CN115134393A - Multi-remote control end operation platform for underground equipment - Google Patents
Multi-remote control end operation platform for underground equipment Download PDFInfo
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- CN115134393A CN115134393A CN202210772706.4A CN202210772706A CN115134393A CN 115134393 A CN115134393 A CN 115134393A CN 202210772706 A CN202210772706 A CN 202210772706A CN 115134393 A CN115134393 A CN 115134393A
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- 230000007704 transition Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cardiology (AREA)
- Computing Systems (AREA)
- Medical Informatics (AREA)
- Selective Calling Equipment (AREA)
Abstract
A multi-remote control end operation platform of underground equipment is characterized in that switching of controlled states of the underground equipment is achieved by receiving and sending a plurality of heartbeat packets among an over-the-horizon remote operation platform, a horizon operation remote controller and an underground equipment control cabinet; the underground equipment PLC programmable controller and the beyond-visual-range remote operation PLC programmable controller realize mutual communication through a network protocol; the underground equipment PLC programmable controller is connected with a sight distance remote control receiver of the sight distance operation remote controller through a CAN bus; the sight distance remote control receiver is communicated with a sight distance remote control transmitter of the sight distance operation remote controller through radio frequency; the PLC receives control signals from the over-the-horizon remote operation console and the over-the-horizon remote controller, and transmits the control signals to the underground equipment actuator through a wire. The invention supports the switching of the over-the-horizon control mode and the over-the-horizon remote control mode at the operation end, and the equipment can be cooperatively controlled by a line-of-sight operator and the over-the-horizon operator, thereby ensuring the working efficiency and the working safety.
Description
Technical Field
The invention relates to the technical field of automatic control of underground equipment, in particular to a multi-remote control end operation platform for underground equipment.
Background
The existing over-the-horizon remote control system only supports an over-the-horizon control mode and a local control mode. When the control of the underground equipment is in the beyond-the-sight control mode, an operator can control the underground equipment on a remote operation platform; when the control of the downhole device is in the local control mode, the operator may sit in the driver seat of the downhole device to control the device, i.e. the conventional control mode.
The switching between the over-the-horizon control mode and the local control mode is controlled by a control mode selection knob on the underground equipment body, and an operator needs to approach the equipment body and rotate the knob to switch the control mode. This threatens the personal safety of the operator if the downhole equipment is in an environmental hazard; and the over-the-horizon remote control system can only work by depending on a stably running network, and when the network where the underground equipment is located is unstable or has no network and the operation environment is dangerous, the over-the-horizon remote control system cannot automatically control the underground equipment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multi-remote control end operation platform for underground equipment, so as to realize the quick switching of an over-the-horizon control mode and a line-of-sight remote control mode at a remote control end.
In order to realize the purpose, the controlled state switching of the underground equipment is realized by receiving and transmitting a plurality of heartbeat packages among the over-the-horizon remote operation console, the over-the-horizon remote controller and the underground equipment control cabinet; the underground equipment PLC programmable controller and the beyond-the-horizon remote operation PLC programmable controller realize mutual communication through a network protocol ModbusTCP; the underground equipment PLC programmable controller is connected with a sight distance remote control receiver of the sight distance operation remote controller through a CAN bus; the sight distance remote control receiver of the sight distance operation remote controller is communicated with the sight distance remote control transmitter of the sight distance operation remote controller through radio frequency; the PLC receives control signals from the over-the-horizon remote operation console and the over-the-horizon remote controller, and transmits the control signals to the underground equipment actuator through a wire.
And a first login button and a first logout button for an operator to control the underground equipment are arranged on the beyond-the-horizon remote operation table.
And a second login button and a second logout button for an operator to control the underground equipment are arranged on the sight distance remote control transmitter.
One unit of the heartbeat packet is a Boolean variable with a period of two milliseconds, the former millisecond is 0, the latter millisecond is 1, and the heartbeat packet is continuously sent, namely a long-chain repeated 010101 …; the receiving end of the heartbeat packet judges the contact state with the sending end of the heartbeat packet by detecting the heartbeat packet, and is provided with a timer for detecting the connection state; the multi-remote control end operation platform uses a plurality of paths of heartbeat packages, each path of heartbeat package represents a connection, and the receiving end of the heartbeat package judges the states of the receiving end and the opposite side through the connection state; the types of the heartbeat packets comprise a connection heartbeat packet, an idle state heartbeat packet, a control heartbeat packet and a registered heartbeat packet.
Compared with the prior art, the invention has the following advantages:
1. the multi-remote control end operation platform supports the over-the-horizon control mode and the over-the-horizon remote control mode to be switched at the operation end, equipment can be cooperatively controlled by a line-of-sight operator and the over-the-horizon operator, and the working efficiency and the working safety are guaranteed.
