Autonomous walking path planning and control method for tunneling equipment

Abstract

The invention belongs to the field of intelligent control of tunneling equipment, and provides a tunneling equipment autonomous walking path planning and control method in order to solve the problems of low efficiency, poor safety and low working condition adaptability of current tunneling equipment autonomous walking. And continuously adjusting the advancing direction of the tunneling equipment in combination with the position and posture information of the tunneling equipment body, and controlling the tunneling equipment to travel for a preset distance along the advancing direction until the tunneling equipment travels to the preset cutting position of the tunneling roadway center line from the initial stopping position through the autonomous planning path. According to the method, by planning the shorter advancing path of the tunneling equipment, the efficiency, safety and working condition adaptability of autonomous walking of the tunneling equipment in the roadway are improved, and a theoretical basis is provided for autonomous adjustment of the tunneling equipment at any position of the roadway space.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent control of tunneling equipment, and in particular relates to an autonomous walking path planning and control method for tunneling equipment. Background Art

[0002] As the main construction equipment for coal mine tunnel excavation, the intelligent technology level of tunneling equipment has been improved to a certain extent, but the autonomous walking path planning and control of tunneling equipment is still a key technical problem.

[0003] The autonomous walking path planning and control method of tunneling equipment is based on the tunnel size, direction and overall machine parameters and combined with the body posture information to establish autonomous walking trajectory planning and control the tunneling equipment to move autonomously to the tunnel centerline, providing a theoretical basis for realizing automatic cutting of tunneling equipment and autonomous adjustment of the machine at any position in the tunnel space.

[0004] At present, tunneling equipment is generally controlled manually by operating handles on the tunneling equipment or by remote control. This is inefficient in actual engineering applications and requires workers to operate the tunneling equipment at close range, which has poor safety and cannot adapt to various complex working conditions. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a method for autonomous walking path planning and control of tunneling equipment.

[0006] The present invention is implemented by the following technical solution: a method for autonomous walking path planning and control of tunneling equipment, comprising the following steps: S1: Determine the starting position of the tunneling equipment and obtain the initial heading angle of the tunneling equipment at this time. At the same time, establish a coordinate system with the tunnel centerline as the vertical axis and the horizontal line where the center of gravity of the tunneling equipment is located as the horizontal axis, and obtain a first center distance between the center of gravity of the tunneling equipment and the coordinate origin; S2: setting a first deflection angle based on the initial heading angle, and controlling the tunneling equipment to deflect according to the first deflection angle. When the deflection is completed, obtaining the first heading angle of the tunneling equipment at this time, and then obtaining a first real-time distance between the tunneling equipment and a sidewall of the tunnel on the same side as the deflection direction of the tunneling equipment; S3: comparing the first center distance and the first real-time distance; when the first real-time distance is greater than or equal to the first center distance, setting a first travel distance according to the first center distance; when the first real-time distance is less than the first center distance, setting a second travel distance according to the first real-time distance; and then controlling the tunneling equipment to move according to the first travel distance or the second travel distance based on the determination result; after the movement is completed, obtaining a second heading angle of the tunneling equipment at this time; and then obtaining a second real-time distance between the tunneling equipment and a sidewall of the tunnel on the same side as the deflection direction of the machine body, and a second center distance between the center of gravity of the tunneling equipment and the centerline of the tunnel at this time; S4: Determine the second center distance. When the second center distance is zero, set a second deflection angle based on the second heading angle, and then control the tunneling equipment to deflect according to the second deflection angle. When the deflection is completed, obtain a third heading angle of the tunneling equipment and a third center distance between the center of gravity of the tunneling equipment and the centerline of the tunnel. If the second center distance is not zero, repeat steps S2-S4 until the second center distance is zero. S5: When the third heading angle is zero and the third center distance is zero, the tunneling equipment is controlled to travel a predetermined distance to reach a predetermined cutting position and start automatic cutting.

[0007] Preferably, in step S2, the first deflection angle is set based on the initial heading angle, including: obtaining the horizontal distance between the center of gravity of the tunneling equipment and the left and right sides of the tunneling equipment body, and simultaneously obtaining the vertical distance between the center of gravity of the tunneling equipment and the tail of the tunneling equipment; according to the horizontal distance and the vertical distance, obtaining the reference angle of the line connecting the center of gravity of the tunneling equipment and the geometric feature points of the body when the tunneling equipment is not moving at the starting position of movement; according to the preset width information of the tunneling tunnel and the preset alarm distance of the tunneling equipment, obtaining the compensation angle between the body and the tunnel when the tunneling equipment moves; and setting the first deflection angle according to the reference angle, the compensation angle and the initial heading angle.

