CN117872827A - Remote control system of multi-arm underground computerized tunneling rock drilling trolley - Google Patents
Remote control system of multi-arm underground computerized tunneling rock drilling trolley Download PDFInfo
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- CN117872827A CN117872827A CN202311508068.6A CN202311508068A CN117872827A CN 117872827 A CN117872827 A CN 117872827A CN 202311508068 A CN202311508068 A CN 202311508068A CN 117872827 A CN117872827 A CN 117872827A
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- trolley
- remote control
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- vehicle
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- 238000005553 drilling Methods 0.000 title claims abstract description 46
- 230000005641 tunneling Effects 0.000 title claims abstract description 24
- 239000011435 rock Substances 0.000 title claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 33
- 239000013307 optical fiber Substances 0.000 claims description 7
- 231100001261 hazardous Toxicity 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 14
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000009826 distribution Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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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- Earth Drilling (AREA)
Abstract
The invention discloses a remote control system of a multi-arm underground computerized tunneling rock drilling trolley, belonging to the field of engineering machinery; the system comprises a vehicle-mounted remote control system and a control room remote control system, wherein the vehicle-mounted remote control system comprises a vehicle-mounted control center, and the vehicle-mounted control center comprises a trolley main operation table, a trolley main display and an industrial wide-angle high-definition camera; the control room remote control system comprises a remote control console, wherein the remote control console comprises a trolley auxiliary operation console, a trolley auxiliary display, a video display module and a camera control module; the vehicle-mounted control center is in remote communication connection with the remote control console through a wireless communication network, transmits the trolley parameter information to the remote control console, and controls the trolley to operate according to a control instruction of the remote control console. The invention realizes complex construction and data processing and transmission in the tunnel by controlling the trolley in the remote control console by means of the vehicle-mounted control center, the drilling control system, the drilling boom control system, the data transmission system and the video system.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a remote control system of a multi-arm underground computerized tunneling rock drilling trolley.
Background
The Chinese patent document with the publication number of CN112922606A in the prior art discloses a full-section smooth blasting construction method of a full-computer three-arm multi-arm underground computer tunneling drilling trolley suitable for III-level and IV-level surrounding rock large-section railway tunnels, which comprises the following steps: before excavation, carrying out advanced geological prediction on the tunnel by using a full-computer three-arm multi-arm underground computer tunneling rock drilling trolley; three-arm multi-arm underground computerized tunneling rock drilling trolley is in place, and paying-off is measured; positioning and drilling holes; clearing holes, charging and carrying out full-section smooth blasting construction; checking the section danger elimination; and performing primary support in time. The mechanized supporting equipment of the full-computer three-arm multi-arm underground computer tunneling rock drilling trolley adopted by the patent improves the tunneling efficiency, improves the working environment, reduces the engineering cost and ensures the construction quality.
However, the fully-computerized three-arm multi-arm underground computerized tunneling rock drilling trolley adopted by the construction method does not have a remote control function. For high-speed railway, high-speed, tunnel construction, safety must be the first element. The drilling construction of the full-computerized trolley is the forefront link, and for construction environments with changeable geological conditions, a remote control system is needed urgently, so that operators can be far away from dangerous face, and safety accidents are reduced.
Disclosure of Invention
The scheme provides a remote control system of a multi-arm underground computerized tunneling drilling trolley, which aims at solving the problem that the conventional multi-arm underground computerized tunneling drilling trolley is difficult to realize remote operation and automation.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention relates to a remote control system of a multi-arm underground computerized tunneling rock drilling trolley, which comprises a vehicle-mounted remote control system and a control room remote control system,
the vehicle-mounted remote control system comprises a vehicle-mounted control center, wherein the vehicle-mounted control center comprises a trolley main operation table, a trolley main display and an industrial wide-angle high-definition camera;
the control room remote control system comprises a remote control console, wherein the remote control console comprises a trolley auxiliary operation console, a trolley auxiliary display, a video display module and a camera control module;
the vehicle-mounted control center is in remote communication connection with the remote control console through a wireless communication network, transmits the parameter information of the trolley to the remote control console, and controls the trolley to operate according to the control instruction of the remote control console.
Further, the wireless communication network comprises first network equipment located in the vehicle-mounted control center and second network equipment located in the remote control console, the first network equipment is used for enabling a trolley main operation console, a trolley main display and an industrial wide-angle high-definition camera to be connected to the wireless communication network, and the second network equipment is used for enabling a trolley auxiliary operation console, a trolley auxiliary display, a video display module and a camera control module to be connected to the wireless communication network, so that remote communication between the vehicle-mounted control center and the remote control console is achieved.
