A roadheader control system

Abstract

The application discloses a kind of heading machine control systems, including the cavity control unit being arranged in the electric cabinet of heading machine and the cavity control unit being arranged outside the electric cabinet of heading machine;Cavity control unit is connected with cavity control unit by ethernet communication;The cavity control unit includes control host computer for realizing the basic control function of heading machine, intelligent control host computer for realizing the intelligent control function of heading machine, for realizing the signal transmission of control host computer and intelligent control host computer built-in switch, control host computer is connected with the execution operation component for carrying out the execution operation of heading machine, first acquisition component for carrying out signal acquisition by CAN bus;Control host computer is connected with intelligent control host computer by built-in switch and realizes ethernet communication connection.The application is completed basic control function by control host computer, and intelligent control function is completed by intelligent control host computer, and the intelligent coal mining demand of heading machine is satisfied.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coal mining, in particular to a heading machine control system. BACKGROUND

[0002] The main operation form of domestic coal mine heading machine is still manual button control and naked eye recognition, which has low intelligence, low safety of operators, large workload, and is greatly affected by human factors in heading quality and efficiency, resulting in low heading efficiency and poor cutting section formation quality. The early heading machine control system adopts a combination of AC intermediate relay and AC contactor for control, but the wiring of this control form is more complicated, the control function is single, resulting in high system maintenance cost and low heading efficiency. The developed control system takes the controller as the main line, and some control systems use single-chip microcomputer as the control core to realize the motion control and pose detection of the heading machine, but as the intelligent level of the heading machine control system continues to improve, the traditional single-chip microcomputer cannot meet the intelligent control needs of the heading machine.

[0003] Most of the existing control systems take PLC (Programmable Logic Controller) as the core, and are composed of peripheral actuators, running parameter monitoring modules and host computers. PLC is mainly used for sensor running parameter acquisition and input scanning, and after processing by the host computer program, the actuators complete the corresponding heading machine action. In the existing PLC control system, the single-chip microcomputer has small running memory and poor data processing capability, which cannot meet the intelligent coal mining needs of the heading machine; at the same time, in the existing scheme, the connection between the control core and other modules is direct connection by cable, which has many and complex lines, poor transmission stability, and needs to be improved. SUMMARY

[0004] The purpose of the present application is to provide a heading machine control system with simple connection lines and stable and reliable data transmission.

[0005] In order to achieve the above purpose, the technical scheme of the present application is:

[0006] A heading machine control system, comprising a cavity-in control unit arranged in a heading machine electric control box and a cavity-out control unit arranged outside the heading machine electric control box; the cavity-in control unit and the cavity-out control unit are connected by Ethernet communication; the cavity-in control unit comprises a control host for realizing basic control functions of the heading machine, an intelligent control host for realizing intelligent control functions of the heading machine, and a built-in switch for realizing signal transmission between the control host and the intelligent control host; the control host is connected with an execution operation component for executing operation of the heading machine and a first acquisition component for signal acquisition through CAN bus respectively; the control host realizes Ethernet communication connection with the intelligent control host through the built-in switch.

[0007] Further, the executing operation component includes an intrinsically safe receiver for receiving remote controller control signals, an intrinsically safe operation box for controlling the start and stop of the device, and an intrinsically safe keyboard for operating a display on the electrical control box of the tunneling machine, and the intrinsically safe receiver, the intrinsically safe operation box and the intrinsically safe keyboard are connected with the CAN communication interface of the control host through the first isolation grid.

[0008] Further, the first collecting component includes a temperature collecting module for collecting the temperature of the motor, a cutting high-speed current transformer for detecting the high-speed winding current of the cutting motor, a cutting low-speed current transformer for detecting the low-speed winding current of the cutting motor, an oil pump motor current transformer for detecting the winding current of the oil pump motor, a second operation motor current transformer for detecting the winding current of the second operation motor, and a fan motor current transformer for detecting the winding current of the fan motor, and the temperature collecting module, the cutting high-speed current transformer, the cutting low-speed current transformer, the oil pump motor current transformer, the second operation motor current transformer and the fan motor current transformer are connected with the CAN communication interface of the control host through the CAN bus.

