CN111324084B - Tunnel boring machine remote control method and system based on cloud computing - Google Patents
Tunnel boring machine remote control method and system based on cloud computing Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
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- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention relates to a tunnel boring machine remote control method based on cloud computing, which comprises the following steps: establishing a corresponding reading table and a corresponding writing table for each tunnel boring machine in a cloud database; acquiring running state parameter information of the tunnel boring machine in real time, transmitting the running state parameter information to the cloud database and storing the running state parameter information in a corresponding reading table; the remote control end acquires the running state parameter information in the reading table, generates a corresponding control instruction, transmits the control instruction to the cloud database and stores the control instruction in a corresponding writing table; and reading the control instruction in the write-in table and transmitting the control instruction to the corresponding tunnel boring machine so as to instruct the tunnel boring machine to execute the control instruction, thereby realizing remote control. The communication of the invention can be realized through a common commercial network, thereby saving the cost of communication control and improving the efficiency of communication control. Real-time running state parameters of the tunnel boring machine are stored in the cloud database, data are not easy to lose, and query and analysis after events are facilitated.
Description
Technical Field
The invention relates to the field of tunnel construction, in particular to a remote control method and system of a tunnel boring machine based on cloud computing.
Background
The tunnel boring machine comprises a shield boring machine and a pipe-jacking machine, is a special engineering machine for tunnel boring, and is widely used in tunnel engineering of subways, railways, highways, municipal administration, hydropower and the like.
At present, the control of the tunnel boring machine mainly depends on manual operation, an operator controls boring machine equipment in a tunnel construction surface operation room, and the quality control is difficult to guarantee due to the influence of personal factors such as operator capacity, physical conditions, emotion and the like. And expert consultants in the command center can only analyze the data uploaded on the site afterwards, and can comment that the shield construction is lost and can not correct the error operation in time.
The Chinese prior patent application (with the application number of 201110232468.X, the invention creation name of which is a shield machine remote control system and a remote control method) discloses a shield machine remote control system and a shield machine remote control method. The remote control system and the method realize the remote control of the shield machine, can enable expert consultants of a command center to carry out remote operation in real time, and can correct the error operation to a certain extent. However, the control system and the method adopt the satellite encryption transmission system to realize the signal transmission, the popularity is poor, and the satellite encryption transmission is not open for civil use in general. And also has the problems of low efficiency and high cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a tunnel boring machine remote control method and system based on cloud computing, and solves the problems of low efficiency, high cost, poor universality and the like in the existing method of encrypting and transmitting signals by adopting a satellite.
The technical scheme for realizing the purpose is as follows:
the invention provides a tunnel boring machine remote control method based on cloud computing, which comprises the following steps:
establishing a cloud database, and establishing a corresponding reading table and a corresponding writing table for each tunnel boring machine in the cloud database;
acquiring running state parameter information of the tunnel boring machine in real time, transmitting the running state parameter information to the cloud database and storing the running state parameter information in a corresponding reading table;
a remote control terminal accesses the cloud database, acquires the operating state parameter information in the reading table, generates a corresponding control instruction according to the operating state parameter information, transmits the control instruction to the cloud database and stores the control instruction in a corresponding writing table; and
and reading the control instruction in the write-in table and transmitting the control instruction to the corresponding tunnel boring machine so as to instruct the tunnel boring machine to execute the control instruction, thereby realizing the remote control of the shield.
The invention provides a remote control method of a tunnel boring machine based on cloud computing, which is characterized in that a data table corresponding to each tunnel boring machine is established in a cloud database and comprises a reading table and a writing table, so that the effect of simultaneously managing and controlling a plurality of discrete construction sites can be realized. According to the invention, the cloud database is adopted to connect the remote control end and the tunnel boring machine, so that the communication of remote control can be realized through a common commercial network, the cost of communication control can be saved, and the efficiency of communication control is improved. Real-time running state parameters of the tunnel boring machine are stored in the cloud database, data are not easy to lose, and query and analysis after events are facilitated. The control method of the invention has low manufacturing cost, easy popularization and high reliability in the using process, and can ensure the construction safety.
The remote control method of the tunnel boring machine based on the cloud computing is further improved in that the running state parameter information comprises control authority information of the tunnel boring machine;
and the remote control end judges whether the control authority information of the tunnel boring machine is remote control or not, and if so, a corresponding control instruction is formed.