2. When the network where the underground equipment is located is unstable and the operation environment is dangerous, an operator can stand at a relatively safe position near the underground equipment and control the equipment to operate by operating the sight distance remote control transmitter of the remote controller through sight distance.
3. The switching between the over-the-horizon control mode and the over-the-horizon control mode can be realized at the over-the-horizon remote operation platform end or the over-the-horizon remote control transmitter end, an operator does not need to walk to the side of the underground equipment body to switch the control modes, and the life safety of the operator can be effectively guaranteed.
4. When the device is operating in a non-network or network-unstable situation, the line-of-sight remote operator may continue to control the downhole device at a relatively safe location near the device.
Drawings
Fig. 1 is a schematic diagram of the hardware connection structure of the present invention.
Fig. 2 is a schematic diagram of a login button and a logout button on the over-the-horizon remote control console panel of fig. 1.
Fig. 3 is a schematic diagram of a log-in button and a log-out button of the line-of-sight remote control transmitter of fig. 1.
Fig. 4 is a schematic diagram of the heartbeat packet principle of the present invention.
Fig. 5 is a schematic diagram of the state machine of the present invention.
FIG. 6 is a state-one implementation schematic of the state machine of the present invention.
FIG. 7 is a state two implementation schematic diagram of the state machine of the present invention.
Fig. 8 is a state three implementation schematic diagram of the state machine of the present invention.
Fig. 9 is a state four implementation schematic of the state machine of the present invention.
Detailed Description
As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, the switching of the controlled state of the downhole equipment is realized by transceiving a plurality of heartbeat packets between the over-the-horizon remote console 1, the over-the-horizon remote controller and the downhole equipment control cabinet 2; the underground equipment PLC programmable controller 4 and the beyond-the-horizon remote operation PLC programmable controller 9 realize mutual communication through a network protocol ModbusTCP; the underground equipment PLC programmable controller 4 is connected with a sight distance remote control receiver 5 of a sight distance operation remote controller through a CAN bus; the sight distance remote control receiver 5 of the sight distance operation remote controller is communicated with the sight distance remote control transmitter 3 of the sight distance operation remote controller through radio frequency; the underground equipment PLC programmable controller 4 receives control signals from the beyond visual range remote control console 1 and the visual range operation remote controller, the control signals are transmitted to an underground equipment actuator through a wire, such as a relay 6 and an electromagnetic valve 7, and a direct current 24V power supply supplies power to the underground equipment PLC programmable controller 4. The multi-remote control end operation platform supports downhole equipment to be simultaneously connected with the beyond visual range remote control console 1 and the visual range remote control transmitter 3, and also supports the mutual switching of an beyond visual range control mode and a visual range remote control mode at an operation end, and the downhole equipment can be cooperatively controlled by a visual range operator and an beyond visual range operator; when the network where the underground equipment is located is unstable or the operation environment is dangerous, an operator does not need to walk to the side of the underground equipment body to switch the control modes, the operator can stand at a relatively safe position near the underground equipment, and the operation of the equipment is controlled by the sight distance remote control transmitter of the sight distance operation remote controller.
A first login button 10 and a first logout button 11 are arranged on the beyond visual range remote control console 1; and a second login button 10 and a second logout button 11 are arranged on the sight distance remote control transmitter 3 and are used for controlling the underground equipment by an operator.
The multi-remote control end operation platform judges the contact state and switches the operation platform state based on the plurality of heartbeat packets. A heartbeat packet of one unit is a boolean variable with a period of two milliseconds, the first millisecond is 0 and the next millisecond is 1, and the heartbeat packet is continuously transmitted, i.e. a long series of repetitions 010101 …. The receiving end of the heartbeat packet judges the state of contact with the sending end of the heartbeat packet by detecting the heartbeat packet, the receiving end of the heartbeat packet is provided with a timer for detecting the state of contact, for example, the timing duration is set to 500ms, when the timer counts to 500ms, the display is overtime, the contact is disconnected, however, when the Boolean variable of the received heartbeat packet is changed from 0 to 1, the change of the upper edge causes the timer to time from 0ms again. Therefore, when the receiving end receives the continuous heartbeat packet 010101 …, the timer is repeatedly counted again from 0ms to less than 500ms, which indicates that the connection is not timed out, i.e. the connection is in the hold. When the receiving end can not receive a new heartbeat packet, the timer is restarted without the change of the upper edge, and the overtime is displayed after the timer counts for 500ms, namely the contact is disconnected. The multi-remote control end operation platform uses a plurality of paths of heartbeat packages, each path of heartbeat package represents a connection, and the receiving end of the heartbeat package judges the states of the receiving end and the other receiving end through the connection state; the types of the heartbeat packets comprise a connection heartbeat packet, an idle state heartbeat packet, a control heartbeat packet and a registered heartbeat packet.
