CN211791815U - Remote monitoring and intelligent auxiliary driving device of heading machine - Google Patents
Remote monitoring and intelligent auxiliary driving device of heading machine Download PDFInfo
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- CN211791815U CN211791815U CN202020914360.3U CN202020914360U CN211791815U CN 211791815 U CN211791815 U CN 211791815U CN 202020914360 U CN202020914360 U CN 202020914360U CN 211791815 U CN211791815 U CN 211791815U
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Abstract
The utility model relates to a entry driving machine remote monitoring and wisdom driver assistance device, include the remote monitoring platform based on cloud data platform, entry driving machine upper control platform, entry driving machine on-the-spot control terminal and data communication network, entry driving machine upper control platform passes through communication network and is connected with remote monitoring platform and entry driving machine on-the-spot control terminal based on cloud data platform respectively, wherein entry driving machine on-the-spot control terminal includes entry driving machine control PLC module, entry driving machine attitude control module and video forwarding module, entry driving machine upper control platform includes entry driving machine data transmission and instruction module, the entry driving machine host computer, the entry driving machine gesture is observed and controled the host computer. The novel device can effectively meet the requirements of remote monitoring and auxiliary control operation of a plurality of development machines on one hand, and can simultaneously realize synchronous monitoring and remote control operation of one or more development machines; on the other hand, the data communication capability is strong, the data communication safety is good, and the remote data acquisition and control precision is high.
Description
Technical Field
The utility model relates to a remote monitoring system of a heading machine, in particular to a remote monitoring and intelligent auxiliary driving device of the heading machine.
Background
The tunneling efficiency of the tunneling machine is high and low and depends on the setting of tunneling parameters. At present, the tunneling parameters are mainly calculated by an empirical method and a theoretical calculation method, and a constructor drives a PLC (programmable logic controller) to perform hydraulic and electronic device coordination work by adjusting a control room operation panel knob, so that the tunneling control work according to the given tunneling parameters is realized. The large-scale calculation program based on the artificial intelligence technology can quickly obtain optimized tunneling parameters only by means of data remote transmission and background calculation, the optimized tunneling parameters are transmitted back to the PLC to realize optimized control, and automatic or auxiliary driving cannot be carried out when the network is disconnected; the tunneling parameter optimization calculation program which is only carried on the IPC of the upper computer of the tunneling machine control system is limited by the limited storage and calculation capacity of the IPC, the calculation speed and conclusion effectiveness are lower than those of a remote optimization mode, IPC running resources are occupied, and the risk of causing the dead halt of the tunneling machine control system exists.
The development machine PLC remote debugging system (application number 201120517893.9) based on the virtual private network has no special calculation or control module of the development machine, can only be remotely and manually regulated and controlled, and cannot work under the condition of network disconnection; the intelligent model selection method and device (application number 201310595099. X) of the heading machine based on engineering geological factor relevance have no remote monitoring and cloud computing hardware configuration and functions, can only depend on a controller and personnel configured along with the heading machine to carry out operation and monitoring, and have low application efficiency; a development machine development pose intelligent prediction method and system (application number 201910364559.5) based on mixed deep learning mainly introduce a self-adaptive control method aiming at development parameters and attitude parameters, and lack of system configuration of data transmission.
A roadheader data interpretation and transmission device (application No. 201520763353.7) introduces a device for remote transmission of roadheader PLC data, but does not integrate video, automatic/auxiliary control and positioning functions.
An LSTM neural network-based tunneling machine aided cruise method (application number 201910374012.3) mainly introduces a tunneling parameter prediction method, does not introduce computer control system configuration, and does not integrate video uploading and remote data transmission.
The assumption of a large data processing platform of the heading machine is provided (Yanghong, Zhongxing sea, Gong Guo Fang, intelligent thinking [ J ]. tunnel construction (Chinese and English) for full-section tunnel heading equipment, 2018,38(12): 1919-1926), and the large data processing platform is not configured based on a data processing logic system and does not integrate video uploading and equipment positioning functions.
