Path control method, device, apparatus and heading machine

Abstract

The present application relates to the technical field of heading machine control, in particular to a path control method, device, equipment and heading machine, wherein the method comprises obtaining roadway geological information, cutting parameters and cutting motor current of the heading machine in current heading of the target roadway; inputting the roadway geological information, cutting parameters and cutting motor current into a pre-trained cutting path control model to obtain predicted action control parameters of the heading machine; determining the predicted action control parameters of the heading machine to obtain a determination result; optimizing the cutting path control model according to the determination result to obtain an optimized cutting path control model; inputting the roadway geological information, cutting parameters and cutting motor current into the optimized cutting path control model to obtain target action control parameters; and controlling the cutting path of the heading machine in current heading in real time according to the target action control parameters to improve the path control precision and cutting efficiency of the heading operation of the heading machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of heading machine control, and in particular to a path control method, device, equipment and heading machine. BACKGROUND

[0002] Coal, as one of the important energy sources in China, plays a role of "ballast" in the energy structure of China. With the continuous development of science and technology, the coal mining industry is also developing towards intelligence and automation. Intelligent excavation technology, as an important part of coal mine intelligence, has gradually become a key means to improve the production efficiency, safety and environmental protection of coal mines. In recent years, the traditional manual mining mode has been unable to meet the needs of the development of modern coal industry. Therefore, promoting the research and application of intelligent excavation technology in coal mines has become an inevitable choice to realize the transformation and upgrading of the coal industry and improve competitiveness.

[0003] In the research and application process of intelligent excavation technology in coal mines, due to the complex geological environment in the mine, the cutting path cannot be flexibly adjusted in the automatic cutting operation process of the heading machine, resulting in poor adaptability of automatic excavation operation and inability to be applied to complex environment tunnels with varying rock hardness. SUMMARY

[0004] The present application provides a path control method, device, equipment and heading machine, which aims to make the heading machine better adapt to the complex geological environment of the rock hardness change of the excavation tunnel, and make the heading machine adaptively complete the cutting operation.

[0005] In a first aspect, the present application provides a path control method applied to a heading machine, which comprises:

[0006] obtaining tunnel geological information, cutting parameters and cutting motor current of the heading machine for current excavation of a target tunnel; the tunnel geological information includes rock hardness, stratum stress, fault activity rate and stratum depth; the cutting parameters are the cutting boundary and footage of the cutting head;

[0007] inputting the tunnel geological information, the cutting parameters and the cutting motor current into a pre-trained cutting path control model to obtain predicted action control parameters of the heading machine; the pre-trained cutting path control model is trained according to historical tunnel geological information, historical cutting parameters and historical cutting motor current;

[0008] determining the predicted action control parameters of the heading machine according to a preset determination rule to obtain a determination result; the determination result includes adjustment control information of the cutting head of the heading machine;

[0009] optimizing the cutting path control model according to the determination result to obtain an optimized cutting path control model;

[0010] The roadway geological information, the cutting parameter and the cutting motor current are input to the optimized cutting path control model to obtain target action control parameters of the roadheader; the target action control parameters include target action parameters of the cutting arm rotation, target action parameters of the cutting arm lifting, and target action parameters of the cutting head stretching;

[0011] According to the target action control parameters, the preset cutting path of the roadheader is adjusted in real time to control the cutting path of the roadheader in the current tunneling in real time.

[0012] Optionally, the predicted action control parameters of the roadheader are determined according to a preset determination rule to obtain a determination result, including:

[0013] According to the rock hardness, it is determined whether the hardness of the rock to be excavated on the target roadway exceeds a preset hardness;

[0014] If the hardness of the rock to be excavated on the target roadway exceeds the preset hardness, the maximum allowable output power of the cutting motor is taken as the actual output power of the cutting motor;

[0015] According to the actual output power of the cutting motor and the minimum allowable speed of the cutting motor, the maximum output torque of the cutting motor is determined;

[0016] According to the maximum output torque of the cutting motor, the determination current corresponding to the output of the maximum output torque of the cutting motor is calculated;

[0017] According to the determination current, adjustment control information of the cutting head of the roadheader is obtained; the adjustment control information includes stretching adjustment control information and path adjustment control information.

[0018] Optionally, the cutting path control model is optimized according to the determination result to obtain an optimized cutting path control model, including:

[0019] According to the roadway geological information and the calculation result of the ideal cutting force of the roadheader on the roadway geological information, a cutting force and rock hardness relationship model is established;

[0020] According to the number of pole pairs, the permanent magnet flux linkage and the cutting motor current corresponding to the cutting motor on the roadheader, a torque output model corresponding to the cutting motor is established;

[0021] According to the cutting force and rock hardness relationship model and the torque output model corresponding to the cutting motor, a cutting control objective function in the cutting path control model is established;

[0022] According to the preset constraint condition and the adjustment control information of the cutting head of the roadheader, the cutting control objective function is optimized to complete the optimization of the cutting path control model; the preset constraint condition includes a speed constraint condition and a power constraint condition.

[0023] Optionally, a torque output model corresponding to the cutting motor is established according to the number of pole pairs corresponding to the cutting motor on the heading machine, the magnetic flux of the permanent magnet, and the current of the cutting motor, including:

[0024] According to the current target value corresponding to the cutting motor at different times and the current actual value corresponding to the cutting motor at different times, a current difference value corresponding to the cutting motor at different times is calculated;

[0025] According to the current corresponding to the cutting motor at different times and the current difference value corresponding to the cutting motor at different times, a current calculation model corresponding to the cutting motor current is obtained;

[0026] According to the current calculation model corresponding to the cutting motor current, the number of pole pairs corresponding to the cutting motor and the magnetic flux of the permanent magnet, the torque output model corresponding to the cutting motor is obtained.