The multi-remote control end operation platform of the present invention uses a state machine to manage the contact states of the multiple remote control ends and the equipment, as shown in fig. 5, which is a schematic diagram of the state machine of the present invention, and includes various states and state combination logics of the over-the-horizon remote control console, the over-the-horizon remote control, and the equipment. One state machine is software composed of a plurality of states and state combination logic, can perform state transition according to a preset state according to a control signal, and is control logic for coordinating the actions of related signals and completing specific operations. The state machine software of the multi-remote control end operation platform runs on the hardware of the underground equipment PLC programmable controller 4, the over-the-horizon remote operation PLC programmable controller 9 and the sight distance remote control transmitter 3. The three hardware cooperate to run state machine software to realize various state functions of the multi-remote control end operation platform. The following is a description of the states in the state machine of the multi-remote control operation platform. Wherein: the over-the-horizon remote control console 1 is a remote control end I, and the over-the-horizon remote control is a remote control end II.
The first state: the first remote control end and the second remote control end are disconnected with the downhole equipment, as shown in fig. 6, the first state implementation schematic diagram of the state machine of the invention is shown, namely the over-the-horizon remote console 1 and the sight distance operation remote controller are disconnected with the downhole equipment. And when the first remote control end and the second remote control end do not receive the connected heartbeat packet from the PLC 4, each remote control end displays that the underground equipment is not connected. And the downhole equipment is in a default stop state at the moment because the downhole equipment is not logged in by any remote control terminal.
And a second state: the connection between the first remote control end and the second remote control end and the downhole equipment is established, as shown in fig. 7, the schematic diagram of the state two implementation of the state machine of the invention is shown, namely the over-the-horizon remote console 1, the sight distance operation remote controller and the connection with the downhole equipment are established. When the first remote control end and the second remote control end receive the connection heartbeat packet from the PLC 4, each remote control end displays the connected underground equipment. And the downhole equipment is in a default stop state at the moment because the downhole equipment is not logged in by any remote control terminal. Because the underground equipment is not logged in by any remote control terminal, the underground equipment sends an idle state heartbeat packet to the remote control terminal at the moment. And the remote control end I and the remote control end II receive the idle state heartbeat packet and display that the underground equipment is idle.
And a third state: as shown in fig. 8, the first remote control end is logged in, which is a schematic diagram of the state three implementation of the state machine of the present invention, that is, the beyond-line-of-sight remote console 1 is logged in. Only when the multi-remote control end operation platform is in the second state: after the connection is established, the first remote control end or the second remote control end can send a control heartbeat packet to the PLC 4 of the underground equipment. When an operator at the first remote control end logs in the underground equipment, the operator presses the first login button 10, the first remote control end starts to send a control heartbeat packet to the PLC 4 of the underground equipment, and after the underground equipment receives the control heartbeat packet, the state of the underground equipment enters the first remote control end and is logged in, and the control heartbeat packet sent by the second remote control end is not accepted. Meanwhile, the underground equipment stops sending all idle state heartbeat packets, and finally sends the logged heartbeat packets to the first remote control end. And displaying the logged underground equipment as soon as the logged heartbeat packet is received by the remote control end. And the second remote control end judges and displays that the underground equipment is occupied because the second remote control end does not receive the heartbeat packet in the idle state and does not receive the logged heartbeat packet. When an operator at the first remote control end wants to log out of the underground equipment, the operator presses the first log-out button, the first remote control end stops sending a control heartbeat packet to the PLC 4 of the underground equipment, and then the multi-remote control end operation platform returns to the second state: the connection is established. In the second state, the first remote control end or the second remote control end can log in the underground equipment.
And a fourth state: fig. 9 shows that the second remote control end has logged in, which is a schematic diagram of the state machine of the present invention for implementing the fourth state, i.e., the line-of-sight operation remote control has logged in. Only when the multi-remote control end operation platform is in the second state: after the connection is established, the first remote control end or the second remote control end can send a control heartbeat packet to the PLC 4 of the downhole equipment. When an operator at the second remote control end logs in the underground equipment, the operator presses the second login button 12, and the second remote control end starts to send a control heartbeat packet to the PLC 4 of the underground equipment. After the underground equipment receives the control heartbeat packet, the state of the underground equipment enters the second remote control end and is logged in, and the control heartbeat packet sent by the first remote control end is not accepted. Meanwhile, the underground equipment stops sending all idle state heartbeat packets, and finally sends logged heartbeat packets to the second remote control terminal. And when the second remote control end receives the logged heartbeat packet, the logged underground equipment is displayed. And the remote control end judges and displays that the underground equipment is occupied as soon as the remote control end does not receive the heartbeat packet in the idle state and does not receive the logged heartbeat packet. When the operator at the second remote control end wants to log out of the underground equipment, the operator presses the second log-out button 13, and the second remote control end stops sending the control heartbeat packet to the PLC 4 of the underground equipment. Then the multi-remote control end operation platform returns to the state two: the connection is established. In the second state, the first remote control end or the second remote control end can log in the underground equipment.