[0008] Preferably, before setting the first deflection angle according to the reference angle, the compensation angle and the initial heading angle, it also includes: calculating the sine function value of the initial heading angle, when the sine function value is greater than or equal to zero, setting the first deflection angle to a small angle, and when the sine function value is less than zero, setting the first deflection angle to a large angle.

[0009] Preferably, in step S3, setting the first travel distance according to the first center distance includes: calculating the ratio of the first center distance to the sine function value of the first heading angle, and then setting the first travel distance.

[0010] Preferably, in step S3, setting the second travel distance according to the first real-time distance includes: calculating the ratio of the first real-time distance to the sine function value of the first heading angle, and then setting the second travel distance.

[0011] Preferably, before step S1, it also includes: according to the preset external dimension information of the tunneling equipment and the preset width information of the tunneling tunnel, respectively determining the effective travel distance related to the tunnel direction during the movement of the tunneling equipment and the alarm distance and the shutdown distance between the tunnel side and the tunnel, and setting the safety zone, alarm zone and prohibited zone in turn.

[0012] Preferably, it also includes: when the excavation equipment is in a safe area, controlling the excavation equipment to move at a constant speed; when the excavation equipment is in an alarm area, controlling the excavation equipment to move at a reduced speed; when the excavation equipment is in a prohibited area, controlling the excavation equipment to stop moving.

[0013] Preferably, after step S5, the method further includes: after the cutting is completed, controlling the tunneling equipment to return to the moving starting position along the planned walking path.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a method for planning and controlling the autonomous travel path of tunneling equipment. This method divides the travel area of ​​the tunneling equipment into a safe zone, a warning zone, and a prohibited zone. When the tunneling equipment's initial landing area is in the safe zone or the warning zone, the optimal deflection angle and heading displacement of the tunneling equipment are calculated. The tunneling equipment is then controlled to autonomously move from its starting position to the predetermined cutting position based on the calculated results. By planning a shorter tunneling equipment path, this method improves the efficiency, safety, and adaptability of the tunneling equipment's autonomous movement within a tunnel, providing a theoretical basis for autonomously maneuvering the tunneling equipment at any location in the tunnel space. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a flow chart of a method for autonomous path planning and control of tunneling equipment provided by an embodiment of the present invention; Figure 2 Schematic diagram of the moving starting position of the tunneling equipment provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the movement of the tunneling equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention are clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other implementations derived by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0018] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0019] In the following embodiments of the present invention, the initial parking position of the tunneling equipment is taken as an example to illustrate the technical solution of the present application in more detail through the specific details of the following embodiments, so as to facilitate a full understanding of the present application.

[0020] In the following embodiments, the tunneling equipment includes a ranging sensor, an inertial navigation posture solution system and an autonomous walking path planning control system. The ranging sensor is used to measure in real time the distance between the tunneling equipment and the side wall of the tunneling tunnel and the distance between the tunneling equipment and the origin of the constructed coordinate system. The relational navigation posture solution system is used to measure in real time the heading angle of the tunneling equipment and the deflection angle after deflection. The autonomous walking planning control system is used to control the tunneling equipment to move in the direction of the calculated deflection angle.

[0021] In the following embodiments, before controlling the tunneling equipment to move autonomously, it is necessary to perform initial data calibration on the distance measuring sensor, inertial navigation posture solving system and autonomous walking path planning control system to determine the accuracy of subsequent path planning and control, and at the same time, the preset width information of the tunneling tunnel is , the width of the tunneling equipment , the length of the tunneling equipment , Maximum width of the tunneling equipment , The horizontal distance between the center of gravity of the tunneling equipment and the left and right sides of the tunneling equipment body , the vertical distance between the center of gravity of the tunneling equipment and the tail of the tunneling equipment And the pre-set alarm distance between the excavation equipment body and the side of the excavation tunnel , The stopping distance between the excavation equipment body and the side of the tunnel , Effective travel distance of tunneling equipment , minimum effective travel distance The data is input into the autonomous walking path planning control system to facilitate the calculation of the subsequent autonomous walking path planning of the tunneling equipment.