Research and application [ J ] of a TBM tunneling parameter intelligent control system, tunnel construction (Chinese and English), 2018,38(10): 1734-1740.) introduce a tunneling machine control system with a C/S framework, wherein a client occupies IPC (International patent medicine) computing resources on a tunneling machine, an external independent equipment module is not adopted, and the system does not adopt the B/S framework and does not integrate remote video monitoring and equipment positioning.
In addition, in the prior art, a remote automatic control device (application number 201710568186.4) of a tunnel of a heading machine introduces a cutterhead control system based on given heading parameters, which has no automatic heading parameter calculation function, no remote data and video transmission function and no integrated positioning function; an intelligent construction and monitoring system (application number 201910133501. X) of a tunneling machine underpass railway based on a BIM technology and an intelligent operation and maintenance management system and method (application number 201910329476.2) of tunneling machine equipment based on the Internet do not adopt an external computing-control-transmission integrated device to carry out data transmission and computing control on the tunneling machine, do not carry out system configuration design according to a data loop of acquisition, computation and control, and do not have the automatic or auxiliary driving function of the tunneling machine under the condition of network disconnection; the development machine construction pipe building system (application No. 201811533114.7), the development machine construction-based remote management system (application No. 201910456048.6) and the development machine equipment intelligent operation and maintenance management system (application No. 201920558062.2) based on the Internet only have one-way development machine data acquisition, transmission and storage functions, and cannot perform development machine auxiliary and automatic control.
Therefore, in view of the current situation, it is urgently needed to develop a remote monitoring and intelligent driving assisting device for a heading machine so as to meet the requirements of practical use.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides a remote monitoring and intelligent auxiliary driving device for a development machine, which has simple structure, flexible and convenient use and good universality, can effectively meet the requirements of remote monitoring and auxiliary control operation of various development machines on one hand, and can simultaneously realize synchronous monitoring and remote control operation of one or more development machines; on the other hand, the data communication capability is strong, the data communication safety is good, the remote data acquisition and control precision is high, the operation attitude control of the tunneling machine, the position positioning of the tunneling machine and the video remote monitoring of an operation site can be realized simultaneously, and therefore the stability, the reliability and the convenience of the construction operation of the tunneling machine are greatly improved.
In order to achieve the above purpose, the present invention is realized by the following technical solution:
a remote monitoring and intelligent auxiliary driving device of a heading machine comprises a remote monitoring platform based on a cloud data platform, a heading machine upper control platform, a heading machine field control terminal and a data communication network, wherein the heading machine upper control platform is respectively connected with the remote monitoring platform based on the cloud data platform and the heading machine field control terminal through the communication network, at least one heading machine field control terminal is arranged, all the heading machine field control terminals are connected in parallel, the heading machine field control terminal comprises a heading machine control PLC module, a heading machine attitude control module and a video forwarding module, the heading machine control PLC module, the heading machine attitude control module and the video forwarding module are respectively connected with the heading machine upper control platform, the heading machine upper control platform comprises a heading machine data transmission and instruction module, a heading machine upper computer and a heading machine attitude measurement and control upper computer, the heading machine data transmission and instruction module is respectively connected with a heading machine upper computer, a heading machine attitude measurement and control upper computer, a remote monitoring platform based on a cloud data platform and a heading machine field control terminal.
Furthermore, the data transmission and instruction module of the heading machine comprises a first RJ-45 interface, a network module A, a processor, a network module B, a second RJ-45 interface, a power supply, a memory, a satellite positioning module and an antenna; the processor is electrically connected with the network module A, the network module B, the power supply, the memory and the satellite positioning module respectively, the network module A and the network module B are electrically connected with the first RJ-45 interface and the second RJ-45 interface respectively, and the satellite positioning module is electrically connected with the antenna additionally.
Furthermore, the video forwarding module comprises a plurality of network cameras, and the optical axes of the network cameras and the axis of the heading machine form an included angle of 0-90 degrees.