[0027] Optionally, the cutting control target function is optimized according to the preset constraint condition and the adjustment control information of the cutting head of the heading machine to complete the optimization of the cutting path control model, including:

[0028] According to the maximum allowable speed and the minimum allowable speed of the cutting motor, a speed constraint condition is established;

[0029] According to the maximum allowable output power and the minimum allowable output power of the cutting motor, a power constraint condition is established;

[0030] According to the speed constraint condition and the power constraint condition, the actual output torque and the actual speed of the cutting motor are calculated to obtain the actual output power of the cutting motor;

[0031] According to the actual output power of the cutting motor and the adjustment control information of the cutting head of the heading machine, the cutting control target function is optimized to obtain the optimized cutting control target function.

[0032] Optionally, according to the target action control parameter, the preset cutting path of the heading machine is adjusted in real time to control the cutting path of the heading machine in the current heading in real time, including:

[0033] According to the current position information of the cutting head, it is judged whether the cutting head is located within the cutting boundary;

[0034] If the cutting head is not located within the cutting boundary, the cutting arm is controlled to move so that the cutting head is located within the cutting boundary. According to the target action control parameter, the preset cutting path of the heading machine is adjusted in real time.

[0035] Optionally, according to the target action control parameter, the preset cutting path of the heading machine is adjusted in real time to control the cutting path of the heading machine in the current heading in real time, including:

[0036] When the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, the output torque of the cutting motor is determined to be its maximum torque.

[0037] In response to the cutting motor current corresponding to the maximum torque of the cutting motor, the cutting head is controlled to retract according to the target action parameters of the cutting head extension and retraction, so as to reduce the cutting head advance.

[0038] Secondly, this application provides a path control device for use in a tunneling machine, the device comprising:

[0039] The data acquisition module is used to acquire the geological information, cutting parameters, and cutting motor current of the tunneling machine currently excavating the target tunnel. The geological information includes rock hardness, stratum stress, fault activity rate, and stratum depth. The cutting parameters are the cutting boundary and advance of the cutting head.

[0040] The prediction module is used to input the tunnel geological information, cutting parameters and cutting motor current into the pre-trained cutting path control model to obtain the predicted motion control parameters of the tunneling machine; the pre-trained cutting path control model is trained based on historical tunnel geological information, historical cutting parameters and historical cutting motor current.

[0041] The judgment module is used to judge the predicted motion control parameters of the tunneling machine according to the preset judgment rules and obtain the judgment result; the judgment result includes the adjustment control information of the cutting head of the tunneling machine.

[0042] The model optimization module is used to optimize the cut-off path control model based on the judgment results, and obtain the optimized cut-off path control model.

[0043] The target motion control parameter acquisition module of the tunneling machine is used to input the roadway geological information, cutting parameters and cutting motor current into the optimized cutting path control model to obtain the target motion control parameters of the tunneling machine; the target motion control parameters include the target motion parameters of the cutting arm rotation, the target motion parameters of the cutting arm lifting, and the target motion parameters of the cutting head extension and retraction.

[0044] The cutting path control module is used to adjust the preset cutting path of the tunneling machine in real time according to the target motion control parameters, so as to control the cutting path of the tunneling machine in the current tunneling process in real time.

[0045] Thirdly, an electronic device is provided, including a memory and a processor, the memory for storing processor-executable instructions; the processor is configured to execute the executable instructions in the memory to implement the steps of the method as described in the first aspect or its various implementations.

[0046] Fourthly, a tunneling machine is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method as described in the first aspect or its various implementations.

[0047] The path control method provided in this application, based on the currently collected roadway geological information, cutting parameters and cutting motor current, uses a pre-trained and dynamically optimized cutting path control model to make real-time and precise adaptive adjustments to the cutting path of the tunneling machine, so that the tunneling operation of the tunneling machine can effectively adapt to complex and changing roadway geological conditions, thereby improving the path control accuracy, cutting efficiency and equipment operation stability of the tunneling operation. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a structural schematic diagram of the application scenario provided in the embodiments of this application;

[0050] Figure 2 This is a flowchart illustrating the path control method provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram of the path control device provided in the embodiments of this application;

[0052] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0053] Among them, 110-electronic device, 120-network device, 1101-memory, 1102-processor, 1103-transceiver;

[0054] 910 - Data acquisition module, 920 - Prediction module, 930 - Judgment module, 940 - Model optimization module, 950 - Target action control parameter acquisition module, 960 - Cutting path control module. Detailed Implementation

[0055] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0056] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0057] It should be understood that the technical solution of this application can be applied to the following scenarios, but is not limited to:

[0058] In some possible ways, Figure 1 An application scenario diagram provided for an embodiment of this application, such as... Figure 1 As shown, this application scenario may include electronic device 110 and network device 120. Electronic device 110 can establish a connection with network device 120 through a wired network or a wireless network.

[0059] For example, electronic device 110 may be a desktop computer, laptop computer, tablet computer, etc., but is not limited thereto. Network device 120 may be a terminal device or a server, but is not limited thereto. In one embodiment of this application, electronic device 110 may send a request message to network device 120, which may be used to request the acquisition of tunnel geological information, cutting parameters, and cutting motor current. Further, electronic device 110 may receive a response message sent by network device 120, which includes the acquisition of tunnel geological information, cutting parameters, and cutting motor current.

[0060] also, Figure 1 An electronic device and a network device are given as examples, but in practice, other numbers of electronic devices and network devices may be included, and this application does not limit this.

[0061] In other possible implementations, the technical solution of this application may also be executed by the aforementioned electronic device 110, or by the aforementioned network device 120, and this application does not impose any restrictions on this.

[0062] After introducing the application scenarios of the embodiments of this application, the technical solution of this application will be described in detail below:

[0063] Figure 2 A flowchart of a path control method provided in this application embodiment, the method can be performed by, for example... Figure 1The electronic device 110 shown is used in, but is not limited to, the tunneling machine. Figure 2 As shown, the method may include the following steps:

[0064] S210: Obtain the geological information, cutting parameters, and cutting motor current of the tunneling machine currently excavating the target tunnel.