On the multi-remote control end operation platform, when logging in the underground equipment, only the control heartbeat packet needs to be sent at the remote control end, and the remote control end selection is not needed to be manually carried out in the dangerous environment where the underground equipment body is located, so that the personal safety of an operator is guaranteed. Meanwhile, the platform supports the over-the-horizon control mode and the over-the-horizon remote control mode to be switched at the operation end, so that the underground equipment can be cooperatively controlled by an over-the-horizon operator and a line-of-sight operator, and the working efficiency is effectively guaranteed.
Claims (4)
1. The utility model provides a many remote control end operation platform of downhole equipment which characterized in that: the switching of the controlled state of the underground equipment is realized by receiving and sending a plurality of heartbeat packets among the over-the-horizon remote operation console (1), the horizon operation remote controller and the underground equipment control cabinet (2); the underground equipment PLC programmable controller (4) and the beyond-visual-range remote operation PLC programmable controller (9) realize mutual communication through a network protocol ModbusTCP; the underground equipment PLC programmable controller (4) is connected with a sight distance remote control receiver (5) of a sight distance operation remote controller through a CAN bus; a sight distance remote control receiver (5) of the sight distance operation remote controller is communicated with a sight distance remote control transmitter (3) of the sight distance operation remote controller through radio frequency; the underground equipment PLC programmable controller (4) receives control signals from the beyond visual range remote control console (1) and the visual range operation remote controller, and transmits the control signals to the underground equipment actuator through a wire.
2. The downhole equipment multi-remote operated platform of claim 1, wherein: and a first login button (10) and a first logout button (11) for an operator to control underground equipment are arranged on the beyond-the-horizon remote operation console (1).
3. The downhole equipment multi-remote operated platform of claim 1, wherein: and a second login button (12) and a second logout button (13) for an operator to control the underground equipment are arranged on the sight distance remote control transmitter (3).
4. The downhole equipment multi-remote operated platform of claim 1, wherein: one unit of the heartbeat packet is a Boolean variable with a period of two milliseconds, the former millisecond is 0, the latter millisecond is 1, and the heartbeat packet is continuously sent, namely a long-chain repeated 010101 …; the heartbeat packet receiving end judges the connection state with the heartbeat packet sending end by detecting the heartbeat packet, and is provided with a timer for detecting the connection state; the multi-remote control end operation platform uses a plurality of paths of heartbeat packages, each path of heartbeat package represents a connection, and the receiving end of the heartbeat package judges the states of the receiving end and the other receiving end through the connection state; the types of the heartbeat packets comprise a connection heartbeat packet, an idle state heartbeat packet, a control heartbeat packet and a registered heartbeat packet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210772706.4A CN115134393B (en) | 2022-07-02 | 2022-07-02 | Multi-remote control end operation platform of underground equipment |
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| CN202210772706.4A CN115134393B (en) | 2022-07-02 | 2022-07-02 | Multi-remote control end operation platform of underground equipment |
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| CN115134393A true CN115134393A (en) | 2022-09-30 |
| CN115134393B CN115134393B (en) | 2024-05-24 |
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| US20030029579A1 (en) * | 2001-07-10 | 2003-02-13 | Overhead Door Corporation | Automatic barrier operator system |
| WO2003077590A1 (en) * | 2002-02-21 | 2003-09-18 | Hyun-Oh Shin | A remote control equipment and a control method thereof |
| JP2005031876A (en) * | 2003-07-10 | 2005-02-03 | Digital Electronics Corp | Display device for control |
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| CN115134393B (en) | 2024-05-24 |
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Effective date of registration: 20231123 Address after: 441104 No.45 diamond Avenue, Xiangyang City, Hubei Province Applicant after: XIANGYANG ZHONGLIANG ENGINEERING MACHINERY Co.,Ltd. Address before: 518101 201a-d5, building 1, yujingwan, n16 District, Haiyu community, Xin'an street, Bao'an District, Shenzhen, Guangdong Province Applicant before: Shenzhen shanneng Internet of things Technology Co.,Ltd. |
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