The invention further improves the remote control method of the tunnel boring machine based on the cloud computing, and the method also comprises the following steps:
setting an authority switching knob in the tunnel boring machine, and adjusting the control authority of the tunnel boring machine to switch between manual control and remote control through the authority switching knob;
setting a corresponding first register sequence table for the manual control, and storing a control instruction sent by a control console of the tunnel boring machine into the first register sequence table;
setting a corresponding second register sequence table for the remote control, and storing a received control instruction from a cloud database into the second register sequence table;
when the manual control is switched, the tunnel boring machine reads a control instruction from the first register sequence table and executes the control instruction;
and when the remote control is switched to, the tunnel boring machine reads a control instruction from the second register sequence table and executes the control instruction.
The invention further improves the remote control method of the tunnel boring machine based on the cloud computing, and the method also comprises the following steps:
an accumulator is arranged in the tunnel boring machine, and when the control authority of the tunnel boring machine is remote control, the accumulator adds 1 to the numerical value in the accumulator every set time;
periodically zeroing the value in the accumulator;
and judging the values in the accumulator and the set value in real time, and if the values in the accumulator are larger than the set value, stopping the tunnel boring machine and giving an alarm for reminding.
The invention further improves the remote control method of the tunnel boring machine based on the cloud computing, and the method also comprises the following steps:
the remote control end sends a control instruction to the cloud database and records corresponding sending time;
the remote control end receives feedback information of the cloud database and records corresponding feedback time;
and the remote control end calculates the difference between the sending time and the feedback time, compares the difference with a set difference range, and alarms and reminds if the difference exceeds the set difference range.
The invention also provides a tunnel boring machine remote control system based on cloud computing, which comprises:
the cloud database is internally provided with a reading table and a writing table corresponding to each tunnel boring machine;
the processing unit is in communication connection with the cloud database and the tunnel boring machine and is used for acquiring the running state parameter information of the tunnel boring machine in real time, transmitting the running state parameter information to the cloud database and storing the running state parameter information into a corresponding reading table; and
the remote control end is in communication connection with the cloud database and is used for acquiring the operation state parameter information in the reading table, generating a corresponding control instruction according to the operation state parameter information, transmitting the control instruction to the cloud database and storing the control instruction in a corresponding writing table;
the processing unit is further used for reading the control instruction in the write-in table and transmitting the control instruction to the corresponding tunnel boring machine so as to instruct the tunnel boring machine to execute the control instruction, and therefore shield remote control is achieved.
The tunnel boring machine remote control system based on the cloud computing is further improved in that the running state parameter information comprises control authority information of the tunnel boring machine;
the remote control end comprises a judgment module and an instruction generation module connected with the judgment module;
the judging module judges whether the control authority information of the tunnel boring machine is remote control or not, and controls the instruction generating module to operate if the control authority information of the tunnel boring machine is remote control.
The remote control system of the tunnel boring machine based on the cloud computing is further improved in that a permission switching knob is arranged in the tunnel boring machine, the control permission of the tunnel boring machine is adjusted through the permission switching knob to switch between manual control and remote control, and a first register sequence table corresponding to the manual control and a second register sequence table corresponding to the remote control are arranged in the tunnel boring machine;
the tunneling machine receives the control command sent by the processing unit and stores the control command into the second register sequence table, and when the permission switching knob is in remote control, the tunneling machine reads the control command from the second register sequence table and executes the control command;
and the tunnel boring machine receives a control instruction sent by a control console and stores the control instruction into the first register sequence list, and when the authority switching knob is manually controlled, the tunnel boring machine reads the control instruction from the first register sequence list and executes the control instruction.
The tunnel boring machine remote control system based on the cloud computing is further improved in that an accumulator is arranged in the tunnel boring machine and used for accumulating and recording the times of the elapsed set time when the authority switching knob is in remote control;
the processing unit sends a zero-setting instruction to the accumulator in a timing mode so that the numerical value in the accumulator is set to zero;
and the tunnel boring machine judges the numerical value in the accumulator and the set value in real time, and if the numerical value in the accumulator is larger than the set value, the tunnel boring machine stops and gives an alarm for reminding.
The tunnel boring machine remote control system based on the cloud computing is further improved in that the remote control end comprises a comparison module and an alarm module connected with the comparison module;
the comparison module is used for calculating the difference value between the sending time of the remote control end for sending the control instruction and the feedback time of the received corresponding feedback information, comparing the difference value with a set difference value range, and forming an alarm instruction to send to the alarm module if the difference value exceeds the set difference value range;
and the alarm module receives the alarm instruction and carries out alarm reminding.