[0065] The geological information of the tunnel includes rock hardness, stratum stress, fault activity rate and stratum depth; the cutting parameters are the cutting boundary and advance of the cutting head.

[0066] It should be noted that the tunnel geological information, cutting parameters, and cutting motor current are collected by the data acquisition unit on the tunneling machine; the cutting boundary and advance of the cutting head are calculated based on the tunnel design dimensions and advance depth; and the cutting motor current is collected in real time by the current sensor.

[0067] In this step, by acquiring three core data types—tunnel geological information (rock hardness, stratum stress, etc.), cutting parameters (cutting boundary, advance) and cutting motor current—a comprehensive and accurate input basis is provided for cutting path control, avoiding control deviations caused by a single data dimension.

[0068] S220. Input the tunnel geological information, cutting parameters and cutting motor current into the pre-trained cutting path control model to obtain the predicted motion control parameters of the tunneling machine.

[0069] It should be noted that the predicted motion control parameters include the predicted motion parameters for the cutting arm rotation, the predicted motion parameters for the cutting arm lifting, and the predicted motion parameters for the cutting head extension and retraction.

[0070] The pre-trained cutting path control model is trained based on historical tunnel geological information, historical cutting parameters, historical cutting motor current, and historical motion control parameters of the tunneling machine. After inputting the tunnel geological information, cutting parameters, and cutting motor current into the pre-trained cutting path control model, the cutting path control model outputs the predicted motion control parameters of the tunneling machine.

[0071] Here, after the computing and processing unit receives the tunnel geological information, cutting parameters and cutting motor current sent by the data acquisition unit, the cutting path control model in the computing and processing unit calculates the tunnel geological information, cutting parameters and cutting motor current, and outputs the predicted action control parameters of the tunneling machine.

[0072] Here, the tunnel geological information, cutting parameters, and cutting motor current can be calculated in the cutting path control model using permanent magnet frequency conversion technology to obtain the predicted action control parameters of the tunneling machine.

[0073] S230. Determine the predicted motion control parameters of the tunneling machine according to the preset judgment rules, and obtain the judgment result.

[0074] The judgment results include the adjustment and control information of the cutting head of the tunneling machine.

[0075] It should be noted that this step is performed in the output feedback unit. Specifically, after the output feedback unit receives the predicted action control parameters of the tunneling machine sent by the calculation and processing unit, it judges the predicted action control parameters of the tunneling machine according to the preset judgment rules to determine whether the cutting head should be adjusted, and obtains the corresponding cutting head adjustment control information. Then, the judgment result is sent to the calculation and processing unit.

[0076] S240. Optimize the cutting path control model based on the judgment result to obtain the optimized cutting path control model.

[0077] Here, in the computation and processing unit, the cutting path control model can be adjusted according to the judgment result, roadway geological information, cutting parameters and cutting motor current to obtain an optimized cutting path control model.

[0078] Optimizing the cutting path control model based on the judgment results allows for timely adjustments based on the cutting motor current and roadway geological information. This ensures that the optimized cutting path control model outputs target motion control parameters that prevent overload cutting of the cutting head under complex geological conditions such as high-hardness rock and active fault zones. This effectively protects core components such as the cutting motor, cutting arm, and cutting head, reduces equipment wear and downtime, and extends equipment lifespan.

[0079] Meanwhile, in the optimization process of the pre-trained cutting path control model, a closed-loop iterative process of "predictive action judgment - model optimization - target parameter output" is introduced. The model output results are verified and optimized through preset judgment rules, so that the cutting path control model can be continuously iterated and upgraded according to the actual tunneling conditions, overcome the problem of adaptive attenuation of fixed models under complex and changing tunnel geological conditions, and ensure the stability and reliability of long-term control effect.

[0080] S250. Input the tunnel geological information, cutting parameters and cutting motor current into the optimized cutting path control model to obtain the target motion control parameters of the tunneling machine.

[0081] The target motion control parameters include the target motion parameters for the cutting arm rotation, the target motion parameters for the cutting arm lifting, and the target motion parameters for the cutting head extension and retraction.

[0082] Since the tunnel geological information, cutting parameters, and cutting motor current are obtained when the tunneling machine is currently tunneling the target tunnel, and the judgment result is also based on the currently obtained tunnel geological information, cutting parameters, and cutting motor current, the cutting path control model here is optimized in real time based on the currently obtained data. Therefore, the optimized cutting path control model can match the current tunnel geological environment and the current operation of the cutting motor on the tunneling machine, so that the target motion control parameters of the tunneling machine obtained through the cutting path control model have high pertinence and accuracy.

[0083] S260. Based on the target motion control parameters, the preset cutting path of the tunneling machine is adjusted in real time to control the cutting path of the tunneling machine in the current tunneling process in real time.

[0084] Here, after the processing unit sends the target motion control parameters to the control execution unit, the control execution unit controls the tunneling machine to perform actions based on the current motion control parameters, the target motion parameters of the cutting arm rotation, the target motion parameters of the cutting arm lifting, and the target motion parameters of the cutting head extension, so as to realize the real-time adjustment of the preset cutting path of the tunneling machine.

[0085] It should be noted that the cutting path may include the movement path of the cutting head and the advance of the cutting head at different times during the rock cutting operation.

[0086] In this step, based on the target motion control parameters, clear target control parameters can be output for the three key actions of the cutting arm rotation, lifting and lowering, and cutting head extension and retraction. Based on these parameters, the preset cutting path can be adjusted in real time, enabling the tunneling machine to dynamically optimize the cutting path according to the actual geological conditions and operating status of the current roadway, avoiding ineffective cutting and repeated adjustments, and improving the operating efficiency and progress stability of roadway excavation.