Further, the vehicle-mounted control center comprises a No. 1 arm calculation control module, a No. 2 arm calculation control module and a No. 3 arm calculation control module, and the main trolley operation platform executes control instructions of the remote control platform through each calculation control module and displays execution states through a main trolley display.
Further, the remote control console comprises a control handle, a button switch and an emergency stop button, and is used for remotely controlling the trolley.
Further, the trolley secondary operation table is consistent with an operation interface of the trolley main operation table, and the trolley secondary display is consistent with a display interface of the trolley main display.
Further, the wireless communication network adopts a wireless AP network communication mode, and comprises an AP cabinet installed at the vehicle-mounted control center end, wherein the AP cabinet is networked with the remote control console through an optical fiber private network.
Further, a total station navigation system is included, which provides navigation through a total station controlled by a Bluetooth modem of a trolley, the trolley and the total station being connected and synchronizing position information.
Further, the drilling machine comprises a drilling arm control system, wherein the drilling arm control system positions specific positions of holes according to a hole distribution diagram imported by the remote control console and performs automatic punching operation.
Further, the system comprises a safety control system, wherein the safety control system is configured to automatically stop after the trolley senses that a person enters a dangerous area; and/or the remote console end actively triggers the emergency stop button to stop in an emergency.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the remote control system of the multi-arm underground computerized tunneling rock drilling trolley, disclosed by the invention, is based on a vehicle-mounted control center, an advanced drilling control system, a drilling arm control system, a drilling and measuring system, a data transmission system and a video system, so that complicated construction, data processing and transmission of the remote control trolley in a tunnel are realized together. The vehicle-mounted control center is used as a control system decision center, the video system and sensor data are fused to sense the environment state, the whole vehicle parameter information and the tunnel scene are transmitted to the remote control console in real time through the optical fiber private network, and the remote control console starts the drilling arm control system to perform automatic drilling operation according to the state of the construction site.
Drawings
FIG. 1 is a schematic diagram of a remote control system of a multi-arm underground computerized tunneling rock drilling trolley;
FIG. 2 is a schematic illustration of drilling of a boom control system;
FIG. 3 is a schematic diagram of the operational principle of a total station navigation system;
FIG. 4 is a schematic structural view of a multi-arm underground computerized tunneling drilling jumbo;
fig. 5 is a schematic view of a sub-console of the dolly and a sub-display of the dolly;
FIG. 6 is a schematic diagram of the modular components of a remote control system for a multi-arm underground computerized tunneling rock drilling trolley;
FIG. 7 is a schematic diagram of the modular components of the safety management system;
fig. 8 is a flow chart of a security module.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
The utility model aims to provide a remote control system of multi-arm underground computerized tunneling drilling jumbo to solve the problem that current multi-arm underground computerized tunneling drilling jumbo is difficult to realize remote operation and automation.
In order to achieve the above objective, as shown in fig. 1 and 6, a remote control system of a multi-arm underground computerized tunneling rock drilling trolley of the present embodiment includes a vehicle-mounted remote control system and a control room remote control system, the vehicle-mounted remote control system includes a vehicle-mounted control center, the vehicle-mounted control center includes a trolley main operation console, a trolley main display and an industrial wide-angle high-definition camera; the control room remote control system comprises a remote control console, wherein the remote control console comprises a trolley auxiliary operation console, a trolley auxiliary display, a video display module and a camera control module; the vehicle-mounted control center is in remote communication connection with the remote control console through a wireless communication network, transmits the trolley parameter information to the remote control console, and controls the trolley to operate according to a control instruction of the remote control console.
The control instruction of the remote control console comprises a control instruction sent by the remote control console according to the on-site construction video and the whole vehicle parameter information of the trolley, and the on-site construction video is acquired in real time by an industrial wide-angle high-definition camera of the vehicle-mounted control center. The vehicle-mounted control center carries out encoding and decoding processing on the site construction video acquired by the camera, converts the processed signal into a network signal, and transmits the network signal to the remote console through a data transmission channel provided by the wireless communication network.
In this embodiment, the vehicle-mounted control center is used for controlling the operation of the trolley, and the operation of the trolley mainly includes drilling operation. The vehicle-mounted control center can sense equipment state information and environment information in real time, so that accurate positioning and drilling functions are provided. The remote control console is used for an operator to remotely control the trolley. The wireless communication network is used for data transmission between the trolley and the remote control console. And the safety control system is used for ensuring the man-machine safety of the trolley.