Drawings
Fig. 1 is a flow chart of a remote control method of a tunnel boring machine based on cloud computing.
Fig. 2 is a system diagram of the cloud computing-based tunnel boring machine remote control system of the invention.
Fig. 3 is a system diagram of a right switching knob of the tunnel boring machine in the cloud computing-based tunnel boring machine remote control system of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a remote control method and system of a tunnel boring machine based on cloud computing, which are used for realizing real-time management control of the tunnel boring machine by a remote control end, and taking over the shield control right of a construction site by expert consultants of a command center to perform demonstration guidance operation. The cloud database is used for storing data and instructions, so that the universal commercial network transmission signals are realized, the cost is greatly reduced, and the method has the characteristics of high adaptability and high reliability. The remote control method and the remote control system can simultaneously manage and control the tunnel boring machines on a plurality of discrete construction sites, and realize remote control of the tunnel boring machines on a plurality of construction sites by one center. The invention relates to a remote control method and a remote control system of a tunnel boring machine based on cloud computing.
Referring to fig. 2, a system diagram of the cloud computing-based tunnel boring machine remote control system of the present invention is shown. The cloud computing-based tunnel boring machine remote control system of the invention is described below with reference to fig. 2.
As shown in fig. 2, the cloud computing-based tunnel boring machine remote control system of the present invention includes a cloud database 30, a processing unit, and a remote control terminal 20, wherein the cloud database 30, the processing unit, and the remote control terminal 20 are communicatively connected through a commercial network 40, and a signal is transmitted through the commercial network 40. The control system can control a plurality of tunnel boring machines, including a first tunnel boring machine, a second tunnel boring machine and an Nth tunnel boring machine, wherein the first tunnel boring machine is provided with a processing unit 11 for correspondingly controlling the first tunnel boring machine; the second tunnel boring machine is provided with a processing unit 12 for correspondingly controlling the second tunnel boring machine; and the Nth tunnel boring machine is provided with a processing unit 1N for correspondingly controlling the Nth tunnel boring machine.
A read table and a write table corresponding to each tunnel boring machine are provided in the cloud database 30. Specifically, a unique code is first assigned to each tunnel boring machine and the unique code is assigned to the corresponding data module for establishing the data module corresponding to each tunnel boring machine in the cloud database 30. Each data module is provided with a reading table and a writing table. After receiving the signal from the tunnel boring machine, the cloud database 30 finds the corresponding data module according to the code of the tunnel boring machine in the signal, and stores the data information in the signal into the corresponding table in the corresponding data module. The reading table is used for storing construction data of the tunnel boring machine, and the writing table is used for storing control instructions for controlling the tunnel boring machine.
The processing unit is in communication connection with the cloud database 30 and the tunnel boring machine, and the processing unit is in communication connection with the cloud database 30 through a commercial network to achieve signal transmission. The processing unit is arranged at the corresponding tunnel boring machine, can adopt wireless connection or wired connection with the corresponding tunnel boring machine, and realizes signal transmission through wireless or wired connection. The processing unit is configured to obtain the operation state parameter information of the tunnel boring machine in real time, transmit the operation state parameter information to the cloud database 30, and store the operation state parameter information in the corresponding reading table. Specifically, a shield PLC (Programmable Logic Controller) is provided in the tunnel boring machine, and the shield PLC is connected to a cutter head system, a thrust cylinder system, a screw machine system, a grouting system, and the like in the tunnel boring machine, and is configured to collect and summarize construction parameters of each of the systems, and send a corresponding control instruction to a corresponding system to enable the corresponding system to execute the control instruction. The processing unit is in control connection with the shield PLC, acquires the construction parameters collected and summarized by the shield PLC, forms the running state parameter information of the tunnel boring machine, and then sends the running state parameter information to the cloud-end database 30. The processing unit packs the running state parameter information, the codes of the tunnel boring machine and the writing-in reading table instructions together to form construction parameter signals, the construction parameter signals are transmitted to the cloud database 30 through the commercial network, the cloud database 30 receives the construction parameter signals sent by the processing unit, corresponding data modules are found according to the codes of the tunnel boring machine, and the running state parameter information is written into the reading table to be stored according to the writing-in reading table instructions.