[0009] Further, the intracavity control unit further includes a vehicle-mounted display for displaying the running state of the tunneling machine, an expansion module for expanding the connection port of the control host, and a gyroscope for detecting the inclination angle of the tunneling machine, the vehicle-mounted display is connected with the intelligent control host through the DVI interface, the expansion module is connected with the control host through the CAN interface, and the gyroscope is connected with the built-in switch through the network cable.

[0010] Further, the extracavity control unit includes an external switch for connecting with the intracavity control unit, a camera collecting component for installing on the tunneling machine to perform peripheral environment monitoring operation, and a second collecting component for detecting the working environment of the tunneling machine, the external switch is connected with the built-in switch and the camera collecting component through the network cable, and the second collecting component is connected with the control host through the CAN bus.

[0011] Further, the camera collecting component includes a first on-board camera installed at the left front of the tunneling machine, a second on-board camera installed at the right front of the tunneling machine, a third on-board camera installed at the middle of the front end of the tunneling machine, a fourth on-board camera installed at the rear of the tunneling machine, and a millimeter wave radar installed on the tunneling machine, and the first on-board camera, the second on-board camera, the third on-board camera, the fourth on-board camera and the millimeter wave radar are connected with the external switch through the network cable.

[0012] Further, the second acquisition component comprises an audible and light alarm for alarming, a methane concentration sensor for detecting the methane concentration in the surrounding environment, and a dust concentration sensor for detecting the dust concentration in the surrounding environment, the audible and light alarm, the methane concentration sensor, and the dust concentration sensor are connected with the CAN communication interface of the control host through the second isolation grid.

[0013] Further, the second acquisition component further comprises a personnel intrusion sensor for detecting personnel intrusion into the range of the roadheader, a shovel plate inclination sensor for detecting the inclination angle of the shovel plate of the roadheader, a rear support oil cylinder displacement sensor for detecting the displacement amount of the rear support oil cylinder of the roadheader, a lifting oil cylinder displacement sensor for detecting the displacement amount of the lifting oil cylinder of the roadheader, a rotary oil cylinder displacement sensor for detecting the displacement amount of the rotary oil cylinder of the roadheader, an extension oil cylinder displacement sensor for detecting the displacement amount of the extension oil cylinder of the roadheader, an oil tank oil level sensor for detecting the oil level of the oil tank of the roadheader, and an oil circuit system pressure sensor for detecting the pressure of the oil circuit system of the roadheader, the personnel intrusion sensor, the shovel plate inclination sensor, the rear support oil cylinder displacement sensor, the lifting oil cylinder displacement sensor, the rotary oil cylinder displacement sensor, the extension oil cylinder displacement sensor, the oil tank oil level sensor, and the oil circuit system pressure sensor are connected with the CAN communication interface of the control host through the mixed acquisition module.

[0014] Further, the cavity outside control unit further comprises a voice telephone for voice communication, and the voice telephone is connected with the external switch through a network cable.

[0015] Further, the roadheader control system further comprises a remote control unit, and the remote control unit comprises an underground centralized control module for collecting underground operation data and a ground centralized control module for monitoring the operation state of underground equipment and issuing execution instructions, the underground centralized control module is connected with the external switch through a wireless base station, and the underground centralized control module is connected with the ground centralized control module through a network cable.

[0016] Compared with the prior art, the present application has the advantages and positive effects that:

[0017] The application realizes intelligent control of the tunneling machine while ensuring normal control operation of the tunneling machine, effectively improves the data processing capacity of the control system, and meets the intelligent coal mining demand of the tunneling machine; and the application adopts CAN bus and gigabit optical fiber network connection in the connection mode, the line arrangement is simple, and the transmission is stable and reliable; meanwhile, the application separates the control equipment and the data reading equipment, avoids the influence of the data reading equipment on the control function of the equipment, separates the non-safety equipment and the safety equipment, avoids signal interference, and further improves the use effect of the tunneling machine control system. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0019] Figure 1 Structure diagram of the application Figure One ;

[0020] Figure 2 Structure diagram of the application Figure Two . DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, any modification, equivalent replacement, improvement, etc. obtained by those skilled in the art without creative labor should be included in the protection scope of the present application.

[0022] The application discloses a tunneling machine control system, and the whole system is divided into a wire control part and an intelligent control part. The wire control part realizes basic functions of vehicle-mounted control; the intelligent control system realizes high-level functions of vehicle-mounted control. On the basis of not changing the original control mode, an intelligent control host, an intelligent sensor and an intelligent communication module are added to complete intelligent control of the system.