In addition, in the heading machine field control terminal, each heading machine is provided with a heading machine field control terminal.
Furthermore, the data communication network comprises at least one wireless communication network and at least one wired communication network, the data communication network comprises a plurality of switches and optical fiber receivers, each switch is connected with at least one optical fiber receiver to form a working unit, and the working units are connected in parallel.
The novel device has the advantages of simple structure, flexible and convenient use and good universality, can effectively meet the requirements of remote monitoring and auxiliary control operation of multiple development machines on the one hand, and can simultaneously realize synchronous monitoring and remote control operation of one or more development machines; on the other hand, the data communication capability is strong, the data communication safety is good, the remote data acquisition and control precision is high, the operation attitude control of the tunneling machine, the position positioning of the tunneling machine and the video remote monitoring of an operation site can be realized simultaneously, and therefore the stability, the reliability and the convenience of the construction operation of the tunneling machine are greatly improved.
Drawings
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of an upper control platform of the heading machine;
fig. 3 is a schematic view of the overall system structure operating principle during the operation of the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.
As shown in fig. 1 and 2, a remote monitoring and intelligent auxiliary driving device for a heading machine comprises a remote monitoring platform 1 based on a cloud data platform, an upper control platform 2 of the heading machine, a field control terminal 3 of the heading machine and a data communication network 4, wherein the upper control platform 2 of the heading machine is respectively connected with the remote monitoring platform 1 based on the cloud data platform and the field control terminal 3 of the heading machine through the communication network 4, at least one field control terminal 3 of the heading machine is connected with the field control terminals 3 of the heading machine in parallel, the field control terminal 3 of the heading machine comprises a heading machine control PLC module 31, a heading machine attitude control module 32 and a video forwarding module 33, the heading machine control PLC module 31, the heading machine attitude control module 32 and the video forwarding module 33 are respectively connected with the upper control platform 2 of the heading machine, and the upper control platform 2 of the heading machine comprises a heading machine data transmission and instruction module 21, a heading machine field control terminal, The heading machine upper computer 22, the heading machine attitude measurement and control upper computer 23, and the heading machine data transmission and instruction module 21 are respectively connected with the heading machine upper computer 22, the heading machine attitude measurement and control upper computer 23, the remote monitoring platform 1 based on the cloud data platform and the heading machine field control terminal 3.
It is important to explain that the data transmission and instruction module 21 of the heading machine comprises a first RJ-45 interface, a network module a, a processor, a network module B, a second RJ-45 interface, a power supply, a memory, a satellite positioning module and an antenna; the processor is electrically connected with the network module A, the network module B, the power supply, the memory and the satellite positioning module respectively, the network module A and the network module B are electrically connected with the first RJ-45 interface and the second RJ-45 interface respectively, and the satellite positioning module is electrically connected with the antenna additionally.
Meanwhile, the video forwarding module 33 comprises a plurality of network cameras, and the optical axes of the network cameras form an included angle of 0-90 degrees with the axis of the heading machine.
In addition, in the heading machine field control terminal 3, each heading machine is provided with one heading machine field control terminal 3.
In this embodiment, the data communication network 4 includes at least one wireless communication network and at least one wired communication network, the data communication network includes a plurality of switches and optical fiber receivers, each switch is connected with at least one optical fiber receiver to form a working unit, and the working units are connected in parallel.