[0087] Using the above method, based on the currently collected roadway geological information, cutting parameters, and cutting motor current, a pre-trained and dynamically optimized cutting path control model is used. This allows the target motion control parameters output by the optimized cutting path control model to adaptively adjust the cutting path of the tunneling machine in real time and with precision. This enables the tunneling machine to effectively adapt to complex and changing roadway geological conditions, thereby improving the path control accuracy, cutting efficiency, and equipment operation stability of the tunneling machine.

[0088] In some possible implementation embodiments, determining the predicted motion control parameters of the tunneling machine according to preset determination rules to obtain the determination result may include the following steps:

[0089] S310. Based on the rock hardness, determine whether the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness.

[0090] S320. If the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, the maximum allowable output power of the cutting motor shall be used as the actual output power of the cutting motor.

[0091] Here, if the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, it can be considered that the rock to be excavated is too hard. Therefore, the preset cutting path corresponding to that position needs to be adjusted. Thus, in this step, after determining that the rock to be excavated is too hard, in order to excavate the rock smoothly, the maximum allowable output power of the cutting motor needs to be used as the actual output power of the cutting motor so that the cutting head can excavate the rock with maximum power.

[0092] Furthermore, if the hardness of the rock to be excavated in the target tunnel does not exceed the preset hardness, then it is not necessary to use the maximum allowable output power of the cutting motor as the actual output power of the cutting motor, and at this time the determination result is that the predicted motion control parameters of the tunneling machine can be used as the accurate target motion control parameters of the tunneling machine.

[0093] S330. Determine the maximum output torque of the cutting motor based on its actual output power and minimum allowable speed.

[0094] The maximum torque of the cutting motor is:

[0095] ;

[0096] in, To cut off the maximum torque output of the motor, To cut the maximum permissible output power of the motor, This refers to the minimum permissible speed of the cutting motor.

[0097] S340. Calculate the judgment current corresponding to the cutting motor when it outputs the maximum output torque, based on the maximum output torque of the cutting motor.

[0098] Here, for hard rock, by combining the parameters of the maximum allowable output power and minimum allowable speed of the cutting motor, the maximum output torque and corresponding judgment current of the cutting motor can be quickly calculated. This ensures the output capacity of the cutting motor under high load conditions, while strictly limiting the operating parameter boundaries of the cutting motor. This effectively prevents the cutting motor from burning out or being damaged due to overload, overspeed, and other problems, and extends its service life.

[0099] S350. Based on the determined current, obtain the adjustment control information of the cutting head of the tunneling machine; the adjustment control information includes telescopic adjustment control information and path adjustment control information.

[0100] Here, the telescopic adjustment control information includes the cutting head's feed rate control information; the path adjustment control information includes the cutting head's position adjustment information.

[0101] In this step, based on the determination of the current, two types of adjustment control information, namely extension and path, are directly generated. This clarifies the specific operating direction of the tunneling machine under high hardness conditions. Specifically, the contact depth between the cutting head and the rock is controlled by extension adjustment, and the cutting trajectory is optimized by path adjustment. This avoids the cutting head from forcibly cutting on high hardness rock, reduces the wear and breakage of the cutting head and cutting teeth, and lowers equipment maintenance costs.

[0102] Using the above method, the obtained adjustment and control information of the cutting head of the tunneling machine can effectively correct the predicted motion control parameters. Furthermore, it can use the working condition data (high-hardness rock parameters, motor judgment current, and adjustment and control information) as an important basis for model optimization, so as to improve the adaptability of the optimized model to high-hardness strata and thus improve the working condition coverage of the model.

[0103] In some possible implementations, optimizing the cut-off path control model based on the determination result to obtain an optimized cut-off path control model may include the following steps:

[0104] S410. Based on the geological information of the tunnel and the calculation results of the ideal cutting force of the tunneling machine based on the geological information of the tunnel, establish a model of the relationship between cutting force and rock hardness.

[0105] Here, the model relating cutting force and rock hardness is established using the following formula:

[0106] ;

[0107] in, Ideal cutting force; It is a constant coefficient, which is affected by factors such as the type of cutting equipment and working conditions, and should be flexibly adjusted according to the actual working conditions; Rock hardness; For formation stress, This refers to the fault activity rate parameter; The depth of the strata; , , , All settings are manually configured and obtained from the host computer of the tunneling machine.

[0108] In this embodiment, the geological information parameters of the tunnel are shown in Table 1;

[0109] Table 1. Geological Information Parameters of the Tunnel

[0110]

[0111] S420. Based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine, establish the torque output model corresponding to the cutting motor.

[0112] It should be noted that the cutting motor is a permanent magnet variable frequency motor.

[0113] Here, the torque output model corresponding to the cutting motor is established by the following formula:

[0114] ;

[0115] in, To cut off the torque output of the motor; This represents the number of pole pairs corresponding to the cut motor; To cut the permanent magnet flux corresponding to the motor; To cut off the motor current.

[0116] By establishing separate models for the relationship between cutting force and rock hardness and the torque output model corresponding to the cutting motor, the geological characteristics of the tunnel, the parameters of the cutting motor, and the mechanical characteristics of the cutting operation can be accurately correlated. This avoids the "black box" defect of traditional data-driven models, provides clear physical mechanism support for model optimization, and improves the operational reliability and interpretability of the optimized model.

[0117] In this step, based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine, a torque output model for the cutting motor is established, which may include the following steps:

[0118] S510. Calculate the current difference of the cutting motor at different times based on the target current value of the cutting motor at different times and the actual current value of the cutting motor at different times.

[0119] Here, the formula for calculating the current difference of the cutting motor at different times is as follows:

[0120] ;

[0121] in, To cut the motor at The current difference at that moment; To cut the motor at The target current value at that moment; To cut the motor at The actual current value at that moment.

[0122] S520. Based on the cutting motor current at different times and the current difference of the cutting motor at different times, obtain the current calculation model corresponding to the cutting motor current.

