A tunneling equipment autonomous walking path planning and control method

Abstract

The present application belongs to the field of intelligent control of tunneling equipment, and provides a tunneling equipment autonomous walking path planning and control method to solve the problems of low efficiency, poor safety and low working condition adaptability of the current tunneling equipment autonomous walking. The tunneling equipment autonomous walking path planning and control method continuously adjusts the advancing direction of the tunneling equipment by the tunneling roadway size, the heading of the tunneling equipment and the whole machine parameters, and combines the pose information of the tunneling equipment body, controls the tunneling equipment to travel a predetermined distance along the advancing direction, and until the tunneling equipment travels from the starting parking position to the predetermined cutting position of the tunneling roadway center line through the autonomous planning path. The present application improves the efficiency, safety and working condition adaptability of the tunneling equipment autonomous walking in the roadway by planning a shorter tunneling equipment advancing path, and provides a theoretical basis for realizing the autonomous machine adjustment of the tunneling equipment at any position in the roadway space.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control of tunneling equipment, specifically relating to a method for autonomous walking path planning and control of tunneling equipment. Background Technology

[0002] As the main construction equipment for tunneling in coal mines, tunneling equipment has seen some improvement in its intelligent technology level. However, the autonomous walking path planning and control of tunneling equipment remains a key technical challenge.

[0003] The autonomous walking path planning and control method for tunneling equipment is based on the tunnel dimensions, orientation, and overall machine parameters, combined with the machine's position and posture information, to establish an autonomous walking trajectory plan and control the tunneling equipment to autonomously travel to the tunnel centerline. This provides a theoretical basis for realizing automatic cutting and autonomous adjustment of the tunneling equipment at any position in the tunnel space.

[0004] Currently, tunneling equipment is generally operated manually by using a handle or remote control. This method is inefficient in practical engineering applications, requires workers to operate the equipment at close range, 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 in the prior art, the present invention provides a method for autonomous walking path planning and control of tunneling equipment.

[0006] This invention is achieved using the following technical solution: a method for autonomous walking path planning and control of tunneling equipment, comprising the following steps:

[0007] 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 roadway 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 the first center distance between the center of gravity of the tunneling equipment and the origin of the coordinate system.

[0008] S2: Set a first deflection angle based on the initial heading angle, and control the tunneling equipment to deflect according to the first deflection angle. After the deflection is completed, obtain the first heading angle of the tunneling equipment at this time, and then obtain the first real-time distance between the tunneling equipment and the sidewall of the roadway on the same side as the deflection direction of the machine body.

[0009] 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, then controlling the tunneling equipment to move according to the first travel distance or the second travel distance according to the judgment result, when the movement is completed, obtaining a second heading angle of the tunneling equipment at this time, then obtaining a second real-time distance between the tunneling equipment and the side of the roadway on the same side of the deflection direction of the machine body, and a second center distance between the gravity point of the tunneling equipment and the center line of the roadway at this time;

[0010] S4: judging the second center distance, when the second center distance is zero, setting a second deflection angle based on the second heading angle, then controlling the tunneling equipment to deflect according to the second deflection angle, when the deflection is completed, obtaining a third heading angle of the tunneling equipment at this time, and a third center distance between the gravity point of the tunneling equipment and the center line of the roadway at this time, if the second center distance is not zero, repeating steps S2-S4 until the second center distance is zero;

[0011] S5: when the third heading angle is zero and the third center distance is zero, controlling the tunneling equipment to travel a predetermined distance to reach a predetermined cutting position and start automatic cutting.

[0012] Preferably, in step S2, setting the first deflection angle based on the initial heading angle comprises: obtaining the horizontal distance of the gravity point of the tunneling equipment from the left and right sides of the machine body, and obtaining the vertical distance of the gravity point of the tunneling equipment from the tail of the machine body; obtaining a reference included angle of the connecting line between the gravity point of the tunneling equipment and the geometric feature point of the machine body when the tunneling equipment does not move at the starting position of movement according to the horizontal distance and the vertical distance; obtaining a compensation included angle between the machine body and the roadway when the tunneling equipment moves according to the preset width information of the tunneling roadway and the preset alarm distance of the tunneling equipment; setting the first deflection angle according to the reference included angle, the compensation included angle and the initial heading angle.