As shown in fig. 3, in the specific implementation of the present invention, firstly, networking connection is performed among the remote monitoring platform, the upper control platform of the heading machine and the field control terminal of the heading machine, which form the present invention based on the cloud data platform, through a data communication network, and then the field control terminal of the heading machine is sequentially installed on the heading machine to be controlled; arranging an upper control platform of the heading machine on an operation construction site of the heading machine; the remote monitoring platform based on the cloud data platform is arranged in a remote machine room server, so that remote control auxiliary driving operation of the heading machine can be performed, wherein when the remote control auxiliary driving operation of the heading machine is performed:
the tunneling parameters of the tunneling machine are collected and transmitted to the tunneling machine upper computer IPC by the tunneling machine PLC, the attitude parameters of the tunneling machine are collected and transmitted to the tunneling machine attitude measurement and control upper computer by the tunneling machine attitude control system, and the information of the tunneling machine upper computer IPC and the tunneling machine attitude measurement and control upper computer is transmitted to a second RJ-45 interface in the tunneling machine data transmission and instruction module through a third switch, a third optical fiber transceiver, a second optical fiber transceiver and a second switch of the communication network in sequence, then transmitted to the processor through the network module B and stored by the memory. And the tunneling parameters and the attitude parameters of the tunneling machine are transmitted to the cloud server by the processor sequentially through the network module A, the first RJ-45 interface, the first switch and the router, the cloud server continuously calculates and optimizes the tunneling parameters and the attitude parameters of the tunneling machine by taking the tunneling parameters and the attitude parameters as samples, and a statistical prediction formula of the tunneling parameters is continuously refreshed. The cloud server transmits the optimized statistical prediction formula of the tunneling machine tunneling parameters, attitude parameters and tunneling parameters to the processor continuously through the router, the first switch, the first RJ-45 interface and the network module A, so that the statistical prediction formula of the tunneling parameters in the memory is refreshed continuously.
Meanwhile, the processor transmits the tunneling machine tunneling parameters optimized by the cloud server to the tunneling machine PLC through the network module B, the second RJ-45 interface, the second switch, the second optical fiber transceiver, the third optical fiber transceiver, the fourth optical fiber transceiver and the fourth switch, so that the tunneling machine PLC is instructed to drive the tunneling machine to tunnel according to the tunneling parameters of the tunneling machine optimized by the cloud server.
The processor transmits the attitude parameters of the heading machine optimized by the cloud server to the heading machine attitude control system through the network module B, the second RJ-45 interface, the second optical fiber transceiver, the third optical fiber transceiver, the fourth optical fiber transceiver and the fourth switch, so that the heading machine attitude control system is instructed to adjust the attitude according to the attitude parameters of the heading machine optimized by the cloud server.
The network camera is arranged in the heading machine, and image information acquired by the network camera is transmitted to the cloud server through the fifth switch, the fifth optical fiber transceiver, the first switch and the router, so that remote image monitoring of the conditions in the heading machine is realized.
When the connection between the tunneling machine data transmission and instruction module and the cloud server is interrupted, the network connection is not smooth or the cloud server optimizes and calculates the tunneling parameters and the attitude parameters too slowly to cause instruction delay to the tunneling machine and the tunneling machine attitude control system, the processor calls a latest stored tunneling parameter statistical prediction formula in the memory, introduces the actually measured tunneling parameters and attitude parameters from the tunneling machine PLC and the tunneling machine attitude control system, obtains the optimized tunneling parameters and attitude parameters through the optimization algorithm calculation in the memory, and transmits the tunneling parameters optimized through the tunneling machine data transmission and instruction module 5 to the tunneling machine PLC through the network module B, the second RJ-45 interface, the second switch of the communication network, the second optical fiber transceiver, the third optical fiber transceiver, the fourth optical fiber transceiver and the fourth switch, and the processor transmits the attitude parameters of the heading machine which are calculated and optimized by the heading machine data transmission and instruction module to the attitude control system of the heading machine through the network module B, the second RJ-45 interface, the second switch, the second optical fiber transceiver, the third optical fiber transceiver, the fourth optical fiber transceiver and the fourth switch of the communication network, so that the attitude control system of the heading machine is instructed to adjust the attitude according to the attitude parameters of the heading machine which are optimized by the cloud server.
The satellite positioning module is connected with the earth through an antenna to position the data transmission and instruction module of the heading machine, and the position information of the data transmission and instruction module of the heading machine is transmitted to the cloud server through the processor, the network module A, the first RJ-45 interface, the first switch and the router in real time, so that the remote monitoring of the position of the data transmission and instruction module of the heading machine is realized, and the data transmission and instruction module of the heading machine is prevented from being disconnected or stolen.