[0123] Here, the current calculation model is obtained through the following formula:

[0124] ;

[0125] in, In order to be in The cutting motor current corresponding to the given moment; This is the proportional gain parameter; For integral gain parameters, The differential gain parameter, To cut the motor at The current difference at each moment.

[0126] S530. Based on the current calculation model corresponding to the cutting motor current, the number of pole pairs corresponding to the cutting motor, and the permanent magnet flux linkage, the torque output model corresponding to the cutting motor is obtained.

[0127] Here, the torque output model corresponding to the cutting motor is obtained by the following formula:

[0128] ;

[0129] Using the above method, the torque output model of the cutting motor can be quickly established based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine, thereby improving the efficiency of constructing the cutting control objective function.

[0130] S430. Based on the relationship model between cutting force and rock hardness, and the torque output model corresponding to the cutting motor, establish the cutting control objective function in the cutting path control model.

[0131] Here, when defining the cutting control objective function in the cutting path control model, the output results of the model relating cutting force and rock hardness and the output results of the torque output model corresponding to the cutting motor are considered to be identical, i.e. The following formula can be obtained:

[0132] ;

[0133] In this step, by integrating the cutting force and rock hardness relationship model with the torque output model corresponding to the cutting motor, the core cutting control objective function of the constructed cutting path control model is highly consistent with the actual needs of tunneling operations (cutting force matching geological conditions and torque output adapting to motor performance), thus ensuring the orientation and actual effect of model optimization.

[0134] S440. Optimize the cutting control objective function based on preset constraints and the adjustment control information of the cutting head of the tunneling machine to complete the optimization of the cutting path control model; the preset constraints include speed constraints and power constraints.

[0135] In this step, speed constraints and power constraints are the core preset constraints. Combined with the adjustment control information of the cutting head, the cutting control objective function is optimized. This not only limits the safe parameter boundaries of the cutting motor operation and prevents the optimized model from outputting control commands that exceed the rated speed and maximum power, but also ensures that the optimization results are consistent with the adjustment requirements of actual operation, thus achieving a dual guarantee of the rigor of model optimization and the safety of equipment operation.

[0136] By adopting the above method, the cutting path control model can be accurately iterated according to the actual geological conditions, motor performance and operation adjustment requirements, and the optimized model is more suitable for the current tunneling conditions, thereby improving the adaptability and operational efficiency of the overall cutting path control strategy.

[0137] In some possible implementations, the cutting control objective function is optimized based on preset constraints and the adjustment control information of the tunneling machine's cutting head to optimize the cutting path control model. This may include the following steps:

[0138] S610. Establish speed constraint conditions based on the maximum and minimum allowable speeds of the cutting motor.

[0139] Here, the speed constraint can be expressed as:

[0140] ;

[0141] in, To cut off the actual speed of the motor, To cut the minimum permissible speed of the motor, This is the maximum permissible speed of the cut-off motor.

[0142] S620. Establish power constraints based on the maximum and minimum allowable output power of the cutting motor.

[0143] Here, the power constraint can be expressed as:

[0144] ;

[0145] in, To cut off the actual output power of the motor, To cut the minimum permissible output power of the motor, This is to cut off the maximum permissible output power of the motor.

[0146] S630. Calculate the actual output torque and actual speed of the cutting motor based on the speed constraint and power constraint to obtain the actual output power of the cutting motor.

[0147] The relationship between the actual output power and the output torque of the cutting motor can be expressed as:

[0148] ;

[0149] in, To cut off the actual output power of the motor, To cut off the actual output torque of the motor, This is to cut off the actual speed of the motor.

[0150] Based on speed and power constraints, a two-dimensional rigid constraint system is formed for the actual output torque and actual speed of the cutting motor. This avoids situations where the cutting control objective function exceeds the physical limits of the equipment during optimization, ensuring that the optimization direction always conforms to the safe operating range of the cutting motor.

[0151] S640. The cutting control objective function is optimized based on the actual output power of the cutting motor and the adjustment control information of the cutting head of the tunneling machine, resulting in the optimized cutting control objective function.

[0152] Using the above method, the cutting control objective function is optimized based on the actual output power that meets the constraints, combined with the adjustment control information (extension and path adjustment) of the cutting head. This optimization process takes into account two core requirements: the safe operation of the motor equipment and the adjustment requirements of the cutting path in actual tunneling operations. This ensures that the optimized cutting control objective function can directly guide on-site operations and enhance the practical value of the model.

[0153] In some possible implementation embodiments, the preset cutting path of the tunneling machine is adjusted in real time according to the target motion control parameters to control the cutting path of the tunneling machine in the current tunneling process. This may include the following steps:

[0154] S710. Based on the current position information of the cutting head, determine whether the cutting head is located within the cutting boundary.

[0155] Here, the current position information of the cutting head can include the cutting head's position in a two-dimensional coordinate system. axis coordinate values ​​and The axis coordinate values, therefore, when determining whether the cutting head is within the cutting boundary, can be expressed as:

[0156] ;

[0157] ;

[0158] in, To cut the head at The time corresponding to axis coordinate values, To cut off the boundary The minimum value of the corresponding coordinate on the axis. To cut off the boundary The maximum value of the corresponding coordinate on the axis; To cut the head at Time corresponding axis coordinate values, To cut off the boundary The minimum value of the corresponding coordinate on the axis. To cut off the boundary The maximum value of the corresponding coordinate on the axis.

[0159] The coordinate parameters corresponding to the cutting boundary in this embodiment are shown in Table 2;

[0160] Table 2 Coordinate parameters corresponding to the cut boundary

[0161]

[0162] Here, by establishing a real-time verification mechanism for the current position information of the cutting head and the cutting boundary, the current position information of the cutting head can be used as the core judgment basis to verify in real time whether the cutting head is within the preset cutting boundary. This can effectively prevent the cutting head from over-cutting or under-cutting, ensuring that the cross-sectional dimensions and contour shape of the target roadway meet the design requirements and improving the accuracy and consistency of roadway formation.