The remote control end 20 is in communication connection with the cloud database 30 through a commercial network 40, the remote control end 20 is used for accessing the cloud database 30 and obtaining the running state parameter information in the reading table, when a plurality of reading tables are arranged in the cloud database 30, the remote control end 20 finds the corresponding reading table according to the code of the tunnel boring machine to be controlled to read the running state parameter information, generates a corresponding control instruction according to the running state parameter information, transmits the control instruction to the cloud database 30 and stores the control instruction into the corresponding writing table, and the writing table is the writing table corresponding to the code of the tunnel boring machine. Specifically, the remote control end 20 forms a control instruction for controlling the tunnel boring machine, packages the control instruction, the encoding of the tunnel boring machine and the writing table writing instruction together to form a control parameter signal, transmits the control parameter signal to the cloud database 30 through the commercial network, receives the control parameter information of the remote control end 20 by the cloud database 30, finds a corresponding data module according to the encoding of the tunnel boring machine, and writes the control instruction into a corresponding writing table for storage according to the writing table writing instruction.
The processing unit is further configured to read the control instruction in the write table in the cloud database 30, and transmit the control instruction to the corresponding tunnel boring machine, so as to instruct the tunnel boring machine to execute the control instruction, thereby implementing remote control of the tunnel boring machine. Preferably, the processing unit accesses the cloud database 30 at regular time, checks the data in the write-in table, and reads and sends a new control instruction to the tunneling machine PLC of the tunneling machine when the new control instruction is found in the write-in table, and the tunneling machine PLC executes the control instruction.
As a preferred embodiment of the present invention, the operation state parameter information of the tunnel boring machine includes control authority information of the tunnel boring machine, and the control authority information of the tunnel boring machine includes two types, namely manual control and remote start-up; the remote control terminal 20 includes a judging module and a command generating module connected to the judging module, the judging module judges whether the control authority information of the tunnel boring machine is remote control, if so, the command generating module is controlled to operate. Specifically, the judging module sends an operation instruction to the instruction generating module, and the instruction generating module starts to operate after receiving the operation instruction, and forms a corresponding control instruction according to the input operation of the remote control terminal 20.
Preferably, the remote control end 20 may provide a control interface corresponding to an actual console of the tunnel boring machine, so as to be operated and controlled by an operator of the remote control end 20, and the remote control end 20 may form a control command adapted to the tunnel boring machine according to the corresponding operation and control action.
Further, the remote control terminal 20 obtains the operation state parameter information in the reading table in the cloud data 30, and analyzes the operation state parameter information to form guidance data, so as to be used as a reference for guiding other constructions. The reading and analysis of the past engineering data are realized, and the guidance function is provided for the construction in the future.
As another preferred embodiment of the present invention, as shown in fig. 3, an authority switching knob 114 is provided in the tunnel boring machine, and the control authority of the tunnel boring machine is adjusted by the authority switching knob 114 to switch between manual control and remote control. Preferably, the permission switch knob 114 is located on a console of the tunnel boring machine, and the permission switch knob 114 is manually operable by an operator at the site of the tunnel boring machine. A first register sequence table 1121 corresponding to manual control and a second register sequence table 1122 corresponding to remote control are arranged in the tunnel boring machine, the tunnel boring machine receives a control instruction sent by the processing unit and stores the control instruction into the second register sequence table 1122, and when the permission switching knob 114 is in remote control, the tunnel boring machine reads the control instruction from the second register sequence table 1122 and executes the control instruction; the tunneling machine receives the control command sent by the console 111 and stores the control command into the first register sequence table 1121, and when the authority switching knob is manually controlled, the tunneling machine reads the control command from the first register sequence table 1121 and executes the control command. Preferably, the first and second register sequence tables 1121 and 1122 are provided in the tunneling machine PLC112, the tunneling machine PLC112 reads the control command in the first register sequence table 1121 and transmits the control command to the tunneling machine execution mechanism 113 for executing the operation when the authority switching knob 114 is manually controlled, and the tunneling machine PCL112 reads the control command in the second register sequence table 1122 and transmits the control command to the tunneling machine execution mechanism 113 for executing the operation when the authority switching knob 114 is remotely controlled.