The novel device has the advantages of simple structure, flexible and convenient use and good universality, can effectively meet the requirements of remote monitoring and auxiliary control operation of multiple development machines on the one hand, and can simultaneously realize synchronous monitoring and remote control operation of one or more development machines; on the other hand, the data communication capability is strong, the data communication safety is good, the remote data acquisition and control precision is high, the operation attitude control of the tunneling machine, the position positioning of the tunneling machine and the video remote monitoring of an operation site can be realized simultaneously, and therefore the stability, the reliability and the convenience of the construction operation of the tunneling machine are greatly improved.
Those skilled in the art should understand that the present invention is not limited by the above embodiments. The foregoing embodiments and description have been made only for the purpose of illustrating the principles of the invention. The present invention can be further modified and improved without departing from the spirit and scope of the present invention. Such changes and modifications are intended to be within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a entry driving machine remote monitoring and wisdom driver assistance device which characterized in that: the system comprises a remote monitoring platform based on a cloud data platform, an upper control platform of the development machine, a field control terminal of the development machine and a data communication network, wherein the upper control platform of the development machine is respectively connected with the remote monitoring platform based on the cloud data platform and the field control terminal of the development machine through the communication network; the heading machine field control terminal comprises a heading machine control PLC module, a heading machine attitude control module and a video forwarding module, wherein the heading machine control PLC module, the heading machine attitude control module and the video forwarding module are respectively connected with a heading machine upper control platform, the heading machine upper control platform comprises a heading machine data transmission and instruction module, a heading machine upper computer and a heading machine attitude measurement and control upper computer, and the heading machine data transmission and instruction module is respectively connected with the heading machine upper computer, the heading machine attitude measurement and control upper computer, a remote monitoring platform based on a cloud data platform and the heading machine field control terminal.
2. The remote monitoring and intelligent driving assisting device for the heading machine according to claim 1, wherein: the data transmission and instruction module of the heading machine comprises a first RJ-45 interface, a network module A, a processor, a network module B, a second RJ-45 interface, a power supply, a memory, a satellite positioning module and an antenna; the processor is electrically connected with the network module A, the network module B, the power supply, the memory and the satellite positioning module respectively, the network module A and the network module B are electrically connected with the first RJ-45 interface and the second RJ-45 interface respectively, and the satellite positioning module is electrically connected with the antenna additionally.
3. The remote monitoring and intelligent driving assisting device for the heading machine according to claim 1, wherein: the video forwarding module comprises a plurality of network cameras, and the optical axes of the network cameras form an included angle of 0-90 degrees with the axis of the heading machine.
4. The remote monitoring and intelligent driving assisting device for the heading machine according to claim 1, wherein: in the heading machine field control terminal, each heading machine is provided with a heading machine field control terminal.
5. The remote monitoring and intelligent driving assisting device for the heading machine according to claim 1, wherein: the data communication network comprises at least one wireless communication network and at least one wired communication network, the data communication network comprises a plurality of switches and optical fiber receivers, each switch is connected with at least one optical fiber receiver to form a working unit, and the working units are connected in parallel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020914360.3U CN211791815U (en) | 2020-05-27 | 2020-05-27 | Remote monitoring and intelligent auxiliary driving device of heading machine |
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| CN202020914360.3U CN211791815U (en) | 2020-05-27 | 2020-05-27 | Remote monitoring and intelligent auxiliary driving device of heading machine |
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| CN211791815U true CN211791815U (en) | 2020-10-27 |
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Address after: 210012 No.105, Jiadong village, youfangqiao, Yuhuatai District, Nanjing City, Jiangsu Province Patentee after: NANJING KENTOP CIVIL ENGINEERING TECHNOLOGY Co.,Ltd. Address before: 210000 rooms 10C and 10d, building 02, No.77, alfalfa Garden Street, Qinhuai District, Nanjing City, Jiangsu Province Patentee before: NANJING KENTOP CIVIL ENGINEERING TECHNOLOGY Co.,Ltd. |