[0163] S720. If the cutting head is not within the cutting boundary, control the cutting arm to move so that the cutting head is within the cutting boundary. According to the target motion control parameters, adjust the preset cutting path of the tunneling machine in real time.

[0164] In this step, after confirming that the cutting head is not within the cutting boundary, the cutting head is adjusted to be within the cutting boundary according to the target motion control parameters. This allows the cutting head to perform cutting operations within the cutting boundary according to the cutting path, thereby achieving real-time adjustment of the tunneling machine's preset cutting path. Specifically, after the cutting head is within the cutting boundary according to the cutting path, it is controlled to move in the opposite direction of the preset cutting path, and then the cutting head performs cutting operations on the rock within the cutting boundary.

[0165] It should be noted that if the cutting head is located within the cutting boundary, the cutting head can directly perform cutting operations within the cutting boundary according to the preset cutting path.

[0166] By employing the above method, basic compliance assurance of the truncation path can be achieved through boundary verification. At the same time, fine-tuning of the preset truncation path can be performed based on the target action control parameters, forming a dual control system of basic constraints and precise optimization. This ensures both the basic safety boundary of the truncation path and the flexibility and adaptability of the control strategy, further improving the reliability and accuracy of real-time control of the truncation path.

[0167] In some possible implementations, the preset cutting path of the tunneling machine is adjusted in real time according to the target motion control parameters to achieve real-time control of the cutting path of the tunneling machine during the current tunneling process, including:

[0168] S810. When the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, the output torque of the cutting motor is determined to be its maximum torque.

[0169] Since the rock to be excavated in the target tunnel has a hardness that exceeds the preset hardness, it can be determined that the rock is too hard. In this case, the actual output power of the cutting motor can be adjusted to its maximum allowable output power, and the torque output by the cutting motor can be adjusted to its maximum torque.

[0170] For situations involving excessively hard rock, setting the output torque of the cutting motor to its maximum torque ensures that the cutting motor can handle the cutting resistance of high-hardness rock with optimal load capacity, avoiding malfunctions such as cutting jams and stalling caused by insufficient torque of the cutting motor, and improving the operational stability of the equipment under extreme working conditions.

[0171] S820: In response to the cutting motor current corresponding to the maximum torque of the cutting motor, the cutting head is retracted according to the cutting head extension and retraction target action parameters to reduce the cutting head advance.

[0172] Since the cutting head's advance needs to be reduced when the rock is too hard, the output torque of the cutting motor can be determined by the cutting motor current corresponding to the maximum torque of the cutting motor. This indicates that the rock is too hard. Therefore, the cutting head needs to be retracted according to the cutting head extension and retraction target action parameters to reduce the cutting head's advance. When the cutting head is retracted, the cutting operation continues along the preset cutting path to achieve real-time control of the cutting path of the tunneling machine in the current tunneling process.

[0173] By using the above method, the motor current corresponding to the maximum torque is used as the response trigger signal. Combined with the target action parameters of the cutting head extension and retraction, the cutting head retraction is controlled. By reducing the feed amount, the contact depth between the cutting head and the high-hardness rock is actively reduced. From the perspective of operation strategy, this avoids the motor being in a state of full load or even overload for a long time, effectively protecting the cutting motor, cutting teeth and other core components, and extending the service life of the equipment.

[0174] Please see Figure 3 This is a schematic diagram of the path control device provided in the embodiments of this application. A second aspect of the embodiments of this application provides a path control device applied to a tunneling machine, the device comprising:

[0175] The data acquisition module 910 is used to acquire the geological information of the target tunnel, cutting parameters, and cutting motor current of the tunneling machine currently tunneling the target tunnel. The geological information of the tunnel includes rock hardness, stratum stress, fault activity rate, and stratum depth. The cutting parameters are the cutting boundary and advance of the cutting head.

[0176] The prediction module 920 is used to input the tunnel geological information, cutting parameters and cutting motor current into the pre-trained cutting path control model to obtain the predicted motion control parameters of the tunneling machine; the pre-trained cutting path control model is trained based on historical tunnel geological information, historical cutting parameters and historical cutting motor current.

[0177] The judgment module 930 is used to judge the predicted motion control parameters of the tunneling machine according to the preset judgment rules and obtain the judgment result; the judgment result includes the adjustment control information of the cutting head of the tunneling machine.

[0178] The model optimization module 940 is used to optimize the cut-off path control model based on the judgment results, so as to obtain the optimized cut-off path control model.

[0179] The target motion control parameter acquisition module 950 is used to input the roadway geological information, cutting parameters and cutting motor current into the optimized cutting path control model to obtain the target motion control parameters of the tunneling machine; the target motion control parameters include the target motion parameters of the cutting arm rotation, the target motion parameters of the cutting arm lifting, and the target motion parameters of the cutting head extension and retraction.

[0180] The cutting path control module 960 is used to adjust the preset cutting path of the tunneling machine in real time according to the target motion control parameters, so as to control the cutting path of the tunneling machine in the current tunneling in real time.

[0181] Optionally, the determination module 930 includes:

[0182] The first judgment unit is used to determine whether the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness based on the rock hardness.

[0183] The output power assignment unit is used to take the maximum allowable output power of the cutting motor as the actual output power of the cutting motor if the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness.

[0184] The maximum output torque determination unit is used to determine the maximum output torque of the cutting motor based on the actual output power of the cutting motor and the minimum allowable speed of the cutting motor.

[0185] The determination current calculation unit is used to calculate the determination current corresponding to the cutting motor when it outputs the maximum output torque, based on the maximum output torque of the cutting motor.

[0186] The adjustment control information generation unit is used to obtain the adjustment control information of the cutting head of the tunneling machine based on the determined current; the adjustment control information includes telescopic adjustment control information and path adjustment control information.