The wireless communication network comprises first network equipment located in the vehicle-mounted control center and second network equipment located in the remote control console, wherein the first network equipment is used for enabling a trolley main operation console, a trolley main display and an industrial wide-angle high-definition camera to be connected to the wireless communication network, and the second network equipment is used for enabling a trolley sub-operation console, a trolley sub-display, a video display module and a camera control module to be connected to the wireless communication network, so that remote communication between the vehicle-mounted control center and the remote control console is achieved.
Specifically, as shown in fig. 4, the multi-arm underground computerized tunneling rock drill jumbo of the present embodiment is generally configured with 3 drill arms, and correspondingly, the vehicle-mounted control center includes calculation control modules of the 3 drill arms, which are respectively a No. 1 arm calculation control module, a No. 2 arm calculation control module and a No. 3 arm calculation control module. The main operation platform of the trolley executes control instructions of the remote control platform through the calculation control modules of the drill booms, and the main display of the trolley displays the execution state.
The remote control console in the embodiment provides necessary components for human-computer interaction, is connected with a wireless communication network and a safety control system, and is connected with a vehicle-mounted control center through the wireless communication network to form remote control. Specifically, as shown in fig. 5, the auxiliary console of the trolley at the remote console end is provided with a control handle, a button switch and an emergency stop button for realizing remote control of the trolley.
The remote control console can also comprise a vehicle monitoring information display for displaying running information, alarm information and fault information of the vehicle, further realizing remote grasping of the running condition of the vehicle and providing accurate information for the trolley execution instruction.
The operation interface of the sub-console of the remote console and the main console of the vehicle-mounted control center is identical, and the sub-display of the remote console and the main display of the vehicle-mounted control center are identical. The auxiliary operation platform of the trolley is independently and modularly arranged, is consistent with the vehicle-mounted auxiliary cab system of the original trolley, and can display real-time working parameters, operation data, alarm states, data records, man-machine interaction parameter setting, port input and output diagnosis, system network connection states, fault diagnosis and the like of the trolley.
Through the display interface and the control interface which are controlled remotely, the display interface is completely consistent with the original main control platform and the main display, the process of learning and adapting to remote operation by an operator is omitted, the construction quality is guaranteed, and the drilling operation progress can be accelerated.
In this embodiment, the wireless communication network provides a high-speed data transmission channel between the vehicle-mounted control center and the remote control console, the wireless communication network adopts a wireless AP network communication mode, and the wireless communication network includes an AP cabinet installed at the vehicle-mounted control center, and the AP cabinet is networked with the remote control console through an optical fiber private network. Specifically, can install the AP cabinet near the face, every AP cabinet carries 2 way antenna pattern, and the AP cabinet is laid the complete sets of use with the AP in same position.
The vehicle-mounted control center and the remote control console are communicated through the optical fiber local area network, so that the laying cost, the network operation and maintenance cost are reduced; and the optical fiber local area network has high bandwidth, low delay and small jitter, and is very suitable for remote control.
Further, as shown in fig. 3, the remote control system of the present embodiment includes a total station navigation system that provides accurate navigation through a total station controlled by a bluetooth modem of a dolly, opens the total station in a tunnel, and connects and synchronizes position information with the total station.
In addition, the remote control system of the embodiment further comprises a drill boom control system to realize multi-hole full-automatic drilling, wherein the full-automatic drilling refers to a hole distribution diagram led in by a trolley through a remote control console, the hole distribution diagram is shown in fig. 2, the specific position of each hole is accurately positioned, and the drilling operation is performed in a semi-automatic mode and a full-automatic mode.
Through the drill boom control system, digital drilling can be realized, the drilling position, the graph position, the current angle and the azimuth are displayed on a screen, the angle required by an actual hole can be displayed in a hole distribution diagram, and finally, a high-efficiency and accurate drilling effect is achieved.
In the process of remotely controlling the trolley by an operator, the safety is always needed to be used as a core, and for this purpose, as shown in fig. 7 and 8, the safety control system is configured such that the trolley automatically stops after sensing that a person enters a dangerous area; the emergency stop button of the remote control console can be actively triggered by an operator to stop the vehicle, so that the production requirement of high safety is met.
The specific operation flow of the remote control system of the multi-arm underground computerized tunneling rock drilling trolley of the embodiment comprises the following steps:
the first step: in addition to the dolly secondary operation table, the dolly secondary display, the scram module, etc., the remote control console also comprises a video decoding system, a remote command encoding module, a network switch module, etc. After the remote control console is electrified, each module is started through self-checking, wherein the scram module, the remote command encoding module and the video module all achieve information interaction with the vehicle-mounted control center, and the starting self-checking is completed.
