the current excavation tunnel determined according to the real-time tunnel model and the first model is inconsistent with the corresponding third preset distance, the relative position between the cutting head and the cross-section of the current excavation tunnel is adjusted.

3. The device according to claim 2, characterized in that The device also includes: A compass, used to detect the three-dimensional scanner and obtain the orientation data of the three-dimensional scanner; The step of establishing a real-time lane model in a reference system where a preset lane model is located according to the point cloud data comprises: establishing the real-time lane model in a reference system where a preset lane model is located according to the point cloud data and the orientation data.

4. The device according to claim 2, characterized in that The three-dimensional scanner is further used to send the point cloud data to the inertial navigation device according to a preset interval time; The inertial navigation device is further used to perform automatic calibration according to the point cloud data when the point cloud data is received.

5. The device according to claim 1, characterized in that The device also includes: An image acquisition device is used to photograph the space where the tunneling equipment is currently located to obtain image data of the space; The processing module is also used to control the tunneling equipment to clear obstacles that need to be cleared in the current space according to the image data.

6. The device according to claim 1, characterized in that The cutting head is arranged on the tunneling equipment through a cutting arm, and the device further comprises: An angle sensor, used for detecting the cutting arm to obtain posture data of the cutting arm; The step of establishing a first model for the tunneling equipment in the reference system according to the parameters of the tunneling equipment, the position data and the posture data of the tunneling equipment, and the position data and the posture data of the cutting head comprises: A first model of the tunneling equipment is established in the reference system according to the parameters of the tunneling equipment, the position data and posture data of the tunneling equipment, the position data and posture data of the cutting head, and the posture data of the cutting arm.

7. A tunneling control method, characterized in that: include: Control the 3D scanner to detect the current tunneling tunnel of the tunneling equipment to obtain the point cloud data of the current tunneling tunnel; Controlling the inertial navigation device to detect the tunneling equipment to obtain position data and attitude data of the tunneling equipment, wherein the position data of the tunneling equipment includes the longitude and latitude corresponding to the position of the tunneling equipment; Controlling the attitude instrument to detect the cutting head of the tunneling equipment to obtain position data and attitude data of the cutting head; Establishing a real-time tunnel model in a reference system where a preset tunnel model is located according to the point cloud data, and establishing a first model for the tunneling equipment in the reference system according to parameters of the tunneling equipment, position data and posture data of the tunneling equipment, and position data and posture data of the cutting head; and According to the preset tunnel model, the real-time tunnel model and the first model, the relative position between the tunneling equipment and the current tunneling tunnel and / or the relative position between the cutting head and the cross-section of the current tunneling tunnel are adjusted.

8. A tunneling device, characterized in that: include: body, A cutting head, arranged on the machine body; A tunneling control device as claimed in any one of claims 1 to 6.

9. A tunneling control device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the excavation control method described in claim 7.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the excavation control method of claim 7 is implemented.

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