[0187] Optionally, the model optimization module 940 includes:

[0188] The first model building unit is used to establish a model of the relationship between cutting force and rock hardness based on the geological information of the tunnel and the calculation results of the ideal cutting force of the tunneling machine based on the geological information of the tunnel.

[0189] The second model building unit is used to build the torque output model of the cutting motor based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine.

[0190] The objective function establishment unit is used to establish the cutting control objective function in the cutting path control model based on the relationship model between cutting force and rock hardness, as well as the torque output model corresponding to the cutting motor.

[0191] The model optimization unit is used to optimize the cutting control objective function based on preset constraints and the adjustment control information of the cutting head of the tunneling machine, so as to complete the optimization of the cutting path control model; the preset constraints include speed constraints and power constraints.

[0192] Optionally, the second model building unit includes:

[0193] The current difference calculation subunit is used to calculate the current difference of the cutting motor at different times based on the target current value of the cutting motor at different times and the actual current value of the cutting motor at different times.

[0194] The current calculation model generation sub-unit is used to obtain the current calculation model corresponding to the cutting motor current based on the cutting motor current at different times and the current difference of the cutting motor at different times.

[0195] The torque output model generation sub-unit is used to obtain the torque output model corresponding to the cutting motor based on the current calculation model corresponding to the cutting motor current, the number of pole pairs corresponding to the cutting motor, and the permanent magnet flux linkage.

[0196] Optionally, the model optimization unit includes:

[0197] A sub-unit for establishing speed constraint conditions is used to establish speed constraint conditions based on the maximum and minimum allowable speeds of the cutting motor.

[0198] A sub-unit for establishing power constraints is used to establish power constraints based on the maximum and minimum allowable output power of the cutting motor.

[0199] The actual output power calculation subunit is used to calculate the actual output torque and actual speed of the cutting motor based on the speed constraint and power constraint, so as to obtain the actual output power of the cutting motor.

[0200] The objective function optimization subunit is used to optimize the cutting control objective function based on the actual output power of the cutting motor and the adjustment control information of the cutting head of the tunneling machine, so as to obtain the optimized cutting control objective function.

[0201] Optionally, the truncation path control module 960 includes:

[0202] The second judgment unit is used to determine whether the cutting head is located within the cutting boundary based on the current position information of the cutting head;

[0203] The first real-time adjustment unit is used to control the cutting arm to move if the cutting head is not within the cutting boundary, so that the cutting head is within the cutting boundary. Based on the target motion control parameters, the preset cutting path of the tunneling machine is adjusted in real time.

[0204] Optionally, the truncation path control module 960 includes:

[0205] The output torque determination unit is used to determine the maximum torque of the cutting motor when the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness.

[0206] The second real-time adjustment unit is used to respond to the cutting motor current corresponding to the maximum torque of the cutting motor, and control the cutting head to retract according to the cutting head extension and retraction target action parameters, so as to reduce the cutting head advance.

[0207] Figure 4 This is a schematic block diagram of an electronic device 110 according to an embodiment of the present invention.

[0208] like Figure 4 As shown, the electronic device 110 may include an electronic device, and the electronic device 110 may further include:

[0209] The system includes a memory 1101 and a processor 1102. The memory 1101 stores computer programs and transfers the program code to the processor 1102. In other words, the processor 1102 can retrieve and run the computer programs from the memory 1101 to implement the methods described in the embodiments of the present invention.

[0210] For example, the processor 1102 can be used to execute the above-described method embodiments according to instructions in the computer program.

[0211] In some embodiments of the present invention, the electronic device 110 may include, but is not limited to:

[0212] General-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0213] In some embodiments of the present invention, the memory 1101 includes, but is not limited to:

[0214] Volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DR RAM).

[0215] In some embodiments of the present invention, the computer program may be divided into one or more modules, which are stored in the memory 1101 and executed by the processor 1102 to perform the method provided by the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the controller.

[0216] like Figure 4 As shown, the electronic device 110 may further include:

[0217] Transceiver 1103, which can be connected to processor 1102 or memory 1101.

[0218] The processor 1102 can control the transceiver 1103 to communicate with other devices; specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 1103 may include a transmitter and a receiver. The transceiver 1103 may further include antennas, and the number of antennas may be one or more.

[0219] It should be understood that the various components in the electronic device are connected through a bus system, which includes a data bus, a power bus, a control bus, and a status signal bus.

[0220] The present invention also provides a tunneling machine, including the path control device as described above, or the electronic equipment as described above.

[0221] The present invention also provides a computer storage medium having a computer program stored thereon, which, when executed by a computer, enables the computer to perform the methods of the above-described method embodiments. Alternatively, one embodiment of the present invention also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the methods of the above-described method embodiments.

[0222] When implemented using software, it can be implemented wholly or partially as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., Digital Video Disc (DVD)), or a semiconductor medium (e.g., Solid State Disk (SSD)).

[0223] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0224] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.

[0225] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. For example, the functional modules in the various embodiments of this application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0226] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A path control method applied to a tunneling machine, characterized in that, The method includes: The tunneling machine acquires the geological information, cutting parameters, and cutting motor current of the target tunnel currently being excavated; the geological information includes rock hardness, formation stress, fault activity rate, and formation depth; the cutting parameters are the cutting boundary and advance of the cutting head. The tunnel geological information, cutting parameters, and cutting motor current are input into a pre-trained cutting path control model to obtain the predicted motion control parameters of the tunneling machine; the pre-trained cutting path control model is trained based on historical tunnel geological information, historical cutting parameters, and historical cutting motor current. The predicted action control parameters of the tunneling machine are determined according to a preset determination rule to obtain a determination result; the determination result includes the adjustment control information of the cutting head of the tunneling machine. The truncation path control model is optimized based on the determination result to obtain the optimized truncation path control model; The tunnel geological information, cutting parameters, and cutting motor current are input into the optimized cutting path control model to obtain the target motion control parameters of the tunneling machine; the target motion control parameters include the target motion parameters of the cutting arm rotation, the target motion parameters of the cutting arm lifting, and the target motion parameters of the cutting head extension and retraction. Based on the target motion control parameters, the preset cutting path of the tunneling machine is adjusted in real time to control the cutting path of the tunneling machine in the current tunneling process.