[0023] The architecture of the application is shown in Figure 1 , which is divided into a remote control side and a machine body side.

[0024] The communication between the remote control side and the machine body side is carried out by using a wireless base station, and in the case of no shielding, the communication distance can reach 200 meters. The remote control side device mainly comprises a wireless base station, an underground centralized control center and a ground centralized control center.

[0025] The remote control and detection functions can be completed by the remote control and detection device.

[0026] The machine body side is divided into two parts, i.e., a cavity-in part and a cavity-out part according to the installation of the device in the electrical control box of the tunneling machine; the cavity-in device and the cavity-out device are communicated by using an optical fiber, and isolation is not needed.

[0027] The cavity-in part takes a control host, an intelligent control host and a built-in switch as cores; the control host completes basic control functions, and the intelligent control host completes intelligent control functions; control and data reading go through different communication links, and mutual interference is avoided.

[0028] The control host adopts a vehicle-mounted controller and is based on a CAN bus system architecture; the control host is provided with four CAN communication interfaces and one Ethernet communication interface, i.e., CAN1, CAN2, CAN3, CAN4 and RJ45.

[0029] The CAN1 interface is communicated with an expansion module through a CAN bus; since the number of functional interfaces of the control host cannot meet the demand of the control system, an expansion module is added to meet the control demand. Only the expansion module is connected to the CAN1 interface, because the function of the expansion module is as important as that of the control host, and communication cannot be interfered by other devices.

[0030] The CAN2 interface is connected with the isolation grid 1 through the CAN bus, and the intrinsically safe receiver, the intrinsically safe operation box and the intrinsically safe keyboard are externally connected to the isolation grid 1. The three devices are intrinsically safe devices, and signal interaction with the control host needs to be isolated through the isolation grid. The three devices participate in the control of the roadheader, wherein the function of the intrinsically safe receiver is: 1. receiving the control signals of the remote controller, the control signals including emergency stop, low-speed start-stop control of the cutting motor, high-speed start-stop control of the cutting motor, start-stop control of the oil pump motor, start-stop control of the two-way motor, start-stop control of the fan motor, left star wheel forward and reverse control, right star wheel forward and reverse control, one-way forward and reverse control, manual-automatic selection control, shovel plate lifting control, rear support lifting control, cutting head telescopic control, cutting lifting control, rotary left and right control, etc.; 2. sending the basic running information and fault information of the roadheader to the remote controller. The function of the intrinsically safe operation box is: 1. controlling the start-stop of part of the devices, the control signals including emergency stop, remote control and near control selection, low-speed start-stop control of the cutting motor, high-speed start-stop control of the cutting motor, start-stop control of the oil pump motor, start-stop control of the two-way motor, start-stop control of the fan motor, up and down page turning on the operation box interface and line selection in the interface, etc.; 2. roadheader running information display, including motor running state, external sensor data, alarm information and fault record. The intrinsically safe keyboard is a vehicle-mounted display on the electric control box body, and the functions include up and down page turning, line selection in the interface and parameter setting.

[0031] The CAN3 interface is connected with the temperature acquisition module, the cutting high-speed current transformer, the cutting low-speed current transformer, the oil pump motor current transformer, the two-way motor current transformer and the fan motor current transformer through the CAN bus. These devices are non-intrinsically safe devices, wherein the temperature acquisition module mainly acquires the winding temperatures of the cutting motor, the oil pump motor, the two-way motor and the fan motor; the cutting high-speed current transformer detects the high-speed winding current of the cutting motor; the cutting low-speed current transformer detects the low-speed winding current of the cutting motor; the oil pump motor current transformer detects the winding current of the oil pump motor; the two-way motor current transformer detects the winding current of the two-way motor; and the fan motor current transformer detects the winding current of the fan motor.

[0032] The CAN4 interface is connected with the isolation grid 2 through the CAN bus, and the mixed acquisition module, the methane concentration sensor and the dust concentration sensor are externally connected to the isolation grid 2. The three devices are intrinsically safe devices, and signal interaction with the control host needs to be isolated through the isolation grid. The three devices acquire system sensor data, wherein the mixed acquisition module can acquire intrinsically safe on-off signals, analog current signals and voltage signals, and the acquired data includes personnel intrusion, shovel plate inclination, rear support oil cylinder displacement, lifting oil cylinder displacement, rotary oil cylinder displacement, telescopic oil cylinder displacement, oil tank oil level and oil circuit system pressure, etc. The methane concentration sensor detects the methane concentration of the environment around the roadheader system. The dust concentration sensor detects the dust concentration of the environment around the roadheader system.