[0013] Preferably, before setting the first deflection angle according to the reference included angle, the compensation included angle and the initial heading angle, it further comprises: 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 be small, when the sine function value is less than zero, setting the first deflection angle to be large.

[0014] Preferably, in step S3, setting the first travel distance according to the first center distance comprises: 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.

[0015] Preferably, in step S3, the second travel distance is set according to the first real-time distance, comprising: calculating the ratio of the first real-time distance and the sine function value of the first heading angle, and then setting the second travel distance.

[0016] Preferably, before step S1, further comprising: determining the effective travel distance related to the heading of the roadway and the alarm distance and the shutdown distance between the roadway and the side of the roadway during the travel of the tunneling equipment according to the preset size information of the tunneling equipment and the preset width information of the roadway, and sequentially setting the safety zone, the alarm zone and the forbidden travel zone.

[0017] Preferably, further comprising: controlling the tunneling equipment to travel at a uniform speed when the tunneling equipment is in the safety zone; controlling the tunneling equipment to travel at a reduced speed when the tunneling equipment is in the alarm zone; and controlling the tunneling equipment to stop traveling when the tunneling equipment is in the forbidden travel zone.

[0018] Preferably, after step S5, further comprising: controlling the tunneling equipment to retreat to the movement starting position along the walking planning path after the cutting is completed.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The present application provides a tunneling equipment autonomous walking path planning and control method, which divides the safety zone, the alarm zone and the forbidden travel zone in the travel area of the tunneling equipment walking to the predetermined cutting position, calculates the optimal deflection angle and heading displacement of the tunneling equipment when the initial parking area of the tunneling equipment is located in the safety zone or the alarm zone, and controls the tunneling equipment to autonomously move from the movement starting position to the predetermined cutting position according to the calculation result. The present application plans a shorter tunneling equipment travel path, improves the efficiency, safety and working condition adaptability of the tunneling equipment in the roadway, and provides a theoretical basis for realizing the autonomous machine adjustment of the tunneling equipment at any position in the roadway space. BRIEF DESCRIPTION OF DRAWINGS

[0021] 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. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0022] Figure 1 is a flowchart of the tunneling equipment autonomous walking path planning and control method provided by the embodiment of the present application;

[0023] Figure 2 is a schematic diagram of the movement starting position of the tunneling equipment provided by the embodiment of the present application;

[0024] Figure 3is a running schematic diagram of the tunneling equipment provided by the embodiment of the present application. DETAILED DESCRIPTION

[0025] With reference to the drawings in the embodiments of the present application, the technical solutions in the embodiments of the present application are described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, any other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0026] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the specification are only used to understand and read the disclosed content by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, and therefore do not have technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should fall within the scope of the technical content disclosed by the present application. It should be noted that, in the present specification, relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any actual relationship or order between the entities.

[0027] In the following embodiments of the present application, an arbitrary position of the initial parking position of the tunneling equipment on the right side of the tunneling roadway is taken as an example for illustration. The technical solutions of the present application are described in more detail through the specific details of the following embodiments, so as to facilitate a full understanding of the present application.

[0028] In the following embodiments, the tunneling equipment includes a distance measuring sensor, an inertial navigation pose solving system and an autonomous walking path planning control system. The distance measuring sensor is used to measure the distance between the tunneling equipment and the sidewall of the tunneling roadway and the distance between the tunneling equipment and the origin of the constructed coordinate system in real time. The inertial navigation pose solving system is used to measure the heading angle of the tunneling equipment and the deflection angle after deflection in real time. The autonomous walking path planning control system is used to control the tunneling equipment to travel in the direction of the calculated deflection angle.