[0022] In the following embodiments, according to the preset alarm distance between the excavation equipment body and the side of the excavation tunnel, , The stopping distance between the excavation equipment body and the side of the tunnel , Effective travel distance of tunneling equipment , minimum effective travel distance , dividing the tunneling equipment into safe areas, alarm areas and prohibited areas during its movement.

[0023] In the actual working process, the preset width information of the tunneling tunnel ;Body length of tunneling equipment ;Body width information of tunneling equipment , Maximum width information of tunneling equipment ; Set the alarm distance between the excavation equipment body and the side of the excavation tunnel At least three times the exposed length of the anchor rod or anchor cable installed in the side wall of the tunnel, whichever is larger; set the stopping distance between the tunneling equipment body and the side wall of the tunnel At least twice the exposed length of the anchor rod or anchor cable installed in the side wall of the tunnel, whichever is larger; the effective travel distance of the tunneling equipment is set to , the minimum effective travel distance is .

[0024] In the following embodiments, each deflection angle is the angular deviation of the actual travel direction of the tunneling equipment relative to its initially set direction or the ideal straight line direction, which reflects the degree to which the tunneling equipment deviates from the planned route during travel; each heading angle is the angle between the travel direction of the tunneling equipment and the predetermined cutting position, which is used to determine the absolute direction of the tunneling equipment in the tunneling tunnel.

[0025] like Figure 1 As shown, the present application provides a flow chart of a method for autonomous walking path planning and control of a tunneling equipment, comprising the following steps: S1: Determine the starting position of the tunneling equipment and obtain the initial heading angle of the tunneling equipment at this time. At the same time, establish a coordinate system with the center line of the tunnel as the vertical axis and the horizontal line where the center of gravity of the tunneling equipment is located as the horizontal axis, and obtain the first center distance between the center of gravity of the tunneling equipment and the coordinate origin.

[0026] In this embodiment, the horizontal line where the center of gravity of the tunneling equipment is located is taken as the X-axis, and the center line of the tunneling tunnel is taken as the Y-axis to establish a coordinate system. The origin of the coordinate is the intersection of the horizontal line where the center of gravity of the tunneling equipment is located and the center line of the tunneling tunnel. The center of gravity of the tunneling equipment is taken as the coordinate of the starting point of movement. The coordinate of the center of gravity when the tunneling equipment is not moving is , is the distance that the tunneling equipment has not moved, that is , the initial heading angle is .

[0027] In this embodiment, the first center distance for: Where, The width information of the excavation tunnel; is the width of the tunneling equipment; It is the minimum distance between the right side of the tunneling equipment body and the right side of the tunneling tunnel when the tunneling equipment is parked on the right side of the tunneling tunnel.

[0028] In this embodiment, the horizontal coordinate value of the center of gravity of the tunneling equipment is calculated in real time by the inertial navigation posture solution system, and the initial heading angle and the calculated horizontal coordinate data are transmitted to the autonomous walking path planning control system.

[0029] S2: A first deflection angle is set based on the initial heading angle, and the tunneling equipment is controlled to deflect according to the first deflection angle. When the deflection is completed, the first heading angle of the tunneling equipment is obtained, and then a first real-time distance between the tunneling equipment and the side wall of the tunnel on the same side as the deflection direction of the fuselage is obtained.

[0030] Optionally, setting a first deflection angle based on the initial heading angle includes: obtaining the horizontal distance between the center of gravity of the tunneling equipment and the left and right sides of the tunneling equipment body, and simultaneously obtaining the vertical distance between the center of gravity of the tunneling equipment and the tail of the tunneling equipment; obtaining, based on the horizontal distance and the vertical distance, a reference angle of a line connecting the center of gravity of the tunneling equipment and the geometric feature points of the body when the tunneling equipment is not moving at the starting position of movement; obtaining, based on the preset width information of the tunneling tunnel and the preset alarm distance of the tunneling equipment, a compensation angle between the body and the tunnel when the tunneling equipment moves; and setting the first deflection angle based on the reference angle, the compensation angle and the initial heading angle.

[0031] Optionally, the sine function value of the initial heading angle is calculated, and when the sine function value is greater than or equal to zero, the first deflection angle is set to a small angle, and when the sine function value is less than zero, the first deflection angle is set to a large angle.