[0033] The RJ45 interface connects to the built-in switch via a network cable, receiving control signals from the intelligent control host and simultaneously transmitting the tunneling machine's operating information to the host. When Ethernet communication fails, the tunneling machine's local control functions remain unaffected.

[0034] The intelligent control host has one Ethernet interface, one DVI interface, two RS-485 interfaces, and three CAN bus interfaces. The intelligent control host connects to the built-in switch via the Ethernet interface to read tunneling machine operating data from the control host, tunneling machine position data from the inertial navigation system, tunneling machine peripheral space data from the millimeter-wave radar, and remote control commands from the remote control hosts (underground and surface centralized control hosts). The intelligent control host sends processed data to the vehicle-mounted display, where the data is displayed; it sends control commands to the control host, which executes the commands; and it sends operating data to the remote control hosts (underground and surface centralized control hosts), where the operating data is displayed on the remote control interface. The intelligent control host connects to the vehicle-mounted display via the DVI interface, where the operating data is displayed. The RS-485 and CAN interfaces are redundantly configured.

[0035] The vehicle-mounted display has an HD interface, a DVI interface, and a VGA interface. It connects to the intelligent control host via the DVI interface and the DVI high-definition connector, and its function is to display the parameters of the tunneling machine.

[0036] The gyroscope has a CAN bus interface and an RJ45 interface. It connects to the built-in switch via RJ45 to transmit the detected position data to the intelligent control host.

[0037] The built-in switch has four RJ45 ports and one fiber optic communication port. The RJ45-1 port connects to the control host, the RJ45-2 port connects to the intelligent control host, the RJ45-3 port connects to the gyroscope, the RJ45-4 port serves as a debugging interface, and the fiber optic communication port connects to an external switch.

[0038] The external components include a voice telephone, an external switch, an airborne camera, a millimeter-wave radar, a wireless base station, a methane concentration sensor, a dust concentration sensor, an audible and visual alarm, and other sensors. All of these devices are intrinsically safe.

[0039] The voice phone has a CAN bus interface and an RJ45 interface, which connects to an external switch via the RJ45 interface.

[0040] The external switch has 10 RJ45 ports, two fiber optic ports, and two sets of CPE ports. RJ45-1 port is connected to a voice phone, RJ45-2 port is connected to onboard camera 1, RJ45-3 port is connected to onboard camera 2, RJ45-4 port is connected to onboard camera 3, RJ45-5 port is connected to onboard camera 4, and RJ45-6 port is connected to the millimeter-wave radar. The remaining RJ45 ports are spares. Fiber optic port 1 is connected to the internal switch. CPE-1 is connected to the wireless transmitter, and CPE-2 is spares.

[0041] Airborne camera 1 is a camera without a pan-tilt unit. It has an RJ45 interface that connects to an external switch and is installed on the front left of the machine to observe the area in front left of the tunneling machine's cannon head.

[0042] Airborne camera 2 is a camera without a pan-tilt unit. It has an RJ45 interface that connects to an external switch and is installed on the front right side of the machine to observe the area in front right of the tunneling machine's cannon head.

[0043] Airborne camera 3 is a pan-tilt camera with an RJ45 interface for connecting to an external switch. It is installed in the middle of the fuselage, near the front, and its monitoring area moves with the gun head.

[0044] Airborne camera 4 is a camera without a gimbal. It has an RJ45 interface that connects to an external switch and is installed at the rear of the aircraft to observe the status of the transport plane.

[0045] The millimeter-wave radar has an RJ45 interface that connects to an external switch to transmit the detected data to the intelligent control host.

[0046] The wireless base station has a CPE interface that connects to an external switch. It is installed at the rear of the device and interacts with the transmitter on the vehicle.

[0047] A methane concentration sensor is installed on the tunneling machine body and is linked to the equipment's operating status to prevent unsafe conditions. It connects to the internal isolation barrier 2 via a CAN bus to detect the methane concentration in the environment surrounding the tunneling machine system. Depending on the methane concentration, an audible and visual alarm will issue a warning signal and an alarm signal. When a warning signal is detected, the cutting motor switches from high speed to low speed; when the warning signal is cleared, the cutting motor can be manually switched back to high speed. When an alarm signal is detected, both the cutting motor and the oil pump motor stop; when the alarm signal is cleared, both the pump motor and the cutting motor can be restarted.