[0029] In the following embodiments, before controlling the autonomous walking of the tunneling equipment, the distance measuring sensor, the inertial navigation pose solving system and the autonomous walking path planning control system need to be calibrated with initial data to determine the accuracy of subsequent path planning and control. At the same time, the preset width information of the tunneling roadway , the body width of the tunneling equipment , the body length of the tunneling equipment , the maximum body width information of the tunneling equipment , the horizontal distance from the center of gravity of the tunneling equipment to the left and right sides of the body of the tunneling equipment Vertical distance from the center of gravity of the tunneling equipment to the tail of the tunneling equipment And the pre-set alarm distance between the tunneling equipment body and the sidewall of the tunneling roadway. The stopping distance between the tunneling equipment body and the sidewall of the roadway Effective travel distance of tunneling equipment Minimum effective travel distance The data is input into the autonomous walking path planning and control system to facilitate the calculation of subsequent autonomous walking path planning for the tunneling equipment.

[0030] In the following embodiments, the alarm distance between the tunneling equipment body and the sidewall of the tunnel is preset. The stopping distance between the tunneling equipment body and the sidewall of the roadway Effective travel distance of tunneling equipment Minimum effective travel distance The tunneling equipment is divided into safe zones, alarm zones, and restricted zones during its movement.

[0031] In actual work, the preset width information of the tunnel is... Length of tunneling equipment Information on the width of the tunneling equipment. Maximum width information of tunneling equipment Set the alarm distance between the tunneling equipment body and the sidewall of the tunnel. At least three times the exposed length of the anchor bolts or cables installed on the sidewall of the tunnel, using the larger of the two as a benchmark; set the stopping distance between the tunneling equipment body and the sidewall of the tunnel. At least twice the exposed length of the anchor bolts or cables installed on the sidewalls of the tunneling roadway, using the larger of the two values ​​as the benchmark; the effective travel distance of the tunneling equipment is set as follows. The minimum effective travel distance is .

[0032] In the following embodiments, each deflection angle is the angular deviation of the actual travel direction of the tunneling equipment relative to its initial set direction or 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, used to determine the absolute direction of the tunneling equipment in the tunneling roadway.

[0033] like Figure 1 As shown in the diagram, this application provides a flowchart of a method for autonomous path planning and control of tunneling equipment, including the following steps:

[0034] S1: determine the moving start position of the tunneling equipment, obtain the initial heading angle of the tunneling equipment at this time, establish a coordinate system with the roadway center line as the longitudinal coordinate axis and the horizontal straight line where the gravity center point of the tunneling equipment is located as the transverse coordinate, and obtain the first center distance between the gravity center point of the tunneling equipment and the coordinate origin.

[0035] In this embodiment, the horizontal straight line where the gravity center point of the tunneling equipment is located is taken as the X axis, and the tunneling roadway center line is taken as the Y axis to establish a coordinate system, and the intersection point of the horizontal straight line where the gravity center point of the tunneling equipment is located and the tunneling roadway center line is taken as the coordinate origin. The gravity center point of the tunneling equipment is taken as the moving start point coordinate, and the gravity center point coordinate of the tunneling equipment when the tunneling equipment is not moving is , The distance that the tunneling equipment does not move is , and the initial heading angle is .

[0036] In this embodiment, the first center distance is:

[0037]

[0038] In the formula, is the width information of the tunneling roadway; is the body width of the tunneling equipment; is the minimum distance between the right side of the body of the tunneling equipment and the right side of the tunneling roadway when the tunneling equipment is parked on the right side of the tunneling roadway.

[0039] In this embodiment, the transverse coordinate value of the gravity center point of the tunneling equipment is obtained in real time by an inertial navigation pose solution system, and the initial heading angle and the calculated transverse coordinate data are transmitted to an autonomous walking path planning control system.

[0040] S2: based on the initial heading angle, set a first deflection angle, and control the tunneling equipment to deflect according to the first deflection angle, when the deflection is completed, obtain the first heading angle of the tunneling equipment at this time, and then obtain the first real-time distance between the tunneling equipment and the side of the roadway on the same side of the deflection direction of the body.