As another preferred embodiment of the present invention, an accumulator is provided in the tunnel boring machine, and is configured to record the number of times of the elapsed set time in an accumulated manner when the authority switching knob is remotely controlled, that is, the number in the accumulator is increased by 1 every time the set time elapses. The processing unit sends a zero returning instruction to the accumulator in a timing mode so that the numerical value in the accumulator is returned to zero, and the effect of resetting the accumulator in a timing mode is achieved. And the tunneling machine judges the value in the accumulator and the set value in real time, and if the value in the accumulator is larger than the set value, the tunneling machine is stopped and gives an alarm for reminding. The accumulator is not reset to zero at regular time, which indicates that the connection between the processing unit and the tunnel boring machine is abnormal, so that the tunnel boring machine is automatically stopped to alarm, and the safety of the whole system can be improved after personnel overhaul faults. Preferably, the setting time of the accumulator may be 5 seconds, and the setting value may be 6.
As another preferred embodiment of the present invention, the remote control terminal 20 includes a comparison module and an alarm module connected to the comparison module; the comparison module is used for calculating the difference between the sending time of the control instruction sent by the remote control end 20 and the feedback time of the received corresponding feedback information, comparing the difference with a set difference range, and if the difference exceeds the set difference range, forming an alarm instruction and sending the alarm instruction to the alarm module; the alarm module receives the alarm instruction and carries out alarm reminding. Specifically, the remote control end 20 records the sending time when sending the control instruction, the cloud database 30 receives the control instruction of the remote control end 20 and sends the feedback information to the remote control end 20 after completing writing, and the remote control end 20 records the corresponding time to form the feedback time when receiving the feedback information, so that the comparison module can acquire the sending time and the feedback time from the record, and further can realize calculation and comparison. Preferably, the difference range is set to be 0-1 second, and if the difference between the sending time and the feedback time is greater than 1 second, alarm reminding is performed. The judgment of the quality of the communication link is realized through the comparison module and the alarm module, and the alarm is given under the condition of poor quality of the communication link, so that the construction safety of the tunnel boring machine is improved.
Correspondingly, a link judgment module is also arranged at the processing unit and used for judging the quality of the communication link, the processing unit records the sending time when sending a signal to the cloud database 30, records the feedback time when receiving the feedback signal of the cloud database 30, calculates the difference value between the sending time and the feedback time, compares the difference value with the preset range, and gives an alarm if the difference value exceeds the preset range. Furthermore, the processing unit forms a switching control instruction to enable the authority switching knob to be switched to manual control.
Preferably, the remote control system of the present invention is configured to set a local control end computer, which is the processing unit of the present invention, at a site of the tunnel boring machine, connect the local control end computer with a tunnel boring machine PLC of the tunnel boring machine, obtain operating state parameter information of the tunnel boring machine from the tunnel boring machine PLC, and send a control instruction to the tunnel boring machine PLC to cause the tunnel boring machine to execute.
The remote control system has the beneficial effects that:
the realized remote control of the tunnel boring machine has low cost and is easy to popularize;
the operation parameters and the remote control instructions of the tunnel boring machine are stored in different places, data are not easy to lose, and query and analysis can be carried out afterwards;
the remote control of the tunnel boring machine has high reliability, ensures the safety of equipment and operators, and can realize the remote control of a plurality of tunnel boring machines by one center.
The remote control method of the tunnel boring machine based on cloud computing provided by the invention is explained below.
As shown in fig. 1, the invention provides a remote control method of a tunnel boring machine based on cloud computing, which comprises the following steps:
executing the step S101, establishing a cloud database, and setting a reading table and a writing table corresponding to each tunnel boring machine, namely establishing a corresponding reading table and a corresponding writing table for each tunnel boring machine in the cloud database; specifically, as shown in fig. 2, a unique code is first assigned to each tunneling machine in the cloud database 30 for establishing a data module corresponding to each tunneling machine, and the unique code is assigned to the corresponding data module. Each data module is provided with a reading table and a writing table. After receiving the signal from the tunnel boring machine, the cloud database 30 finds the corresponding data module according to the code of the tunnel boring machine in the signal, and stores the data information in the signal into the corresponding table in the corresponding data module. The reading table is used for storing construction data of the tunnel boring machine, and the writing table is used for storing control instructions for controlling the tunnel boring machine. Step S102 is then performed.