[0048] A dust concentration sensor is installed on the tunneling machine body and is linked to the equipment's operating status to ensure the health of frontline workers. It connects to the internal isolation barrier 2 via a CAN bus to detect the dust concentration in the environment surrounding the tunneling machine system. Depending on the dust concentration, an audible and visual alarm will issue a warning signal and an alarm signal. When a warning signal is detected, the cutting motor switches from high speed to low speed; when the warning signal is cleared, the cutting motor can be manually switched back to high speed. When an alarm signal is detected, both the cutting motor and the oil pump motor stop; when the alarm signal is cleared, both the pump motor and the cutting motor can be restarted.

[0049] Other sensors include those for personnel intrusion, blade tilt angle, rear support cylinder displacement, lifting cylinder displacement, rotary cylinder displacement, telescopic cylinder displacement, oil tank level, and hydraulic system pressure. Personnel intrusion sensors collect digital signals; blade tilt angle, rear support cylinder displacement, lifting cylinder displacement, rotary cylinder displacement, telescopic cylinder displacement, oil tank level, and hydraulic system pressure collect analog signals. When the personnel intrusion sensor receives a signal, an audible and visual alarm sounds, indicating that personnel are in the danger zone, and the tunneling machine cannot start. If the tunneling machine is already running, it must be stopped immediately. Once personnel have left the danger zone, the alarm is deactivated, and the equipment can be started. When the oil tank level sensor detects a value below the minimum oil level limit, an audible and visual alarm sounds, indicating insufficient oil in the tank, and the tunneling machine cannot start. If the tunneling machine is already running, it must be stopped immediately. After refueling, the alarm is deactivated, and the equipment can be started. The remaining sensors fall under condition monitoring and will not be described in detail.

[0050] On the other hand, some of the connection structures in this invention can be modified appropriately, such as... Figure 2 As shown, the CAN bus connection between the control host and other modules is replaced with a 485 bus connection, or a mixture of CAN bus and 485 bus; the DVI high-definition connector connecting the vehicle display and the intelligent control host is replaced with an HDMI cable; the fiber optic communication between the internal and external devices is replaced with a network cable and isolation module; the hybrid acquisition module installed inside the cavity is installed outside the cavity as a separate acquisition device; the sequential communication connection between the external switch and multiple airborne cameras is replaced with a method where multiple airborne cameras are connected in series and then connected to the external switch. The above modifications are conventional modifications within the control system. These modifications can form different system connection structures, which also have the technical effects of this technical solution and are within the scope of protection of this technical solution.

[0051] This invention, through the design of a control host and an intelligent control host within the cavity control unit, enables the tunneling machine to perform basic control functions during operation. These functions include starting and stopping motor-related equipment, motion control, and acquiring signals from commonly used sensors. The intelligent control host performs intelligent control functions, including memory-based cutting and planned mining. This achieves intelligent control of the tunneling machine while ensuring normal operation, effectively improving the data processing capabilities of the control system and meeting the intelligent coal mining requirements of the tunneling machine. Furthermore, the invention utilizes CAN bus and gigabit fiber optic network connections, resulting in simple wiring and stable, reliable transmission. It also separates control equipment from data reading equipment to prevent data reading equipment malfunctions from affecting control functions. Additionally, it separates non-safe equipment from intrinsically safe equipment to avoid signal interference, further improving the effectiveness of the tunneling machine control system.