[0041] Optionally, based on the initial heading angle, setting a first deflection angle comprises: obtaining the horizontal distance of the gravity center point of the tunneling equipment from the left and right sides of the body of the tunneling equipment, and simultaneously obtaining the vertical distance of the gravity center point of the tunneling equipment from the tail of the tunneling equipment; obtaining a reference included angle of the connecting line between the gravity center point of the tunneling equipment and the geometric feature point of the body when the tunneling equipment does not move at the moving start position according to the horizontal distance and the vertical distance; obtaining a compensation included angle between the body and the roadway when the tunneling equipment moves according to the preset width information of the tunneling roadway and the preset alarm distance of the tunneling equipment; and setting the first deflection angle according to the reference included angle, the compensation included angle and the initial heading angle.

[0042] Optionally, a sine function value of the initial heading angle is calculated, when the sine function value is greater than or equal to zero, a first deflection angle is set as a small angle, and when the sine function value is less than zero, the first deflection angle is set as a large angle.

[0043] In the embodiment, the reference included angle reflects the geometric characteristics of the machine body of the tunneling equipment, and is used for subsequent calculation of the angle of the first deflection of the tunneling equipment, to ensure that the machine body keeps a safe distance from the sidewall of the tunnel after turning, and the reference included angle is calculated according to the following formula:

[0044]

[0045] In the formula, L is the horizontal distance from the center of gravity of the tunneling equipment to the left and right sides of the machine body of the tunneling equipment, and H is the vertical distance from the center of gravity of the tunneling equipment to the tail of the machine body of the tunneling equipment. The compensation included angle is used for dynamic correction of the turning angle of the tunneling equipment, so that the distance between the tunneling equipment and the sidewall of the tunnel is not less than the preset alarm distance after the tunneling equipment turns, and the alarm is triggered to the greatest extent.

[0046] In the embodiment, when , a first counterclockwise deflection angle of the tunneling equipment is set as a small angle

[0047] . When , a first counterclockwise deflection angle of the tunneling equipment is set as a large angle

[0048] . In the embodiment, the first real-time deflection angle of the tunneling equipment is measured in real time by the inertial navigation pose solution system, and is transmitted to the tunneling autonomous walking path planning control system, and the distance between the tunneling equipment and the sidewall of the tunnel is detected in real time by the ranging sensor installed on the machine body of the tunneling equipment and is transmitted to the tunneling autonomous walking path planning control system.

[0049] When the first real-time deflection angle of the tunneling equipment reaches the set first deflection angle, the tunneling equipment is controlled to stop, the first heading angle of the tunneling equipment after stopping is , and the first real-time distance between the machine body of the tunneling equipment and the left sidewall of the tunnel is . The first real-time deflection angle and the first real-time distance are measured in real time by the inertial navigation pose solution system and the ranging sensor of the machine body, and are transmitted in real time to the tunneling autonomous walking path planning control system.

[0050] ​​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, then controlling the tunneling equipment to move according to the first travel distance or the second travel distance according to the judgment result, when the movement is completed, obtaining a second heading angle of the tunneling equipment at this time, then obtaining a second real-time distance between the tunneling equipment and the side of the roadway on the same side of the deflection direction of the machine body, and a second center distance between the gravity point of the tunneling equipment and the center line of the roadway at this time.

[0051] Optionally, setting the first travel distance according to the first center distance comprises: calculating the ratio of the first center distance and the sine function value of the first heading angle, and then setting the first travel distance.

[0052] Optionally, setting the second travel distance according to the first real-time distance comprises: calculating the ratio of the first real-time distance and the sine function value of the first heading angle, and then setting the second travel distance.

[0053] In the embodiment, when , the first travel distance along the first heading angle ; ;

[0054] When , the second travel distance along the first heading angle .

[0055] In the embodiment, the first real-time travel distance is measured in real time by the inertial navigation pose solution system, and is transmitted to the tunneling autonomous walking path planning control system, when the first real-time travel distance of the tunneling equipment reaches the corresponding travel distance, the tunneling equipment stops, the second heading angle of the tunneling equipment after stopping is , the second real-time distance between the machine body of the tunneling equipment and the left side of the roadway is , the gravity coordinate point of the tunneling equipment after one deflection movement is , wherein , and the second center distance , the distance between the distance coordinate origin is measured in real time by the inertial navigation pose solution system and the machine body ranging sensor, and is transmitted in real time to the tunneling autonomous walking path planning control system.