[0032] In this embodiment, the reference angle reflects the geometric characteristics of the tunneling equipment body and is used to subsequently calculate the angle of the tunneling equipment's first deflection to ensure that the body maintains a safe distance from the tunnel side after turning. The calculation formula is: Where, It is the horizontal distance between the center of gravity of the tunneling equipment and the left and right sides of the tunneling equipment body. It is the vertical distance between the center of gravity of the tunneling equipment and the tail of the tunneling equipment.

[0033] The compensation angle is used to dynamically correct the steering angle of the tunneling equipment so that the distance between the tunneling equipment and the side of the tunnel after turning is not less than the preset alarm distance, thus avoiding triggering the alarm to the greatest extent. The calculation formula is: Where, The preset alarm distance.

[0034] In this embodiment, when When the tunneling equipment is set to the first counterclockwise deflection angle, the small angle ; when When the tunneling equipment is set to the maximum first deflection angle in the counterclockwise direction, .

[0035] In this embodiment, the first real-time deflection angle of the tunneling equipment is measured in real time by the inertial navigation posture solution system. , and transmit it to the tunneling autonomous walking path planning control system. At the same time, the distance measuring sensor installed on the tunneling equipment body detects the distance between the tunneling equipment and the two sides of the tunnel in real time and transmits it to the tunneling autonomous walking path planning control system. When the first real-time deflection angle of the tunneling equipment is When the set first deflection angle is reached, the tunneling equipment is controlled to stop. The first heading angle of the tunneling equipment after stopping is At this time, the first real-time distance between the tunneling equipment body and the left side of the tunnel is , 、 It is measured in real time by the inertial navigation posture calculation system and the fuselage ranging sensor, and transmitted in real time to the tunneling autonomous walking path planning control system.

[0036] S3: Compare the first center distance and the first real-time distance. When the first real-time distance is greater than or equal to the first center distance, set a first travel distance according to the first center distance. When the first real-time distance is less than the first center distance, set a second travel distance according to the first real-time distance. Then, according to the judgment result, control the tunneling equipment to move according to the first travel distance or the second travel distance. When the movement is completed, obtain the second heading angle of the tunneling equipment at this time, and then obtain the second real-time distance between the tunneling equipment and the side wall of the tunnel on the same side of the fuselage deflection direction, as well as the second center distance between the center of gravity of the tunneling equipment and the center line of the tunnel at this time.

[0037] Optionally, setting the first travel distance according to the first center distance includes: calculating the ratio of the first center distance to the sine function value of the first heading angle, and then setting the first travel distance.

[0038] Optionally, setting the second travel distance according to the first real-time distance includes: calculating the ratio of the first real-time distance to the sine function value of the first heading angle, and then setting the second travel distance.

[0039] In this embodiment, when When the first heading angle The first travel distance ; when When the first heading angle The second travel distance .

[0040] In this embodiment, the first real-time travel distance is obtained by real-time measurement by the inertial navigation posture solution system. and transmit it to the tunneling autonomous walking path planning control system. When the tunneling equipment first travels a real-time distance After reaching the corresponding travel distance, the machine stops. The second heading angle of the tunneling equipment after stopping is The second real-time distance between the tunneling equipment body and the left side of the tunnel is , the coordinate point of the center of gravity of the tunneling equipment after completing a deflection movement ,in 、 and the second center distance 、 The distance from the coordinate origin It is measured in real time by the inertial navigation posture calculation system and the fuselage ranging sensor, and transmitted in real time to the tunneling autonomous walking path planning control system.

[0041] S4: Determine the second center distance. When the second center distance is zero, set a second deflection angle based on the second heading angle, and then control the tunneling equipment to deflect according to the second deflection angle. When the deflection is completed, obtain the third heading angle of the tunneling equipment at this time, and the third center distance between the center of gravity of the tunneling equipment and the center line of the tunnel at this time. If the second center distance is not zero, repeat steps S2-S4 until the second center distance is zero.

[0042] In this embodiment, when When the second deflection angle of the tunneling equipment is set to .