Step S102 is executed, the running state parameter information of the tunnel boring machine is obtained and written into a corresponding reading table, namely the running state parameter information of the tunnel boring machine is obtained in real time, and the running state parameter information is transmitted to a cloud database and stored in the corresponding reading table; specifically, a Programmable Logic Controller (PLC) is disposed in the tunnel boring machine, and the PLC is connected to control of a cutter head system, a thrust cylinder system, a screw machine system, a grouting system, and the like in the tunnel boring machine, and is configured to collect and summarize construction parameters of each of the systems, and further configured to send a corresponding control instruction to a corresponding system so as to enable the corresponding system to execute the control instruction. The operation state parameter information of the tunnel boring machine can be directly connected with the tunnel boring machine PLC in a control mode when being acquired, the collected construction parameters are acquired by the tunnel boring machine PLC, the operation state parameter information of the tunnel boring machine is formed, and then the operation state parameter information is sent to the cloud-end database 30. Further, the operation state parameter information, the codes of the tunnel boring machine and the writing-in reading table instructions are packaged together to form construction parameter signals, the construction parameter signals are transmitted to the cloud database 30 through the commercial network, the cloud database 30 receives the transmitted construction parameter signals, corresponding data modules are found according to the codes of the tunnel boring machine, and the operation state parameter information is written into the reading table for storage according to the writing-in reading table instructions. Step S103 is then performed.
Step S103 is executed, in which the remote control 20 reads the corresponding read table, generates a corresponding control execution, and writes the corresponding write table; the remote control end accesses the cloud database, acquires the operation state parameter information in the reading table, generates a corresponding control instruction according to the operation state parameter information, transmits the control instruction to the cloud database and stores the control instruction in a corresponding writing table; when there are multiple read tables in the cloud database 30, the remote control terminal 20 finds a corresponding read table according to the code of the tunnel boring machine to be controlled to read the operation state parameter information, and generates a corresponding control instruction according to the operation state parameter information, transmits the control instruction to the cloud database 30, and stores the control instruction in a corresponding write table, where the write table is a write table corresponding to the code of the tunnel boring machine. Specifically, the remote control end 20 forms a control instruction for controlling the tunnel boring machine, packages the control instruction, the encoding of the tunnel boring machine, and the write-in table instruction together to form a control parameter signal, transmits the control parameter signal to the cloud database 30 through the commercial network, receives the control parameter information of the remote control end 20 by the cloud database 30, finds a corresponding data module according to the encoding of the tunnel boring machine, writes the control instruction into a corresponding write-in table according to the write-in table instruction, stores the control instruction, and then executes step S104.
Step S104 is executed, the control instruction of the write-in table is read and sent to the tunnel boring machine so as to enable the tunnel boring machine to execute; the control instruction in the write-in table is read and transmitted to the corresponding tunnel boring machine to indicate the tunnel boring machine to execute the control instruction, so that the remote control of the tunnel boring machine is realized. Preferably, the cloud database 30 is accessed at regular time, the data in the write-in table is checked, and when a new control instruction is found in the write-in table, the control instruction is read out and sent to the tunneling machine PLC of the tunneling machine, and the tunneling machine PLC executes the control instruction.
Preferably, the above-mentioned obtaining of the operating state parameter information of the tunnel boring machine and the reading of the control instruction of the write table may be implemented by a processing unit in the above-mentioned remote control system.
The remote control method of the invention can realize that one remote control end 20 controls the construction of a plurality of tunnel boring machines, and realize that one center remotely controls a plurality of tunnel boring machines.
As a preferred embodiment of the present invention, the operation state parameter information includes control authority information of the tunnel boring machine;
and the remote control end judges whether the control authority information of the tunnel boring machine is remote control or not, and if so, a corresponding control instruction is formed. If not, no processing is carried out. The remote control end can initiate a control instruction to carry out remote control only when the tunnel boring machine is in a remote control state.
Further, the remote control terminal 20 is further configured to obtain the operation state parameter information in the reading table in the cloud data 30, and analyze the operation state parameter information to form guidance data, so as to be used as a reference for guiding other constructions. The reading and analysis of the past engineering data are realized, and the guidance function is provided for the construction in the future.
As another preferred embodiment of the present invention, the present invention further comprises:
referring to fig. 3, a permission switching knob 114 is provided in the tunnel boring machine, and the control permission of the tunnel boring machine is adjusted by the permission switching knob 114 to switch between manual control and remote control;
setting a corresponding first register sequence table 1121 for manual control, and storing a control instruction sent by a control console 111 of the tunnel boring machine into the first register sequence table 1121;
a corresponding second register sequence table 1122 is set for remote control, and a received control instruction from the cloud database 30 is stored in the second register sequence table 1122;
when the manual control is switched, the tunnel boring machine reads a control instruction from the first register sequence table 1121 and executes the control instruction;
when switched to remote control, the tunnel boring machine reads the control instructions from the second register sequence table 1122 and executes them.