[0056] ​S4: judging the second center distance, when the second center distance is zero, setting a second deflection angle based on the second heading angle, then controlling the tunneling equipment to deflect according to the second deflection angle, when the deflection is completed, obtaining a third heading angle of the tunneling equipment at this time and a third center distance between the gravity center point of the tunneling equipment and the center line of the roadway at this time, if the second center distance is not zero, repeating steps S2-S4 until the second center distance is zero.

[0057] In the embodiment, when , a second deflection angle of the tunneling equipment counterclockwise is set as .

[0058] The tunneling equipment is controlled to deflect according to the set second deflection angle, and the inertial navigation pose solving system measures a second real-time deflection angle in real time, then transmits to the tunneling autonomous walking path planning control system, and the ranging sensor installed on the body of the tunneling equipment detects the distance between the tunneling equipment and the two sides of the roadway in real time and transmits to the tunneling autonomous walking path planning control system, when the second real-time deflection angle of the tunneling equipment reaches the second deflection angle , the tunneling equipment is controlled to stop. The third heading angle of the tunneling equipment at this time, the real-time distance between the body of the tunneling equipment and the left side of the tunneling roadway , and the gravity center point coordinate of the tunneling equipment are obtained, and the third center distance is obtained according to the gravity center point coordinate, at this time, the tunneling equipment is located on the center line of the tunneling roadway, that is, the gravity center point of the tunneling equipment is located on the longitudinal coordinate axis of the coordinate axis, wherein , and , the distance between the distance coordinate origin is measured in real time by the inertial navigation pose solving system and the body ranging sensor and is transmitted in real time to the tunneling autonomous walking path planning control system.

[0059] In the embodiment, when , the above steps are repeated, the real-time center distance and the corresponding heading angle are measured in real time by the inertial navigation pose solving system and the body ranging sensor and are transmitted in real time to the tunneling autonomous walking path planning control system until the gravity center point coordinate of the tunneling equipment moves to the longitudinal coordinate axis and the angle of the corresponding heading angle is zero.

[0060] 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.

[0061] When and , the tunneling equipment is located at the center line of the tunneling roadway, and then the tunneling equipment is controlled to travel along the center line of the tunneling roadway to , and the cutting is started, wherein is the real-time distance between the tunneling equipment and the tunneling head.

[0062] Optionally, after the cutting is completed, the tunneling equipment is controlled to retreat along the travel planning path to the moving starting position.

[0063] In the embodiment, the autonomous travel 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, and after the cutting is completed, the cutting equipment is controlled to return to the initial starting position along the autonomous travel planning path.

[0064] Optionally, the method further comprises: determining the effective travel distance related to the tunneling direction of the tunneling equipment and the alarm distance and the shutdown distance between the tunneling equipment and the side of the tunnel in the travel process of the tunneling equipment according to preset shape size information of the tunneling equipment and preset width information of the tunneling roadway, and sequentially setting a safety zone, an alarm zone and a forbidden travel zone.

[0065] Optionally, the method further comprises: controlling the tunneling equipment to travel at a uniform speed when the tunneling equipment is in the safety zone; controlling the tunneling equipment to travel at a reduced speed when the tunneling equipment is in the alarm zone; and controlling the tunneling equipment to stop when the tunneling equipment is in the forbidden travel zone.

[0066] In the embodiment, the inertial navigation pose solution system and the fuselage ranging sensor are used to measure the distance between the tunneling equipment and the left and right side walls of the tunneling roadway in real time.

[0067] In the embodiment, when the tunneling equipment travels in different safety zones, alarm zones and shutdown zones, the travel speed of the tunneling equipment is realized by controlling the opening size of the electromagnetic valve of the travel executing mechanism in the tunneling equipment, realizing the control of the hydraulic oil pressure, so that the tunneling equipment travels at a uniform speed in the safety zone, travels at a reduced speed in the alarm zone, and stops when the tunneling equipment travels into the forbidden travel zone.