[0043] Control the tunneling equipment to deflect according to the set second deflection angle, and at the same time the inertial navigation posture solution system measures the second real-time deflection angle in real time , then The distance is transmitted to the tunneling autonomous walking path planning control system. At the same time, the distance measuring sensor installed on the tunneling equipment body detects the distance between the tunneling equipment and the two sides of the tunnel in real time and transmits it to the tunneling autonomous walking path planning control system. When the second real-time deflection angle of the tunneling equipment is Reach the second deflection angle When the tunneling equipment is stopped, the tunneling equipment is controlled to stop. Get the third heading angle of the tunneling equipment at this time , the real-time distance between the tunneling equipment body and the left side of the tunnel is and the coordinates of the center of gravity of the tunneling equipment , and obtain the third center distance based on the coordinates of the center of gravity At this time, the tunneling equipment is located at the center line of the tunneling tunnel, that is, the center of gravity of the tunneling equipment is on the vertical axis of the coordinate axis. ,in, 、 as well as 、 The distance from the coordinate origin It is measured in real time by the inertial navigation posture calculation system and the fuselage ranging sensor, and transmitted in real time to the tunneling autonomous walking path planning control system.

[0044] In this embodiment, when The above steps are repeated, and the real-time center distance and corresponding heading angle are measured by the inertial navigation posture solution system and the fuselage ranging sensor in real time, and transmitted to the tunneling autonomous walking path planning control system in real time until the coordinates of the center of gravity of the tunneling equipment move to the vertical axis and the corresponding heading angle is zero.

[0045] S5: When the third heading angle is zero and the third center distance is zero, the tunneling equipment is controlled to travel a predetermined distance to reach a predetermined cutting position and start automatic cutting.

[0046] In this embodiment, when and When the tunneling equipment is located at the center line of the tunneling tunnel, the tunneling equipment is controlled to move along the center line of the tunneling tunnel to , began to implement cutting, among which, It is the real-time distance between the tunneling equipment and the heading of the tunnel.

[0047] Optionally, after the cutting is completed, the tunneling equipment is controlled to return to the moving starting position along the planned walking path.

[0048] In this embodiment, the autonomous walking planning path of the tunneling equipment is obtained according to steps S1-S5, so that the tunneling equipment moves from the moving starting position to the predetermined cutting position. When the cutting is completed, the cutting equipment is controlled to return from the predetermined cutting position along the autonomous walking planning path to the initial starting position.

[0049] Optionally, it also includes: according to the preset external dimension information of the tunneling equipment and the preset width information of the tunneling tunnel, determining the effective travel distance related to the tunnel direction during the movement of the tunneling equipment and the alarm distance and shutdown distance between the tunnel side and the tunnel, and setting the safety zone, alarm zone and no-entry zone in turn.

[0050] Optionally, it also includes: when the excavation equipment is in a safe zone, controlling the excavation equipment to move at a constant speed; when the excavation equipment is in an alarm zone, controlling the excavation equipment to move at a reduced speed; when the excavation equipment is in a prohibited zone, controlling the excavation equipment to stop.

[0051] In this embodiment, the distance between the tunneling equipment and the left and right side walls of the tunneling tunnel is measured in real time through the inertial navigation posture solving system and the fuselage ranging sensor.

[0052] In this embodiment, when the tunneling equipment travels in different safety zones, alarm zones, and shutdown zones, the travel speed of the tunneling equipment is achieved by controlling the opening size of the solenoid valve of the travel actuator in the tunneling equipment to realize hydraulic oil pressure control, thereby controlling the tunneling equipment to travel at a uniform speed in the safety zone and to reduce the speed in the alarm zone. When the tunneling equipment travels into the prohibited zone, the solenoid valve is closed and the tunneling equipment stops moving.

[0053] This invention provides a method for autonomous path planning and control of tunneling equipment, capable of guiding the equipment from its initial stop position to a predetermined cutting position along the centerline of a tunneling tunnel along an autonomously planned path. By planning a shorter path for the equipment, this method improves the efficiency, safety, and adaptability of autonomous movement within the tunnel, providing a theoretical basis for autonomously maneuvering the equipment within any given tunnel space.

