Method, device and equipment for controlling step change of heading machine and storage medium

The embodiment of the invention provides a heading machine step changing control method, device and equipment and a storage medium, and the method comprises the steps: after the working mode of a heading machine is detected to be switched to a step changing mode, a thrust cylinder and a gripper shoe assembly are retracted, a steel strand lifting assembly is controlled to lower a shield body to a set depth position, and the current pose information of the shield body is obtained; and according to the pose information, the horizontal state and the centering state of the shield body are adjusted until the horizontal state and the centering state of the shield body meet construction conditions. According to the method, the construction efficiency of the heading machine is improved. 本申请实施例提供一种掘进机换步的控制方法、装置、设备及存储介质，该方法包括：在检测到掘进机的工作模式切换至换步模式之后，缩回推进油缸和撑靴组件，控制钢绞线提升组件将盾体下放至设置深度位置，获取盾体当前的位姿信息，根据位姿信息，调节盾体的水平状态和居中状态，直至盾体的水平状态和居中状态满足施工条件。本申请的方法，提高了掘进机的施工效率。