Claims

1. A tunneling machine control system, characterized in that: The tunneling machine control system includes an internal control unit located inside the tunneling machine's electrical control box and an external control unit located outside the box. The internal and external control units are connected via Ethernet communication. The internal control unit includes a control host for implementing basic control functions of the tunneling machine, an intelligent control host for implementing intelligent control functions, and a built-in switch for signal transmission between the control host and the intelligent control host. The control host is connected via a CAN bus to an execution operation component for performing tunneling machine operations and a first acquisition component for signal acquisition. The control host communicates with the intelligent control host via the built-in switch via Ethernet. The external control unit includes an external switch for connecting to the internal control unit, a camera acquisition component for monitoring the external environment on the tunneling machine, and a second acquisition component for detecting the working environment of the tunneling machine; the external switch is connected to the internal switch and the camera acquisition component via a network cable, and the second acquisition component is connected to the control host via a CAN bus; The second acquisition component includes an audible and visual alarm for alarm prompts, a methane concentration sensor for detecting methane concentration in the surrounding environment, and a dust concentration sensor for detecting dust concentration in the surrounding environment. The audible and visual alarm, the methane concentration sensor, and the dust concentration sensor are connected to the CAN communication interface of the control host through a second isolation barrier. The second acquisition component includes a personnel intrusion sensor for detecting personnel intrusion into the tunneling machine's working area, a shovel tilt angle sensor for detecting the tilt angle of the tunneling machine's shovel, a rear support cylinder displacement sensor for detecting the displacement of the tunneling machine's rear support cylinder, a lifting cylinder displacement sensor for detecting the displacement of the tunneling machine's lifting cylinder, a rotary cylinder displacement sensor for detecting the displacement of the tunneling machine's rotary cylinder, a telescopic cylinder displacement sensor for detecting the displacement of the tunneling machine's telescopic cylinder, an oil tank level sensor for detecting the oil level in the tunneling machine's oil tank, and an oil circuit system pressure sensor for detecting the pressure of the tunneling machine's oil circuit system. The personnel intrusion sensor, shovel tilt angle sensor, rear support cylinder displacement sensor, lifting cylinder displacement sensor, rotary cylinder displacement sensor, telescopic cylinder displacement sensor, oil tank level sensor, and oil circuit system pressure sensor are all connected to the CAN communication interface of the control host through a hybrid acquisition module.

2. The tunneling machine control system as described in claim 1, characterized in that: The execution operation components include an intrinsically safe receiver for receiving remote control control signals, an intrinsically safe operating box for controlling the start and stop of the equipment, and an intrinsically safe keyboard for operating the display on the tunneling machine's electrical control box. The intrinsically safe receiver, the intrinsically safe operating box, and the intrinsically safe keyboard are connected to the CAN communication interface of the control host via a first isolation barrier.

3. The tunneling machine control system as described in claim 1, characterized in that: The first acquisition component includes a temperature acquisition module for acquiring motor temperature, a high-speed current transformer for detecting the high-speed winding current of the cutting motor, a low-speed current transformer for detecting the low-speed winding current of the cutting motor, an oil pump motor current transformer for detecting the winding current of the oil pump motor, a secondary motor current transformer for detecting the winding current of the secondary motor, and a fan motor current transformer for detecting the winding current of the fan motor. The temperature acquisition module, the high-speed current transformer, the low-speed current transformer, the oil pump motor current transformer, the secondary motor current transformer, and the fan motor current transformer are all connected to the CAN communication interface of the control host via a CAN bus.

4. The tunneling machine control system as described in claim 1, characterized in that: The in-cavity control unit also includes a vehicle-mounted display for displaying the operating status of the tunneling machine, an expansion module for expanding the connection port of the control host, and a gyroscope for detecting the tilt angle of the tunneling machine. The vehicle-mounted display is connected to the intelligent control host via a DVI interface, the expansion module is connected to the control host via a CAN interface, and the gyroscope is connected to the built-in switch via a network cable.

5. The tunneling machine control system as described in claim 1, characterized in that: The camera acquisition component includes a first airborne camera installed on the left front of the tunneling machine body, a second airborne camera installed on the right front of the tunneling machine body, a third airborne camera installed in the middle of the front end of the tunneling machine body, a fourth airborne camera installed at the rear of the tunneling machine body, and a millimeter-wave radar installed on the tunneling machine body. The first airborne camera, the second airborne camera, the third airborne camera, the fourth airborne camera, and the millimeter-wave radar are all connected to an external switch via network cables.

6. The tunneling machine control system as described in claim 1, characterized in that: The external control unit also includes a voice phone for making voice calls, which is connected to an external switch via a network cable.

7. The tunneling machine control system as described in claim 1, characterized in that: The tunneling machine control system also includes a remote control unit, which includes an underground centralized control module for collecting underground operating data and a ground centralized control module for monitoring the operating status of underground equipment and issuing execution commands. The underground centralized control module is connected to an external switch via a wireless base station and is connected to the ground centralized control module via a network cable.

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