[0054] The foregoing description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed herein should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for autonomous path planning and control of tunneling equipment, characterized in that: The steps include: S1: Determine the starting position of the tunneling equipment and obtain the initial heading angle of the tunneling equipment at this time. At the same time, establish a coordinate system with the tunnel centerline as the vertical axis and the horizontal line where the center of gravity of the tunneling equipment is located as the horizontal axis, and obtain a first center distance between the center of gravity of the tunneling equipment and the coordinate origin; S2: setting a first deflection angle based on the initial heading angle, and controlling the tunneling equipment to deflect according to the first deflection angle. When the deflection is completed, obtaining the first heading angle of the tunneling equipment at this time, and then obtaining a first real-time distance between the tunneling equipment and a sidewall of the tunnel on the same side as the deflection direction of the tunneling equipment; S3: comparing the first center distance and the first real-time distance; when the first real-time distance is greater than or equal to the first center distance, setting a first travel distance according to the first center distance; when the first real-time distance is less than the first center distance, setting a second travel distance according to the first real-time distance; and then controlling the tunneling equipment to move according to the first travel distance or the second travel distance based on the determination result; after the movement is completed, obtaining a second heading angle of the tunneling equipment at this time; and then obtaining a second real-time distance between the tunneling equipment and a sidewall of the tunnel on the same side as the deflection direction of the machine body, and a second center distance between the center of gravity of the tunneling equipment and the centerline of the tunnel at this time; S4: Determine the second center distance. When the second center distance is zero, set a second deflection angle based on the second heading angle, and then control the tunneling equipment to deflect according to the second deflection angle. When the deflection is completed, obtain a third heading angle of the tunneling equipment and a third center distance between the center of gravity of the tunneling equipment and the centerline of the tunnel. If the second center distance is not zero, repeat steps S2-S4 until the second center distance is zero. S5: When the third heading angle is zero and the third center distance is zero, the tunneling equipment is controlled to travel a predetermined distance to reach a predetermined cutting position and start automatic cutting.

2. The method for autonomous path planning and control of tunneling equipment according to claim 1, characterized in that: In step S2, setting a first deflection angle based on the initial heading angle includes: Obtain the horizontal distance between the center of gravity of the tunneling equipment and the left and right sides of the tunneling equipment body, and simultaneously obtain the vertical distance between the center of gravity of the tunneling equipment and the tail of the tunneling equipment; According to the horizontal distance and the vertical distance, a reference angle between a center of gravity of the tunneling device and a geometric feature point of the tunneling device when the tunneling device is not moving at the moving starting position is obtained; According to the preset width information of the tunneling tunnel and the preset alarm distance of the tunneling equipment, the compensation angle between the machine body and the tunnel when the tunneling equipment moves is obtained; A first deflection angle is set according to the reference angle, the compensation angle and the initial heading angle.

3. The method for autonomous path planning and control of tunneling equipment according to claim 2, characterized in that: Before setting the first deflection angle according to the reference angle, the compensation angle and the initial heading angle, the method further includes: Calculate the sine function value of the initial heading angle, and when the sine function value is greater than or equal to zero, set the first deflection angle to a small angle; when the sine function value is less than zero, set the first deflection angle to a large angle.

4. The method for autonomous path planning and control of tunneling equipment according to claim 1, characterized in that: In step S3, setting a first travel distance according to the first center distance includes: A ratio of a first center distance to a sine function value of the first heading angle is calculated, and then a first travel distance is set.

5. The method for autonomous traveling path planning and control of tunneling equipment according to claim 1, characterized in that: In step S3, setting a second travel distance according to the first real-time distance includes: The ratio of the first real-time distance to the sine function value of the first heading angle is calculated, and then a second travel distance is set.

6. The method for autonomous path planning and control of tunneling equipment according to claim 1, characterized in that: Before step S1, the method further includes: According to the preset external dimensions of the tunneling equipment and the preset width of the tunneling tunnel, the effective travel distance related to the tunnel direction and the alarm distance and shutdown distance between the tunnel side and the tunnel are determined respectively during the movement of the tunneling equipment, and the safety zone, alarm zone and no-entry zone are set in turn.

7. The method for autonomous path planning and control of tunneling equipment according to claim 6, characterized in that: Also includes: When the excavation equipment is in the safe zone, the excavation equipment is controlled to move at a constant speed; when the excavation equipment is in the alarm zone, the excavation equipment is controlled to slow down; when the excavation equipment is in the prohibited zone, the excavation equipment is controlled to stop moving.

8. The method for autonomous path planning and control of tunneling equipment according to claim 1, characterized in that: After step S5, the method further includes: When the cutting is completed, the tunneling equipment is controlled to return to the moving starting position along the planned walking path.

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