[0068] The present application provides a tunneling equipment autonomous travel path planning and control method, which can make the tunneling equipment travel from the starting parking position to the predetermined cutting position on the center line of the tunneling roadway through the autonomous planning path. The present application plans a shorter tunneling equipment travel path, improves the efficiency, safety and working condition adaptability of the autonomous travel of the tunneling equipment in the tunnel, and provides a theoretical basis for realizing the autonomous machine adjustment of the tunneling equipment at any position in the tunnel space.

[0069] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application, which can be easily thought by those skilled in the art, should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for planning and controlling an autonomous walking path of a tunneling apparatus, characterized by, The method comprises the following steps: S1: determining a moving starting position of the tunneling equipment, and acquiring an initial heading angle of the tunneling equipment at this time, and establishing a coordinate system with a roadway center line as a longitudinal coordinate axis and a horizontal straight line where a gravity center point of the tunneling equipment is located as a transverse coordinate, and acquiring a first center distance between the gravity center point 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, acquiring a first heading angle of the tunneling equipment when the deflection is completed, and then acquiring a first real-time distance between the tunneling equipment and a roadway side slope on the same side of the deflection direction of the machine body; setting the first deflection angle based on the initial heading angle comprises: acquiring a horizontal distance of the gravity center point of the tunneling equipment from the left and right sides of the machine body of the tunneling equipment, and simultaneously acquiring a vertical distance of the gravity center point of the tunneling equipment from the tail of the machine body of the tunneling equipment; obtaining a reference included angle of a line connecting the gravity center point of the tunneling equipment and a geometric feature point of the machine body when the tunneling equipment does not move at the moving starting position according to the horizontal distance and the vertical distance; obtaining a compensation included angle between the machine body and the roadway when the tunneling equipment moves according to preset width information of the tunneling roadway and a preset alarm distance of the tunneling equipment; setting the first deflection angle according to the reference included angle, the compensation included angle and the initial heading angle; 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, then controlling the tunneling equipment to move according to the first travel distance or the second travel distance according to the judgment result, acquiring a second heading angle of the tunneling equipment when the movement is completed, then acquiring a second real-time distance between the tunneling equipment and the roadway side slope on the same side of the deflection direction of the machine body, and a second center distance between the gravity center point of the tunneling equipment and the roadway center line at this time; S4: judging the second center distance, when the second center distance is zero, setting a second deflection angle based on the second heading angle, then controlling the tunneling equipment to deflect according to the second deflection angle, acquiring a third heading angle of the tunneling equipment when the deflection is completed, and a third center distance between the gravity center point of the tunneling equipment and the roadway center line at this time, if the second center distance is not zero, repeating 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, controlling the tunneling equipment to travel a predetermined distance to reach a predetermined cutting position, and starting automatic cutting.

2. The method according to claim 1, characterized in that, Before setting the first deflection angle according to the reference included angle, the compensation included angle and the initial heading angle, the method further comprises: calculating a 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 be small, when the sine function value is less than zero, setting the first deflection angle to be large.

3. The method according to claim 1, characterized in that, In step S3, setting the first travel distance according to the first center distance comprises: A ratio of the first center distance to a sine function value of the first heading angle is calculated, and then a first travel distance is set.

4. The method according to claim 1, wherein, In step S3, a second travel distance is set according to the first real-time distance, comprising: A ratio of the first real-time distance to a sine function value of the first heading angle is calculated, and then a second travel distance is set.

5. The method of claim 1, wherein, Before step S1, further comprising: According to preset shape size information of the tunneling equipment and preset width information of the tunneling roadway, an effective travel distance related to a tunneling direction and an alarm distance and a shutdown distance between the tunneling equipment and a tunneling side in a tunneling process are determined respectively, and a safety zone, an alarm zone and a forbidden travel zone are set in sequence.

6. The method according to claim 5, wherein, Further comprising: When the tunneling equipment is in the safety zone, the tunneling equipment is controlled to travel at a uniform speed; when the tunneling equipment is in the alarm zone, the tunneling equipment is controlled to travel at a reduced speed; and when the tunneling equipment is in the forbidden travel zone, the tunneling equipment is controlled to stop traveling.

7. The method according to claim 1, wherein, After step S5, further comprising: After the cutting is completed, the tunneling equipment is controlled to retreat to the moving starting position along the walking planning path.

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