Preferably, the permission switch knob 114 is located on a console of the tunnel boring machine, and the permission switch knob 114 is manually operable by an operator at the site of the tunnel boring machine.
Preferably, the first and second register sequence tables 1121 and 1122 are provided in the tunnel boring machine PLC112, and when the authority switching knob 114 is manually controlled, the tunnel boring machine PLC112 reads the control command in the first register sequence table 1121 and transmits the control command to the tunnel boring machine actuator 113 to perform the operation, and when the authority switching knob 114 is remotely controlled, the tunnel boring machine PCL112 reads the control command in the second register sequence table 1122 and transmits the control command to the tunnel boring machine actuator 113 to perform the operation.
As another preferred embodiment of the present invention, the present invention further includes:
an accumulator is arranged in the tunnel boring machine, and when the control authority of the tunnel boring machine is remote control, the accumulator adds 1 to the numerical value in the accumulator every set time;
the numerical value in the accumulator is reset to zero at regular time;
and judging the value in the accumulator and the set value in real time, and if the value in the accumulator is larger than the set value, stopping the tunnel boring machine and giving an alarm for reminding.
The accumulator is not reset to zero at fixed time, which indicates that the connection between the accumulator and the tunnel boring machine is abnormal in a remote control state, so that the tunnel boring machine is automatically stopped to alarm, and personnel can wait for overhauling faults, thereby improving the safety of the whole system. Preferably, the setting time of the accumulator may be 5 seconds, and the setting value may be 6.
As another preferred embodiment of the present invention, the present invention further includes:
the remote control terminal 20 sends a control instruction to the cloud database 30 and records corresponding sending time;
the remote control terminal 20 receives the feedback information of the cloud database 30 and records the corresponding feedback time;
the remote control terminal 20 calculates the difference between the sending time and the feedback time, compares the difference with a set difference range, and gives an alarm if the difference exceeds the set difference range.
Preferably, the difference range is set to be 0-1 second, and if the difference between the sending time and the feedback time is greater than 1 second, alarm reminding is performed. The quality of the communication link is judged through the steps, and an alarm is given under the condition that the quality of the communication link is poor, so that the construction safety of the tunnel boring machine is improved.
When the running state parameter data of the tunnel boring machine is acquired and transmitted to the cloud database 30, the sending time is recorded, the feedback time is recorded when the feedback signal of the cloud database 30 is received, the difference value between the sending time and the feedback time is calculated, the difference value is compared with the preset range, and if the difference value exceeds the preset range, an alarm is given. Further, when alarming, a switching control instruction is sent to the permission switching knob, and the permission switching knob is switched to manual control.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (6)
1. A tunnel boring machine remote control method based on cloud computing is characterized by comprising the following steps:
establishing a cloud database, and establishing a corresponding reading table and a corresponding writing table for each tunnel boring machine in the cloud database;
acquiring running state parameter information of the tunnel boring machine in real time, transmitting the running state parameter information to the cloud database and storing the running state parameter information in a corresponding reading table;
a remote control terminal accesses the cloud database, acquires the operating state parameter information in the reading table, generates a corresponding control instruction according to the operating state parameter information, transmits the control instruction to the cloud database and stores the control instruction in a corresponding writing table; and
reading the control instruction in the write-in table and transmitting the control instruction to the corresponding tunnel boring machine so as to instruct the tunnel boring machine to execute the control instruction, thereby realizing shield remote control;
further comprising:
setting an authority switching knob in the tunnel boring machine, and adjusting the control authority of the tunnel boring machine to switch between manual control and remote control through the authority switching knob;
setting a corresponding first register sequence table for the manual control, and storing a control instruction sent by a control console of the tunnel boring machine into the first register sequence table;
setting a corresponding second register sequence table for the remote control, and storing a received control instruction from a cloud database into the second register sequence table;
when the manual control is switched, the tunnel boring machine reads a control instruction from the first register sequence table and executes the control instruction;
when the remote control is switched to, the tunnel boring machine reads a control instruction from the second register sequence table and executes the control instruction;
further comprising:
an accumulator is arranged in the tunnel boring machine, and when the control authority of the tunnel boring machine is remote control, the accumulator adds 1 to the numerical value in the accumulator every set time;
periodically zeroing the value in the accumulator;
and judging the values in the accumulator and the set value in real time, and if the values in the accumulator are larger than the set value, stopping the tunnel boring machine and giving an alarm for reminding.