And a second step of: in addition to the trolley main operation console, the trolley main display, the high-definition camera and the like, the vehicle-mounted control center further comprises a video coding system, an emergency stop module, a remote command decoding module, a network switch module and an industrial gigabit wireless AP. After the vehicle-mounted control center is powered on, the industrial gigabit wireless AP is firstly connected into a wireless network on site in a safety verification mode, and the emergency stop module, the remote command decoding module and the video encoding module are connected with the AP through a vehicle-mounted switch and are connected with a remote console module through an optical fiber network.
And a third step of: and starting the trolley control system on a remote control console, and simultaneously powering on and starting a trolley auxiliary operation console and a trolley auxiliary display of the remote control console, a trolley main operation console and a trolley main display of a vehicle-mounted control center, wherein when the system is started, the drilling operation can be performed on the remotely controlled multi-arm underground computerized tunneling drilling trolley.
It will be apparent to those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device for execution by the computing devices, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (9)
1. A remote control system of a multi-arm underground computerized tunneling rock drilling trolley, which comprises a vehicle-mounted remote control system and a control room remote control system, and is characterized in that,
the vehicle-mounted remote control system comprises a vehicle-mounted control center, wherein the vehicle-mounted control center comprises a trolley main operation table, a trolley main display and an industrial wide-angle high-definition camera;
the control room remote control system comprises a remote control console, wherein the remote control console comprises a trolley auxiliary operation console, a trolley auxiliary display, a video display module and a camera control module;
the vehicle-mounted control center is in remote communication connection with the remote control console through a wireless communication network, transmits the parameter information of the trolley to the remote control console, and controls the trolley to operate according to the control instruction of the remote control console.
2. The remote control system according to claim 1, wherein the wireless communication network comprises a first network device located in the vehicle-mounted control center and a second network device located in the remote control console, the first network device is used for enabling a trolley main operation console, a trolley main display and an industrial wide-angle high-definition camera to access the wireless communication network, and the second network device is used for enabling a trolley sub operation console, a trolley sub display, a video display module and a camera control module to access the wireless communication network, so that remote communication between the vehicle-mounted control center and the remote control console is achieved.
3. The remote control system according to claim 1, wherein the in-vehicle control center includes an arm calculation control module No. 1, an arm calculation control module No. 2, and an arm calculation control module No. 3, and the dolly main console executes control instructions of the remote console through each of the calculation control modules and displays an execution state by a dolly main display.
4. The remote control system of claim 1, wherein the remote console comprises a control handle, a push button switch, and a scram button for remotely manipulating the trolley.
5. The remote control system according to claim 3 or 4, wherein the sub-trolley operating table coincides with an operating interface of the main trolley operating table, and the sub-trolley display coincides with a display interface of the main trolley display.
6. The remote control system according to claim 1, wherein the wireless communication network adopts a wireless AP network communication mode, and the wireless AP network communication system comprises an AP cabinet installed at the vehicle-mounted control center, and the AP cabinet is networked with the remote control console through an optical fiber private network.
7. The remote control system of claim 1, comprising a total station navigation system that provides navigation through a total station controlled by a bluetooth modem of a trolley, the trolley and the total station being connected and synchronizing location information.
8. The remote control system of claim 1, comprising a boom control system that locates specific locations of holes and performs automated drilling operations based on a hole pattern imported by the remote control console.
9. The remote control system of any one of claims 1-8, comprising a safety management system configured to automatically shut down after a trolley senses entry of a person into a hazardous area; and/or the remote console end actively triggers the emergency stop button to stop in an emergency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508068.6A CN117872827A (en) | 2023-11-13 | 2023-11-13 | Remote control system of multi-arm underground computerized tunneling rock drilling trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311508068.6A CN117872827A (en) | 2023-11-13 | 2023-11-13 | Remote control system of multi-arm underground computerized tunneling rock drilling trolley |
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| Publication Number | Publication Date |
|---|---|
| CN117872827A true CN117872827A (en) | 2024-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311508068.6A Pending CN117872827A (en) | 2023-11-13 | 2023-11-13 | Remote control system of multi-arm underground computerized tunneling rock drilling trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117872827A (en) |
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2023
- 2023-11-13 CN CN202311508068.6A patent/CN117872827A/en active Pending
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