2. The method according to claim 1, characterized in that, The step of determining the predicted motion control parameters of the tunneling machine according to preset determination rules and obtaining the determination result includes: Based on the rock hardness, determine whether the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness. If the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, the maximum allowable output power of the cutting motor shall be used as the actual output power of the cutting motor. The maximum output torque of the cutting motor is determined based on the actual output power of the cutting motor and the minimum allowable speed of the cutting motor. Calculate the determination current corresponding to the cutting motor when it outputs the maximum output torque based on the maximum output torque of the cutting motor; Based on the determined current, the adjustment control information of the cutting head of the tunneling machine is obtained; the adjustment control information includes telescopic adjustment control information and path adjustment control information.

3. The method according to claim 2, characterized in that, Based on the determination result, the cut-off path control model is optimized to obtain an optimized cut-off path control model, including: Based on the geological information of the tunnel and the calculation results of the ideal cutting force of the tunneling machine based on the geological information of the tunnel, a model of the relationship between cutting force and rock hardness is established. Based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine, a torque output model corresponding to the cutting motor is established. Based on the relationship model between cutting force and rock hardness, and the torque output model corresponding to the cutting motor, the cutting control objective function in the cutting path control model is established; The cutting control objective function is optimized based on preset constraints and the adjustment control information of the cutting head of the tunneling machine to optimize the cutting path control model; the preset constraints include speed constraints and power constraints.

4. The method according to claim 3, characterized in that, The step of establishing the torque output model corresponding to the cutting motor based on the number of pole pairs, permanent magnet flux linkage, and cutting motor current of the cutting motor on the tunneling machine includes: Calculate the current difference of the cutting motor at different times based on the target current value of the cutting motor at different times and the actual current value of the cutting motor at different times; Based on the cutting motor current at different times and the current difference of the cutting motor at different times, a current calculation model corresponding to the cutting motor current is obtained; Based on the current calculation model corresponding to the cutting motor current, the number of pole pairs corresponding to the cutting motor, and the permanent magnet flux linkage, the torque output model corresponding to the cutting motor is obtained.

5. The method according to claim 3, characterized in that, The optimization of the cutting control objective function based on preset constraints and the adjustment control information of the tunneling machine's cutting head, to optimize the cutting path control model, includes: The speed constraint conditions are established based on the maximum and minimum allowable speeds of the cutting motor; The power constraint conditions are established based on the maximum and minimum allowable output power of the cutting motor. The actual output torque and actual speed of the cutting motor are calculated based on the speed constraint and the power constraint to obtain the actual output power of the cutting motor. The cutting control objective function is optimized based on the actual output power of the cutting motor and the adjustment control information of the cutting head of the tunneling machine to obtain the optimized cutting control objective function.

6. The method according to claim 1, characterized in that, The step of adjusting the preset cutting path of the tunneling machine in real time according to the target motion control parameters, so as to control the cutting path of the tunneling machine in the current tunneling process in real time, includes: Based on the current position information of the cutting head, determine whether the cutting head is located within the cutting boundary; If the cutting head is not located within the cutting boundary, the cutting arm is controlled to move so that the cutting head is located within the cutting boundary. The preset cutting path of the tunneling machine is adjusted in real time according to the target motion control parameters.

7. The method according to claim 1, characterized in that, The step of adjusting the preset cutting path of the tunneling machine in real time according to the target motion control parameters, so as to control the cutting path of the tunneling machine in the current tunneling process in real time, includes: When the hardness of the rock to be excavated in the target tunnel exceeds the preset hardness, the output torque of the cutting motor is determined to be its maximum torque. In response to the cutting motor current corresponding to the maximum torque of the cutting motor, the cutting head is controlled to retract according to the cutting head extension and retraction target action parameters to reduce the cutting head advance.

8. A path control device applied to a tunneling machine, characterized in that, The device includes: The data acquisition module is used to acquire the geological information, cutting parameters, and cutting motor current of the tunneling machine currently excavating the target tunnel. The geological information includes rock hardness, stratum stress, fault activity rate, and stratum depth. The cutting parameters are the cutting boundary and advance of the cutting head. The prediction module is used to input the tunnel geological information, cutting parameters, and cutting motor current into a pre-trained cutting path control model to obtain the predicted action control parameters of the tunneling machine; the pre-trained cutting path control model is trained based on historical tunnel geological information, historical cutting parameters, and historical cutting motor current. The determination module is used to determine the predicted motion control parameters of the tunneling machine according to preset determination rules and obtain the determination result; the determination result includes the adjustment control information of the cutting head of the tunneling machine. The model optimization module is used to optimize the cut-off path control model based on the determination result to obtain the optimized cut-off path control model. The target motion control parameter acquisition module of the tunneling machine is used to input the roadway geological information, cutting parameters and cutting motor current into the optimized cutting path control model to obtain the target motion control parameters of the tunneling machine; the target motion control parameters include the target motion parameters of the cutting arm rotation, the target motion parameters of the cutting arm lifting, and the target motion parameters of the cutting head extension and retraction. The cutting path control module is used to adjust the preset cutting path of the tunneling machine in real time according to the target action control parameters, so as to control the cutting path of the tunneling machine in the current tunneling in real time.

9. An electronic device, characterized in that, include: Memory is used to store processor-executable instructions; A processor is configured to execute executable instructions in the memory to implement the steps of the method according to any one of claims 1 to 7.

10. A tunneling machine, characterized in that, This includes the path control device as described in claim 8, or the electronic device as described in claim 9.

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