2. The cloud computing-based tunnel boring machine remote control method according to claim 1, wherein the operating state parameter information includes control authority information of the tunnel boring machine;
and the remote control end judges whether the control authority information of the tunnel boring machine is remote control or not, and if so, a corresponding control instruction is formed.
3. The cloud computing-based tunneling machine remote control method according to claim 1, further comprising:
the remote control end sends a control instruction to the cloud database and records corresponding sending time;
the remote control end receives feedback information of the cloud database and records corresponding feedback time;
and the remote control end calculates the difference between the sending time and the feedback time, compares the difference with a set difference range, and alarms and reminds if the difference exceeds the set difference range.
4. A tunnel boring machine remote control system based on cloud computing is characterized by comprising:
the cloud database is internally provided with a reading table and a writing table corresponding to each tunnel boring machine;
the processing unit is in communication connection with the cloud database and the tunnel boring machine and is used for acquiring the running state parameter information of the tunnel boring machine in real time, transmitting the running state parameter information to the cloud database and storing the running state parameter information into a corresponding reading table; and
the remote control end is in communication connection with the cloud database and is used for acquiring the operation state parameter information in the reading table, generating a corresponding control instruction according to the operation state parameter information, transmitting the control instruction to the cloud database and storing the control instruction in a corresponding writing table;
the processing unit is further used for reading the control instruction in the write-in table and transmitting the control instruction to the corresponding tunnel boring machine so as to instruct the tunnel boring machine to execute the control instruction, so that shield remote control is realized;
a permission switching knob is arranged in the tunnel boring machine, the control permission of the tunnel boring machine is adjusted through the permission switching knob to switch between manual control and remote control, and a first register sequence table corresponding to the manual control and a second register sequence table corresponding to the remote control are arranged in the tunnel boring machine;
the tunneling machine receives the control command sent by the processing unit and stores the control command into the second register sequence table, and when the permission switching knob is in remote control, the tunneling machine reads the control command from the second register sequence table and executes the control command;
the tunnel boring machine receives a control instruction sent by a control console and stores the control instruction into the first register sequence table, and when the authority switching knob is manually controlled, the tunnel boring machine reads the control instruction from the first register sequence table and executes the control instruction;
an accumulator is arranged in the tunnel boring machine and used for accumulating and recording the times of the set time when the authority switching knob is in remote control;
the processing unit sends a zero-setting instruction to the accumulator in a timing mode so that the numerical value in the accumulator is set to zero;
and the tunnel boring machine judges the numerical value in the accumulator and the set value in real time, and if the numerical value in the accumulator is larger than the set value, the tunnel boring machine stops and gives an alarm for reminding.
5. The cloud computing-based tunnel boring machine remote control system of claim 4, wherein the operational state parameter information includes control authority information of the tunnel boring machine;
the remote control end comprises a judgment module and an instruction generation module connected with the judgment module;
the judging module judges whether the control authority information of the tunnel boring machine is remote control or not, and controls the instruction generating module to operate if the control authority information of the tunnel boring machine is remote control.
6. The cloud computing-based tunnel boring machine remote control system of claim 4, wherein the remote control end comprises a comparison module and an alarm module connected with the comparison module;
the comparison module is used for calculating the difference value between the sending time of the remote control end for sending the control instruction and the feedback time of the received corresponding feedback information, comparing the difference value with a set difference value range, and forming an alarm instruction to send to the alarm module if the difference value exceeds the set difference value range;
and the alarm module receives the alarm instruction and carries out alarm reminding.
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| CN112882437B (en) * | 2021-03-04 | 2022-04-22 | 中铁隧道局集团有限公司 | Intelligent tunneling system and control method based on 5G + big data tunnel boring machine |
| CN113622911A (en) * | 2021-08-06 | 2021-11-09 | 北斗天地股份有限公司 | Heading machine control method and system, movable intelligent terminal and heading machine |
| CN113868091B (en) * | 2021-10-09 | 2024-02-13 | 中国铁建重工集团股份有限公司 | Data monitoring system and method for development machine group |
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