为了实现煤矿巷道安全、高效、智能掘进，提出了“掘进就是掘模型”的学术思想，给出了“掘进就是掘模型”学术思想的内涵和体系架构，凝练了“掘进就是掘模型”的关键技术问题，即融合多源信息的多元巷道模型构建技术、基于巷道模型的智能截割技术、基于巷道模型的智能临时支护技术、基于巷道模型的智能永久支护技术、基于巷道模型的智能导航技术和基于巷道模型的机群智能并行协同控制技术。针对巷道模型构建问题，提出融合地质勘探、巷道设计、超前探测等多源数据的巷道模型构建方法，为掘进系统各子系统模型构建提供统一基准；针对基于巷道模型的智能截割问题，建立了待掘巷道模型与截割子系统模型的耦合子模型，提出了智能截割轨迹规划以及截割参数优化方法，制定了巷道智能截割策略，实现了截割子系统自适应规划截割；针对基于巷道模型的智能临时支护问题，建立了截割巷道模型与临时支护子系统耦合的临时支护子模型，提出了临时支护位姿与支护力自适应调整方法，实现了临时支护子系统安全可靠作业，提高了围岩的稳定性，为掘锚并行协同作业奠定了时空基础；针对基于巷道模型的永久支护问题，建立了临时支护巷道模型与永久支护子系统耦合的永久支护子模型，提出了受限时空下永久支护子系统内部各钻锚设备的协同控制方法，实现了永久支护子系统的高效协同控制；针对基于巷道模型的智能导航问题，建立了巷道模型与导航子系统耦合的导航子模型，提出了“惯导+全站仪”的智能掘进系统精确导航方法，提高了巷道掘进精度和成型质量；针对基于巷道模型的机群智能并行协同控制问题，建立了巷道模型与机群协同控制子系统耦合的并行协同控制子模型，制定了多机并行协同控制策略，提出了多任务多系统智能掘进系统协同控制方法，实现了智能掘进系统安全高效掘进。基于“掘进就是掘模型”的学术思想，研发了护盾式煤矿巷道掘进机器人系统，成功应用于陕煤化集团陕西小保当矿业有限公司，破解了夹矸厚、硬度大、片帮严重等复杂地质条件煤矿巷道掘进难题，有效提高了巷道掘进的安全性、高效性和智能化水平。

To realize safe, efficient, and intelligent excavation of coal mine roadways, the academic concept of "excavation is excavating model" is proposed,which defines thecontent and architectural framework of the concept, as well as extracts the key technical issues related to it. Specifically, these include multiplexmining model construction technology integrating multi-source information, the intelligent cutting technology based on mining model, the intelligent temporary support technology based on mining model, the intelligent permanent support technology based on mining model, the intelligent navigation technology based on mining model, and the mechanical equipments intelligence parallel cooperative control technology based on mining model. The problem of mining model construction is addressed by proposing a method that integrates multi-source data such as geological exploration, mine design, and advance detection. This method provides a unified basis for the model construction of various subsystem of the excavating system. Furthermore, to address the issue of intelligent cutting based on mining model, a coupling submodel of mining model and cutting subsystem model is established. Intelligent cutting trajectory planning and cutting parameter optimization methods are proposed, an intelligent cutting strategy for mining is formulated, and adaptive planning of the cutting subsystem is realized. In order to address the issue of intelligent temporary support based on mining model, a sub-model for temporary support is established and coupled with the cuttingmining model and temporary support subsystem. Additionally, an adaptive adjustment method for temporary support posture and support force is proposed to ensure the safe and reliable operation of the temporary support subsystem, improve the stability of the surrounding rock, and lay a spatio-temporal foundation for parallel and cooperative digging and anchoring operations. To address the issue of permanent support based on mining model, we have established a permanent support subsystem coupled with temporary support mining model. Additionally, we propose a collaborative control method for each drilling and anchoring equipment in the permanent support subsystem under limited time and space. This approach aims to achieve efficient collaborative control of the permanent support subsystem. Aiming to address the challenge of intelligent navigation based on mining models, a sub-model integrating mining model and navigation subsystem is established. Furthermore, an accurate navigation method for intelligent excavating system, combining inertial navigation with total station technology, is proposed to enhance the precision of roadway driving and formation quality. In order to address the issue of intelligent parallel cooperative control in a cluster based on the tunnel model, we have established a parallel cooperative control sub-model that is integrated with the tunnel model and the cluster cooperative control subsystem. Additionally, we have developed a multi-machine parallel cooperative control strategy and proposed a cooperative control method for multi-task and multi-system intelligent excavating systems to achieve safe and efficient driving. The shield mine excavation robot system developed by team based on the academic concept of "excavation is excavating model". This system has been successfully utilized by Shaanxi Coal and Chemical Industry Group Shaanxi Xiao Bao Dang Mining Co., LTD., effectively addressing challenges in mine roadway excavation under complex geological conditions such as thick dirt, high hardness, and serious sheet wall. As a result, it has significantly enhanced the safety, efficiency, and intelligence level of tunnel excavation.